diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/oracle_selector_calibration_train800_k4_score_r0025_t0025.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/oracle_selector_calibration_train800_k4_score_r0025_t0025.json new file mode 100644 index 0000000000000000000000000000000000000000..06759cd7543406914e5bb65d29150cbb86561436 --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/oracle_selector_calibration_train800_k4_score_r0025_t0025.json @@ -0,0 +1,150 @@ +{ + "source_rollouts": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_trainsplit800_oraclek4.json" + ], + "calibration_source": "candidate_oracle_rollout", + "objective": "score", + "max_rank": 4, + "rank_scale": 0.025, + "type_scale": 0.025, + "min_count": 20, + "max_abs_rank_bias": 0.02, + "max_abs_type_bonus": 0.02, + "rows_seen": 800, + "rows_used": 800, + "skipped_branches": 0, + "field_rank_biases_by_task": { + "LiftPegUpright-v1": [ + 0.0, + -0.002863712769658039, + -0.0035692655021514253, + -0.004019386777954717 + ], + "PickCube-v1": [ + 0.0, + 1.1665452675185818e-05, + -3.4171307951536005e-05, + -0.0006825320831309045 + ], + "*": [ + 0.0, + -0.0014368063268251768, + -0.0018149750082797319, + -0.0023634726356484004 + ] + }, + "rank_utility_means_by_task": { + "LiftPegUpright-v1": [ + 0.8451827023150608, + 0.7306341915287392, + 0.7024120822290038, + 0.6844072311968721 + ], + "PickCube-v1": [ + 1.0514546219212586, + 1.051921240028266, + 1.0500877696031972, + 1.0241533385960224 + ], + "*": [ + 0.9475451424196365, + 0.8900728893466294, + 0.8749461420884472, + 0.8530062369937005 + ] + }, + "rank_counts_by_task": { + "LiftPegUpright-v1": [ + 403, + 403, + 403, + 403 + ], + "PickCube-v1": [ + 397, + 397, + 397, + 397 + ], + "*": [ + 800, + 800, + 800, + 800 + ] + }, + "candidate_type_bonuses_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.002074561933968086, + "retrieval_residual_residual_near_miss": -0.001667373467250824, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.015417972784581832, + "retrieval_residual_residual_no_op": 0.005576747701204932, + "retrieval_residual_residual_wrong_gripper": -0.0028779275166906123 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 0.0009516744785649845, + "retrieval_residual_residual_near_miss": 0.007728509900139097, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": -0.0013624665365377599, + "retrieval_residual_residual_no_op": -0.02, + "retrieval_residual_residual_wrong_gripper": -0.0018052056739189277 + }, + "*": { + "retrieval_residual_policy_residual": 0.0005687969094157613, + "retrieval_residual_residual_near_miss": 0.0026705646069906386, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.0032430740375739343, + "retrieval_residual_residual_no_op": -0.0016002950950430722, + "retrieval_residual_residual_wrong_gripper": -0.002145437848347473 + } + }, + "type_utility_means_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.8236415291761423, + "retrieval_residual_residual_near_miss": 0.6739641131273859, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.3573779632006922, + "retrieval_residual_residual_no_op": 0.9637289598656161, + "retrieval_residual_residual_wrong_gripper": 0.6255419511497944 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 1.0824712216797856, + "retrieval_residual_residual_near_miss": 1.35354463854275, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.9899055810756758, + "retrieval_residual_residual_no_op": 0.043378873417774834, + "retrieval_residual_residual_wrong_gripper": 0.9721960155804291 + }, + "*": { + "retrieval_residual_policy_residual": 0.9141444790887338, + "retrieval_residual_residual_near_miss": 0.9982151869917288, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.0211155642150607, + "retrieval_residual_residual_no_op": 0.8273807989103804, + "retrieval_residual_residual_wrong_gripper": 0.8055750887782044 + } + }, + "type_counts_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 385, + "retrieval_residual_residual_near_miss": 343, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 31, + "retrieval_residual_residual_no_op": 207, + "retrieval_residual_residual_wrong_gripper": 646 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 207, + "retrieval_residual_residual_near_miss": 313, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 334, + "retrieval_residual_residual_no_op": 36, + "retrieval_residual_residual_wrong_gripper": 698 + }, + "*": { + "retrieval_residual_policy_residual": 592, + "retrieval_residual_residual_near_miss": 656, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 365, + "retrieval_residual_residual_no_op": 243, + "retrieval_residual_residual_wrong_gripper": 1344 + } + }, + "type_baselines_by_task": { + "LiftPegUpright-v1": 0.7406590518174189, + "PickCube-v1": 1.0444042425371862, + "*": 0.8913926027121033 + } +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/oracle_selector_calibration_train800_k4_score_r005_t005_clip002.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/oracle_selector_calibration_train800_k4_score_r005_t005_clip002.json new file mode 100644 index 0000000000000000000000000000000000000000..7ad79a7e56847a2c5de162f7b2319ae9e876467b --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/oracle_selector_calibration_train800_k4_score_r005_t005_clip002.json @@ -0,0 +1,150 @@ +{ + "source_rollouts": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_trainsplit800_oraclek4.json" + ], + "calibration_source": "candidate_oracle_rollout", + "objective": "score", + "max_rank": 4, + "rank_scale": 0.05, + "type_scale": 0.05, + "min_count": 20, + "max_abs_rank_bias": 0.02, + "max_abs_type_bonus": 0.02, + "rows_seen": 800, + "rows_used": 800, + "skipped_branches": 0, + "field_rank_biases_by_task": { + "LiftPegUpright-v1": [ + 0.0, + -0.005727425539316078, + -0.007138531004302851, + -0.008038773555909434 + ], + "PickCube-v1": [ + 0.0, + 2.3330905350371636e-05, + -6.834261590307201e-05, + -0.001365064166261809 + ], + "*": [ + 0.0, + -0.0028736126536503537, + -0.0036299500165594637, + -0.004726945271296801 + ] + }, + "rank_utility_means_by_task": { + "LiftPegUpright-v1": [ + 0.8451827023150608, + 0.7306341915287392, + 0.7024120822290038, + 0.6844072311968721 + ], + "PickCube-v1": [ + 1.0514546219212586, + 1.051921240028266, + 1.0500877696031972, + 1.0241533385960224 + ], + "*": [ + 0.9475451424196365, + 0.8900728893466294, + 0.8749461420884472, + 0.8530062369937005 + ] + }, + "rank_counts_by_task": { + "LiftPegUpright-v1": [ + 403, + 403, + 403, + 403 + ], + "PickCube-v1": [ + 397, + 397, + 397, + 397 + ], + "*": [ + 800, + 800, + 800, + 800 + ] + }, + "candidate_type_bonuses_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.004149123867936172, + "retrieval_residual_residual_near_miss": -0.003334746934501648, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.02, + "retrieval_residual_residual_no_op": 0.011153495402409863, + "retrieval_residual_residual_wrong_gripper": -0.005755855033381225 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 0.001903348957129969, + "retrieval_residual_residual_near_miss": 0.015457019800278193, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": -0.0027249330730755197, + "retrieval_residual_residual_no_op": -0.02, + "retrieval_residual_residual_wrong_gripper": -0.0036104113478378553 + }, + "*": { + "retrieval_residual_policy_residual": 0.0011375938188315227, + "retrieval_residual_residual_near_miss": 0.005341129213981277, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.006486148075147869, + "retrieval_residual_residual_no_op": -0.0032005901900861444, + "retrieval_residual_residual_wrong_gripper": -0.004290875696694946 + } + }, + "type_utility_means_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.8236415291761423, + "retrieval_residual_residual_near_miss": 0.6739641131273859, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.3573779632006922, + "retrieval_residual_residual_no_op": 0.9637289598656161, + "retrieval_residual_residual_wrong_gripper": 0.6255419511497944 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 1.0824712216797856, + "retrieval_residual_residual_near_miss": 1.35354463854275, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.9899055810756758, + "retrieval_residual_residual_no_op": 0.043378873417774834, + "retrieval_residual_residual_wrong_gripper": 0.9721960155804291 + }, + "*": { + "retrieval_residual_policy_residual": 0.9141444790887338, + "retrieval_residual_residual_near_miss": 0.9982151869917288, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.0211155642150607, + "retrieval_residual_residual_no_op": 0.8273807989103804, + "retrieval_residual_residual_wrong_gripper": 0.8055750887782044 + } + }, + "type_counts_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 385, + "retrieval_residual_residual_near_miss": 343, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 31, + "retrieval_residual_residual_no_op": 207, + "retrieval_residual_residual_wrong_gripper": 646 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 207, + "retrieval_residual_residual_near_miss": 313, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 334, + "retrieval_residual_residual_no_op": 36, + "retrieval_residual_residual_wrong_gripper": 698 + }, + "*": { + "retrieval_residual_policy_residual": 592, + "retrieval_residual_residual_near_miss": 656, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 365, + "retrieval_residual_residual_no_op": 243, + "retrieval_residual_residual_wrong_gripper": 1344 + } + }, + "type_baselines_by_task": { + "LiftPegUpright-v1": 0.7406590518174189, + "PickCube-v1": 1.0444042425371862, + "*": 0.8913926027121033 + } +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/oracle_selector_calibration_train800_k4_score_rank005.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/oracle_selector_calibration_train800_k4_score_rank005.json new file mode 100644 index 0000000000000000000000000000000000000000..e7b1cecf2751f6da1443c9bec058221816c07a5b --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/oracle_selector_calibration_train800_k4_score_rank005.json @@ -0,0 +1,150 @@ +{ + "source_rollouts": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_trainsplit800_oraclek4.json" + ], + "calibration_source": "candidate_oracle_rollout", + "objective": "score", + "max_rank": 4, + "rank_scale": 0.05, + "type_scale": 0.0, + "min_count": 20, + "max_abs_rank_bias": 0.02, + "max_abs_type_bonus": null, + "rows_seen": 800, + "rows_used": 800, + "skipped_branches": 0, + "field_rank_biases_by_task": { + "LiftPegUpright-v1": [ + 0.0, + -0.005727425539316078, + -0.007138531004302851, + -0.008038773555909434 + ], + "PickCube-v1": [ + 0.0, + 2.3330905350371636e-05, + -6.834261590307201e-05, + -0.001365064166261809 + ], + "*": [ + 0.0, + -0.0028736126536503537, + -0.0036299500165594637, + -0.004726945271296801 + ] + }, + "rank_utility_means_by_task": { + "LiftPegUpright-v1": [ + 0.8451827023150608, + 0.7306341915287392, + 0.7024120822290038, + 0.6844072311968721 + ], + "PickCube-v1": [ + 1.0514546219212586, + 1.051921240028266, + 1.0500877696031972, + 1.0241533385960224 + ], + "*": [ + 0.9475451424196365, + 0.8900728893466294, + 0.8749461420884472, + 0.8530062369937005 + ] + }, + "rank_counts_by_task": { + "LiftPegUpright-v1": [ + 403, + 403, + 403, + 403 + ], + "PickCube-v1": [ + 397, + 397, + 397, + 397 + ], + "*": [ + 800, + 800, + 800, + 800 + ] + }, + "candidate_type_bonuses_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.0, + "retrieval_residual_residual_near_miss": -0.0, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.0, + "retrieval_residual_residual_no_op": 0.0, + "retrieval_residual_residual_wrong_gripper": -0.0 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 0.0, + "retrieval_residual_residual_near_miss": 0.0, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": -0.0, + "retrieval_residual_residual_no_op": -0.0, + "retrieval_residual_residual_wrong_gripper": -0.0 + }, + "*": { + "retrieval_residual_policy_residual": 0.0, + "retrieval_residual_residual_near_miss": 0.0, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.0, + "retrieval_residual_residual_no_op": -0.0, + "retrieval_residual_residual_wrong_gripper": -0.0 + } + }, + "type_utility_means_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.8236415291761423, + "retrieval_residual_residual_near_miss": 0.6739641131273859, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.3573779632006922, + "retrieval_residual_residual_no_op": 0.9637289598656161, + "retrieval_residual_residual_wrong_gripper": 0.6255419511497944 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 1.0824712216797856, + "retrieval_residual_residual_near_miss": 1.35354463854275, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.9899055810756758, + "retrieval_residual_residual_no_op": 0.043378873417774834, + "retrieval_residual_residual_wrong_gripper": 0.9721960155804291 + }, + "*": { + "retrieval_residual_policy_residual": 0.9141444790887338, + "retrieval_residual_residual_near_miss": 0.9982151869917288, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.0211155642150607, + "retrieval_residual_residual_no_op": 0.8273807989103804, + "retrieval_residual_residual_wrong_gripper": 0.8055750887782044 + } + }, + "type_counts_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 385, + "retrieval_residual_residual_near_miss": 343, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 31, + "retrieval_residual_residual_no_op": 207, + "retrieval_residual_residual_wrong_gripper": 646 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 207, + "retrieval_residual_residual_near_miss": 313, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 334, + "retrieval_residual_residual_no_op": 36, + "retrieval_residual_residual_wrong_gripper": 698 + }, + "*": { + "retrieval_residual_policy_residual": 592, + "retrieval_residual_residual_near_miss": 656, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 365, + "retrieval_residual_residual_no_op": 243, + "retrieval_residual_residual_wrong_gripper": 1344 + } + }, + "type_baselines_by_task": { + "LiftPegUpright-v1": 0.7406590518174189, + "PickCube-v1": 1.0444042425371862, + "*": 0.8913926027121033 + } +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/oracle_selector_calibration_train800_k4_score_type005.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/oracle_selector_calibration_train800_k4_score_type005.json new file mode 100644 index 0000000000000000000000000000000000000000..030045fc3ef0171190f008420195fd9f14d1969c --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/oracle_selector_calibration_train800_k4_score_type005.json @@ -0,0 +1,150 @@ +{ + "source_rollouts": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_trainsplit800_oraclek4.json" + ], + "calibration_source": "candidate_oracle_rollout", + "objective": "score", + "max_rank": 4, + "rank_scale": 0.0, + "type_scale": 0.05, + "min_count": 20, + "max_abs_rank_bias": null, + "max_abs_type_bonus": 0.02, + "rows_seen": 800, + "rows_used": 800, + "skipped_branches": 0, + "field_rank_biases_by_task": { + "LiftPegUpright-v1": [ + 0.0, + -0.0, + -0.0, + -0.0 + ], + "PickCube-v1": [ + 0.0, + 0.0, + -0.0, + -0.0 + ], + "*": [ + 0.0, + -0.0, + -0.0, + -0.0 + ] + }, + "rank_utility_means_by_task": { + "LiftPegUpright-v1": [ + 0.8451827023150608, + 0.7306341915287392, + 0.7024120822290038, + 0.6844072311968721 + ], + "PickCube-v1": [ + 1.0514546219212586, + 1.051921240028266, + 1.0500877696031972, + 1.0241533385960224 + ], + "*": [ + 0.9475451424196365, + 0.8900728893466294, + 0.8749461420884472, + 0.8530062369937005 + ] + }, + "rank_counts_by_task": { + "LiftPegUpright-v1": [ + 403, + 403, + 403, + 403 + ], + "PickCube-v1": [ + 397, + 397, + 397, + 397 + ], + "*": [ + 800, + 800, + 800, + 800 + ] + }, + "candidate_type_bonuses_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.004149123867936172, + "retrieval_residual_residual_near_miss": -0.003334746934501648, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.02, + "retrieval_residual_residual_no_op": 0.011153495402409863, + "retrieval_residual_residual_wrong_gripper": -0.005755855033381225 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 0.001903348957129969, + "retrieval_residual_residual_near_miss": 0.015457019800278193, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": -0.0027249330730755197, + "retrieval_residual_residual_no_op": -0.02, + "retrieval_residual_residual_wrong_gripper": -0.0036104113478378553 + }, + "*": { + "retrieval_residual_policy_residual": 0.0011375938188315227, + "retrieval_residual_residual_near_miss": 0.005341129213981277, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.006486148075147869, + "retrieval_residual_residual_no_op": -0.0032005901900861444, + "retrieval_residual_residual_wrong_gripper": -0.004290875696694946 + } + }, + "type_utility_means_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.8236415291761423, + "retrieval_residual_residual_near_miss": 0.6739641131273859, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.3573779632006922, + "retrieval_residual_residual_no_op": 0.9637289598656161, + "retrieval_residual_residual_wrong_gripper": 0.6255419511497944 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 1.0824712216797856, + "retrieval_residual_residual_near_miss": 1.35354463854275, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.9899055810756758, + "retrieval_residual_residual_no_op": 0.043378873417774834, + "retrieval_residual_residual_wrong_gripper": 0.9721960155804291 + }, + "*": { + "retrieval_residual_policy_residual": 0.9141444790887338, + "retrieval_residual_residual_near_miss": 0.9982151869917288, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.0211155642150607, + "retrieval_residual_residual_no_op": 0.8273807989103804, + "retrieval_residual_residual_wrong_gripper": 0.8055750887782044 + } + }, + "type_counts_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 385, + "retrieval_residual_residual_near_miss": 343, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 31, + "retrieval_residual_residual_no_op": 207, + "retrieval_residual_residual_wrong_gripper": 646 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 207, + "retrieval_residual_residual_near_miss": 313, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 334, + "retrieval_residual_residual_no_op": 36, + "retrieval_residual_residual_wrong_gripper": 698 + }, + "*": { + "retrieval_residual_policy_residual": 592, + "retrieval_residual_residual_near_miss": 656, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 365, + "retrieval_residual_residual_no_op": 243, + "retrieval_residual_residual_wrong_gripper": 1344 + } + }, + "type_baselines_by_task": { + "LiftPegUpright-v1": 0.7406590518174189, + "PickCube-v1": 1.0444042425371862, + "*": 0.8913926027121033 + } +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_r0025_t0025.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_r0025_t0025.json new file mode 100644 index 0000000000000000000000000000000000000000..9824203a4c0b792af82ff612ad66a32e81e46d04 --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_r0025_t0025.json @@ -0,0 +1,12263 @@ +{ + "action_mse_to_best": 0.4981860097222354, + "backbone_model": null, + "backbone_type": "native", + "candidate_oracle_rollouts": 0, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_sigma": 0.0, + "candidate_type_bonus_components": false, + "candidate_type_bonuses": {}, + "candidate_type_bonuses_by_task": { + "*": { + "retrieval_residual_policy_residual": 0.0005687969094157613, + "retrieval_residual_residual_near_miss": 0.0026705646069906386, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.0032430740375739343, + "retrieval_residual_residual_no_op": -0.0016002950950430722, + "retrieval_residual_residual_wrong_gripper": -0.002145437848347473 + }, + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.002074561933968086, + "retrieval_residual_residual_near_miss": -0.001667373467250824, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.015417972784581832, + "retrieval_residual_residual_no_op": 0.005576747701204932, + "retrieval_residual_residual_wrong_gripper": -0.0028779275166906123 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 0.0009516744785649845, + "retrieval_residual_residual_near_miss": 0.007728509900139097, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": -0.0013624665365377599, + "retrieval_residual_residual_no_op": -0.02, + "retrieval_residual_residual_wrong_gripper": -0.0018052056739189277 + } + }, + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/best_transport.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "expert_success_rate": 0.7721739130434783, + "field_optim_l2_penalty": 0.0, + "field_optim_step_size": 0.0, + "field_optim_steps": 0, + "field_optim_trust_radius": 0.0, + "field_rank_biases_by_task": { + "*": [ + 0.0, + -0.0014368063268251768, + -0.0018149750082797319, + -0.0023634726356484004 + ], + "LiftPegUpright-v1": [ + 0.0, + -0.002863712769658039, + -0.0035692655021514253, + -0.004019386777954717 + ], + "PickCube-v1": [ + 0.0, + 1.1665452675185818e-05, + -3.4171307951536005e-05, + -0.0006825320831309045 + ] + }, + "group_batch_size": 8, + "lattice_exclude_type_tasks": {}, + "lattice_exclude_types": [ + "residual_random_negative", + "residual_wrong_direction", + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper" + ], + "num_candidates": 48, + "num_groups": 575, + "objective": "lattice_field", + "observation_mode": "state", + "oracle_success_rate": 0.8573913043478261, + "per_task": { + "LiftPegUpright-v1": { + "action_mse_to_best": 0.33983143654258285, + "expert_success_rate": 0.8865979381443299, + "num_groups": 97, + "oracle_success_rate": 0.9278350515463918, + "policy_expert_regret": 1.07819144181984, + "policy_oracle_regret": 1.1046069195282828, + "policy_rollout_progress": 0.5716054517890989, + "policy_rollout_success_rate": 0.2268041237113402, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "action_mse_to_best": 0.46104497766981906, + "expert_success_rate": 0.9375, + "num_groups": 208, + "oracle_success_rate": 0.9471153846153846, + "policy_expert_regret": 0.9490321159022502, + "policy_oracle_regret": 0.955809644002539, + "policy_rollout_progress": 0.6204567903276677, + "policy_rollout_success_rate": 0.3557692307692308, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "action_mse_to_best": 0.6117456385067531, + "expert_success_rate": 0.19480519480519481, + "num_groups": 77, + "oracle_success_rate": 0.36363636363636365, + "policy_expert_regret": 0.21660759985785594, + "policy_oracle_regret": 0.4075098246843977, + "policy_rollout_progress": 0.3514364446791542, + "policy_rollout_success_rate": 0.24675324675324675, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "action_mse_to_best": 0.5042698027447183, + "expert_success_rate": 0.8617021276595744, + "num_groups": 94, + "oracle_success_rate": 0.9893617021276596, + "policy_expert_regret": 0.37636212211974124, + "policy_oracle_regret": 0.4349256801478406, + "policy_rollout_progress": 0.7794892613558059, + "policy_rollout_success_rate": 0.7659574468085106, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "action_mse_to_best": 0.6372744976495853, + "expert_success_rate": 0.6767676767676768, + "num_groups": 99, + "oracle_success_rate": 0.8585858585858586, + "policy_expert_regret": 0.8905830526291721, + "policy_oracle_regret": 1.0496979306141536, + "policy_rollout_progress": 0.5158382404332209, + "policy_rollout_success_rate": 0.2828282828282828, + "restore_max_error": 2.384185791015625e-07 + } + }, + "policy_expert_regret": 0.7690570379874628, + "policy_oracle_regret": 0.8384985090646407, + "policy_rollout_progress": 0.5841762153431773, + "policy_rollout_success_rate": 0.3739130434782609, + "prepend_policy_candidate": false, + "proposal_lattice_types": [], + "proposal_types": [], + "restore_max_error": 2.384185791015625e-07, + "retrieval_metric": "raw", + "retrieval_neighbors": 6, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_anchor": "expert", + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_type_tasks": {}, + "retrieval_residual_challenger_types": [], + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_by_task": { + "*": 0.0, + "PickCube-v1": 0.01, + "StackCube-v1": 0.05 + }, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "rows": [ + { + "action_mse_to_best": 0.16403727233409882, + "candidate_source_group_id": "ms-99f263cb3f383b1f6243;ms-aa46bb6dc8e6274963b6;ms-ec4accef21246e0c9213;ms-c76aba3db8d4ce0062bc;ms-b0302a41f75a827cd4e4;ms-7272e1e33d4ecc07470c", + "expert_regret": 1.3218209743499756, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-575bd87a5da90963019d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3218209743499756, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6781790256500244, + "restore_error": 1.1920928955078125e-07, + "score": 0.6781790256500244, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.182577982544899, + "candidate_source_group_id": "ms-c76aba3db8d4ce0062bc;ms-aa46bb6dc8e6274963b6;ms-ec4accef21246e0c9213;ms-b0302a41f75a827cd4e4;ms-9a72e47e2204fa794718;ms-99f263cb3f383b1f6243", + "expert_regret": 1.3254237174987793, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28c139f34a954b692962", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3254237174987793, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6745762825012207, + "restore_error": 1.1920928955078125e-07, + "score": 0.6745762825012207, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3051590025424957, + "candidate_source_group_id": "ms-074cb86179cdd7f52737;ms-9bbea286acf66b5cfb8e;ms-3c1e7b47135487435fc1;ms-675833805d1139c2f2a0;ms-f1529c9d823325056e8d;ms-e89a3ba400f81d2795f3", + "expert_regret": 1.2905534505844116, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8bab784ae53525967763", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2905534505844116, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7094465494155884, + "restore_error": 1.1920928955078125e-07, + "score": 0.7094465494155884, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5033681988716125, + "candidate_source_group_id": "ms-1955408aeb8a8a4d0847;ms-8b15f77ad3436ac282ba;ms-917b0f051489227842f0;ms-524ae7618ed9b6a272ae;ms-85fcc6b4797417c3473f;ms-50b9f93dd246400d20c8", + "expert_regret": 1.2926936149597168, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8a9e7d69f7ade362fe40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2926936149597168, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7073063850402832, + "restore_error": 1.1920928955078125e-07, + "score": 0.7073063850402832, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1658484935760498, + "candidate_source_group_id": "ms-13d8bae55d3c3710138f;ms-ec2e4afb34b439731136;ms-9852b3671856321cecc8;ms-c2b904f450b45e2a8c9a;ms-36d1128e3bd512cffe18;ms-28835618507e7bc71227", + "expert_regret": 0.5253258347511292, + "expert_score": 0.728327751159668, + "expert_success": false, + "group_id": "ms-e1b6bcb41532a800d3cb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7969980835914612, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20300191640853882, + "restore_error": 1.1920928955078125e-07, + "score": 0.20300191640853882, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.256663978099823, + "candidate_source_group_id": "ms-6939f3ecafd5e0a4bfee;ms-2590f9fd91265598fb45;ms-5b24bcde90348f24bb19;ms-484ea653bbca2de3a4a2;ms-65e9da4468e522823587;ms-7b1a03be4a61ba27261c", + "expert_regret": 1.625543236732483, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f6e7085c865144a7408", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.625543236732483, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3744567632675171, + "restore_error": 1.1920928955078125e-07, + "score": 0.3744567632675171, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38028913736343384, + "candidate_source_group_id": "ms-c910a469460f71880556;ms-0a8109ce7ab2ddc1bb1e;ms-e12808f670338ca180c6;ms-f3211ecde366ca9f6ac7;ms-8c8cf210aa675c5db1fe;ms-44a607bf50304347ead8", + "expert_regret": 1.797069028019905, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83c0299c23fa800452c7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.797069028019905, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2029309719800949, + "restore_error": 1.1920928955078125e-07, + "score": 0.2029309719800949, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3688965439796448, + "candidate_source_group_id": "ms-6a03497f97765ffd444e;ms-c1f3359c70d068a36081;ms-043a17d678e610264bb8;ms-e6ca7414c5035e80d0ac;ms-a4420cda0b159dda82a2;ms-252706fc0657a82ba5a4", + "expert_regret": 1.7417368590831757, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-88f748134c3fd27fcf72", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7417368590831757, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25826314091682434, + "restore_error": 1.1920928955078125e-07, + "score": 0.25826314091682434, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2206980139017105, + "candidate_source_group_id": "ms-340913cb08bfca09a4e3;ms-e536e40f6902c6ba0927;ms-080e034927abe2f30d60;ms-13aa39b96923ad8c913a;ms-bdb04ada069c35d51e2e;ms-3e0dbff4309ecbd35d36", + "expert_regret": 1.746465265750885, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01ab68aa5051226638ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.746465265750885, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.253534734249115, + "restore_error": 1.1920928955078125e-07, + "score": 0.253534734249115, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.08368216454982758, + "candidate_source_group_id": "ms-83019373a06eb384c886;ms-8864796e31bbe93d7c5d;ms-f5ebbab81506fa27fc6d;ms-8e23d2d44e709420e46d;ms-938b53ef53e669518a56;ms-dbad4f4d0df3c19c7bbb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83c62951219e6599b630", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3766658902168274, + "candidate_source_group_id": "ms-e6ca7414c5035e80d0ac;ms-252706fc0657a82ba5a4;ms-08ab006a923f5fdae198;ms-c1f3359c70d068a36081;ms-9bb65f13e00984482ef8;ms-043a17d678e610264bb8", + "expert_regret": 1.7473297417163849, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d229ac64c91c9bb6ce88", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7473297417163849, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2526702582836151, + "restore_error": 1.1920928955078125e-07, + "score": 0.2526702582836151, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3637847304344177, + "candidate_source_group_id": "ms-02cacb03f445c8a460e8;ms-8bc7aa419d17368d81b5;ms-7334e620435d1f3545fd;ms-a6e4ac1995198def96a8;ms-a40dee47c502e73949af;ms-510cafd84de611de3909", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f24ad2e217963943c12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48431602120399475, + "candidate_source_group_id": "ms-c1f3359c70d068a36081;ms-dd94921779f12b249579;ms-93b076203c0c65fb22be;ms-6a03497f97765ffd444e;ms-e4090b0b0c1739070201;ms-2b59042e27453aff03a7", + "expert_regret": 1.7679226398468018, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1e41619ab39cf51b7822", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7679226398468018, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23207736015319824, + "restore_error": 1.1920928955078125e-07, + "score": 0.23207736015319824, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.26977354288101196, + "candidate_source_group_id": "ms-af25c332ad54eee6e1c3;ms-de68dbb7daad3e3a71fe;ms-fdf18cd6260d82226927;ms-074b26fed4c4a9dd3449;ms-4a845dab9503bc4eba04;ms-c146ea1c89beb683b6fd", + "expert_regret": 1.687372624874115, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a6cf775fbba580161c4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.687372624874115, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.312627375125885, + "restore_error": 1.1920928955078125e-07, + "score": 0.312627375125885, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4117461144924164, + "candidate_source_group_id": "ms-35babd5f83dcf1561f9a;ms-c7c812bb98308442d95b;ms-97c28a7584b35207bf84;ms-062addb9da32a0c2ea97;ms-a4420cda0b159dda82a2;ms-684a66885f21739d826b", + "expert_regret": 1.645468831062317, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5a56eefeb2de0abe600", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.645468831062317, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3545311689376831, + "restore_error": 1.1920928955078125e-07, + "score": 0.3545311689376831, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4817766547203064, + "candidate_source_group_id": "ms-7b1a03be4a61ba27261c;ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-8be8a38748f9fb037556;ms-484ea653bbca2de3a4a2;ms-6959fa589edc996753d7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f539c5c30da21c875657", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16072355210781097, + "candidate_source_group_id": "ms-bc56601ca069f65cd08f;ms-a4ade4de51ca437ac432;ms-4a86d570dabb0916f020;ms-1145e0f6add300eee9bd;ms-988537a36edfece3d073;ms-8fcf4d9d042de2f74d76", + "expert_regret": 1.7474114298820496, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-38758efd8620a312267d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7474114298820496, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25258857011795044, + "restore_error": 1.1920928955078125e-07, + "score": 0.25258857011795044, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3146516978740692, + "candidate_source_group_id": "ms-fe790caba27d92511f71;ms-faeff0379a053e9ea351;ms-caa0a38b7df789550f8a;ms-bdc14f3225a9c9f26513;ms-e2950dcb50ed2b955be6;ms-2436538e05fdcf8e44fc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2f1164357c9732e059d4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.056728024035692215, + "candidate_source_group_id": "ms-cce5ef6cfa69a08a1e05;ms-4e825dd3ade30a42e899;ms-0660d5f65df5fc4b6132;ms-3c550bf52d7bf91f4ca2;ms-de8d6051e6ee74b62fec;ms-715db95b13ebc6c977c8", + "expert_regret": 0.5219925045967102, + "expert_score": 0.720818042755127, + "expert_success": false, + "group_id": "ms-c2c265f2f5013746eaa1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.528826892375946, + "oracle_score": 0.7276524305343628, + "oracle_success": false, + "progress": 0.19882553815841675, + "restore_error": 1.1920928955078125e-07, + "score": 0.19882553815841675, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.20318324863910675, + "candidate_source_group_id": "ms-aee5716b3e4fc47e46ba;ms-7272e1e33d4ecc07470c;ms-20cd6d8ccbf13e36dcdb;ms-92070f417bd9d14d6fc7;ms-6e2b02ee71a4a44bc325;ms-59474486dd5cb4e5bfd5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6a4398375c43dbf887b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.44475239515304565, + "candidate_source_group_id": "ms-bc29afbe2bbf00638d25;ms-a4420cda0b159dda82a2;ms-684a66885f21739d826b;ms-076246c4c5d1ca8ccd9d;ms-aedc3dee6e275342eb8f;ms-97c28a7584b35207bf84", + "expert_regret": 1.3794038891792297, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-507199452c6d42562a38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3794038891792297, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6205961108207703, + "restore_error": 1.1920928955078125e-07, + "score": 0.6205961108207703, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41978126764297485, + "candidate_source_group_id": "ms-e536e40f6902c6ba0927;ms-340913cb08bfca09a4e3;ms-caeb4c3d358f256799a8;ms-ff3256da4e1731651937;ms-5bbc4c4b1b51e2a088db;ms-1b8e9b173562648021f6", + "expert_regret": 1.7638336420059204, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ef8de99d917753ec603c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7638336420059204, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2361663579940796, + "restore_error": 1.1920928955078125e-07, + "score": 0.2361663579940796, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6280216574668884, + "candidate_source_group_id": "ms-a5bd3a36c6fe41cd0b35;ms-0d80d6d87a27a53951fe;ms-0a57aa04002f1b843856;ms-6f03b16858c35025503e;ms-1a2d298bf9972ddc1a7e;ms-6ceb341dfa656e485a13", + "expert_regret": 0.5116468369960785, + "expert_score": 0.7269317507743835, + "expert_success": false, + "group_id": "ms-c9e0182d4090ddaa991c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5116468369960785, + "oracle_score": 0.7269317507743835, + "oracle_success": false, + "progress": 0.21528491377830505, + "restore_error": 1.1920928955078125e-07, + "score": 0.21528491377830505, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3402126133441925, + "candidate_source_group_id": "ms-3e0dbff4309ecbd35d36;ms-080e034927abe2f30d60;ms-bdb04ada069c35d51e2e;ms-a4ade4de51ca437ac432;ms-ebeb5587176e3877b98a;ms-9c33d4837de7d23232d6", + "expert_regret": 1.7471709549427032, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-835bd462e505aa659d16", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7471709549427032, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25282904505729675, + "restore_error": 1.1920928955078125e-07, + "score": 0.25282904505729675, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4367155432701111, + "candidate_source_group_id": "ms-261f6f6b578cee63be20;ms-8be46dac6fc06c6c928a;ms-48db1178206eee52434a;ms-e91b824c3841686ed053;ms-7a3daad6772d2384ea66;ms-fb131b52f94500da894b", + "expert_regret": 1.2878472805023193, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-35d84da6eb1afcf8a811", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2878472805023193, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7121527194976807, + "restore_error": 1.1920928955078125e-07, + "score": 0.7121527194976807, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3436945974826813, + "candidate_source_group_id": "ms-e6478d71ed92dae06539;ms-35c12c467fb8a54f89f0;ms-f3211ecde366ca9f6ac7;ms-a103dfbc0567d05ade6e;ms-44a607bf50304347ead8;ms-de8d6051e6ee74b62fec", + "expert_regret": 1.7995912581682205, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ba9541c7192498a1d8bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7995912581682205, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20040874183177948, + "restore_error": 1.1920928955078125e-07, + "score": 0.20040874183177948, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4052918553352356, + "candidate_source_group_id": "ms-22aaa483f5e7d381b63d;ms-c3818c2c4474a784fc6b;ms-0ef5d3238b33bdebae4d;ms-8556e974064f31ae1468;ms-e4090b0b0c1739070201;ms-3a09e411ee6c882ef7df", + "expert_regret": 1.3104048371315002, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d26dc2146eb8ae9a5434", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3104048371315002, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6895951628684998, + "restore_error": 1.1920928955078125e-07, + "score": 0.6895951628684998, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3534383773803711, + "candidate_source_group_id": "ms-1b8e9b173562648021f6;ms-5bbc4c4b1b51e2a088db;ms-502c195c0e4810814bac;ms-4906f3adfda6dace862d;ms-9f993a6e9bb26846d4f4;ms-c871c1157a16e19e6150", + "expert_regret": 1.7680997997522354, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3661d65df223386f1be9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7680997997522354, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2319002002477646, + "restore_error": 1.1920928955078125e-07, + "score": 0.2319002002477646, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2675606310367584, + "candidate_source_group_id": "ms-ebeb5587176e3877b98a;ms-cdbfe4d3b05f4ed12db3;ms-0f02ff35b7fa1234c52e;ms-9f993a6e9bb26846d4f4;ms-502c195c0e4810814bac;ms-1cb9edbe8bd7ed4106c1", + "expert_regret": 1.7073913514614105, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3db845076f92a16d1840", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7073913514614105, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2926086485385895, + "restore_error": 1.1920928955078125e-07, + "score": 0.2926086485385895, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3257105052471161, + "candidate_source_group_id": "ms-662379c2c351807b9cdf;ms-a40abdebe8a9c17de878;ms-b383acd9844466b19579;ms-5799584ed40e211c50a5;ms-80d8d8fc4a3308139975;ms-7a1b60ea1461eb460bed", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4b3a296acc66a14476c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1882317215204239, + "candidate_source_group_id": "ms-cf8c5d9c874edc9f000d;ms-b025d8068f740557d630;ms-9257b89b9b635a0fb174;ms-28fe4b5a2888189c28d9;ms-fc3c8a3572fd96442723;ms-9554f100dd5be3a4fa47", + "expert_regret": 1.6283776760101318, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3176a570b75767d1d729", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6283776760101318, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.37162232398986816, + "restore_error": 1.1920928955078125e-07, + "score": 0.37162232398986816, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.09845292568206787, + "candidate_source_group_id": "ms-067e0fe46e4e9483e2a1;ms-5003e0cda1e13bd4850a;ms-472376eba1a5e1c706bf;ms-908213fef55ccf1dfda6;ms-dfc38c43e9a87f99ef7f;ms-785fb44f1371895f7721", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-14dabc3ac1e1a339ebe4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.25713029503822327, + "candidate_source_group_id": "ms-080e034927abe2f30d60;ms-bdb04ada069c35d51e2e;ms-13aa39b96923ad8c913a;ms-7dfc3684b46df95070e2;ms-3e0dbff4309ecbd35d36;ms-a4ade4de51ca437ac432", + "expert_regret": 1.7218148410320282, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f0d2ffde521e268efc83", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7218148410320282, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2781851589679718, + "restore_error": 2.384185791015625e-07, + "score": 0.2781851589679718, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4278603196144104, + "candidate_source_group_id": "ms-8c8cf210aa675c5db1fe;ms-30e2d8b7825053276e0c;ms-efb5a07185a3a1b33226;ms-e2a037eadb166228b1dd;ms-af91167a0cf15457c6ba;ms-e7573c5d29c3a1a3f228", + "expert_regret": 1.2787054777145386, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-89520c3ac8779d9e81e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2787054777145386, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7212945222854614, + "restore_error": 2.384185791015625e-07, + "score": 0.7212945222854614, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.362408846616745, + "candidate_source_group_id": "ms-472376eba1a5e1c706bf;ms-dfc38c43e9a87f99ef7f;ms-908213fef55ccf1dfda6;ms-067e0fe46e4e9483e2a1;ms-785fb44f1371895f7721;ms-938b53ef53e669518a56", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-487d0fe2a13fb699dd7a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.312634140253067, + "candidate_source_group_id": "ms-54b1042de0891da7c07e;ms-debd7e5668e2acdf6bb0;ms-a1a99e83fb2868164e40;ms-9a72e47e2204fa794718;ms-92070f417bd9d14d6fc7;ms-7aeb0835d3396e6666b6", + "expert_regret": 1.283835768699646, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61c099575bcff2de95e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.283835768699646, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.716164231300354, + "restore_error": 2.384185791015625e-07, + "score": 0.716164231300354, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3357120156288147, + "candidate_source_group_id": "ms-865f9d670f806778ae61;ms-619d3d285d2cae3abbb9;ms-c7677b8f230103dd3c51;ms-88f7199271947fc4c7e8;ms-c090bce47703a4c4bb0b;ms-0fe90299788e1f71f98a", + "expert_regret": 0.5074718296527863, + "expert_score": 0.7231871485710144, + "expert_success": false, + "group_id": "ms-64a755437c34f39cda2a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5074718296527863, + "oracle_score": 0.7231871485710144, + "oracle_success": false, + "progress": 0.21571531891822815, + "restore_error": 2.384185791015625e-07, + "score": 0.21571531891822815, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.12310095876455307, + "candidate_source_group_id": "ms-059d7962a5f998edf668;ms-26322bd4de52dbd5743c;ms-e2950dcb50ed2b955be6;ms-e3f38594991aafbffc23;ms-908213fef55ccf1dfda6;ms-472376eba1a5e1c706bf", + "expert_regret": 0.0, + "expert_score": 0.6909128427505493, + "expert_success": false, + "group_id": "ms-9156a9a9c1b829b742ad", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34731075167655945, + "candidate_source_group_id": "ms-340913cb08bfca09a4e3;ms-e536e40f6902c6ba0927;ms-3e0dbff4309ecbd35d36;ms-bdb04ada069c35d51e2e;ms-5bbc4c4b1b51e2a088db;ms-13aa39b96923ad8c913a", + "expert_regret": 1.7465482950210571, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b4281a37b8b48a0b4c54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7465482950210571, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25345170497894287, + "restore_error": 2.384185791015625e-07, + "score": 0.25345170497894287, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.25278300046920776, + "candidate_source_group_id": "ms-3e0dbff4309ecbd35d36;ms-080e034927abe2f30d60;ms-bdb04ada069c35d51e2e;ms-5bbc4c4b1b51e2a088db;ms-9c33d4837de7d23232d6;ms-a4ade4de51ca437ac432", + "expert_regret": 1.6944690346717834, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-44e7935dbed5f3b3c739", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6944690346717834, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.30553096532821655, + "restore_error": 2.384185791015625e-07, + "score": 0.30553096532821655, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.08199330419301987, + "candidate_source_group_id": "ms-e3c96ca4b56c4a26d40d;ms-83019373a06eb384c886;ms-caa0a38b7df789550f8a;ms-9551db96b60a51ccf62a;ms-938b53ef53e669518a56;ms-8e23d2d44e709420e46d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-36f204d04ec4c4af3169", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.18974170088768005, + "candidate_source_group_id": "ms-4a86d570dabb0916f020;ms-1cb9edbe8bd7ed4106c1;ms-73259d17883355f7fa88;ms-0f02ff35b7fa1234c52e;ms-becd2ffef1c49174810a;ms-0a6bff8326e7e32702f3", + "expert_regret": 1.339151680469513, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-832f0e966173abd16c34", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.339151680469513, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6608483195304871, + "restore_error": 1.1920928955078125e-07, + "score": 0.6608483195304871, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.44810017943382263, + "candidate_source_group_id": "ms-7a3daad6772d2384ea66;ms-2f2b16367db3db120235;ms-84264ef080ec4f3631df;ms-01a86e5f5731af7002ab;ms-e91b824c3841686ed053;ms-8be46dac6fc06c6c928a", + "expert_regret": 1.4891876578330994, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e56b37f0e3881a70ef54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4891876578330994, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5108123421669006, + "restore_error": 1.1920928955078125e-07, + "score": 0.5108123421669006, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40373674035072327, + "candidate_source_group_id": "ms-c663f7e73e7e8376a05c;ms-3c3fb1d170c1a7965ac4;ms-6818a4edf6ef35dacfb0;ms-0bc111c5ce4e0052716b;ms-73e3079ce5eb7cd14ec8;ms-efbde8652e75274fbd69", + "expert_regret": 1.4050753116607666, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b37738e210bf33a45a1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4050753116607666, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5949246883392334, + "restore_error": 1.1920928955078125e-07, + "score": 0.5949246883392334, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.24720242619514465, + "candidate_source_group_id": "ms-2e7fc6c97e5ce1f024e5;ms-32943eea3e70cd02f313;ms-73e3079ce5eb7cd14ec8;ms-3c3fb1d170c1a7965ac4;ms-efbde8652e75274fbd69;ms-076246c4c5d1ca8ccd9d", + "expert_regret": 1.634339988231659, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d30b515ab0ee174afa58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.634339988231659, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.36566001176834106, + "restore_error": 1.1920928955078125e-07, + "score": 0.36566001176834106, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41043663024902344, + "candidate_source_group_id": "ms-e6ca7414c5035e80d0ac;ms-252706fc0657a82ba5a4;ms-043a17d678e610264bb8;ms-e9a43adf4bba03b65d5d;ms-c1f3359c70d068a36081;ms-6a03497f97765ffd444e", + "expert_regret": 1.7693287879228592, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5b0141f336d28927cf31", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7693287879228592, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2306712120771408, + "restore_error": 1.1920928955078125e-07, + "score": 0.2306712120771408, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38953498005867004, + "candidate_source_group_id": "ms-324a58dd51dfecb51fa8;ms-8c4a08985213114fffb7;ms-7b1a03be4a61ba27261c;ms-2590f9fd91265598fb45;ms-4c72a9ad08cbf51799fb;ms-6939f3ecafd5e0a4bfee", + "expert_regret": 1.2830954790115356, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d602b7370c5b90f8a439", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2830954790115356, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7169045209884644, + "restore_error": 1.1920928955078125e-07, + "score": 0.7169045209884644, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1937592327594757, + "candidate_source_group_id": "ms-4a86d570dabb0916f020;ms-0a6bff8326e7e32702f3;ms-becd2ffef1c49174810a;ms-1cb9edbe8bd7ed4106c1;ms-0f02ff35b7fa1234c52e;ms-73259d17883355f7fa88", + "expert_regret": 1.2763134241104126, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bbefdf03d0471be60f8f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2763134241104126, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7236865758895874, + "restore_error": 1.1920928955078125e-07, + "score": 0.7236865758895874, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2583308517932892, + "candidate_source_group_id": "ms-04cc31b72a8dc8a91911;ms-5b24bcde90348f24bb19;ms-2590f9fd91265598fb45;ms-8c4a08985213114fffb7;ms-4c72a9ad08cbf51799fb;ms-6939f3ecafd5e0a4bfee", + "expert_regret": 1.5362626910209656, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-09b2d832d7823c11fd22", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5362626910209656, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4637373089790344, + "restore_error": 2.384185791015625e-07, + "score": 0.4637373089790344, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5354069471359253, + "candidate_source_group_id": "ms-cf2603516869355b8b13;ms-c0142e4a5d15dd8d647a;ms-40392e5aeef63551f9ac;ms-49c99f285560483a85ee;ms-524ae7618ed9b6a272ae;ms-9b687dc2de14c6813d44", + "expert_regret": 1.7917144894599915, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e2f90eb6c79dfd9ce6fd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7917144894599915, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20828551054000854, + "restore_error": 2.384185791015625e-07, + "score": 0.20828551054000854, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2778758704662323, + "candidate_source_group_id": "ms-aedc3dee6e275342eb8f;ms-684a66885f21739d826b;ms-a4420cda0b159dda82a2;ms-e9a43adf4bba03b65d5d;ms-b0861c414f8690d62a82;ms-252706fc0657a82ba5a4", + "expert_regret": 1.7466300427913666, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-780ea60ea0255941e6c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7466300427913666, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2533699572086334, + "restore_error": 2.384185791015625e-07, + "score": 0.2533699572086334, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7863624691963196, + "candidate_source_group_id": "ms-a67a1ab4d96d811cec77;ms-894cd0e5dafb2d38831d;ms-0fe90299788e1f71f98a;ms-88f7199271947fc4c7e8;ms-effca6c13ef9ccfd21a0;ms-c7677b8f230103dd3c51", + "expert_regret": 0.00597207248210907, + "expert_score": 0.23429617285728455, + "expert_success": false, + "group_id": "ms-a932cbf7e2b5755db22e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.00597207248210907, + "oracle_score": 0.23429617285728455, + "oracle_success": false, + "progress": 0.22832410037517548, + "restore_error": 2.384185791015625e-07, + "score": 0.22832410037517548, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.27540335059165955, + "candidate_source_group_id": "ms-0fe90299788e1f71f98a;ms-c7677b8f230103dd3c51;ms-88f7199271947fc4c7e8;ms-4c72a9ad08cbf51799fb;ms-894cd0e5dafb2d38831d;ms-04cc31b72a8dc8a91911", + "expert_regret": 1.276581346988678, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e705fef3e4caa4c49718", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.276581346988678, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.723418653011322, + "restore_error": 2.384185791015625e-07, + "score": 0.723418653011322, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3506665825843811, + "candidate_source_group_id": "ms-a6e4ac1995198def96a8;ms-a40dee47c502e73949af;ms-510cafd84de611de3909;ms-e89a3ba400f81d2795f3;ms-bb567fcac946f012535a;ms-31fe1d98bc7adcd515db", + "expert_regret": 1.284674882888794, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-136f1ebebd0b697c3310", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.284674882888794, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.715325117111206, + "restore_error": 2.384185791015625e-07, + "score": 0.715325117111206, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.012667025439441204, + "candidate_source_group_id": "ms-4a86d570dabb0916f020;ms-0f02ff35b7fa1234c52e;ms-7334e620435d1f3545fd;ms-f6f0d14ef7c24b9e4621;ms-0a6bff8326e7e32702f3;ms-510cafd84de611de3909", + "expert_regret": 0.0, + "expert_score": 0.7196991443634033, + "expert_success": false, + "group_id": "ms-ea164b21572d39ffed58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.19189170002937317, + "candidate_source_group_id": "ms-8fabc0ac20ec87ead026;ms-cba95475cb68ea42b041;ms-52ea0261959dfacdbcac;ms-22d1b2dcc954dcdff384;ms-ee28aef4a7ee25ff7f7c;ms-0fe90299788e1f71f98a", + "expert_regret": 1.7184981405735016, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0251a326271aa1cab82b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7184981405735016, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2815018594264984, + "restore_error": 2.384185791015625e-07, + "score": 0.2815018594264984, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.29789599776268005, + "candidate_source_group_id": "ms-7a1b60ea1461eb460bed;ms-a40abdebe8a9c17de878;ms-662379c2c351807b9cdf;ms-ecb5cc61f0b736e3f06f;ms-ed30f8fbb80b2cf46fbc;ms-80d8d8fc4a3308139975", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-96e1562aaca7ef49db28", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4550604820251465, + "candidate_source_group_id": "ms-c2b904f450b45e2a8c9a;ms-9852b3671856321cecc8;ms-ec2e4afb34b439731136;ms-33a0bdb4bcee42c79a2b;ms-13d8bae55d3c3710138f;ms-c0ed69f549e56aa55f3d", + "expert_regret": 1.3230541944503784, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29a11d7bdcf49c86bd7a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3230541944503784, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6769458055496216, + "restore_error": 1.1920928955078125e-07, + "score": 0.6769458055496216, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1746968924999237, + "candidate_source_group_id": "ms-078317e23cc56a9d719d;ms-bc56601ca069f65cd08f;ms-a242f1d12ebfcd82de05;ms-8fcf4d9d042de2f74d76;ms-1145e0f6add300eee9bd;ms-f6f0d14ef7c24b9e4621", + "expert_regret": 1.3052598237991333, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-051860c228aa5160d5a6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3052598237991333, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6947401762008667, + "restore_error": 1.1920928955078125e-07, + "score": 0.6947401762008667, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.155882328748703, + "candidate_source_group_id": "ms-f6f0d14ef7c24b9e4621;ms-675833805d1139c2f2a0;ms-0a6bff8326e7e32702f3;ms-a242f1d12ebfcd82de05;ms-074cb86179cdd7f52737;ms-31fe1d98bc7adcd515db", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-690f52acc6ead9c7c078", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35907047986984253, + "candidate_source_group_id": "ms-44a607bf50304347ead8;ms-f3211ecde366ca9f6ac7;ms-35c12c467fb8a54f89f0;ms-0a8109ce7ab2ddc1bb1e;ms-a103dfbc0567d05ade6e;ms-e6478d71ed92dae06539", + "expert_regret": 1.3154233694076538, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3af721139694f7f3ec04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3154233694076538, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6845766305923462, + "restore_error": 1.1920928955078125e-07, + "score": 0.6845766305923462, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4529951512813568, + "candidate_source_group_id": "ms-a43b35c03282fe0c8464;ms-a103dfbc0567d05ade6e;ms-35c12c467fb8a54f89f0;ms-44a607bf50304347ead8;ms-0a8109ce7ab2ddc1bb1e;ms-f3211ecde366ca9f6ac7", + "expert_regret": 1.800988107919693, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68c63442972f322789b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.800988107919693, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.199011892080307, + "restore_error": 1.1920928955078125e-07, + "score": 0.199011892080307, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36040037870407104, + "candidate_source_group_id": "ms-da28f7d135db8979d5b8;ms-6ca37421eb5405e1a9a5;ms-e825996818ee6f2f7d26;ms-227f2e245df67a5ef5ed;ms-85e3feba1c0f3084cfa0;ms-e467ecc93a4793286423", + "expert_regret": 1.3329521417617798, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-577341cca32521f4045e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3329521417617798, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6670478582382202, + "restore_error": 1.1920928955078125e-07, + "score": 0.6670478582382202, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.44727060198783875, + "candidate_source_group_id": "ms-093472a082b3b61e73d6;ms-b2d1a5e132eaeb353782;ms-0a57aa04002f1b843856;ms-1a2d298bf9972ddc1a7e;ms-6ceb341dfa656e485a13;ms-0d80d6d87a27a53951fe", + "expert_regret": 1.4472208619117737, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b60078e9e6ea9c26dedc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4472208619117737, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5527791380882263, + "restore_error": 1.1920928955078125e-07, + "score": 0.5527791380882263, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3340490162372589, + "candidate_source_group_id": "ms-340913cb08bfca09a4e3;ms-e536e40f6902c6ba0927;ms-13aa39b96923ad8c913a;ms-7dfc3684b46df95070e2;ms-080e034927abe2f30d60;ms-bdb04ada069c35d51e2e", + "expert_regret": 1.4321141242980957, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fdb2637276b27c46c757", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4321141242980957, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5678858757019043, + "restore_error": 2.384185791015625e-07, + "score": 0.5678858757019043, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3310411870479584, + "candidate_source_group_id": "ms-340913cb08bfca09a4e3;ms-e536e40f6902c6ba0927;ms-bdb04ada069c35d51e2e;ms-3e0dbff4309ecbd35d36;ms-5bbc4c4b1b51e2a088db;ms-080e034927abe2f30d60", + "expert_regret": 1.746169537305832, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-457db124a2f46a06175b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.746169537305832, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2538304626941681, + "restore_error": 2.384185791015625e-07, + "score": 0.2538304626941681, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.15981507301330566, + "candidate_source_group_id": "ms-becd2ffef1c49174810a;ms-0a6bff8326e7e32702f3;ms-4a86d570dabb0916f020;ms-1cb9edbe8bd7ed4106c1;ms-bc56601ca069f65cd08f;ms-73259d17883355f7fa88", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-06cb0796d1097e6ca111", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3110937476158142, + "candidate_source_group_id": "ms-4a845dab9503bc4eba04;ms-227f2e245df67a5ef5ed;ms-c146ea1c89beb683b6fd;ms-af25c332ad54eee6e1c3;ms-074b26fed4c4a9dd3449;ms-40fb8acb1e648bf3b617", + "expert_regret": 1.2862606048583984, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2286d9cf8d88e878c4d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2862606048583984, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7137393951416016, + "restore_error": 2.384185791015625e-07, + "score": 0.7137393951416016, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3207549452781677, + "candidate_source_group_id": "ms-e2950dcb50ed2b955be6;ms-26322bd4de52dbd5743c;ms-059d7962a5f998edf668;ms-2436538e05fdcf8e44fc;ms-faeff0379a053e9ea351;ms-e3f38594991aafbffc23", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f56672eac1c00e9c2b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5321293473243713, + "candidate_source_group_id": "ms-6ceb341dfa656e485a13;ms-b2d1a5e132eaeb353782;ms-d5241a32e5c9de09f2e4;ms-0d80d6d87a27a53951fe;ms-6f03b16858c35025503e;ms-741e906eafd57d115b5d", + "expert_regret": 1.282269835472107, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-27251a7c7f13bf165e21", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.282269835472107, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7177301645278931, + "restore_error": 2.384185791015625e-07, + "score": 0.7177301645278931, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.46346133947372437, + "candidate_source_group_id": "ms-29027a8e3742362fd477;ms-4906f3adfda6dace862d;ms-03495469257613a802b4;ms-b3d9d9570bf9b64c18fe;ms-9f993a6e9bb26846d4f4;ms-1b8e9b173562648021f6", + "expert_regret": 1.7415349185466766, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-131a98e2d4a78a9645f8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7415349185466766, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25846508145332336, + "restore_error": 2.384185791015625e-07, + "score": 0.25846508145332336, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3494322597980499, + "candidate_source_group_id": "ms-d8f42ed6b0b686d819ab;ms-a195f05e99bccc48907e;ms-80e3d8a34c3cb94cad65;ms-84264ef080ec4f3631df;ms-6a9c4c704edd84c21cda;ms-8be46dac6fc06c6c928a", + "expert_regret": 1.5574810802936554, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ff012c1c8597c8db3cc7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5574810802936554, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4425189197063446, + "restore_error": 2.384185791015625e-07, + "score": 0.4425189197063446, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40837761759757996, + "candidate_source_group_id": "ms-30e2d8b7825053276e0c;ms-4b4cd12d70c0615e0930;ms-e12808f670338ca180c6;ms-8c8cf210aa675c5db1fe;ms-715db95b13ebc6c977c8;ms-c0ed69f549e56aa55f3d", + "expert_regret": 1.2810443043708801, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-251c1dfd1010906f559f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2810443043708801, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7189556956291199, + "restore_error": 2.384185791015625e-07, + "score": 0.7189556956291199, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.46498483419418335, + "candidate_source_group_id": "ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-98c8fcf4c9f098cebe8d;ms-dd0fad10ce064047d62e;ms-6959fa589edc996753d7;ms-483520829af0d733cb2a", + "expert_regret": 1.6554043292999268, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-18ab33df290e3919a468", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6554043292999268, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.34459567070007324, + "restore_error": 2.384185791015625e-07, + "score": 0.34459567070007324, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39810895919799805, + "candidate_source_group_id": "ms-324a58dd51dfecb51fa8;ms-7b1a03be4a61ba27261c;ms-4c72a9ad08cbf51799fb;ms-2590f9fd91265598fb45;ms-8c4a08985213114fffb7;ms-8be8a38748f9fb037556", + "expert_regret": 1.2841413021087646, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3996b923bb25440c29e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2841413021087646, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7158586978912354, + "restore_error": 2.384185791015625e-07, + "score": 0.7158586978912354, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.018775267526507378, + "candidate_source_group_id": "ms-cdbfe4d3b05f4ed12db3;ms-e0952f3218e0bf6fe027;ms-ebeb5587176e3877b98a;ms-0a6bff8326e7e32702f3;ms-988537a36edfece3d073;ms-1cb9edbe8bd7ed4106c1", + "expert_regret": 0.0005006194114685059, + "expert_score": 0.7242826819419861, + "expert_success": false, + "group_id": "ms-491aad3896ede89ea0dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.004117012023925781, + "oracle_score": 0.7278990745544434, + "oracle_success": false, + "progress": 0.7237820625305176, + "restore_error": 2.384185791015625e-07, + "score": 0.7237820625305176, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35127776861190796, + "candidate_source_group_id": "ms-ff3256da4e1731651937;ms-502c195c0e4810814bac;ms-1b8e9b173562648021f6;ms-5bbc4c4b1b51e2a088db;ms-9f993a6e9bb26846d4f4;ms-caeb4c3d358f256799a8", + "expert_regret": 1.736996352672577, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7cd314f076bfe5c32088", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.736996352672577, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2630036473274231, + "restore_error": 2.384185791015625e-07, + "score": 0.2630036473274231, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3906612992286682, + "candidate_source_group_id": "ms-a74a87e26362d09598fe;ms-57dc9349b8f2c9c49105;ms-40eb8d19498413d4e730;ms-c090bce47703a4c4bb0b;ms-effca6c13ef9ccfd21a0;ms-9f844e24c570295e0497", + "expert_regret": 1.309517502784729, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69785feff08dbf9a50be", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.309517502784729, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.690482497215271, + "restore_error": 2.384185791015625e-07, + "score": 0.690482497215271, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22864416241645813, + "candidate_source_group_id": "ms-9bbea286acf66b5cfb8e;ms-25195d526c9adb43ac79;ms-ad7b7d5d7fb25961859f;ms-0f02ff35b7fa1234c52e;ms-4a86d570dabb0916f020;ms-9c33d4837de7d23232d6", + "expert_regret": 0.47324836254119873, + "expert_score": 0.725988507270813, + "expert_success": false, + "group_id": "ms-8d3d849234ceb98c3dc1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.47324836254119873, + "oracle_score": 0.725988507270813, + "oracle_success": false, + "progress": 0.25274014472961426, + "restore_error": 2.384185791015625e-07, + "score": 0.25274014472961426, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37407049536705017, + "candidate_source_group_id": "ms-6a9c4c704edd84c21cda;ms-a195f05e99bccc48907e;ms-d8f42ed6b0b686d819ab;ms-84264ef080ec4f3631df;ms-e825996818ee6f2f7d26;ms-80e3d8a34c3cb94cad65", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b55ca348be8b64323714", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.49732705950737, + "candidate_source_group_id": "ms-01a86e5f5731af7002ab;ms-2f2b16367db3db120235;ms-7a3daad6772d2384ea66;ms-84264ef080ec4f3631df;ms-6a9c4c704edd84c21cda;ms-8be46dac6fc06c6c928a", + "expert_regret": 1.6930929124355316, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1d728ae415a4d3cb782e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6930929124355316, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3069070875644684, + "restore_error": 1.1920928955078125e-07, + "score": 0.3069070875644684, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3289710581302643, + "candidate_source_group_id": "ms-ff3256da4e1731651937;ms-1b8e9b173562648021f6;ms-502c195c0e4810814bac;ms-5bbc4c4b1b51e2a088db;ms-4906f3adfda6dace862d;ms-bdb04ada069c35d51e2e", + "expert_regret": 1.7295383214950562, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4dc9ab19fbe571f09699", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7295383214950562, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.27046167850494385, + "restore_error": 1.1920928955078125e-07, + "score": 0.27046167850494385, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4190102219581604, + "candidate_source_group_id": "ms-67b6e4d62036c13cc466;ms-2c6000014d31fc0bb21c;ms-f97bd60d5430c32f9494;ms-639913ac0e6b3997faae;ms-87fa87e06dc88c28a44f;ms-093472a082b3b61e73d6", + "expert_regret": 1.2874041199684143, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ace117030ae44c474db1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2874041199684143, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7125958800315857, + "restore_error": 1.1920928955078125e-07, + "score": 0.7125958800315857, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5816861391067505, + "candidate_source_group_id": "ms-059d7962a5f998edf668;ms-e3f38594991aafbffc23;ms-26322bd4de52dbd5743c;ms-e2950dcb50ed2b955be6;ms-908213fef55ccf1dfda6;ms-472376eba1a5e1c706bf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb329ccd569163c53415", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4353472888469696, + "candidate_source_group_id": "ms-30e2d8b7825053276e0c;ms-af91167a0cf15457c6ba;ms-4b4cd12d70c0615e0930;ms-ec2e4afb34b439731136;ms-e12808f670338ca180c6;ms-c0ed69f549e56aa55f3d", + "expert_regret": 1.8018748760223389, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-320d99264926ea029f95", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8018748760223389, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19812512397766113, + "restore_error": 1.1920928955078125e-07, + "score": 0.19812512397766113, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48699185252189636, + "candidate_source_group_id": "ms-4c72a9ad08cbf51799fb;ms-8c4a08985213114fffb7;ms-894cd0e5dafb2d38831d;ms-7b1a03be4a61ba27261c;ms-5b24bcde90348f24bb19;ms-2590f9fd91265598fb45", + "expert_regret": 1.5459740459918976, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-55e89d326b6531345902", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5459740459918976, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4540259540081024, + "restore_error": 1.1920928955078125e-07, + "score": 0.4540259540081024, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16978923976421356, + "candidate_source_group_id": "ms-9a72e47e2204fa794718;ms-c76aba3db8d4ce0062bc;ms-ec4accef21246e0c9213;ms-b0302a41f75a827cd4e4;ms-aa46bb6dc8e6274963b6;ms-b933fbfb7c8fa68a445f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-118ba8926eda06ffc61e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2064460664987564, + "candidate_source_group_id": "ms-baa36ee75ec2de550b9b;ms-2b59042e27453aff03a7;ms-3a09e411ee6c882ef7df;ms-93b076203c0c65fb22be;ms-e3526036a5bf85cac0bf;ms-d9ed0a9faf86ca5f5caa", + "expert_regret": 1.5979151725769043, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9fd14cc61816c2d4360e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5979151725769043, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4020848274230957, + "restore_error": 1.1920928955078125e-07, + "score": 0.4020848274230957, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34993547201156616, + "candidate_source_group_id": "ms-715db95b13ebc6c977c8;ms-648250f7c25953eab081;ms-3c550bf52d7bf91f4ca2;ms-0660d5f65df5fc4b6132;ms-c0ed69f549e56aa55f3d;ms-ec2e4afb34b439731136", + "expert_regret": 0.025553882122039795, + "expert_score": 0.7266449332237244, + "expert_success": false, + "group_id": "ms-68d9596217cc37c949c4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.025553882122039795, + "oracle_score": 0.7266449332237244, + "oracle_success": false, + "progress": 0.7010910511016846, + "restore_error": 1.1920928955078125e-07, + "score": 0.7010910511016846, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5412268042564392, + "candidate_source_group_id": "ms-851d25e7a1dde4242f33;ms-a5bd3a36c6fe41cd0b35;ms-0a57aa04002f1b843856;ms-1a2d298bf9972ddc1a7e;ms-22d006041320a4487c21;ms-d2febdb2a469fbbac4f2", + "expert_regret": 1.2784996628761292, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf44ae14778c60c36af0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2784996628761292, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7215003371238708, + "restore_error": 1.1920928955078125e-07, + "score": 0.7215003371238708, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22236786782741547, + "candidate_source_group_id": "ms-7272e1e33d4ecc07470c;ms-9ced92cccacfe4d157b0;ms-cc0b4a1deec28e53722a;ms-92070f417bd9d14d6fc7;ms-aee5716b3e4fc47e46ba;ms-9a72e47e2204fa794718", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-145f60d5fff285e7d05b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7740393877029419, + "candidate_source_group_id": "ms-ea41340182245326a218;ms-d8295b43b30ceea30907;ms-957002faf092f769aa8e;ms-ef2d84500e27679d22d9;ms-a96ff9a1d5571ec4a6f2;ms-d2839c13649000454a65", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-88fb2bebd038dc786c01", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.13083618879318237, + "candidate_source_group_id": "ms-f5ebbab81506fa27fc6d;ms-8864796e31bbe93d7c5d;ms-83019373a06eb384c886;ms-8e23d2d44e709420e46d;ms-9551db96b60a51ccf62a;ms-5b4f2522663bec742b02", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cbd6cc8b2708d5e3e4a9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4890407919883728, + "candidate_source_group_id": "ms-9f844e24c570295e0497;ms-effca6c13ef9ccfd21a0;ms-ce7b349699ed248bb67c;ms-40eb8d19498413d4e730;ms-c090bce47703a4c4bb0b;ms-a74a87e26362d09598fe", + "expert_regret": 1.5723373889923096, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8de8d619c0cf5fd633e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5723373889923096, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.42766261100769043, + "restore_error": 1.1920928955078125e-07, + "score": 0.42766261100769043, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.2187960147857666, + "candidate_source_group_id": "ms-8f3d4e1d07bb5dcc7c57;ms-a103dfbc0567d05ade6e;ms-95264bfdaa3892cf66ac;ms-33a0bdb4bcee42c79a2b;ms-efb5a07185a3a1b33226;ms-0e48a13af39db4a58bbc", + "expert_regret": 1.7546736299991608, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dfc111660c0d1c7b7e04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7546736299991608, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.24532637000083923, + "restore_error": 1.1920928955078125e-07, + "score": 0.24532637000083923, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.0334242582321167, + "candidate_source_group_id": "ms-851d25e7a1dde4242f33;ms-22d006041320a4487c21;ms-a5bd3a36c6fe41cd0b35;ms-d2febdb2a469fbbac4f2;ms-1a2d298bf9972ddc1a7e;ms-0a57aa04002f1b843856", + "expert_regret": 0.5085559487342834, + "expert_score": 0.7198216915130615, + "expert_success": false, + "group_id": "ms-b04b489f4fbad93b65ca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.788734257221222, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21126574277877808, + "restore_error": 1.1920928955078125e-07, + "score": 0.21126574277877808, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4599793255329132, + "candidate_source_group_id": "ms-a5bd3a36c6fe41cd0b35;ms-0a57aa04002f1b843856;ms-6f03b16858c35025503e;ms-1a2d298bf9972ddc1a7e;ms-851d25e7a1dde4242f33;ms-0d80d6d87a27a53951fe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9f4b47c80d59166302ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7182474136352539, + "candidate_source_group_id": "ms-45ed57caa698d87a99cf;ms-ffba357213945be5f9f7;ms-ee32e6bb3c0bb45702b9;ms-9bcf8a1e5e7b0f7ff6f5;ms-caeb59971565b08f2513;ms-28d5618562729c763eb6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4385e9c56007fdaa94b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4487960636615753, + "candidate_source_group_id": "ms-8b98e8aa8ecee10bea27;ms-cd71a93dcab09ba15592;ms-ebb616f9b291184677b3;ms-b5deb1971bf3b3484282;ms-ac79bc3a841958ce127f;ms-de0abc7a53a48164f82d", + "expert_regret": 0.5099188908934593, + "expert_score": 0.5987673401832581, + "expert_success": false, + "group_id": "ms-1b83fc0981e283975488", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.5099188908934593, + "oracle_score": 0.5987673401832581, + "oracle_success": false, + "progress": 0.08884844928979874, + "restore_error": 1.1920928955078125e-07, + "score": 0.08884844928979874, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6164261698722839, + "candidate_source_group_id": "ms-dbcc3da47d96ceeaf9f0;ms-b7800060cd4a8c3cb6b9;ms-c3f7b780f604922f4f67;ms-4681331b496c8a9cf14d;ms-ad5ad5314850df7b0853;ms-b0aa24be399d843c9d50", + "expert_regret": 1.4431589245796204, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-732819b0c220a4c06870", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4431589245796204, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5568410754203796, + "restore_error": 1.1920928955078125e-07, + "score": 0.5568410754203796, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6231967210769653, + "candidate_source_group_id": "ms-09de52dad7e40970c938;ms-61068da67676a95e5065;ms-a8864b25c00ee193d0ea;ms-ee055e1282f6302ad9e8;ms-48cdfa31865ed70997c8;ms-fb92a1e6b67121783fff", + "expert_regret": 1.4481760263442993, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-74517e19dfdee44d2f81", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4481760263442993, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5518239736557007, + "restore_error": 1.1920928955078125e-07, + "score": 0.5518239736557007, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7438225150108337, + "candidate_source_group_id": "ms-169b1786513146593ea8;ms-add4b7d277e1fc171144;ms-bcd9be34f050d97499bd;ms-f6db4e8bed63ed868487;ms-55c2bba961a327aa5260;ms-3a65e7b378a87a7eeb11", + "expert_regret": 1.8402741104364395, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-71ef8f2cdc11d83250fa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8402741104364395, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.15972588956356049, + "restore_error": 1.1920928955078125e-07, + "score": 0.15972588956356049, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.591272234916687, + "candidate_source_group_id": "ms-2458fcfffb3f96c6ca1a;ms-0019f809318a077c3910;ms-2259a78b2187e22f9f37;ms-3e971096794f04f325f2;ms-3b0ad4f07f1813ecf670;ms-cea745484a24f376d7e8", + "expert_regret": 1.8916823267936707, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e0b2e69a5ea0d0ad4fb5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8916823267936707, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10831767320632935, + "restore_error": 1.1920928955078125e-07, + "score": 0.10831767320632935, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.725892186164856, + "candidate_source_group_id": "ms-564c02492863ae749ea9;ms-dd1311efb8ab2a0a2d23;ms-bd6b2dc41ba42b44462a;ms-93e3d9968204474eff49;ms-4082ce1f04dbacd6a5b9;ms-52c6c227fd4b61609031", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6f1db8895d5164cc5ae5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.708389937877655, + "candidate_source_group_id": "ms-bc615957d9bf177dfe26;ms-eb206a3dda0ac16e1643;ms-bcfeba2af1e844c22aed;ms-3352e05afd9065cd09bf;ms-1735d1abca4a91293d78;ms-326a7b583623d136470e", + "expert_regret": 1.4927456974983215, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9044026b69850d12d05b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4927456974983215, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5072543025016785, + "restore_error": 1.1920928955078125e-07, + "score": 0.5072543025016785, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28221645951271057, + "candidate_source_group_id": "ms-a44a2c9eee8baea5d29e;ms-dd4f37e032d56b692a0e;ms-763c73c94818a090d358;ms-a6b029a958e91306966a;ms-b0aa24be399d843c9d50;ms-c7020fdb7cba871e8b3e", + "expert_regret": 1.4391935467720032, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c39b520dca0a325535f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4391935467720032, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5608064532279968, + "restore_error": 1.1920928955078125e-07, + "score": 0.5608064532279968, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5431128144264221, + "candidate_source_group_id": "ms-28d5618562729c763eb6;ms-9bcf8a1e5e7b0f7ff6f5;ms-daaac2887015a6e4f3e0;ms-ffba357213945be5f9f7;ms-45ed57caa698d87a99cf;ms-23f9cca8edfca421a4a6", + "expert_regret": 0.010110080242156982, + "expert_score": 0.5644940733909607, + "expert_success": false, + "group_id": "ms-0adce283894b0a2b7b94", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.010110080242156982, + "oracle_score": 0.5644940733909607, + "oracle_success": false, + "progress": 0.5543839931488037, + "restore_error": 1.1920928955078125e-07, + "score": 0.5543839931488037, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.436994731426239, + "candidate_source_group_id": "ms-e2ddf4681b47f39e15da;ms-2af09f91e05d19f7f181;ms-813cac6d08ed5af48b12;ms-a5a651f9e28ea52016fe;ms-3c2515d4a10082514714;ms-10af171aa279a879207d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dbb32d9fd6999e09f589", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5142117738723755, + "candidate_source_group_id": "ms-432ca73236be93cb76df;ms-fbea3b8005a30431cb52;ms-80d5c509e83845ab1bc7;ms-54f34c73458181a65e9a;ms-bfda95ffffd5d1a2683a;ms-a5775906ce2fb6556103", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5316151a88a3282436ca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4312407076358795, + "candidate_source_group_id": "ms-3d0d437ee74041fc61bb;ms-83d2b158041f4eed3646;ms-42117385b9e6e57c7e63;ms-5d430ebe6f7933dc6c8c;ms-a6060f858cb9f93c5588;ms-b6df140b235c8fe0eaad", + "expert_regret": 1.416714370250702, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a7f98a43ff113d74f009", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.416714370250702, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5832856297492981, + "restore_error": 1.1920928955078125e-07, + "score": 0.5832856297492981, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4088735580444336, + "candidate_source_group_id": "ms-54a04864cb68a4c3caac;ms-c6beb139304a0ea6f7ae;ms-b59a7ccfb736df4c4c68;ms-b01677be2df71c474d1f;ms-d5bfdabc97e56c680680;ms-3b4b0b8c60ad41bb16b0", + "expert_regret": 1.494712471961975, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9eea613e8158816f3193", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.494712471961975, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5052875280380249, + "restore_error": 1.1920928955078125e-07, + "score": 0.5052875280380249, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6136406660079956, + "candidate_source_group_id": "ms-a949424c5fa615565d72;ms-dd7f9cc9585878b84824;ms-eff5f21c51f26a85f07c;ms-0cfef0ba35d4e6097003;ms-32346c22352f72d3de3a;ms-2592e5fa970f1b474388", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8522a9364bf70311450d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4127190411090851, + "candidate_source_group_id": "ms-10f2865bef6da7b66423;ms-66ec6692758e9a7f2e01;ms-739a89fb4521bc481a9f;ms-f69d6aec4ddb12d88c5b;ms-d462cff6e1b4b201a6ce;ms-18fb80871b8e11d1ae9a", + "expert_regret": 1.474697768688202, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f947dbf28ad85666e2f1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.474697768688202, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5253022313117981, + "restore_error": 1.1920928955078125e-07, + "score": 0.5253022313117981, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28073641657829285, + "candidate_source_group_id": "ms-2e5c2f75d3f6311e0a1c;ms-307f9067d5b66f55b3a6;ms-5c8b50523e0de37d80b8;ms-44694e99af9263ad3c45;ms-9edc0261b6ca7980ff81;ms-5847c6d196024fce1770", + "expert_regret": 1.9491984844207764, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d305a11348461ae1622c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9491984844207764, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05080151557922363, + "restore_error": 1.1920928955078125e-07, + "score": 0.05080151557922363, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8404534459114075, + "candidate_source_group_id": "ms-a9ac13384fe5afc835f1;ms-edcdf99767068f94bcb4;ms-86b302005e0461f28c43;ms-4ca84594a789c9abd5d9;ms-c774aeee2c4066edd668;ms-5e85dc3760eef8a53a67", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69962cd1c448094e4fb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6676772236824036, + "candidate_source_group_id": "ms-519fb779d24a0bdf3809;ms-bb60defa0d234da9e0bc;ms-6029bab18ae94b126d79;ms-8315ae30e2cf041c8674;ms-2ee00a97b477ba241dba;ms-95320371ce6b820c85f6", + "expert_regret": 1.4581542611122131, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ee19bfbcb2f4fbf5a44d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4581542611122131, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5418457388877869, + "restore_error": 1.1920928955078125e-07, + "score": 0.5418457388877869, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.23567426204681396, + "candidate_source_group_id": "ms-eaf612349e2da547ee98;ms-5daa8575a80e98a83170;ms-f101cf5cc8575be3c201;ms-8b73e5dfa1f2a01e6017;ms-06715386190189185900;ms-c6beb139304a0ea6f7ae", + "expert_regret": 1.4432731866836548, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29653e236de96058ef6d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4432731866836548, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5567268133163452, + "restore_error": 1.1920928955078125e-07, + "score": 0.5567268133163452, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6551793813705444, + "candidate_source_group_id": "ms-c3a1cf0e424a4f065459;ms-49219cb8ed7dad70c897;ms-67f602a0e4efc9984d72;ms-4e86b87d6e5f6ab914fe;ms-6029bab18ae94b126d79;ms-10af171aa279a879207d", + "expert_regret": 1.4383516311645508, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b4af4c8b9dcd6976546c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4383516311645508, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5616483688354492, + "restore_error": 1.1920928955078125e-07, + "score": 0.5616483688354492, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6137762665748596, + "candidate_source_group_id": "ms-cd71a93dcab09ba15592;ms-7fd4a05174dcc8eaff38;ms-ac79bc3a841958ce127f;ms-578537600f7a649c2dd5;ms-cd340bca589f0cebd7da;ms-8b98e8aa8ecee10bea27", + "expert_regret": 1.8958082050085068, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2cf1227610d4602f88ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8958082050085068, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10419179499149323, + "restore_error": 1.1920928955078125e-07, + "score": 0.10419179499149323, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7045746445655823, + "candidate_source_group_id": "ms-351c397795d9af204ec6;ms-4b970be37419ce0be0ae;ms-f682952c6ecb2b833c35;ms-12ac4329c5bca5f2bb62;ms-7651a7f31eae24958ef0;ms-caed5c1b1c882141e2e9", + "expert_regret": 1.9731060974299908, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f8e2d5d25706493821d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9731060974299908, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02689390257000923, + "restore_error": 1.1920928955078125e-07, + "score": 0.02689390257000923, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5294834971427917, + "candidate_source_group_id": "ms-81085eba1dd49b17ec9c;ms-4fe7fdaf946c97803c82;ms-e093f85b121d443b61e2;ms-61068da67676a95e5065;ms-4276f24b1b5dce771bff;ms-fb92a1e6b67121783fff", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1bfca22d4af29f0e14b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7085054516792297, + "candidate_source_group_id": "ms-8b85ebf659960395db9c;ms-893159691d11a40c7537;ms-90bfce2cef85e101138e;ms-7020f1cda882b79bffa3;ms-8d1978e8c3540cb5b1f6;ms-edda00243c6d6275fc0f", + "expert_regret": 1.9359732121229172, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-02ab2e7a74d970154eb7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9359732121229172, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06402678787708282, + "restore_error": 1.1920928955078125e-07, + "score": 0.06402678787708282, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.13754646480083466, + "candidate_source_group_id": "ms-42895361db5578b75c0e;ms-22412b51e61621b6025b;ms-ce992c1fa0bcc38512b7;ms-4705657703da9d791fb9;ms-869a04e41dc5cc90916b;ms-25a8e32c071be83d913b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11230e3aaabb1feec834", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.36604171991348267, + "candidate_source_group_id": "ms-0f219ce35aff264455e2;ms-1309e1770b6ca6e71c7e;ms-d5d7c690819019cb7869;ms-76b9f40367a1ee020744;ms-295de2ad6c52ab50de1a;ms-486ff31b7a04a7e9e8f9", + "expert_regret": 1.4464380741119385, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6b2d805dc063382ade2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4464380741119385, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5535619258880615, + "restore_error": 1.1920928955078125e-07, + "score": 0.5535619258880615, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5354131460189819, + "candidate_source_group_id": "ms-bcd9be34f050d97499bd;ms-e20f5d43f319248c5001;ms-add4b7d277e1fc171144;ms-bc53e550cb202b5fcdf3;ms-38ceda08bad38fbebc1c;ms-10a5b6cc3ec06dfdc5c5", + "expert_regret": 1.980337368324399, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e058c0dba52df04b8642", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.980337368324399, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.019662631675601006, + "restore_error": 1.1920928955078125e-07, + "score": 0.019662631675601006, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.36061766743659973, + "candidate_source_group_id": "ms-48d490ed21088bb5ba85;ms-57ac136bd68be6387c6f;ms-f101cf5cc8575be3c201;ms-f39bbaa063044719a98d;ms-d5bfdabc97e56c680680;ms-8fcc78fba7b3bec0fab6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-935ff204de9424ec00a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.07028709352016449, + "candidate_source_group_id": "ms-5f98f13f17e8f41f7436;ms-d19c9e3ab1d7daf06344;ms-4276f24b1b5dce771bff;ms-295de2ad6c52ab50de1a;ms-e441e4042cb7d77a4986;ms-a145b708d79b243da21f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b97cb4ec02e8234b08c5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22389984130859375, + "candidate_source_group_id": "ms-23d6e5835aa90a62b6ef;ms-f897cc2141a0a303fc6a;ms-c0bfce3c9dd10f9d3231;ms-054a02413d31389d1b7f;ms-910364d2d86091c5e0cf;ms-fbb609a3f2a334986245", + "expert_regret": 1.412960946559906, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29dd2cdbb66fe13ab877", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.412960946559906, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.587039053440094, + "restore_error": 1.1920928955078125e-07, + "score": 0.587039053440094, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2526889443397522, + "candidate_source_group_id": "ms-2e5c2f75d3f6311e0a1c;ms-307f9067d5b66f55b3a6;ms-5c8b50523e0de37d80b8;ms-8af2224cc82636ef1dd7;ms-9edc0261b6ca7980ff81;ms-90a03366976eaa1ad013", + "expert_regret": 1.981122063472867, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5415e349e8f9f2bce641", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.981122063472867, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.018877936527132988, + "restore_error": 1.1920928955078125e-07, + "score": 0.018877936527132988, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4296707510948181, + "candidate_source_group_id": "ms-2b556c4c1b55a20b14c8;ms-488a34fe7b7e84250616;ms-f8439d39ae9ed028a4cd;ms-d19573dc65181befd83d;ms-b42e0a68875b0405904b;ms-fffe378a3bad31bbed52", + "expert_regret": 1.454673171043396, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5780f9e1e9f9e740d474", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.454673171043396, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.545326828956604, + "restore_error": 2.384185791015625e-07, + "score": 0.545326828956604, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28095659613609314, + "candidate_source_group_id": "ms-ebb616f9b291184677b3;ms-8b98e8aa8ecee10bea27;ms-b5deb1971bf3b3484282;ms-cd71a93dcab09ba15592;ms-de0abc7a53a48164f82d;ms-4015c296239564108da2", + "expert_regret": 1.5025149881839752, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-adfe268e473c03b72c65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5025149881839752, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4974850118160248, + "restore_error": 2.384185791015625e-07, + "score": 0.4974850118160248, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5126510262489319, + "candidate_source_group_id": "ms-0c9c39c462522b25ef2b;ms-ee32e6bb3c0bb45702b9;ms-a166a9b750ec3446beea;ms-8fdde5008d12abb7ae6a;ms-3aa5793c449b59c77b6f;ms-60c7d1d3b5701e7f4e48", + "expert_regret": 1.4471758604049683, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b8276cb9b6cb9a9b302f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4471758604049683, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5528241395950317, + "restore_error": 2.384185791015625e-07, + "score": 0.5528241395950317, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5189608931541443, + "candidate_source_group_id": "ms-22412b51e61621b6025b;ms-c0bfce3c9dd10f9d3231;ms-869a04e41dc5cc90916b;ms-ce992c1fa0bcc38512b7;ms-f8c4e700a751537ebb16;ms-30998855587c076a2a77", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-55ea22014575410563a4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5497986674308777, + "candidate_source_group_id": "ms-813cac6d08ed5af48b12;ms-ce2924d08bdd6c379777;ms-64ab703e7a82799a47dd;ms-4e86b87d6e5f6ab914fe;ms-10af171aa279a879207d;ms-67f602a0e4efc9984d72", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-70342af6b601660d7c69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.31451353430747986, + "candidate_source_group_id": "ms-1df0775c4ef08d0cf1bf;ms-561f4f913d7b4991d81a;ms-d69b907e65875420bab7;ms-8b5b5e5f9237c41e0fe9;ms-bb0d941f78d3d9c5a886;ms-2dc8e489908f72903319", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3d095a49ed03de972849", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.17418743669986725, + "candidate_source_group_id": "ms-561f4f913d7b4991d81a;ms-4ec67456479f53e605e1;ms-dd1311efb8ab2a0a2d23;ms-ed7b02bc8f37b8524a56;ms-8f0e2c9caad14bd37ecf;ms-31782020143c24b4271b", + "expert_regret": 1.4341338276863098, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-73e36360221b6732c688", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4341338276863098, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5658661723136902, + "restore_error": 2.384185791015625e-07, + "score": 0.5658661723136902, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45281070470809937, + "candidate_source_group_id": "ms-de0321d0ece4c58bc224;ms-54a7c3d32b6a267d81a2;ms-59020093d2eeaf58aa84;ms-e110d8ef3eb852a0f564;ms-dea17c1c383f54d05636;ms-382000b79932b7c68326", + "expert_regret": 1.4508819580078125, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-56ad75c28031e049a3dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4508819580078125, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5491180419921875, + "restore_error": 2.384185791015625e-07, + "score": 0.5491180419921875, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5829674601554871, + "candidate_source_group_id": "ms-a8864b25c00ee193d0ea;ms-4e395d53889980b05784;ms-42f83ea069c0558ea81b;ms-288532d255e4828bb15b;ms-225fbe08f2933f91d603;ms-b7ed399f40d2d554b16d", + "expert_regret": 1.4818578362464905, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a745e34fa5a8d527e77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4818578362464905, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5181421637535095, + "restore_error": 1.1920928955078125e-07, + "score": 0.5181421637535095, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6015873551368713, + "candidate_source_group_id": "ms-bb60defa0d234da9e0bc;ms-95320371ce6b820c85f6;ms-79c7332b2b329eaa6a13;ms-478f754a15221314d15e;ms-61b1188974f35233b883;ms-708baf01c22c75cafd22", + "expert_regret": 0.0, + "expert_score": 0.5963302850723267, + "expert_success": false, + "group_id": "ms-66cc354bbf4e8bdd1051", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.5963302850723267, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5664483904838562, + "candidate_source_group_id": "ms-fd6deac5a281d169bc75;ms-753929cfdc4aaa652b32;ms-eb16021deb5d03f15c9d;ms-561f4f913d7b4991d81a;ms-8f0e2c9caad14bd37ecf;ms-1df0775c4ef08d0cf1bf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-023e021f079a8774c741", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7682738304138184, + "candidate_source_group_id": "ms-288532d255e4828bb15b;ms-b7ed399f40d2d554b16d;ms-1abd8c7cc1c683f88d3d;ms-8af87d14945da6a910e4;ms-42f83ea069c0558ea81b;ms-b82cc8ce5d9d348ba6b4", + "expert_regret": 1.4358729124069214, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb228a036fe5973bcad1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4358729124069214, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5641270875930786, + "restore_error": 1.1920928955078125e-07, + "score": 0.5641270875930786, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42866024374961853, + "candidate_source_group_id": "ms-68970d9d9bf975e25eb5;ms-f80ae137a8d9981f8c98;ms-dc2a8fa76e1ceb0d8925;ms-25839c690d85a4f5b986;ms-45d4b692eda9ecacaa55;ms-f4d6da245d340cd16d30", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f6d30c2ade00e451dc2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.08132987469434738, + "candidate_source_group_id": "ms-88e10d1be12a407b3926;ms-79d500110f3723b57da8;ms-7e0ef0b7f94396bf0029;ms-5e3b1693ad7b75221847;ms-2a67eea0b1293de9bcf9;ms-53fdabb5d8ef20778214", + "expert_regret": 1.440644919872284, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7af1e453acf970f40546", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.440644919872284, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5593550801277161, + "restore_error": 1.1920928955078125e-07, + "score": 0.5593550801277161, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4210624396800995, + "candidate_source_group_id": "ms-0d1db6695acdf1ec3eaf;ms-c7041c6f758f8e4a3698;ms-57ac136bd68be6387c6f;ms-0cfef0ba35d4e6097003;ms-e45b5de01eafae73e492;ms-f101cf5cc8575be3c201", + "expert_regret": 1.4483854174613953, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8420ccaff5986c85063f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4483854174613953, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5516145825386047, + "restore_error": 1.1920928955078125e-07, + "score": 0.5516145825386047, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33167871832847595, + "candidate_source_group_id": "ms-c5d026dffb39f2f1d38a;ms-3aa5793c449b59c77b6f;ms-ee32e6bb3c0bb45702b9;ms-c70be4072fb4e49ac106;ms-9783ccaf76f1b20c766e;ms-30fe784e67f732ef9a3d", + "expert_regret": 1.4811084270477295, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-99ecd2226d7187416316", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4811084270477295, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5188915729522705, + "restore_error": 1.1920928955078125e-07, + "score": 0.5188915729522705, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4236549735069275, + "candidate_source_group_id": "ms-7fd4a05174dcc8eaff38;ms-578537600f7a649c2dd5;ms-cd340bca589f0cebd7da;ms-ac79bc3a841958ce127f;ms-cd71a93dcab09ba15592;ms-68e331088400739273da", + "expert_regret": 1.465423583984375, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c2bc492ab5eb87a73789", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.465423583984375, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.534576416015625, + "restore_error": 1.1920928955078125e-07, + "score": 0.534576416015625, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20128123462200165, + "candidate_source_group_id": "ms-32435d71bb817daf01d9;ms-f80ae137a8d9981f8c98;ms-dc2a8fa76e1ceb0d8925;ms-339ae3ec9482aa259eec;ms-53cfcc878e30fc078bba;ms-5ac153f97fd3c2f689c5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a10d8368c33b56390f77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5964337587356567, + "candidate_source_group_id": "ms-bb0d941f78d3d9c5a886;ms-44252df6095f31d8b26e;ms-f3e40db5e157647d463d;ms-eb16021deb5d03f15c9d;ms-fe2964cc8940ee7c24aa;ms-fd6deac5a281d169bc75", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d91cbe61314c18955b6b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.388397216796875, + "candidate_source_group_id": "ms-2dc4f12ea7e8567e3a6e;ms-90a03366976eaa1ad013;ms-add4b7d277e1fc171144;ms-3fdce65bd5c5681403a7;ms-0843bef6b0c13c3ede69;ms-307f9067d5b66f55b3a6", + "expert_regret": 1.9786759614944458, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bdd1924b44de2db5b07a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9786759614944458, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0213240385055542, + "restore_error": 1.1920928955078125e-07, + "score": 0.0213240385055542, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.31226903200149536, + "candidate_source_group_id": "ms-13557287cd450bc12c6f;ms-22325628db75967cf779;ms-5df54a8baaceb8c73c8a;ms-236601c5e076b4ee5d75;ms-f7c9f440fec3a22cd6d4;ms-f763382872d8e89017c2", + "expert_regret": 1.4594687819480896, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c425c810f7865e9564ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4594687819480896, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5405312180519104, + "restore_error": 1.1920928955078125e-07, + "score": 0.5405312180519104, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42418649792671204, + "candidate_source_group_id": "ms-763c73c94818a090d358;ms-a44a2c9eee8baea5d29e;ms-4fe47d946641f0096a85;ms-7d81f3e8b6a42695871d;ms-9b56e5007c76d9fefd1f;ms-dd4f37e032d56b692a0e", + "expert_regret": 1.4641725420951843, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-486572c62484eb4d73db", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4641725420951843, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5358274579048157, + "restore_error": 1.1920928955078125e-07, + "score": 0.5358274579048157, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5450857877731323, + "candidate_source_group_id": "ms-3ea30989082ec714e12d;ms-d849d754f346b826e052;ms-b7ed399f40d2d554b16d;ms-288532d255e4828bb15b;ms-1abd8c7cc1c683f88d3d;ms-ae5421846020d2765f82", + "expert_regret": 1.460453987121582, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a8e6435948250f5e163d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.460453987121582, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.539546012878418, + "restore_error": 1.1920928955078125e-07, + "score": 0.539546012878418, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.350025475025177, + "candidate_source_group_id": "ms-25a8e32c071be83d913b;ms-4705657703da9d791fb9;ms-813cac6d08ed5af48b12;ms-ce992c1fa0bcc38512b7;ms-d05d9bbb98f24da55981;ms-351818a836474e594d3c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7be1c6c8ef67031b1f90", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5665478110313416, + "candidate_source_group_id": "ms-859d0ea38fb5e8aa6b98;ms-ee7463f3d937dbc16f89;ms-e7f2d1f0de50c6fcccb4;ms-3deb9fa600781abb51c1;ms-a3fa10726c656e851515;ms-12a997dde50b7a7f35cb", + "expert_regret": 1.5186463296413422, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0cc80a2933abf1b4853f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5186463296413422, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.48135367035865784, + "restore_error": 1.1920928955078125e-07, + "score": 0.48135367035865784, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5294297933578491, + "candidate_source_group_id": "ms-1d5b929cb9614dc18304;ms-fcfb7dd60d966e20b98d;ms-793a98188fd57ed5291f;ms-8fa24da5c97dc1dad5c1;ms-10dbf8bb0c239a44ec0f;ms-15c083989d8277fd07ec", + "expert_regret": 1.9656741842627525, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-72cf68c15631675b063f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9656741842627525, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03432581573724747, + "restore_error": 1.1920928955078125e-07, + "score": 0.03432581573724747, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6957783102989197, + "candidate_source_group_id": "ms-4acbf69acd30d96e46a7;ms-fe650308e25459ee64c6;ms-a01e21b91a5b37a16afe;ms-706943f06888dd5bbb3a;ms-9233eae706910c204b79;ms-0915b75e9fd1468d464e", + "expert_regret": 1.461875557899475, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-aea09fb002af52e12bd8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.461875557899475, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5381244421005249, + "restore_error": 1.1920928955078125e-07, + "score": 0.5381244421005249, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.30053088068962097, + "candidate_source_group_id": "ms-46987cd8daa3091c8a85;ms-81d1d8def1fbeb3b1cc5;ms-3950f823020f08f8e8cd;ms-68970d9d9bf975e25eb5;ms-f4d6da245d340cd16d30;ms-25839c690d85a4f5b986", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f4b95f2b569e3f1bf086", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41175439953804016, + "candidate_source_group_id": "ms-50f62a61a82a96061d9a;ms-f3ddc66fde2d59666e07;ms-ca10d8b9d03f4d59806c;ms-f77305a344da6a4ccc84;ms-b606af28580a38cea636;ms-70d994c15153752d0dce", + "expert_regret": 1.4365848302841187, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4d43fb19477b7ab848bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4365848302841187, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5634151697158813, + "restore_error": 1.1920928955078125e-07, + "score": 0.5634151697158813, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.10417819768190384, + "candidate_source_group_id": "ms-68970d9d9bf975e25eb5;ms-46987cd8daa3091c8a85;ms-3950f823020f08f8e8cd;ms-81d1d8def1fbeb3b1cc5;ms-45d4b692eda9ecacaa55;ms-10621e1108a69d0b633e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-16a7ccf3c442984c2feb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6242393851280212, + "candidate_source_group_id": "ms-d8b4090565126a66d13e;ms-999a8c1454dd4597a834;ms-b0d54c14a65fb73f08ca;ms-b23839ace2fb08438144;ms-3b7c5c91ae441f282006;ms-630663751ab841a96d5a", + "expert_regret": 1.8811547011137009, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b481531ab787e3d6fb1e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8811547011137009, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11884529888629913, + "restore_error": 1.1920928955078125e-07, + "score": 0.11884529888629913, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5609027743339539, + "candidate_source_group_id": "ms-6e4cc893fcbca1b385e8;ms-47fd1407ae4e17ed4bee;ms-5a7891a58bac94796178;ms-61b1188974f35233b883;ms-0e12a6083750bfecca87;ms-1158e6997b2f1281b105", + "expert_regret": 0.11907544732093811, + "expert_score": 0.6174660325050354, + "expert_success": false, + "group_id": "ms-309c09cf5d782e9ba0a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.11907544732093811, + "oracle_score": 0.6174660325050354, + "oracle_success": false, + "progress": 0.4983905851840973, + "restore_error": 1.1920928955078125e-07, + "score": 0.4983905851840973, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3304498493671417, + "candidate_source_group_id": "ms-8315ae30e2cf041c8674;ms-7b932868f83725def2ed;ms-6029bab18ae94b126d79;ms-70d994c15153752d0dce;ms-4e86b87d6e5f6ab914fe;ms-7cab119c7b8019254ba4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d807915e233a0c74b809", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.05149386450648308, + "candidate_source_group_id": "ms-8315ae30e2cf041c8674;ms-70d994c15153752d0dce;ms-7b932868f83725def2ed;ms-6029bab18ae94b126d79;ms-2f846e9f31e2b8c4965f;ms-4e86b87d6e5f6ab914fe", + "expert_regret": 1.4364500045776367, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b40ee5a75332685d5cec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4364500045776367, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5635499954223633, + "restore_error": 1.1920928955078125e-07, + "score": 0.5635499954223633, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47404745221138, + "candidate_source_group_id": "ms-2d4547df5dccc4c4ca24;ms-fe1a5f1bc3c4ec7669f2;ms-e2ddf4681b47f39e15da;ms-0bb8964d3e6f9dd302f4;ms-88e10d1be12a407b3926;ms-a3a13ba6243be437d674", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8a74cf665984273be00d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.57984858751297, + "candidate_source_group_id": "ms-0cfef0ba35d4e6097003;ms-a949424c5fa615565d72;ms-eff5f21c51f26a85f07c;ms-c7041c6f758f8e4a3698;ms-dd7f9cc9585878b84824;ms-8d111990da24dde1403b", + "expert_regret": 1.468389868736267, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fd225482b96686f51dc8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.468389868736267, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5316101312637329, + "restore_error": 1.1920928955078125e-07, + "score": 0.5316101312637329, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7517665028572083, + "candidate_source_group_id": "ms-fa911d56cdf9bf122b5c;ms-e218d19c595e580c3e32;ms-fe650308e25459ee64c6;ms-a01e21b91a5b37a16afe;ms-630663751ab841a96d5a;ms-3b7c5c91ae441f282006", + "expert_regret": 0.5867563355714083, + "expert_score": 0.6087449193000793, + "expert_success": false, + "group_id": "ms-b9e46b7345a63ded4397", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5867563355714083, + "oracle_score": 0.6087449193000793, + "oracle_success": false, + "progress": 0.021988583728671074, + "restore_error": 1.1920928955078125e-07, + "score": 0.021988583728671074, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5388303399085999, + "candidate_source_group_id": "ms-ad058e704a159164d7c4;ms-5dfad80e83d210946447;ms-e318e13f77e75e7cd802;ms-c7156b26670838d40934;ms-076d67ac4d2de4e0c627;ms-8330999c6669ec42122a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a196fc3a729550509b18", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6620988845825195, + "candidate_source_group_id": "ms-31782020143c24b4271b;ms-93e3d9968204474eff49;ms-ae33e3afb57e61026d72;ms-bd6b2dc41ba42b44462a;ms-dd1311efb8ab2a0a2d23;ms-564c02492863ae749ea9", + "expert_regret": 1.4903653860092163, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-21155188bc35f0f021d3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4903653860092163, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5096346139907837, + "restore_error": 1.1920928955078125e-07, + "score": 0.5096346139907837, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.06565668433904648, + "candidate_source_group_id": "ms-daaac2887015a6e4f3e0;ms-23f9cca8edfca421a4a6;ms-9bcf8a1e5e7b0f7ff6f5;ms-28d5618562729c763eb6;ms-d824135bf97b907f7cc2;ms-ffba357213945be5f9f7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a460f3c1b67817c19de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5137452483177185, + "candidate_source_group_id": "ms-50d83ce148904504ec50;ms-32435d71bb817daf01d9;ms-25839c690d85a4f5b986;ms-5ac153f97fd3c2f689c5;ms-29afe3c91faef25f1343;ms-3f4967102c7b10057ab9", + "expert_regret": 1.430201768875122, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ca25b016439a98198434", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.430201768875122, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5697982311248779, + "restore_error": 2.384185791015625e-07, + "score": 0.5697982311248779, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24737799167633057, + "candidate_source_group_id": "ms-6d7b10e8b2b0a516b786;ms-f07607bc0ce1c4e202b0;ms-a2908e99b0a12a9980cc;ms-1d36e5be82aee5a8e3b8;ms-7fa85a7251186eb18d0b;ms-e793d78eaff3fb28deb6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6995d4366e7c20010126", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.717295229434967, + "candidate_source_group_id": "ms-f5fb668380b64d4f1e74;ms-d19c9e3ab1d7daf06344;ms-eb48573b3e330e44504d;ms-766b6fe7c08a3525ce94;ms-72b7d76602371f044fe3;ms-5f98f13f17e8f41f7436", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a22fbce4503f088acb1f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1952245533466339, + "candidate_source_group_id": "ms-8b85ebf659960395db9c;ms-90bfce2cef85e101138e;ms-893159691d11a40c7537;ms-5d169f059bde8e429786;ms-263556e167dc363ebc42;ms-edda00243c6d6275fc0f", + "expert_regret": 0.0, + "expert_score": 0.6177694201469421, + "expert_success": false, + "group_id": "ms-b7e7fe66a6c86898eec2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3592790961265564, + "candidate_source_group_id": "ms-c35a083df7c08225af3b;ms-c07472c627b51086ff33;ms-1a801d8b486ef19642bf;ms-03cdc738473ac1df9dfc;ms-525a7841d99bba385bc5;ms-1fec069b4a095dd0425a", + "expert_regret": 1.4587417244911194, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6b8adb335c80e03d5cd5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4587417244911194, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5412582755088806, + "restore_error": 2.384185791015625e-07, + "score": 0.5412582755088806, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.11281348764896393, + "candidate_source_group_id": "ms-1924e52af208c9f66592;ms-6f1ec735350c81ef9fca;ms-9b4483fb034248fe882d;ms-61ac2be70a9798adeda0;ms-d44f5bd2488ea182132b;ms-38d3e0274ddfa4ed7202", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c4cb99b887c88c707ba9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7089564204216003, + "candidate_source_group_id": "ms-dc5a883a3e28b90ebf1a;ms-4ec67456479f53e605e1;ms-486ff31b7a04a7e9e8f9;ms-17330235d51598ebcb4e;ms-635a384c88604ad7ba4f;ms-351844f358ea7564d27d", + "expert_regret": 1.444502055644989, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cafa65eeb953aff47f30", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.444502055644989, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.555497944355011, + "restore_error": 2.384185791015625e-07, + "score": 0.555497944355011, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44093939661979675, + "candidate_source_group_id": "ms-288532d255e4828bb15b;ms-b7ed399f40d2d554b16d;ms-1abd8c7cc1c683f88d3d;ms-8af87d14945da6a910e4;ms-b82cc8ce5d9d348ba6b4;ms-3ea30989082ec714e12d", + "expert_regret": 1.4399347305297852, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-26e09c86be9068a34acf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4399347305297852, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5600652694702148, + "restore_error": 2.384185791015625e-07, + "score": 0.5600652694702148, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.16046179831027985, + "candidate_source_group_id": "ms-f3e40db5e157647d463d;ms-fe2964cc8940ee7c24aa;ms-93e3d9968204474eff49;ms-52c6c227fd4b61609031;ms-fbb609a3f2a334986245;ms-6355260c6fa49f291729", + "expert_regret": 0.010340452194213867, + "expert_score": 0.5548074245452881, + "expert_success": false, + "group_id": "ms-29f1abb869ff206a4d52", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.014757275581359863, + "oracle_score": 0.5592242479324341, + "oracle_success": false, + "progress": 0.5444669723510742, + "restore_error": 1.1920928955078125e-07, + "score": 0.5444669723510742, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5082374215126038, + "candidate_source_group_id": "ms-86b302005e0461f28c43;ms-5e85dc3760eef8a53a67;ms-edcdf99767068f94bcb4;ms-a9ac13384fe5afc835f1;ms-c774aeee2c4066edd668;ms-4ca84594a789c9abd5d9", + "expert_regret": 1.4538370966911316, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-417cab1470cf46273b02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4538370966911316, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5461629033088684, + "restore_error": 1.1920928955078125e-07, + "score": 0.5461629033088684, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7665362358093262, + "candidate_source_group_id": "ms-3deb9fa600781abb51c1;ms-f69d6aec4ddb12d88c5b;ms-175375383979526d80b5;ms-e7f2d1f0de50c6fcccb4;ms-ee7463f3d937dbc16f89;ms-d16053a4f8b95c94dc46", + "expert_regret": 1.9490171186625957, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6558f35ae2a2871a4bfd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9490171186625957, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05098288133740425, + "restore_error": 1.1920928955078125e-07, + "score": 0.05098288133740425, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4315245449542999, + "candidate_source_group_id": "ms-48d490ed21088bb5ba85;ms-57ac136bd68be6387c6f;ms-b671fa9fcef84dbf2a13;ms-910d27b58a0585327a27;ms-e45b5de01eafae73e492;ms-c7041c6f758f8e4a3698", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2ae57bab6d2ea11f6638", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5600346922874451, + "candidate_source_group_id": "ms-a5775906ce2fb6556103;ms-9b15f9c696a2661346cf;ms-bc53e550cb202b5fcdf3;ms-91ad1a5f945470b4346e;ms-5071d49489e1900dfa91;ms-80d5c509e83845ab1bc7", + "expert_regret": 1.4879427552223206, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-578e24198ed828a74485", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4879427552223206, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5120572447776794, + "restore_error": 1.1920928955078125e-07, + "score": 0.5120572447776794, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4107026159763336, + "candidate_source_group_id": "ms-da46296bd4e9032570df;ms-36e8cb2e7f34f8dceb05;ms-0d1db6695acdf1ec3eaf;ms-28b1f1e4380d434605de;ms-e45b5de01eafae73e492;ms-a927d1bd67068f1d9302", + "expert_regret": 1.4320718050003052, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e589f7d40c12eff1712e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4320718050003052, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5679281949996948, + "restore_error": 1.1920928955078125e-07, + "score": 0.5679281949996948, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5030257105827332, + "candidate_source_group_id": "ms-c78721d9c4196a9e8ec5;ms-0ca11ec8f7fbf0c1d66e;ms-17e8d6ba42404c7b7d07;ms-10f4c68dcad8285f4acd;ms-cda24997adbad130b09d;ms-1cea800b74c1ea2f6338", + "expert_regret": 1.4368053078651428, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9e1f3c14116ebca6164d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4368053078651428, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5631946921348572, + "restore_error": 1.1920928955078125e-07, + "score": 0.5631946921348572, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29352766275405884, + "candidate_source_group_id": "ms-90464666adfd66056785;ms-57a213acdc6a7231f799;ms-4dcb031152807390c6dd;ms-32b9c353a4890631f1bd;ms-a01f0549a18d924d31c0;ms-84b677a48d338212ceb7", + "expert_regret": 1.4312098026275635, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-30ad687dc1bc8318fa45", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4312098026275635, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5687901973724365, + "restore_error": 1.1920928955078125e-07, + "score": 0.5687901973724365, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5420692563056946, + "candidate_source_group_id": "ms-2df0b9d5fa91156e430a;ms-b0fd98bae1ed5d543f35;ms-81c855f8645b35f0856d;ms-e07f80b44faf328c5e58;ms-cb16b458af723bf7cd0a;ms-ae5421846020d2765f82", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6305829d7ca1c68a3ce", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7574557662010193, + "candidate_source_group_id": "ms-5e6d18ccfcf923f52f8e;ms-8c6e41e7542bc6924a1f;ms-3417f5f2f1470c61d0a8;ms-61781d30cb05657c5f5d;ms-3cfb09df08ad7279ef02;ms-912718b1f2ef92066799", + "expert_regret": 1.437152922153473, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f39e1d7a2d636e39a02f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.437152922153473, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5628470778465271, + "restore_error": 1.1920928955078125e-07, + "score": 0.5628470778465271, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4864576756954193, + "candidate_source_group_id": "ms-32435d71bb817daf01d9;ms-50d83ce148904504ec50;ms-dc2a8fa76e1ceb0d8925;ms-f80ae137a8d9981f8c98;ms-10621e1108a69d0b633e;ms-c7020fdb7cba871e8b3e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a45ed89f5b95d1e7ab07", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48478269577026367, + "candidate_source_group_id": "ms-9320da73e81045277fae;ms-9e87481ce12fa45b2554;ms-02acbd591a961c0dbd46;ms-1781d9c562b4425df7c8;ms-3b4b0b8c60ad41bb16b0;ms-8b68d8b4d22e6ff0451d", + "expert_regret": 1.4873601794242859, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9a2d8f0085e6740cf5b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4873601794242859, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5126398205757141, + "restore_error": 1.1920928955078125e-07, + "score": 0.5126398205757141, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5161551237106323, + "candidate_source_group_id": "ms-47662cfa5e75ac8250e7;ms-0e9908c8405f241086ac;ms-11930c353a2b4fefab82;ms-4aa0c1a37cdb70ba8877;ms-62ece8fe2f85092ca96f;ms-3c12da28c8edab3fa554", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2b56888f10733707f14b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33227667212486267, + "candidate_source_group_id": "ms-66ec6692758e9a7f2e01;ms-10f2865bef6da7b66423;ms-f69d6aec4ddb12d88c5b;ms-739a89fb4521bc481a9f;ms-1cdd36810a138190ce3c;ms-d988976b029886d18476", + "expert_regret": 1.472398817539215, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08c39d9cc9eb7578e6e9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.472398817539215, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5276011824607849, + "restore_error": 1.1920928955078125e-07, + "score": 0.5276011824607849, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6058573722839355, + "candidate_source_group_id": "ms-bc53e550cb202b5fcdf3;ms-b1c9975d1a007dd03dc4;ms-982922e263d07c54c136;ms-91ad1a5f945470b4346e;ms-10a5b6cc3ec06dfdc5c5;ms-de709118c78966c5aff7", + "expert_regret": 0.07462817430496216, + "expert_score": 0.5934287309646606, + "expert_success": false, + "group_id": "ms-9a1de6130828dc946a51", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.07462817430496216, + "oracle_score": 0.5934287309646606, + "oracle_success": false, + "progress": 0.5188005566596985, + "restore_error": 1.1920928955078125e-07, + "score": 0.5188005566596985, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4154447019100189, + "candidate_source_group_id": "ms-6029bab18ae94b126d79;ms-8315ae30e2cf041c8674;ms-7b932868f83725def2ed;ms-746436cac05100783ad7;ms-c3a1cf0e424a4f065459;ms-4e86b87d6e5f6ab914fe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d4bde31fd7e7cee76b09", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.17777156829833984, + "candidate_source_group_id": "ms-7fa68a6085e0b973ce6b;ms-5f98f13f17e8f41f7436;ms-d19c9e3ab1d7daf06344;ms-81085eba1dd49b17ec9c;ms-f6591d52d6824c6d2909;ms-4fe7fdaf946c97803c82", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-943b5187cbe128b9b563", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45067644119262695, + "candidate_source_group_id": "ms-f39bbaa063044719a98d;ms-759ba8b7be233ca47c30;ms-ee0986397bc7267882d8;ms-9c8a90334c3b933c8976;ms-8b68d8b4d22e6ff0451d;ms-cca07eb504a242633931", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-166b7f66bf9f4eec432b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4380374550819397, + "candidate_source_group_id": "ms-759ba8b7be233ca47c30;ms-f39bbaa063044719a98d;ms-ee0986397bc7267882d8;ms-9c8a90334c3b933c8976;ms-8b68d8b4d22e6ff0451d;ms-cca07eb504a242633931", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bcc70292f404cd1c7f75", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.25329941511154175, + "candidate_source_group_id": "ms-0ca11ec8f7fbf0c1d66e;ms-f1d1776b7a5bd0a7b02c;ms-d824135bf97b907f7cc2;ms-0e55645c0c701caac48a;ms-cd25efec908bd600e45e;ms-5f5bf12b5ebb67eeb361", + "expert_regret": 1.5022796988487244, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5ad75923125806db5404", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.5022796988487244, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49772030115127563, + "restore_error": 1.1920928955078125e-07, + "score": 0.49772030115127563, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.664857029914856, + "candidate_source_group_id": "ms-10cb98b0a1ca5429dd28;ms-14c40aa19f7b9307511d;ms-7d18f6f16879d2933bcd;ms-7e6493bb6b1ff650d6de;ms-8bb2d8cb7c0d33fa0c1d;ms-f653a3ac16eba9fba5dd", + "expert_regret": 1.8948925361037254, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2d995e39f2b95fed1a67", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8948925361037254, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10510746389627457, + "restore_error": 1.1920928955078125e-07, + "score": 0.10510746389627457, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3621908724308014, + "candidate_source_group_id": "ms-d5bfdabc97e56c680680;ms-b59a7ccfb736df4c4c68;ms-d1aac7be45644e12a976;ms-54a04864cb68a4c3caac;ms-c6beb139304a0ea6f7ae;ms-f3d9efbde383ef5f742f", + "expert_regret": 1.4423971772193909, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-127908707208e993527d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4423971772193909, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5576028227806091, + "restore_error": 1.1920928955078125e-07, + "score": 0.5576028227806091, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.041095416992902756, + "candidate_source_group_id": "ms-813cac6d08ed5af48b12;ms-e2ddf4681b47f39e15da;ms-10af171aa279a879207d;ms-4705657703da9d791fb9;ms-64ab703e7a82799a47dd;ms-ce992c1fa0bcc38512b7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-99b15d50660b77fe2fcb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.79758220911026, + "candidate_source_group_id": "ms-1d1969094d91fe52667d;ms-b6fd2931116c15db0f0a;ms-c684df0b998b593db723;ms-cb16b458af723bf7cd0a;ms-0a48fbd111be17b50be5;ms-326a7b583623d136470e", + "expert_regret": 1.4482174515724182, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1add4cf84fdadf5703d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4482174515724182, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5517825484275818, + "restore_error": 1.1920928955078125e-07, + "score": 0.5517825484275818, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22749784588813782, + "candidate_source_group_id": "ms-81729abe5d83a1ca280d;ms-2073841ae01f224365a1;ms-8d94c7c692c91a962f25;ms-5922c28e4a71a88c6d21;ms-59cc3cdf6918248d7f78;ms-fd9f10f7df6a11ec2cef", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97598e118c5cc8c254a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4201344847679138, + "candidate_source_group_id": "ms-9af03b651b5e36ac2ae3;ms-2592e5fa970f1b474388;ms-51f2c34d5f8f132af1ed;ms-f625d521be1e85b1c49d;ms-cda24997adbad130b09d;ms-caeb59971565b08f2513", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9eb40f856528204bbcfd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5802620649337769, + "candidate_source_group_id": "ms-95320371ce6b820c85f6;ms-bb60defa0d234da9e0bc;ms-79c7332b2b329eaa6a13;ms-7a17ceb004979b99a586;ms-61b1188974f35233b883;ms-1158e6997b2f1281b105", + "expert_regret": 1.4366613030433655, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3aa864ead19c9cb9fb49", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4366613030433655, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5633386969566345, + "restore_error": 1.1920928955078125e-07, + "score": 0.5633386969566345, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2143862545490265, + "candidate_source_group_id": "ms-4d6099258a3a6e037aff;ms-d686ae387b1a0ce2f2f3;ms-0b4ac5b183639ac19191;ms-4746e04d636d13cfbe6c;ms-193063285cdb9faff39b;ms-6c081eee5edb633d6caf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d75a00b1388f50bf8919", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1167844608426094, + "candidate_source_group_id": "ms-8c6e41e7542bc6924a1f;ms-61781d30cb05657c5f5d;ms-3cfb09df08ad7279ef02;ms-912718b1f2ef92066799;ms-85eef30b36b044b33f60;ms-3417f5f2f1470c61d0a8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13af3f2f8e0b8444fe68", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5110610723495483, + "candidate_source_group_id": "ms-0541a144afe57b5a7ae6;ms-3eeaca32feb66f450a0b;ms-5e23219a8e2aadd039c7;ms-2470946f31fee328ad6c;ms-8c8198e44eea32f98ca7;ms-16cd0a94ad2cb78b1ada", + "expert_regret": 0.5099796876311302, + "expert_score": 0.6058399081230164, + "expert_success": false, + "group_id": "ms-c2e07545267c612a022c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5099796876311302, + "oracle_score": 0.6058399081230164, + "oracle_success": false, + "progress": 0.09586022049188614, + "restore_error": 1.1920928955078125e-07, + "score": 0.09586022049188614, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5091508626937866, + "candidate_source_group_id": "ms-5c8b50523e0de37d80b8;ms-8af2224cc82636ef1dd7;ms-7e94769c30229d5cc7b8;ms-2e5c2f75d3f6311e0a1c;ms-3737178a1f85502652ea;ms-ddc0b3adf8506c30f503", + "expert_regret": 1.5232220590114594, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a1d69e0b112064914357", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5232220590114594, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.47677794098854065, + "restore_error": 1.1920928955078125e-07, + "score": 0.47677794098854065, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44705185294151306, + "candidate_source_group_id": "ms-f3e40db5e157647d463d;ms-fe2964cc8940ee7c24aa;ms-93e3d9968204474eff49;ms-fbb609a3f2a334986245;ms-52c6c227fd4b61609031;ms-6355260c6fa49f291729", + "expert_regret": 0.010322153568267822, + "expert_score": 0.5545835494995117, + "expert_success": false, + "group_id": "ms-3c4ff3dae26217f22a8b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.010322153568267822, + "oracle_score": 0.5545835494995117, + "oracle_success": false, + "progress": 0.5442613959312439, + "restore_error": 1.1920928955078125e-07, + "score": 0.5442613959312439, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7063695788383484, + "candidate_source_group_id": "ms-b6df140b235c8fe0eaad;ms-66540aefd55a84b5088f;ms-38d3e0274ddfa4ed7202;ms-a6060f858cb9f93c5588;ms-61ac2be70a9798adeda0;ms-61781d30cb05657c5f5d", + "expert_regret": 1.430912971496582, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-76c78750d7abc6570487", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.430912971496582, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.569087028503418, + "restore_error": 1.1920928955078125e-07, + "score": 0.569087028503418, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.0938357338309288, + "candidate_source_group_id": "ms-c9c1649478107785e9d2;ms-5e6d18ccfcf923f52f8e;ms-8c6e41e7542bc6924a1f;ms-3cfb09df08ad7279ef02;ms-912718b1f2ef92066799;ms-3417f5f2f1470c61d0a8", + "expert_regret": 0.03951340913772583, + "expert_score": 0.5946909785270691, + "expert_success": false, + "group_id": "ms-309d2258d275ae304857", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4448224306106567, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5551775693893433, + "restore_error": 1.1920928955078125e-07, + "score": 0.5551775693893433, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6074506044387817, + "candidate_source_group_id": "ms-1735d1abca4a91293d78;ms-0bf5f9b5ab423eb0a7c3;ms-0de368e8d16fd01f4e67;ms-8beca0622be320b282c1;ms-4b94e0333251263012ec;ms-b33f1d4ddb6a531d2a71", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ce8d2ef7d19bed381822", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.521450400352478, + "candidate_source_group_id": "ms-766b6fe7c08a3525ce94;ms-f5fb668380b64d4f1e74;ms-72b7d76602371f044fe3;ms-7d962acc9cfbc27c599c;ms-7241a1c25af41f4c0b5a;ms-f34c69fb0bf1b1055163", + "expert_regret": 1.4526532292366028, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11bb3387454624de8143", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4526532292366028, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5473467707633972, + "restore_error": 1.1920928955078125e-07, + "score": 0.5473467707633972, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3098950982093811, + "candidate_source_group_id": "ms-2e5c2f75d3f6311e0a1c;ms-307f9067d5b66f55b3a6;ms-8af2224cc82636ef1dd7;ms-5c8b50523e0de37d80b8;ms-4015c296239564108da2;ms-90a03366976eaa1ad013", + "expert_regret": 1.9312996119260788, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1c0e2bb3a811fac6d567", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9312996119260788, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0687003880739212, + "restore_error": 1.1920928955078125e-07, + "score": 0.0687003880739212, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6015204191207886, + "candidate_source_group_id": "ms-23a355317920e192147f;ms-22675530f3a401b3fd6d;ms-618c9e3c06f4879ba788;ms-7d32f6b32c14e33b1eb1;ms-7cbbc5e7dc896a803efa;ms-ff96d76fba5b6ceb1289", + "expert_regret": 1.919272042810917, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4f833710c2706ee077af", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.919272042810917, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0807279571890831, + "restore_error": 1.1920928955078125e-07, + "score": 0.0807279571890831, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5665464997291565, + "candidate_source_group_id": "ms-813cac6d08ed5af48b12;ms-64ab703e7a82799a47dd;ms-10af171aa279a879207d;ms-67f602a0e4efc9984d72;ms-ce2924d08bdd6c379777;ms-32b9c353a4890631f1bd", + "expert_regret": 1.4494405388832092, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d88107eff1e361cdcc4c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4494405388832092, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5505594611167908, + "restore_error": 1.1920928955078125e-07, + "score": 0.5505594611167908, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5902133584022522, + "candidate_source_group_id": "ms-fb92a1e6b67121783fff;ms-81085eba1dd49b17ec9c;ms-635a384c88604ad7ba4f;ms-4fe7fdaf946c97803c82;ms-1abf5e6d483e2788b086;ms-ee055e1282f6302ad9e8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-07e0726dedce0a0e4419", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.611986517906189, + "candidate_source_group_id": "ms-cea745484a24f376d7e8;ms-a1846ef1f00eb54e2d60;ms-3e971096794f04f325f2;ms-0843bef6b0c13c3ede69;ms-3b0ad4f07f1813ecf670;ms-950df0830b2e57010248", + "expert_regret": 1.5102460384368896, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6af227c07aaf7c0f0aea", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5102460384368896, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.48975396156311035, + "restore_error": 2.2910535335540771e-07, + "score": 0.48975396156311035, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5360666513442993, + "candidate_source_group_id": "ms-978bbf0a6fc563f745ab;ms-c6d4f51c1adffc449778;ms-5b122bd43e749623ebe0;ms-4d9cef437c77474dc62d;ms-5e3b1693ad7b75221847;ms-53fdabb5d8ef20778214", + "expert_regret": 1.4320629239082336, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-27b0553a5c49108e6a98", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4320629239082336, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5679370760917664, + "restore_error": 2.2910535335540771e-07, + "score": 0.5679370760917664, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5251818895339966, + "candidate_source_group_id": "ms-b59a7ccfb736df4c4c68;ms-d1aac7be45644e12a976;ms-b01677be2df71c474d1f;ms-c6beb139304a0ea6f7ae;ms-57ac136bd68be6387c6f;ms-d5bfdabc97e56c680680", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dfc737e32df79e1fc429", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.2910535335540771e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28955915570259094, + "candidate_source_group_id": "ms-45ed57caa698d87a99cf;ms-28d5618562729c763eb6;ms-9bcf8a1e5e7b0f7ff6f5;ms-ffba357213945be5f9f7;ms-ee32e6bb3c0bb45702b9;ms-30fe784e67f732ef9a3d", + "expert_regret": 1.4331609010696411, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c1ac63fb3644e3a2ae06", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4331609010696411, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5668390989303589, + "restore_error": 2.2910535335540771e-07, + "score": 0.5668390989303589, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48990970849990845, + "candidate_source_group_id": "ms-acd4bde23cf4608facc2;ms-7849511ad9b8262adae7;ms-d8583c895a59df2871d2;ms-4b970be37419ce0be0ae;ms-4cd1ceea2dda2732110a;ms-06935a084a7af6d7596c", + "expert_regret": 1.4771255254745483, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-34495bfe34440ac63cf6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4771255254745483, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5228744745254517, + "restore_error": 2.2910535335540771e-07, + "score": 0.5228744745254517, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6543890833854675, + "candidate_source_group_id": "ms-54a7c3d32b6a267d81a2;ms-d67409d8ecfd5d97336d;ms-a509a572b3871e591d26;ms-59020093d2eeaf58aa84;ms-de0321d0ece4c58bc224;ms-382000b79932b7c68326", + "expert_regret": 1.8693376928567886, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0b7f8ba789c00b37caa0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8693376928567886, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.13066230714321136, + "restore_error": 2.2910535335540771e-07, + "score": 0.13066230714321136, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5563293099403381, + "candidate_source_group_id": "ms-20e5ffa93544d6d8b313;ms-28817fe297f38fd9550a;ms-4f405775dcbb88f7d8b0;ms-f682952c6ecb2b833c35;ms-fe9347448b7f810d1353;ms-c3cdd70e2bc10bba1930", + "expert_regret": 1.4748098254203796, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4fad1f976cc64cc06826", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4748098254203796, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5251901745796204, + "restore_error": 2.2910535335540771e-07, + "score": 0.5251901745796204, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3705131411552429, + "candidate_source_group_id": "ms-7de8743758ec505a3294;ms-7a17ceb004979b99a586;ms-0e12a6083750bfecca87;ms-61b1188974f35233b883;ms-79c7332b2b329eaa6a13;ms-f71c7cf8ca320b8eb7a4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-842e179244eddac303a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.2910535335540771e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18958832323551178, + "candidate_source_group_id": "ms-4082ce1f04dbacd6a5b9;ms-564c02492863ae749ea9;ms-93e3d9968204474eff49;ms-bd6b2dc41ba42b44462a;ms-dd1311efb8ab2a0a2d23;ms-ae33e3afb57e61026d72", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87f8bbc8d9e7f4dcaacf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41587209701538086, + "candidate_source_group_id": "ms-12ac4329c5bca5f2bb62;ms-59cc3cdf6918248d7f78;ms-8e4755f1627d85c12bd8;ms-3b0ad4f07f1813ecf670;ms-81729abe5d83a1ca280d;ms-2dc4f12ea7e8567e3a6e", + "expert_regret": 1.9761655200272799, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-844b753810c45699d501", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9761655200272799, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.023834479972720146, + "restore_error": 1.1920928955078125e-07, + "score": 0.023834479972720146, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.0789332389831543, + "candidate_source_group_id": "ms-5e1e38c86ef8f564ec77;ms-5e6d18ccfcf923f52f8e;ms-a7179e4e4e2a0d5335b3;ms-3417f5f2f1470c61d0a8;ms-39af5447d3c90872c25f;ms-dd4e13e425fbe9bd9140", + "expert_regret": 1.4240495562553406, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ed419c64a6693cb8998b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4240495562553406, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5759504437446594, + "restore_error": 1.1920928955078125e-07, + "score": 0.5759504437446594, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42913976311683655, + "candidate_source_group_id": "ms-519fb779d24a0bdf3809;ms-bb60defa0d234da9e0bc;ms-ea72196e20393870bcbb;ms-af16712eadcaebf175ff;ms-708baf01c22c75cafd22;ms-79c7332b2b329eaa6a13", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c104c2ebba7bf9b34680", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5341709852218628, + "candidate_source_group_id": "ms-564c02492863ae749ea9;ms-dd1311efb8ab2a0a2d23;ms-486ff31b7a04a7e9e8f9;ms-0f219ce35aff264455e2;ms-4ec67456479f53e605e1;ms-d5d7c690819019cb7869", + "expert_regret": 1.4376118779182434, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-39450dbba738dbd8a764", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4376118779182434, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5623881220817566, + "restore_error": 1.1920928955078125e-07, + "score": 0.5623881220817566, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7666489481925964, + "candidate_source_group_id": "ms-999a8c1454dd4597a834;ms-f5483f0819e0e8bc352e;ms-8ccc51fb09484026ebbb;ms-7670f25745871759e69e;ms-b0d54c14a65fb73f08ca;ms-547f4204888aee978bf0", + "expert_regret": 1.4429883360862732, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a76ae18568c88af1da6b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4429883360862732, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5570116639137268, + "restore_error": 1.1920928955078125e-07, + "score": 0.5570116639137268, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.31990912556648254, + "candidate_source_group_id": "ms-88e10d1be12a407b3926;ms-2d4547df5dccc4c4ca24;ms-8fdde5008d12abb7ae6a;ms-c9e31a19a776a861f9d7;ms-7e0ef0b7f94396bf0029;ms-53fdabb5d8ef20778214", + "expert_regret": 1.429645836353302, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a3c53708416dbfb9fbc5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.429645836353302, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.570354163646698, + "restore_error": 1.1920928955078125e-07, + "score": 0.570354163646698, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5246077179908752, + "candidate_source_group_id": "ms-97a18aeeea0b34f7c606;ms-f28fbb82a51d4de7811b;ms-f4fd59b4d1bce2d6b6a4;ms-6edb3f8fe977a81f8979;ms-fffe378a3bad31bbed52;ms-0a48fbd111be17b50be5", + "expert_regret": 1.4791504740715027, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f3f6a1b34fdf35290a6c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4791504740715027, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5208495259284973, + "restore_error": 1.1920928955078125e-07, + "score": 0.5208495259284973, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3745659291744232, + "candidate_source_group_id": "ms-b01677be2df71c474d1f;ms-d44f5bd2488ea182132b;ms-61ac2be70a9798adeda0;ms-8b68d8b4d22e6ff0451d;ms-38d3e0274ddfa4ed7202;ms-66540aefd55a84b5088f", + "expert_regret": 1.453370749950409, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c83412fa0aa5180ad89", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.453370749950409, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5466292500495911, + "restore_error": 1.1920928955078125e-07, + "score": 0.5466292500495911, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.368693083524704, + "candidate_source_group_id": "ms-e2ddf4681b47f39e15da;ms-10af171aa279a879207d;ms-64ab703e7a82799a47dd;ms-42895361db5578b75c0e;ms-813cac6d08ed5af48b12;ms-25a8e32c071be83d913b", + "expert_regret": 1.4867588877677917, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e275939f12a9dcee0a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4867588877677917, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5132411122322083, + "restore_error": 1.1920928955078125e-07, + "score": 0.5132411122322083, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3454369902610779, + "candidate_source_group_id": "ms-cb99eeafec52800f3b77;ms-bcfeba2af1e844c22aed;ms-97140da7cf409922f6ce;ms-3352e05afd9065cd09bf;ms-a26c2ffdac089c72ade5;ms-0de368e8d16fd01f4e67", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-478b7b8b729f9212a522", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3868001103401184, + "candidate_source_group_id": "ms-f101cf5cc8575be3c201;ms-0d1db6695acdf1ec3eaf;ms-57ac136bd68be6387c6f;ms-8fcc78fba7b3bec0fab6;ms-48d490ed21088bb5ba85;ms-c7041c6f758f8e4a3698", + "expert_regret": 1.4307696223258972, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d73a2a984d5829e884f9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4307696223258972, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5692303776741028, + "restore_error": 1.1920928955078125e-07, + "score": 0.5692303776741028, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4715028405189514, + "candidate_source_group_id": "ms-2af09f91e05d19f7f181;ms-88e10d1be12a407b3926;ms-5e3b1693ad7b75221847;ms-7e0ef0b7f94396bf0029;ms-a5a651f9e28ea52016fe;ms-c6d4f51c1adffc449778", + "expert_regret": 1.4615989923477173, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13b3c492538e5b3c7bdd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4615989923477173, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5384010076522827, + "restore_error": 1.1920928955078125e-07, + "score": 0.5384010076522827, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.16902072727680206, + "candidate_source_group_id": "ms-6a7e80154a9a4e5e9c08;ms-41b0258c4e329a734da7;ms-c7041c6f758f8e4a3698;ms-d4aab6f9b6717dd5712e;ms-8fcc78fba7b3bec0fab6;ms-910d27b58a0585327a27", + "expert_regret": 1.4290318489074707, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1a4ecfbe9c97214d5c78", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4290318489074707, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5709681510925293, + "restore_error": 1.1920928955078125e-07, + "score": 0.5709681510925293, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5360503196716309, + "candidate_source_group_id": "ms-bcd9be34f050d97499bd;ms-55c2bba961a327aa5260;ms-e20f5d43f319248c5001;ms-add4b7d277e1fc171144;ms-f6db4e8bed63ed868487;ms-fd1c44c6d5d8f7f11451", + "expert_regret": 1.9430760256946087, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-782893a3eb2e3dcfd15e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9430760256946087, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05692397430539131, + "restore_error": 1.1920928955078125e-07, + "score": 0.05692397430539131, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43227696418762207, + "candidate_source_group_id": "ms-08858c7ba8d4a3357e05;ms-b35643e98e1b846e27cf;ms-488a34fe7b7e84250616;ms-6edb3f8fe977a81f8979;ms-d19573dc65181befd83d;ms-2b556c4c1b55a20b14c8", + "expert_regret": 1.446914255619049, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f241450069e74460a40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.446914255619049, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5530857443809509, + "restore_error": 1.1920928955078125e-07, + "score": 0.5530857443809509, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.11481288820505142, + "candidate_source_group_id": "ms-054a02413d31389d1b7f;ms-1518756d5da0b8d3c190;ms-f897cc2141a0a303fc6a;ms-fbb609a3f2a334986245;ms-ff23e4fce42c637ed617;ms-090e18187bb6ae4a9120", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3a07c49566decfea04de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5109859704971313, + "candidate_source_group_id": "ms-c5d026dffb39f2f1d38a;ms-3aa5793c449b59c77b6f;ms-9783ccaf76f1b20c766e;ms-c70be4072fb4e49ac106;ms-0c9c39c462522b25ef2b;ms-ee32e6bb3c0bb45702b9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-88bdd8987f890af7e9ea", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.715061366558075, + "candidate_source_group_id": "ms-197fee321caebfd320f5;ms-a68740208f81c5d6c97b;ms-0ac53e56b4852c85ca2e;ms-c7156b26670838d40934;ms-0ec98183be760ea25a45;ms-f5483f0819e0e8bc352e", + "expert_regret": 1.9692460764199495, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b786173f210fcaa65a6e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9692460764199495, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03075392358005047, + "restore_error": 1.1920928955078125e-07, + "score": 0.03075392358005047, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3905788064002991, + "candidate_source_group_id": "ms-3fdce65bd5c5681403a7;ms-3b0639bfe64ecfd35594;ms-2dc4f12ea7e8567e3a6e;ms-90a03366976eaa1ad013;ms-3a65e7b378a87a7eeb11;ms-add4b7d277e1fc171144", + "expert_regret": 1.961555253714323, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ac281cce8f6e42586359", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.961555253714323, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.038444746285676956, + "restore_error": 1.1920928955078125e-07, + "score": 0.038444746285676956, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6917992234230042, + "candidate_source_group_id": "ms-a509a572b3871e591d26;ms-d67409d8ecfd5d97336d;ms-54a7c3d32b6a267d81a2;ms-ee7463f3d937dbc16f89;ms-de0321d0ece4c58bc224;ms-4bc023d8d1f7748b0e12", + "expert_regret": 1.503154069185257, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-91d86cba2602d1fa780d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.503154069185257, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49684593081474304, + "restore_error": 1.1920928955078125e-07, + "score": 0.49684593081474304, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6628471612930298, + "candidate_source_group_id": "ms-d44f5bd2488ea182132b;ms-6c081eee5edb633d6caf;ms-68ab6033433b360464f8;ms-cca07eb504a242633931;ms-239a07967247700a8ed1;ms-4d6099258a3a6e037aff", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5fc884c238818acdde08", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5983284711837769, + "candidate_source_group_id": "ms-09de52dad7e40970c938;ms-ee055e1282f6302ad9e8;ms-61068da67676a95e5065;ms-a8864b25c00ee193d0ea;ms-48cdfa31865ed70997c8;ms-fb92a1e6b67121783fff", + "expert_regret": 1.433107316493988, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-283da8c8dae2e161c439", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.433107316493988, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.566892683506012, + "restore_error": 1.1920928955078125e-07, + "score": 0.566892683506012, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.043795935809612274, + "candidate_source_group_id": "ms-13192a27f5fcf4fd24d7;ms-7d962acc9cfbc27c599c;ms-766b6fe7c08a3525ce94;ms-7241a1c25af41f4c0b5a;ms-4742d169606f3ec2b474;ms-225fbe08f2933f91d603", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a6273302894af3505ca8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7665945887565613, + "candidate_source_group_id": "ms-67f602a0e4efc9984d72;ms-c3a1cf0e424a4f065459;ms-813cac6d08ed5af48b12;ms-32b9c353a4890631f1bd;ms-6029bab18ae94b126d79;ms-10af171aa279a879207d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-16d5b122db1824caf92b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5875269770622253, + "candidate_source_group_id": "ms-22325628db75967cf779;ms-236601c5e076b4ee5d75;ms-f7c9f440fec3a22cd6d4;ms-5df54a8baaceb8c73c8a;ms-d6e14cec49894dd329f0;ms-13557287cd450bc12c6f", + "expert_regret": 1.9676730260252953, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c76158673d20b18c2622", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9676730260252953, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03232697397470474, + "restore_error": 1.1920928955078125e-07, + "score": 0.03232697397470474, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47946372628211975, + "candidate_source_group_id": "ms-54a04864cb68a4c3caac;ms-68ab6033433b360464f8;ms-eaf612349e2da547ee98;ms-42117385b9e6e57c7e63;ms-6c081eee5edb633d6caf;ms-c6beb139304a0ea6f7ae", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4bf0620f8d1294466596", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5437256097793579, + "candidate_source_group_id": "ms-28d5618562729c763eb6;ms-9bcf8a1e5e7b0f7ff6f5;ms-daaac2887015a6e4f3e0;ms-45ed57caa698d87a99cf;ms-ffba357213945be5f9f7;ms-1cea800b74c1ea2f6338", + "expert_regret": 1.4450927376747131, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc30ca6b7675f4de5041", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4450927376747131, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5549072623252869, + "restore_error": 1.1920928955078125e-07, + "score": 0.5549072623252869, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4771974980831146, + "candidate_source_group_id": "ms-91ad1a5f945470b4346e;ms-7fe236a99d555408d474;ms-b1c9975d1a007dd03dc4;ms-bfda95ffffd5d1a2683a;ms-bc53e550cb202b5fcdf3;ms-de709118c78966c5aff7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0a4c4442237909d5f7b7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5264493227005005, + "candidate_source_group_id": "ms-3737178a1f85502652ea;ms-5c8b50523e0de37d80b8;ms-7c76bb3c93411136f11a;ms-7e94769c30229d5cc7b8;ms-3aaa0d68ca26b1fe6626;ms-8af2224cc82636ef1dd7", + "expert_regret": 1.458557367324829, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-62b597990a3d637e5a8a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.458557367324829, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5414426326751709, + "restore_error": 1.1920928955078125e-07, + "score": 0.5414426326751709, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6269025206565857, + "candidate_source_group_id": "ms-31782020143c24b4271b;ms-6355260c6fa49f291729;ms-ae33e3afb57e61026d72;ms-bd6b2dc41ba42b44462a;ms-93e3d9968204474eff49;ms-ff23e4fce42c637ed617", + "expert_regret": 1.4752809405326843, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbcc714230de2c097d0d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4752809405326843, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5247190594673157, + "restore_error": 1.1920928955078125e-07, + "score": 0.5247190594673157, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3824610114097595, + "candidate_source_group_id": "ms-7670f25745871759e69e;ms-999a8c1454dd4597a834;ms-f5483f0819e0e8bc352e;ms-fa911d56cdf9bf122b5c;ms-b0d54c14a65fb73f08ca;ms-8ccc51fb09484026ebbb", + "expert_regret": 1.5329926013946533, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ed9addab41f3298db7bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5329926013946533, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4670073986053467, + "restore_error": 1.1920928955078125e-07, + "score": 0.4670073986053467, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12460243701934814, + "candidate_source_group_id": "ms-17e8d6ba42404c7b7d07;ms-802e63c9d42228a69c22;ms-da46296bd4e9032570df;ms-d33444117889b5aa9cfb;ms-a927d1bd67068f1d9302;ms-cda24997adbad130b09d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ece7b8c91d9d82f244b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7403615117073059, + "candidate_source_group_id": "ms-4ca84594a789c9abd5d9;ms-9cdebdcdad56bd8d87cc;ms-edcdf99767068f94bcb4;ms-a9ac13384fe5afc835f1;ms-86b302005e0461f28c43;ms-c774aeee2c4066edd668", + "expert_regret": 0.03538203239440918, + "expert_score": 0.582298219203949, + "expert_success": false, + "group_id": "ms-eac0d7dd54b1e797fdbd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.03538203239440918, + "oracle_score": 0.582298219203949, + "oracle_success": false, + "progress": 0.5469161868095398, + "restore_error": 2.384185791015625e-07, + "score": 0.5469161868095398, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.652205765247345, + "candidate_source_group_id": "ms-3c8ba3016f7269bfe44f;ms-ee055e1282f6302ad9e8;ms-1abf5e6d483e2788b086;ms-fb92a1e6b67121783fff;ms-09de52dad7e40970c938;ms-128c7c43e30023e6b1a3", + "expert_regret": 1.483424186706543, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bee62a6ef02134938aae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.483424186706543, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.516575813293457, + "restore_error": 2.384185791015625e-07, + "score": 0.516575813293457, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8436082005500793, + "candidate_source_group_id": "ms-5df54a8baaceb8c73c8a;ms-f763382872d8e89017c2;ms-22325628db75967cf779;ms-13557287cd450bc12c6f;ms-236601c5e076b4ee5d75;ms-d16053a4f8b95c94dc46", + "expert_regret": 0.5471844300627708, + "expert_score": 0.5785713195800781, + "expert_success": false, + "group_id": "ms-42edbdb8ff281fc33a99", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5471844300627708, + "oracle_score": 0.5785713195800781, + "oracle_success": false, + "progress": 0.03138688951730728, + "restore_error": 2.384185791015625e-07, + "score": 0.03138688951730728, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5589243173599243, + "candidate_source_group_id": "ms-cb70b56d6ad32b11c3cf;ms-61ac2be70a9798adeda0;ms-a6060f858cb9f93c5588;ms-b6df140b235c8fe0eaad;ms-66540aefd55a84b5088f;ms-38d3e0274ddfa4ed7202", + "expert_regret": 1.4352908730506897, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11a2794efa24f4d93d83", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4352908730506897, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5647091269493103, + "restore_error": 2.384185791015625e-07, + "score": 0.5647091269493103, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5041157603263855, + "candidate_source_group_id": "ms-a73f46824bdbdfb96238;ms-6edb3f8fe977a81f8979;ms-d19573dc65181befd83d;ms-478f754a15221314d15e;ms-fffe378a3bad31bbed52;ms-b6827e38768a63212d73", + "expert_regret": 1.4650242924690247, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9ff81e54049443a0f3d3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4650242924690247, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5349757075309753, + "restore_error": 2.384185791015625e-07, + "score": 0.5349757075309753, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6968103051185608, + "candidate_source_group_id": "ms-c9c1649478107785e9d2;ms-8f219d526891ae3c2dea;ms-8c6e41e7542bc6924a1f;ms-3cfb09df08ad7279ef02;ms-912718b1f2ef92066799;ms-85eef30b36b044b33f60", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61d4dd4acc03b8d30f19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.06397441774606705, + "candidate_source_group_id": "ms-570c074dbf28b5faae58;ms-5d430ebe6f7933dc6c8c;ms-81951a4920488e6c62e9;ms-3731f1c5af3c4a133633;ms-e0c2c1fbe39cd1d652b3;ms-193063285cdb9faff39b", + "expert_regret": 1.3995562195777893, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5425964a186feaf6fd99", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3995562195777893, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6004437804222107, + "restore_error": 2.384185791015625e-07, + "score": 0.6004437804222107, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1327148824930191, + "candidate_source_group_id": "ms-4d9cef437c77474dc62d;ms-c6d4f51c1adffc449778;ms-978bbf0a6fc563f745ab;ms-5e3b1693ad7b75221847;ms-25a8e32c071be83d913b;ms-53fdabb5d8ef20778214", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-774e954ffdc5da041261", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43418726325035095, + "candidate_source_group_id": "ms-7c76bb3c93411136f11a;ms-3737178a1f85502652ea;ms-3aaa0d68ca26b1fe6626;ms-7e94769c30229d5cc7b8;ms-f682952c6ecb2b833c35;ms-20e5ffa93544d6d8b313", + "expert_regret": 1.9838889483362436, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf274fbe4c657d04d7c4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9838889483362436, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.01611105166375637, + "restore_error": 1.1920928955078125e-07, + "score": 0.01611105166375637, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5575429201126099, + "candidate_source_group_id": "ms-28817fe297f38fd9550a;ms-3c458f671129e1ebe7b4;ms-fe9347448b7f810d1353;ms-17a17b212837b7f1309f;ms-2259a78b2187e22f9f37;ms-4f405775dcbb88f7d8b0", + "expert_regret": 1.8995819315314293, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0377c81a67d9819ab96b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8995819315314293, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10041806846857071, + "restore_error": 1.1920928955078125e-07, + "score": 0.10041806846857071, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6511504054069519, + "candidate_source_group_id": "ms-9bc153354c4dd2e5c1a5;ms-c91cae30acaa8dc7a12b;ms-51873059990aa55691a2;ms-7241a1c25af41f4c0b5a;ms-d4c3c235768529c33843;ms-72b7d76602371f044fe3", + "expert_regret": 1.435030996799469, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a934ef3c442100d9cc58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.435030996799469, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.564969003200531, + "restore_error": 1.1920928955078125e-07, + "score": 0.564969003200531, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5489664077758789, + "candidate_source_group_id": "ms-525a7841d99bba385bc5;ms-c07472c627b51086ff33;ms-9320da73e81045277fae;ms-03cdc738473ac1df9dfc;ms-1fec069b4a095dd0425a;ms-9e87481ce12fa45b2554", + "expert_regret": 1.497317135334015, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c8666cbd7e5a9d0fd036", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.497317135334015, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5026828646659851, + "restore_error": 1.1920928955078125e-07, + "score": 0.5026828646659851, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5836424827575684, + "candidate_source_group_id": "ms-13557287cd450bc12c6f;ms-d16053a4f8b95c94dc46;ms-8e741ca11a7fbe85ba1d;ms-d988976b029886d18476;ms-d462cff6e1b4b201a6ce;ms-5df54a8baaceb8c73c8a", + "expert_regret": 1.9088144749403, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1fb2f4c1e17e99767558", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9088144749403, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09118552505970001, + "restore_error": 1.1920928955078125e-07, + "score": 0.09118552505970001, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12954320013523102, + "candidate_source_group_id": "ms-fb92a1e6b67121783fff;ms-81085eba1dd49b17ec9c;ms-4fe7fdaf946c97803c82;ms-635a384c88604ad7ba4f;ms-09de52dad7e40970c938;ms-61068da67676a95e5065", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87b44e6219279322a723", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6019412279129028, + "candidate_source_group_id": "ms-a7179e4e4e2a0d5335b3;ms-39af5447d3c90872c25f;ms-3417f5f2f1470c61d0a8;ms-a6060f858cb9f93c5588;ms-b6df140b235c8fe0eaad;ms-66540aefd55a84b5088f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2f57eadf546710065684", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5826963186264038, + "candidate_source_group_id": "ms-d19c9e3ab1d7daf06344;ms-5f98f13f17e8f41f7436;ms-cddf387bbcd6aed98fca;ms-225fbe08f2933f91d603;ms-4276f24b1b5dce771bff;ms-dc68e92d0571b68f51b9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-625b5d55ca76cc565049", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.54255610704422, + "candidate_source_group_id": "ms-c3a3764fb110503bd651;ms-52c6c227fd4b61609031;ms-4cd9eae753bf9e48f520;ms-2be3bf4f348678c0cc6c;ms-f5aa7ce332ee9702812a;ms-8f0e2c9caad14bd37ecf", + "expert_regret": 1.4440749287605286, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1136e4a92618d203f415", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4440749287605286, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5559250712394714, + "restore_error": 1.1920928955078125e-07, + "score": 0.5559250712394714, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9293727874755859, + "candidate_source_group_id": "ms-b1bf2ab59a5385d22e54;ms-7fa85a7251186eb18d0b;ms-525a7841d99bba385bc5;ms-1fec069b4a095dd0425a;ms-c07472c627b51086ff33;ms-9e87481ce12fa45b2554", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9e53ca6bc5ddb9133ffa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8213658928871155, + "candidate_source_group_id": "ms-a01e21b91a5b37a16afe;ms-fe650308e25459ee64c6;ms-630663751ab841a96d5a;ms-0915b75e9fd1468d464e;ms-e218d19c595e580c3e32;ms-706943f06888dd5bbb3a", + "expert_regret": 1.9690040946006775, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-319a6c0cef0ac1a872d5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9690040946006775, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03099590539932251, + "restore_error": 1.1920928955078125e-07, + "score": 0.03099590539932251, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2228090763092041, + "candidate_source_group_id": "ms-fcbac5ac63b87452c719;ms-7361bfba9d2ab4f1913e;ms-fef1cf4879be83a77574;ms-01067b8ff16f74652382;ms-175375383979526d80b5;ms-5e23219a8e2aadd039c7", + "expert_regret": 1.958231806755066, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8adf1cf09ddabdc5fe5f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.958231806755066, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04176819324493408, + "restore_error": 1.1920928955078125e-07, + "score": 0.04176819324493408, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8962258696556091, + "candidate_source_group_id": "ms-8c0b600aef5393f929cd;ms-49641ecf3e1326621609;ms-17a04b4ac2d938261bff;ms-7982e5af0d533320432f;ms-4895312f7ef7a8e0109c;ms-f5e621c9ae7bcca8e596", + "expert_regret": 1.9656642191112041, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7f427f37d47501932e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9656642191112041, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03433578088879585, + "restore_error": 1.1920928955078125e-07, + "score": 0.03433578088879585, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5363895297050476, + "candidate_source_group_id": "ms-2af09f91e05d19f7f181;ms-70d994c15153752d0dce;ms-e2ddf4681b47f39e15da;ms-f77305a344da6a4ccc84;ms-f3ddc66fde2d59666e07;ms-4e86b87d6e5f6ab914fe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f5255815f8b70b48734", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.37094971537590027, + "candidate_source_group_id": "ms-1df0775c4ef08d0cf1bf;ms-4cd9eae753bf9e48f520;ms-2dc8e489908f72903319;ms-81951a4920488e6c62e9;ms-561f4f913d7b4991d81a;ms-3731f1c5af3c4a133633", + "expert_regret": 1.4903900027275085, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8fbdbddd9200f5091d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4903900027275085, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5096099972724915, + "restore_error": 1.1920928955078125e-07, + "score": 0.5096099972724915, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.348163902759552, + "candidate_source_group_id": "ms-0915b75e9fd1468d464e;ms-fed4628b22c7e42e32d9;ms-9233eae706910c204b79;ms-98427ae2d94c1f85811a;ms-706943f06888dd5bbb3a;ms-19c0b893fda0e6bb05f7", + "expert_regret": 1.9837065692991018, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b972386cfdf0158a0a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9837065692991018, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.01629343070089817, + "restore_error": 1.1920928955078125e-07, + "score": 0.01629343070089817, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39637988805770874, + "candidate_source_group_id": "ms-90464666adfd66056785;ms-1518756d5da0b8d3c190;ms-57a213acdc6a7231f799;ms-4705657703da9d791fb9;ms-642670f4bb658d32970b;ms-a01f0549a18d924d31c0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4b1561bd0029228fdbbe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.35425567626953125, + "candidate_source_group_id": "ms-0e4af96af7d344ec47a0;ms-fbcca760f5e16aa5c776;ms-0e12a6083750bfecca87;ms-47fd1407ae4e17ed4bee;ms-f5e621c9ae7bcca8e596;ms-8a22f0da78e59cd1eb5f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d9b2a5ccd43461f827e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20843683183193207, + "candidate_source_group_id": "ms-4746e04d636d13cfbe6c;ms-193063285cdb9faff39b;ms-570c074dbf28b5faae58;ms-3731f1c5af3c4a133633;ms-81951a4920488e6c62e9;ms-f5aa7ce332ee9702812a", + "expert_regret": 1.4360369443893433, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-12050326f623a94ae9e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4360369443893433, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5639630556106567, + "restore_error": 1.1920928955078125e-07, + "score": 0.5639630556106567, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8007098436355591, + "candidate_source_group_id": "ms-578537600f7a649c2dd5;ms-9c7e6b057c74f3014fd5;ms-86b0447349029dfaa6ab;ms-c86956f3f1333e136186;ms-ac79bc3a841958ce127f;ms-7651a7f31eae24958ef0", + "expert_regret": 1.8684044629335403, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f9c00ba41392adec3fd1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8684044629335403, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.13159553706645966, + "restore_error": 1.1920928955078125e-07, + "score": 0.13159553706645966, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.32410112023353577, + "candidate_source_group_id": "ms-fbcca760f5e16aa5c776;ms-ad058e704a159164d7c4;ms-0e4af96af7d344ec47a0;ms-5dfad80e83d210946447;ms-e318e13f77e75e7cd802;ms-8330999c6669ec42122a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-41279eb586ca5e587474", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8051166534423828, + "candidate_source_group_id": "ms-5df54a8baaceb8c73c8a;ms-13557287cd450bc12c6f;ms-22325628db75967cf779;ms-236601c5e076b4ee5d75;ms-f763382872d8e89017c2;ms-d988976b029886d18476", + "expert_regret": 1.9008250012993813, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-81f48d29d0404300ea93", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9008250012993813, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09917499870061874, + "restore_error": 1.1920928955078125e-07, + "score": 0.09917499870061874, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7103907465934753, + "candidate_source_group_id": "ms-f69d6aec4ddb12d88c5b;ms-66ec6692758e9a7f2e01;ms-10f2865bef6da7b66423;ms-a323150b5305fc2a329d;ms-a699ee643e76a610b444;ms-175375383979526d80b5", + "expert_regret": 1.978057872503996, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbda7bc51ca269d1cda4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.978057872503996, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.021942127496004105, + "restore_error": 1.1920928955078125e-07, + "score": 0.021942127496004105, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22956980764865875, + "candidate_source_group_id": "ms-53fdabb5d8ef20778214;ms-41c5500153912a1743de;ms-f1eb908e172570b07cae;ms-88e10d1be12a407b3926;ms-5e3b1693ad7b75221847;ms-2a67eea0b1293de9bcf9", + "expert_regret": 1.4298805594444275, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2b3e081263ed25d45dc8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4298805594444275, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5701194405555725, + "restore_error": 1.1920928955078125e-07, + "score": 0.5701194405555725, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4329002797603607, + "candidate_source_group_id": "ms-9c8a90334c3b933c8976;ms-759ba8b7be233ca47c30;ms-f39bbaa063044719a98d;ms-ee0986397bc7267882d8;ms-4a0ae3deadb8560fd315;ms-97aebe1dd42939e3b340", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e1972ebf2c5587a6fdf9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4448542594909668, + "candidate_source_group_id": "ms-d19573dc65181befd83d;ms-b42e0a68875b0405904b;ms-fffe378a3bad31bbed52;ms-2b556c4c1b55a20b14c8;ms-6edb3f8fe977a81f8979;ms-488a34fe7b7e84250616", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7057de70d36f5cc31472", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43198832869529724, + "candidate_source_group_id": "ms-519fb779d24a0bdf3809;ms-bb60defa0d234da9e0bc;ms-ea72196e20393870bcbb;ms-af16712eadcaebf175ff;ms-493f7fe7164e2c3e7616;ms-708baf01c22c75cafd22", + "expert_regret": 1.4279742240905762, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4bc32bd893d0cff76423", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4279742240905762, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5720257759094238, + "restore_error": 1.1920928955078125e-07, + "score": 0.5720257759094238, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12491361796855927, + "candidate_source_group_id": "ms-a01f0549a18d924d31c0;ms-50f29e19c798fee5422f;ms-c81880a77c4d978a0b7a;ms-1451f536f2ac0df844f6;ms-4dcb031152807390c6dd;ms-a01e21b91a5b37a16afe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bef9b88ae40ca98647aa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4174652695655823, + "candidate_source_group_id": "ms-3d0d437ee74041fc61bb;ms-1a801d8b486ef19642bf;ms-a7179e4e4e2a0d5335b3;ms-a6060f858cb9f93c5588;ms-cb70b56d6ad32b11c3cf;ms-39af5447d3c90872c25f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01db5970aec167a8ee1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7229833006858826, + "candidate_source_group_id": "ms-f763382872d8e89017c2;ms-5df54a8baaceb8c73c8a;ms-22325628db75967cf779;ms-13557287cd450bc12c6f;ms-d16053a4f8b95c94dc46;ms-8e741ca11a7fbe85ba1d", + "expert_regret": 1.921281911432743, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de066fc4200163ebd06b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.921281911432743, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07871808856725693, + "restore_error": 1.1920928955078125e-07, + "score": 0.07871808856725693, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.30212587118148804, + "candidate_source_group_id": "ms-5847c6d196024fce1770;ms-9edc0261b6ca7980ff81;ms-44694e99af9263ad3c45;ms-307f9067d5b66f55b3a6;ms-4d03463bb4536a28d67a;ms-ddc0b3adf8506c30f503", + "expert_regret": 1.4810639023780823, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-52cdfff790d71133c5a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4810639023780823, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5189360976219177, + "restore_error": 1.1920928955078125e-07, + "score": 0.5189360976219177, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.13028128445148468, + "candidate_source_group_id": "ms-7ea16036a1dd971fc4e0;ms-663aa9934c0f923cc125;ms-350b797a531f87ad2c0f;ms-a6b029a958e91306966a;ms-a44a2c9eee8baea5d29e;ms-4fe47d946641f0096a85", + "expert_regret": 1.4482032656669617, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-704fee4c9fb9941a26e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4482032656669617, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5517967343330383, + "restore_error": 1.1920928955078125e-07, + "score": 0.5517967343330383, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.10286815464496613, + "candidate_source_group_id": "ms-47a55ae1d3a858eed51c;ms-b606af28580a38cea636;ms-ca10d8b9d03f4d59806c;ms-c151229bc1dd03ed2feb;ms-2b64c720290c6dad7e35;ms-6a6a41baedceb27ad888", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ffef7730418c831245b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4975949823856354, + "candidate_source_group_id": "ms-4b94e0333251263012ec;ms-03acca095918dea64872;ms-a073398629e6943ad1fb;ms-8beca0622be320b282c1;ms-751daa0137578c486f3d;ms-0bf5f9b5ab423eb0a7c3", + "expert_regret": 1.4367590546607971, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e15eeda61ed4064a5c9f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4367590546607971, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5632409453392029, + "restore_error": 1.1920928955078125e-07, + "score": 0.5632409453392029, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5645878314971924, + "candidate_source_group_id": "ms-6be8614a1bd50b974b95;ms-4d9cef437c77474dc62d;ms-22412b51e61621b6025b;ms-43ce9f798efb923a120c;ms-5b122bd43e749623ebe0;ms-f1eb908e172570b07cae", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ff3f17774184180998f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43074655532836914, + "candidate_source_group_id": "ms-fd99b14bf152ebc0ef8e;ms-6c0ef0ef8b493232246c;ms-74868f62709b91077e27;ms-a2c5c9fd35d9fda5ce9e;ms-59cc3cdf6918248d7f78;ms-5922c28e4a71a88c6d21", + "expert_regret": 1.4491477012634277, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-227fe0347d2ea57a66a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4491477012634277, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5508522987365723, + "restore_error": 1.1920928955078125e-07, + "score": 0.5508522987365723, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3535260856151581, + "candidate_source_group_id": "ms-88e10d1be12a407b3926;ms-5e3b1693ad7b75221847;ms-41c5500153912a1743de;ms-53fdabb5d8ef20778214;ms-8fdde5008d12abb7ae6a;ms-7e0ef0b7f94396bf0029", + "expert_regret": 1.4429116249084473, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb98254adaa23dc128df", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4429116249084473, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5570883750915527, + "restore_error": 1.1920928955078125e-07, + "score": 0.5570883750915527, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41544824838638306, + "candidate_source_group_id": "ms-2259a78b2187e22f9f37;ms-732d0515ed28df031b8e;ms-3c458f671129e1ebe7b4;ms-2458fcfffb3f96c6ca1a;ms-1f458832fc85f00873cc;ms-17a17b212837b7f1309f", + "expert_regret": 1.9082990139722824, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87fd37bcc6b666e220ef", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9082990139722824, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09170098602771759, + "restore_error": 1.1920928955078125e-07, + "score": 0.09170098602771759, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3402498662471771, + "candidate_source_group_id": "ms-4aa0c1a37cdb70ba8877;ms-e14bfc5549c2a71bc7c6;ms-8f219d526891ae3c2dea;ms-4a0ae3deadb8560fd315;ms-759ba8b7be233ca47c30;ms-0e9908c8405f241086ac", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2c68b2b895bdbedbaa08", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3472101390361786, + "candidate_source_group_id": "ms-62f8c18a15c566ec4b00;ms-dc26b448cce4164a23e6;ms-1f19fd22562f87bdb776;ms-57be9ae181c077e7821f;ms-070184c0f6831eb39bc1;ms-4143ca4fca04091084e4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-91ad1e8602f14dada73c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3484681248664856, + "candidate_source_group_id": "ms-a96bca1ef0b74f686018;ms-dc5563c9b0dcd84e393b;ms-9fd23a06ae1659cef27b;ms-e6b654653119682cf01e;ms-35a50d2822c2c3cc4516;ms-b94dfc54c3bf844d5146", + "expert_regret": 0.0, + "expert_score": 0.017857711762189865, + "expert_success": false, + "group_id": "ms-3a4e2d080c9c4b279895", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.118787981569767, + "oracle_score": 0.19097411632537842, + "oracle_success": false, + "progress": 0.07218613475561142, + "restore_error": 2.3096799850463867e-07, + "score": 0.07218613475561142, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7906211018562317, + "candidate_source_group_id": "ms-db2c4015a0690cc80d24;ms-28bcbcc6e675708de340;ms-50e54f9608e1420ba11a;ms-efa875b7aef4c7b2092c;ms-cf4b63d109a88a4c42bf;ms-fc3d80c6ea6b9a4878ab", + "expert_regret": 0.15195772051811218, + "expert_score": 0.28376850485801697, + "expert_success": false, + "group_id": "ms-141d17d2b48dd9e008ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.15195772051811218, + "oracle_score": 0.28376850485801697, + "oracle_success": false, + "progress": 0.13181078433990479, + "restore_error": 2.3096799850463867e-07, + "score": 0.13181078433990479, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4803672432899475, + "candidate_source_group_id": "ms-d5da60ea045af7f677a8;ms-15459afe7e32ce62fc1b;ms-52b4f33b924e82688187;ms-aefa917c6b1659d6edd2;ms-4de1f6d71208bf1d182d;ms-bce8c4ec2bf882ca0b2e", + "expert_regret": 0.0, + "expert_score": 0.10191375017166138, + "expert_success": false, + "group_id": "ms-47460f61b9edd000c05d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.044195592403411865, + "oracle_score": 0.16129642724990845, + "oracle_success": false, + "progress": 0.11710083484649658, + "restore_error": 2.3096799850463867e-07, + "score": 0.11710083484649658, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.36985233426094055, + "candidate_source_group_id": "ms-fc87ea5245c2743bdb2d;ms-082cb0ac119a83c42c2d;ms-6b789356d65b3312fbae;ms-cb8cbd90038493c30888;ms-372f2ecb6685d8cae8d5;ms-d271e7de6bc331371e9c", + "expert_regret": 0.0, + "expert_score": 0.13208997249603271, + "expert_success": false, + "group_id": "ms-c673132197ce77ae8c9b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.06335794925689697, + "oracle_score": 0.20713643729686737, + "oracle_success": false, + "progress": 0.1437784880399704, + "restore_error": 2.3096799850463867e-07, + "score": 0.1437784880399704, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5612149238586426, + "candidate_source_group_id": "ms-344d81289be624d70b0e;ms-19cb10d10516bd0216a6;ms-ee4ddb148e138fce841c;ms-6661b157c41ad4d6ab85;ms-6ad14a70593958c00a63;ms-1faf779e909ec0415be0", + "expert_regret": 1.9415667243301868, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e2fe413566da0516273d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9415667243301868, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.058433275669813156, + "restore_error": 2.3096799850463867e-07, + "score": 0.058433275669813156, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5505504012107849, + "candidate_source_group_id": "ms-6e27d292a9cbea108fc9;ms-f4f9dd2ff38f992d4fb9;ms-cad33aa1136af34af6ec;ms-2eabcf580547d2c133ce;ms-e30fd80adc089e9f697a;ms-d6cc29ec9fbbc53d0f68", + "expert_regret": 0.0, + "expert_score": 0.12572264671325684, + "expert_success": false, + "group_id": "ms-9c6eae5aaafcbc2e7b1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.15684467554092407, + "oracle_success": false, + "progress": 0.18504157662391663, + "restore_error": 2.3096799850463867e-07, + "score": 0.18504157662391663, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2700751721858978, + "candidate_source_group_id": "ms-8c07fff2c7a5131a141b;ms-0228f3312b428eaf7e9d;ms-a6a6de64c39abad45f86;ms-620cd9e02d46b021f112;ms-3ed611d029d2ae0b12d8;ms-3c223e8c7f870c807541", + "expert_regret": 0.0, + "expert_score": 0.18430539965629578, + "expert_success": false, + "group_id": "ms-3f8284543efb724e8845", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.012908786535263062, + "oracle_score": 0.22120842337608337, + "oracle_success": false, + "progress": 0.2082996368408203, + "restore_error": 2.3096799850463867e-07, + "score": 0.2082996368408203, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.46599164605140686, + "candidate_source_group_id": "ms-1faf779e909ec0415be0;ms-6661b157c41ad4d6ab85;ms-c31b98b3d3702c6f9c8c;ms-bccd7bbe1b1b98254147;ms-394edcd961226f337ce1;ms-fc87ea5245c2743bdb2d", + "expert_regret": 0.0, + "expert_score": 0.08069789409637451, + "expert_success": false, + "group_id": "ms-223b0a8319beb051a1ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.1593424528837204, + "oracle_success": false, + "progress": 0.21881139278411865, + "restore_error": 1.1920928955078125e-07, + "score": 0.21881139278411865, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6149843335151672, + "candidate_source_group_id": "ms-4143ca4fca04091084e4;ms-070184c0f6831eb39bc1;ms-7eaea428dfdef7255a66;ms-57be9ae181c077e7821f;ms-dc26b448cce4164a23e6;ms-340e4b5de99447fbcd5e", + "expert_regret": 0.0, + "expert_score": 0.27674734592437744, + "expert_success": false, + "group_id": "ms-067cac2e4dbeddb12239", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4169948399066925, + "candidate_source_group_id": "ms-f497cc22967badd9f8b0;ms-a6a6de64c39abad45f86;ms-babaeb20129c46551281;ms-3ed611d029d2ae0b12d8;ms-1a4d443c5b80e0dac794;ms-620cd9e02d46b021f112", + "expert_regret": 0.06693574041128159, + "expert_score": 0.11277659982442856, + "expert_success": false, + "group_id": "ms-7f57045c114ddad153b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.18178153038024902, + "oracle_score": 0.227622389793396, + "oracle_success": false, + "progress": 0.04584085941314697, + "restore_error": 1.1920928955078125e-07, + "score": 0.04584085941314697, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3542344272136688, + "candidate_source_group_id": "ms-0093b06390890d181104;ms-20b11e3e581c2a865096;ms-34726202b475d29cdf38;ms-2eabcf580547d2c133ce;ms-d6cc29ec9fbbc53d0f68;ms-4dc6f09c1beeb5314d11", + "expert_regret": 0.0, + "expert_score": 0.013159613125026226, + "expert_success": false, + "group_id": "ms-ccc79c981e3a67ebeaf2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.023448124527931213, + "oracle_score": 0.1627672165632248, + "oracle_success": false, + "progress": 0.13931909203529358, + "restore_error": 1.1920928955078125e-07, + "score": 0.13931909203529358, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3184930682182312, + "candidate_source_group_id": "ms-d81f9c2974c2d599f151;ms-9fd23a06ae1659cef27b;ms-4920f51977e482b3a66c;ms-9919d2d2a89c5d491093;ms-61bde0225d6f4175b7cb;ms-6939bfeb878a54849131", + "expert_regret": 0.0, + "expert_score": 0.18328528106212616, + "expert_success": false, + "group_id": "ms-c0e3ab57fcf0d12ea4d8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.20295384526252747, + "oracle_success": false, + "progress": 0.27070218324661255, + "restore_error": 1.1920928955078125e-07, + "score": 0.27070218324661255, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.325725257396698, + "candidate_source_group_id": "ms-28bcbcc6e675708de340;ms-20ca52baa214c31b3186;ms-e6b654653119682cf01e;ms-dc5563c9b0dcd84e393b;ms-efa875b7aef4c7b2092c;ms-a96bca1ef0b74f686018", + "expert_regret": 0.11948532611131668, + "expert_score": 0.1586810052394867, + "expert_success": false, + "group_id": "ms-85f911fca087fed2caff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.1369408592581749, + "oracle_score": 0.1761365383863449, + "oracle_success": false, + "progress": 0.03919567912817001, + "restore_error": 1.1920928955078125e-07, + "score": 0.03919567912817001, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5407652854919434, + "candidate_source_group_id": "ms-eab38ab23e5fd0218632;ms-e9d7fc13264ff1c06637;ms-57e91ed3c8bd0299534f;ms-26c3a975205dfd16f076;ms-b28f44671fe871a8bea8;ms-e8afd0ad85d7e219a1ec", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9fbd54f73e56e3231631", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.2912523746490479, + "candidate_source_group_id": "ms-26c3a975205dfd16f076;ms-abf8880f672677acc931;ms-e8afd0ad85d7e219a1ec;ms-57e91ed3c8bd0299534f;ms-eab38ab23e5fd0218632;ms-4d400b68d540cebcc9e0", + "expert_regret": 1.8450060784816742, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8551c2634431d2ade8a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8450060784816742, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1549939215183258, + "restore_error": 1.1920928955078125e-07, + "score": 0.1549939215183258, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5641147494316101, + "candidate_source_group_id": "ms-cf4b63d109a88a4c42bf;ms-52b4f33b924e82688187;ms-fc3d80c6ea6b9a4878ab;ms-1ca019318ddec8ce5e8a;ms-50e54f9608e1420ba11a;ms-db2c4015a0690cc80d24", + "expert_regret": 0.011880218982696533, + "expert_score": 0.14895068109035492, + "expert_success": false, + "group_id": "ms-8a87ddbfc0fce8bb13d5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.10306942462921143, + "oracle_score": 0.2401398867368698, + "oracle_success": false, + "progress": 0.1370704621076584, + "restore_error": 1.1920928955078125e-07, + "score": 0.1370704621076584, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5350193977355957, + "candidate_source_group_id": "ms-a04e804d3aad7b40f1ac;ms-89c4edc5d083202b2443;ms-9a50730a0ff65eb93ea5;ms-3d31ef4f467b204b8477;ms-f9740a08a98cb251b761;ms-ec2eec3ab528878445cd", + "expert_regret": 1.8874801993370056, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-45131c0aa974fa9602ad", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8874801993370056, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11251980066299438, + "restore_error": 1.1920928955078125e-07, + "score": 0.11251980066299438, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5497828125953674, + "candidate_source_group_id": "ms-423347f93e1045f6bdd0;ms-5e422b9487b4a1efd7af;ms-d92cec7cfd1915a30824;ms-109ea940d18ab80efabc;ms-6a43c1f6dd61d4df80ec;ms-80801b0de8334bd2bcc8", + "expert_regret": 0.060485005378723145, + "expert_score": 0.1001773476600647, + "expert_success": false, + "group_id": "ms-8a58b518ca9ac275d8d5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.08883363008499146, + "oracle_score": 0.128525972366333, + "oracle_success": false, + "progress": 0.03969234228134155, + "restore_error": 1.1920928955078125e-07, + "score": 0.03969234228134155, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.31047219038009644, + "candidate_source_group_id": "ms-aefa917c6b1659d6edd2;ms-bce8c4ec2bf882ca0b2e;ms-3f2aed5964eed6c4936a;ms-b8fc1568ce66c45c8d8b;ms-d0158d7b3df11d64095c;ms-29f47a1dc1d9c3ec3365", + "expert_regret": 0.0, + "expert_score": 0.19225573539733887, + "expert_success": false, + "group_id": "ms-267832544376e3727efb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.28689613938331604, + "oracle_success": false, + "progress": 0.30374741554260254, + "restore_error": 1.1920928955078125e-07, + "score": 0.30374741554260254, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3238678276538849, + "candidate_source_group_id": "ms-4cc40587ec490257b1d2;ms-ac4fb33f3ab4db853995;ms-ac94b48febe523da15a5;ms-68b43d83b97196e0d27f;ms-29f47a1dc1d9c3ec3365;ms-b8fc1568ce66c45c8d8b", + "expert_regret": 0.140425905585289, + "expert_score": 0.22809019684791565, + "expert_success": false, + "group_id": "ms-37384bede4d1c03f3b80", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9123357087373734, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08766429126262665, + "restore_error": 1.1920928955078125e-07, + "score": 0.08766429126262665, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.76860511302948, + "candidate_source_group_id": "ms-e50ef9df7287938b501c;ms-f40162c64827e8c44a1a;ms-8a72b73ac452bc190aeb;ms-dd7527ab9ed49f79d2ba;ms-89538d844f6299774906;ms-728b865677134d3788e3", + "expert_regret": 0.0, + "expert_score": 0.02689284086227417, + "expert_success": false, + "group_id": "ms-8a375db7db980fd133a9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.2017425298690796, + "oracle_score": 0.24813735485076904, + "oracle_success": false, + "progress": 0.04639482498168945, + "restore_error": 1.1920928955078125e-07, + "score": 0.04639482498168945, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.648529589176178, + "candidate_source_group_id": "ms-aab59ee607a5ba7e3bfa;ms-4db7b82d22bfbf9258b5;ms-60f0d45b604940db0058;ms-1e30e297540582d59926;ms-8a72b73ac452bc190aeb;ms-9dbf65115872ab5360e4", + "expert_regret": 0.0036203069612383842, + "expert_score": 0.018661757931113243, + "expert_success": false, + "group_id": "ms-3798cbeab8a36b08c295", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.25127281714230776, + "oracle_score": 0.2663142681121826, + "oracle_success": false, + "progress": 0.015041450969874859, + "restore_error": 1.1920928955078125e-07, + "score": 0.015041450969874859, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0919121503829956, + "candidate_source_group_id": "ms-9df6734b8268172ea7e5;ms-59d4cdcd401477b5adfc;ms-02311c7783bc67e188b4;ms-b784fe769f0fb1d315e5;ms-1a4d443c5b80e0dac794;ms-0f5ffa7a4448b22b7951", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ccd3b342e4da3980c688", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7367820739746094, + "candidate_source_group_id": "ms-0b63f107b0ced8009668;ms-80801b0de8334bd2bcc8;ms-3d090ac2459c4b891dd1;ms-fad04ef94fd664ff89ae;ms-0285f5815c210ac00bec;ms-1150c257eb77fdf40f55", + "expert_regret": 1.964781641960144, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a54d67e82a4dc1380e7b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.964781641960144, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03521835803985596, + "restore_error": 1.1920928955078125e-07, + "score": 0.03521835803985596, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.31398704648017883, + "candidate_source_group_id": "ms-344d81289be624d70b0e;ms-f126e1cf5b3ee52a8476;ms-6ad14a70593958c00a63;ms-6661b157c41ad4d6ab85;ms-1faf779e909ec0415be0;ms-19cb10d10516bd0216a6", + "expert_regret": 0.0, + "expert_score": 0.15715323388576508, + "expert_success": false, + "group_id": "ms-c083dba0e5dcc8ca1004", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1859475076198578, + "oracle_success": false, + "progress": 0.2070106714963913, + "restore_error": 1.1920928955078125e-07, + "score": 0.2070106714963913, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.696792483329773, + "candidate_source_group_id": "ms-344d81289be624d70b0e;ms-6ad14a70593958c00a63;ms-6661b157c41ad4d6ab85;ms-f126e1cf5b3ee52a8476;ms-1faf779e909ec0415be0;ms-19cb10d10516bd0216a6", + "expert_regret": 0.014661014080047607, + "expert_score": 0.26739317178726196, + "expert_success": false, + "group_id": "ms-53344c3bc69a3b0fe303", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.014661014080047607, + "oracle_score": 0.26739317178726196, + "oracle_success": false, + "progress": 0.25273215770721436, + "restore_error": 1.1920928955078125e-07, + "score": 0.25273215770721436, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.26962319016456604, + "candidate_source_group_id": "ms-714913716f5f0a287401;ms-615d4a98352149e15ff1;ms-e2f8f0ef073900703441;ms-b8fc1568ce66c45c8d8b;ms-29f47a1dc1d9c3ec3365;ms-3f2aed5964eed6c4936a", + "expert_regret": 0.0, + "expert_score": 0.15440061688423157, + "expert_success": false, + "group_id": "ms-5ecde7b64c80d2abbe1f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3174113631248474, + "candidate_source_group_id": "ms-f4a2d61f02d4224bad4f;ms-e6b654653119682cf01e;ms-20ca52baa214c31b3186;ms-a2518826fa0a816cc46f;ms-28bcbcc6e675708de340;ms-a96bca1ef0b74f686018", + "expert_regret": 0.0, + "expert_score": 0.01361372135579586, + "expert_success": false, + "group_id": "ms-81f4e8858b2ba90aea2e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.09626209735870361, + "oracle_score": 0.1631626933813095, + "oracle_success": false, + "progress": 0.0669005960226059, + "restore_error": 1.1920928955078125e-07, + "score": 0.0669005960226059, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.688199758529663, + "candidate_source_group_id": "ms-615d4a98352149e15ff1;ms-29f47a1dc1d9c3ec3365;ms-ac94b48febe523da15a5;ms-714913716f5f0a287401;ms-b8fc1568ce66c45c8d8b;ms-3f2aed5964eed6c4936a", + "expert_regret": 1.9631666131317616, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bd90866faa10e62fce2c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9631666131317616, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03683338686823845, + "restore_error": 1.1920928955078125e-07, + "score": 0.03683338686823845, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4596509337425232, + "candidate_source_group_id": "ms-4920f51977e482b3a66c;ms-d81f9c2974c2d599f151;ms-9919d2d2a89c5d491093;ms-9fd23a06ae1659cef27b;ms-6939bfeb878a54849131;ms-482c5c8d208b5907a2c2", + "expert_regret": 0.0, + "expert_score": 0.028925320133566856, + "expert_success": false, + "group_id": "ms-638d2ba1917eff4d09e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.11176212877035141, + "oracle_success": false, + "progress": 0.16716167330741882, + "restore_error": 1.1920928955078125e-07, + "score": 0.16716167330741882, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3503929078578949, + "candidate_source_group_id": "ms-482c5c8d208b5907a2c2;ms-ba11d52e628b2efe32ea;ms-6939bfeb878a54849131;ms-4920f51977e482b3a66c;ms-a8731059713697ce5e2a;ms-d8e18d4d22b4cc73b803", + "expert_regret": 0.00038405507802963257, + "expert_score": 0.12288884818553925, + "expert_success": false, + "group_id": "ms-1c2768099019b86daca7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.10088718682527542, + "oracle_score": 0.22339197993278503, + "oracle_success": false, + "progress": 0.12250479310750961, + "restore_error": 1.1920928955078125e-07, + "score": 0.12250479310750961, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4972439408302307, + "candidate_source_group_id": "ms-2eabcf580547d2c133ce;ms-e30fd80adc089e9f697a;ms-cad33aa1136af34af6ec;ms-f4f9dd2ff38f992d4fb9;ms-4aed2a49597da545e551;ms-d402ca600d53b2db9dbe", + "expert_regret": 0.0, + "expert_score": 0.0808674544095993, + "expert_success": false, + "group_id": "ms-c832439976a37f52d094", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.11478939652442932, + "oracle_score": 0.2594742774963379, + "oracle_success": false, + "progress": 0.14468488097190857, + "restore_error": 2.3096799850463867e-07, + "score": 0.14468488097190857, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.34052419662475586, + "candidate_source_group_id": "ms-c8fa3c12dd48ffd82fcf;ms-e6b654653119682cf01e;ms-a96bca1ef0b74f686018;ms-dc5563c9b0dcd84e393b;ms-7e88428497a6b13936c4;ms-9fd23a06ae1659cef27b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6f425f086690b71d778", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8149509429931641, + "candidate_source_group_id": "ms-778efc20fc2ee8a3dd02;ms-3c62736c7767014960e0;ms-271889c9e921f7716135;ms-3c223e8c7f870c807541;ms-633308d7f0e52c013505;ms-4f0a59b7bc897c0d5e5e", + "expert_regret": 0.0, + "expert_score": 0.07535885274410248, + "expert_success": false, + "group_id": "ms-2e40499cb146da6f89e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.21672499179840088, + "oracle_success": false, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5017176270484924, + "candidate_source_group_id": "ms-1772611570ffaf72c98c;ms-c1620854ba52f09e24d5;ms-14352bb1538a8e9f86b0;ms-f1e36651e3572ab8b97b;ms-20e1efbb745fd02abc95;ms-1cba84e4c11e030aeb3e", + "expert_regret": 0.0, + "expert_score": 0.1711789071559906, + "expert_success": false, + "group_id": "ms-0e592951fa32139b6dc9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.24661025404930115, + "oracle_success": false, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3383164405822754, + "candidate_source_group_id": "ms-372f2ecb6685d8cae8d5;ms-cb8cbd90038493c30888;ms-45309d0bdc5e3babc17b;ms-6b789356d65b3312fbae;ms-0dee962a5901fb8b5bbb;ms-7a044cb6c7bb03f3ea10", + "expert_regret": 0.0, + "expert_score": 0.2534019351005554, + "expert_success": false, + "group_id": "ms-45672e1bf3b083eb3fc3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.2607541084289551, + "oracle_success": false, + "progress": 0.26828300952911377, + "restore_error": 2.3096799850463867e-07, + "score": 0.26828300952911377, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7145858407020569, + "candidate_source_group_id": "ms-f4a2d61f02d4224bad4f;ms-20ca52baa214c31b3186;ms-e6b654653119682cf01e;ms-a2518826fa0a816cc46f;ms-28bcbcc6e675708de340;ms-60f0d45b604940db0058", + "expert_regret": 0.002057887613773346, + "expert_score": 0.12084104865789413, + "expert_success": false, + "group_id": "ms-49b9e0f9ceaf91314919", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8812168389558792, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11878316104412079, + "restore_error": 2.3096799850463867e-07, + "score": 0.11878316104412079, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.759924054145813, + "candidate_source_group_id": "ms-2b7ca4255af28e33db96;ms-7df455efd413d77e6ce3;ms-38f7298184a2c5005e94;ms-387e6771a55be98f1a59;ms-728b865677134d3788e3;ms-397e502908d16b7804b0", + "expert_regret": 0.0341072678565979, + "expert_score": 0.24371962249279022, + "expert_success": false, + "group_id": "ms-757b3e9ecfc21efc80a7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0341072678565979, + "oracle_score": 0.24371962249279022, + "oracle_success": false, + "progress": 0.20961235463619232, + "restore_error": 2.3096799850463867e-07, + "score": 0.20961235463619232, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.321493923664093, + "candidate_source_group_id": "ms-394edcd961226f337ce1;ms-bccd7bbe1b1b98254147;ms-2dc5138251afd26a040d;ms-c31b98b3d3702c6f9c8c;ms-5b513b00260d517c02d9;ms-fbd73493bcf73542f735", + "expert_regret": 0.0, + "expert_score": 0.21231906116008759, + "expert_success": false, + "group_id": "ms-7c749541fc4ad37e461c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5371356010437012, + "candidate_source_group_id": "ms-f5dd1c43ebc4c0cfc3f1;ms-8b603da9f857de028798;ms-99357c610a8ebf4f5613;ms-0dee962a5901fb8b5bbb;ms-b7d7021b782f73816083;ms-c2398cb80b194084dbfc", + "expert_regret": 0.06991183757781982, + "expert_score": 0.18241576850414276, + "expert_success": false, + "group_id": "ms-a4d2c89304817ce28313", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.09347636997699738, + "oracle_score": 0.2059803009033203, + "oracle_success": false, + "progress": 0.11250393092632294, + "restore_error": 1.1920928955078125e-07, + "score": 0.11250393092632294, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.9318700432777405, + "candidate_source_group_id": "ms-0f5ffa7a4448b22b7951;ms-59d4cdcd401477b5adfc;ms-8577816da2917a2bb63d;ms-02311c7783bc67e188b4;ms-84388e63928e1a30ffc4;ms-1d3f30fae746c0b9cefc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61c3c0e99a653d2a7fe2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3834650218486786, + "candidate_source_group_id": "ms-b7d7021b782f73816083;ms-45309d0bdc5e3babc17b;ms-0dee962a5901fb8b5bbb;ms-7a044cb6c7bb03f3ea10;ms-9681d9cb43cc26adb0fe;ms-4bda8533405961380322", + "expert_regret": 0.0, + "expert_score": 0.11683736741542816, + "expert_success": false, + "group_id": "ms-e87c704dfdbf7ee7f51f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.09636077284812927, + "oracle_score": 0.2421749234199524, + "oracle_success": false, + "progress": 0.14581415057182312, + "restore_error": 1.1920928955078125e-07, + "score": 0.14581415057182312, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.27826493978500366, + "candidate_source_group_id": "ms-b92ca6f216624d6305c2;ms-b794f77d280289ce22a4;ms-7923b8196b397863cf4f;ms-fd4b2d974e51fed9536e;ms-109ea940d18ab80efabc;ms-5dbfefbfb832855ef80a", + "expert_regret": 0.0, + "expert_score": 0.20465779304504395, + "expert_success": false, + "group_id": "ms-ebacae0135af2832dfbb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3812790513038635, + "candidate_source_group_id": "ms-59d4cdcd401477b5adfc;ms-0f5ffa7a4448b22b7951;ms-9df6734b8268172ea7e5;ms-02311c7783bc67e188b4;ms-8577816da2917a2bb63d;ms-b784fe769f0fb1d315e5", + "expert_regret": 0.0, + "expert_score": 0.11729311943054199, + "expert_success": false, + "group_id": "ms-f2b2b2a1aa2863c3676f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1847240924835205, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.606471598148346, + "candidate_source_group_id": "ms-4143ca4fca04091084e4;ms-070184c0f6831eb39bc1;ms-7eaea428dfdef7255a66;ms-57be9ae181c077e7821f;ms-dc26b448cce4164a23e6;ms-62f8c18a15c566ec4b00", + "expert_regret": 0.0, + "expert_score": 0.23635749518871307, + "expert_success": false, + "group_id": "ms-16661b2fd2c85f57a66c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.36507219076156616, + "candidate_source_group_id": "ms-fa8b4ba41ecac8030271;ms-554727d05aa9a2b32904;ms-f85a653af630821f2572;ms-e84163d9ef2e7014daca;ms-7b2cb5c6abcc36a362d1;ms-02d160e1d5db6e544363", + "expert_regret": 0.20703228190541267, + "expert_score": 0.2422785758972168, + "expert_success": false, + "group_id": "ms-972c5be72d0b24be7cd5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.9647537060081959, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03524629399180412, + "restore_error": 1.1920928955078125e-07, + "score": 0.03524629399180412, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.42368799448013306, + "candidate_source_group_id": "ms-8577816da2917a2bb63d;ms-0f5ffa7a4448b22b7951;ms-84388e63928e1a30ffc4;ms-1d3f30fae746c0b9cefc;ms-59d4cdcd401477b5adfc;ms-7e295b5859c07c90487f", + "expert_regret": 0.0, + "expert_score": 0.12672781944274902, + "expert_success": false, + "group_id": "ms-f7a54f4783da1d4129a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.30690255761146545, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.28351008892059326, + "candidate_source_group_id": "ms-70549468e433100cfaa6;ms-db2c4015a0690cc80d24;ms-7b90f35aa521ef45ea27;ms-50e54f9608e1420ba11a;ms-7e88428497a6b13936c4;ms-cf4b63d109a88a4c42bf", + "expert_regret": 0.0, + "expert_score": 0.13041290640830994, + "expert_success": false, + "group_id": "ms-a1b57fcae964d7b531da", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.15699544548988342, + "oracle_success": false, + "progress": 0.28398820757865906, + "restore_error": 1.1920928955078125e-07, + "score": 0.28398820757865906, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.461877703666687, + "candidate_source_group_id": "ms-e6b654653119682cf01e;ms-20ca52baa214c31b3186;ms-28bcbcc6e675708de340;ms-efa875b7aef4c7b2092c;ms-35a50d2822c2c3cc4516;ms-a96bca1ef0b74f686018", + "expert_regret": 0.06007345765829086, + "expert_score": 0.15479056537151337, + "expert_success": false, + "group_id": "ms-35940a55db9e3f7e6ad0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.06007345765829086, + "oracle_score": 0.15479056537151337, + "oracle_success": false, + "progress": 0.0947171077132225, + "restore_error": 1.1920928955078125e-07, + "score": 0.0947171077132225, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5014495253562927, + "candidate_source_group_id": "ms-cad6645f8175e38ad155;ms-4cc40587ec490257b1d2;ms-29f47a1dc1d9c3ec3365;ms-714913716f5f0a287401;ms-e2f8f0ef073900703441;ms-3f2aed5964eed6c4936a", + "expert_regret": 0.0, + "expert_score": 0.14633941650390625, + "expert_success": false, + "group_id": "ms-465d531b9cec5bc77ed7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.491880178451538, + "candidate_source_group_id": "ms-b8c3ec3ea915c5d35b3e;ms-d21367899e99e3048dbe;ms-8c07fff2c7a5131a141b;ms-62bd92bfcbc50801e008;ms-9681d9cb43cc26adb0fe;ms-b7d7021b782f73816083", + "expert_regret": 0.0, + "expert_score": 0.08654259145259857, + "expert_success": false, + "group_id": "ms-257c70d0b302f96fc23f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.08654259145259857, + "oracle_success": false, + "progress": 0.14071428775787354, + "restore_error": 1.1920928955078125e-07, + "score": 0.14071428775787354, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2777966558933258, + "candidate_source_group_id": "ms-f4a2d61f02d4224bad4f;ms-a2518826fa0a816cc46f;ms-e6b654653119682cf01e;ms-20ca52baa214c31b3186;ms-28bcbcc6e675708de340;ms-efa875b7aef4c7b2092c", + "expert_regret": 0.0734216570854187, + "expert_score": 0.14901995658874512, + "expert_success": false, + "group_id": "ms-ebfb82df795e73599373", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.18022483587265015, + "oracle_score": 0.25582313537597656, + "oracle_success": false, + "progress": 0.07559829950332642, + "restore_error": 1.1920928955078125e-07, + "score": 0.07559829950332642, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.353408545255661, + "candidate_source_group_id": "ms-4bda8533405961380322;ms-728b865677134d3788e3;ms-3bfe7e8a312d53f966d0;ms-9681d9cb43cc26adb0fe;ms-b7d7021b782f73816083;ms-ba11d52e628b2efe32ea", + "expert_regret": 0.0, + "expert_score": 0.03362294286489487, + "expert_success": false, + "group_id": "ms-6754ed0131c952830729", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.09807375073432922, + "oracle_score": 0.28973090648651123, + "oracle_success": false, + "progress": 0.191657155752182, + "restore_error": 1.1920928955078125e-07, + "score": 0.191657155752182, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.43112045526504517, + "candidate_source_group_id": "ms-ac94b48febe523da15a5;ms-29f47a1dc1d9c3ec3365;ms-b8fc1568ce66c45c8d8b;ms-615d4a98352149e15ff1;ms-714913716f5f0a287401;ms-3f2aed5964eed6c4936a", + "expert_regret": 0.0, + "expert_score": 0.22621813416481018, + "expert_success": false, + "group_id": "ms-e9ed5d488afdfd6449d1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.6912482678890228, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3087517321109772, + "restore_error": 1.1920928955078125e-07, + "score": 0.3087517321109772, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7748209238052368, + "candidate_source_group_id": "ms-dd7527ab9ed49f79d2ba;ms-9826b7a6fdcc0fd3eb69;ms-1e30e297540582d59926;ms-89538d844f6299774906;ms-98eb81debb5186ebbe38;ms-7ea98b8f4d2220347ee0", + "expert_regret": 0.017639338970184326, + "expert_score": 0.18361739814281464, + "expert_success": false, + "group_id": "ms-c79a79c1cbd7a472da65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.017639338970184326, + "oracle_score": 0.18361739814281464, + "oracle_success": false, + "progress": 0.1659780591726303, + "restore_error": 1.1920928955078125e-07, + "score": 0.1659780591726303, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.5604044198989868, + "candidate_source_group_id": "ms-35a50d2822c2c3cc4516;ms-d81f9c2974c2d599f151;ms-dc5563c9b0dcd84e393b;ms-206099bab6bfe7c84fce;ms-9fd23a06ae1659cef27b;ms-bce8c4ec2bf882ca0b2e", + "expert_regret": 0.01199255883693695, + "expert_score": 0.164321169257164, + "expert_success": false, + "group_id": "ms-8e56b0eaa2604db6749e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13344866037368774, + "oracle_score": 0.2857772707939148, + "oracle_success": false, + "progress": 0.15232861042022705, + "restore_error": 2.3096799850463867e-07, + "score": 0.15232861042022705, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.256323903799057, + "candidate_source_group_id": "ms-1ca019318ddec8ce5e8a;ms-50e54f9608e1420ba11a;ms-d6da14bffe59c0265db7;ms-db2c4015a0690cc80d24;ms-7b90f35aa521ef45ea27;ms-cf4b63d109a88a4c42bf", + "expert_regret": 0.0, + "expert_score": 0.15946325659751892, + "expert_success": false, + "group_id": "ms-c96b415f083f60857334", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.031110167503356934, + "oracle_score": 0.26426148414611816, + "oracle_success": false, + "progress": 0.23315131664276123, + "restore_error": 2.3096799850463867e-07, + "score": 0.23315131664276123, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6952919363975525, + "candidate_source_group_id": "ms-2b7ca4255af28e33db96;ms-38f7298184a2c5005e94;ms-7df455efd413d77e6ce3;ms-397e502908d16b7804b0;ms-4f0a41c8fb3caaeb9540;ms-387e6771a55be98f1a59", + "expert_regret": 0.044721685349941254, + "expert_score": 0.11666401475667953, + "expert_success": false, + "group_id": "ms-9229ce141dd41a11fac1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.1157570332288742, + "oracle_score": 0.1876993626356125, + "oracle_success": false, + "progress": 0.07194232940673828, + "restore_error": 2.3096799850463867e-07, + "score": 0.07194232940673828, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.36335626244544983, + "candidate_source_group_id": "ms-cd16fb1ce2fc83c6eafb;ms-1772611570ffaf72c98c;ms-61bde0225d6f4175b7cb;ms-14352bb1538a8e9f86b0;ms-d0158d7b3df11d64095c;ms-68b43d83b97196e0d27f", + "expert_regret": 0.03835634887218475, + "expert_score": 0.21240054070949554, + "expert_success": false, + "group_id": "ms-c9bf7588a0bb8232c909", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.07079511880874634, + "oracle_score": 0.24483931064605713, + "oracle_success": false, + "progress": 0.1740441918373108, + "restore_error": 2.3096799850463867e-07, + "score": 0.1740441918373108, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7759523391723633, + "candidate_source_group_id": "ms-109ea940d18ab80efabc;ms-ee30ebaf98622759d888;ms-5e422b9487b4a1efd7af;ms-d92cec7cfd1915a30824;ms-6758deb06644a14aa722;ms-fd4b2d974e51fed9536e", + "expert_regret": 0.0, + "expert_score": 0.0937957763671875, + "expert_success": false, + "group_id": "ms-be219977a9db8dbb1e58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.23859378695487976, + "oracle_success": false, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.42588990926742554, + "candidate_source_group_id": "ms-50e54f9608e1420ba11a;ms-1ca019318ddec8ce5e8a;ms-cf4b63d109a88a4c42bf;ms-fc3d80c6ea6b9a4878ab;ms-db2c4015a0690cc80d24;ms-7b90f35aa521ef45ea27", + "expert_regret": 0.0, + "expert_score": 0.029628556221723557, + "expert_success": false, + "group_id": "ms-e3e9c08ff116ef32db75", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.06523827463388443, + "oracle_score": 0.17530643939971924, + "oracle_success": false, + "progress": 0.11006816476583481, + "restore_error": 2.3096799850463867e-07, + "score": 0.11006816476583481, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.1394777297973633, + "candidate_source_group_id": "ms-ac4fb33f3ab4db853995;ms-c09bd18e1017cc532aee;ms-b6b7052345036de1448d;ms-b6dae6677869af5f7f52;ms-575c7eef4563e02ec689;ms-ff129e39095c2861b522", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97832747def371d6de99", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6046186685562134, + "candidate_source_group_id": "ms-340e4b5de99447fbcd5e;ms-7eaea428dfdef7255a66;ms-02d160e1d5db6e544363;ms-554727d05aa9a2b32904;ms-070184c0f6831eb39bc1;ms-7b2cb5c6abcc36a362d1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-906dbd4dc79cb6be1e2c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0817124843597412, + "candidate_source_group_id": "ms-babaeb20129c46551281;ms-a6a6de64c39abad45f86;ms-3ed611d029d2ae0b12d8;ms-620cd9e02d46b021f112;ms-3c223e8c7f870c807541;ms-151566379dfd7af6fe63", + "expert_regret": 1.9020228758454323, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b0c64b4a1c04972e47a1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9020228758454323, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09797712415456772, + "restore_error": 2.3096799850463867e-07, + "score": 0.09797712415456772, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4247415363788605, + "candidate_source_group_id": "ms-14352bb1538a8e9f86b0;ms-f1e36651e3572ab8b97b;ms-c1620854ba52f09e24d5;ms-1772611570ffaf72c98c;ms-1cba84e4c11e030aeb3e;ms-20e1efbb745fd02abc95", + "expert_regret": 0.0, + "expert_score": 0.14843207597732544, + "expert_success": false, + "group_id": "ms-da142025733b53fcf7eb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.2643269896507263, + "oracle_success": false, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6893054246902466, + "candidate_source_group_id": "ms-b6b7052345036de1448d;ms-575c7eef4563e02ec689;ms-ac4fb33f3ab4db853995;ms-b6dae6677869af5f7f52;ms-8e12f7ad446482627dd3;ms-ac94b48febe523da15a5", + "expert_regret": 0.0, + "expert_score": 0.08186312764883041, + "expert_success": false, + "group_id": "ms-6388b5d2356c556c3e55", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.91774582862854, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08225417137145996, + "restore_error": 2.3096799850463867e-07, + "score": 0.08225417137145996, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7649450302124023, + "candidate_source_group_id": "ms-7b2cb5c6abcc36a362d1;ms-554727d05aa9a2b32904;ms-e84163d9ef2e7014daca;ms-02d160e1d5db6e544363;ms-f85a653af630821f2572;ms-340e4b5de99447fbcd5e", + "expert_regret": 0.0, + "expert_score": 0.16841016709804535, + "expert_success": false, + "group_id": "ms-26751f54c657b24b4da2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0276917964220047, + "oracle_score": 0.25515007972717285, + "oracle_success": false, + "progress": 0.22745828330516815, + "restore_error": 2.3096799850463867e-07, + "score": 0.22745828330516815, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5490906238555908, + "candidate_source_group_id": "ms-070184c0f6831eb39bc1;ms-dc26b448cce4164a23e6;ms-7eaea428dfdef7255a66;ms-340e4b5de99447fbcd5e;ms-57be9ae181c077e7821f;ms-62f8c18a15c566ec4b00", + "expert_regret": 1.936880961060524, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dce346f7f90e29664890", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.936880961060524, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06311903893947601, + "restore_error": 2.3096799850463867e-07, + "score": 0.06311903893947601, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5590795278549194, + "candidate_source_group_id": "ms-d5da60ea045af7f677a8;ms-15459afe7e32ce62fc1b;ms-e2bad6e99e8a281207cc;ms-ee4ddb148e138fce841c;ms-19cb10d10516bd0216a6;ms-4de1f6d71208bf1d182d", + "expert_regret": 0.0, + "expert_score": 0.07638250291347504, + "expert_success": false, + "group_id": "ms-0819eb89e627595e7e1b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0115337073802948, + "oracle_score": 0.14572584629058838, + "oracle_success": false, + "progress": 0.13419213891029358, + "restore_error": 2.3096799850463867e-07, + "score": 0.13419213891029358, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.5897496938705444, + "candidate_source_group_id": "ms-6661b157c41ad4d6ab85;ms-e7c50fae013f9728539a;ms-1faf779e909ec0415be0;ms-45fbd749d5ed3fe37c13;ms-397e502908d16b7804b0;ms-8b603da9f857de028798", + "expert_regret": 0.0, + "expert_score": 0.1521211564540863, + "expert_success": false, + "group_id": "ms-cc07f96f3454a4643b9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.002748727798461914, + "oracle_score": 0.191031813621521, + "oracle_success": false, + "progress": 0.18828308582305908, + "restore_error": 2.3096799850463867e-07, + "score": 0.18828308582305908, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8784918189048767, + "candidate_source_group_id": "ms-652ad552ba98d2736620;ms-6d5f6a187b61ea26c2e2;ms-07215d42deb9f67c65fd;ms-a9747843e0fddd993263;ms-7e295b5859c07c90487f;ms-f7f4e41613e39d53b7c1", + "expert_regret": 0.13251960277557373, + "expert_score": 0.18896210193634033, + "expert_success": false, + "group_id": "ms-aa45731e1b9734a493fd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13251960277557373, + "oracle_score": 0.18896210193634033, + "oracle_success": false, + "progress": 0.0564424991607666, + "restore_error": 2.3096799850463867e-07, + "score": 0.0564424991607666, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.23349067568778992, + "candidate_source_group_id": "ms-b92ca6f216624d6305c2;ms-7dedf60ad41ea2d92ee5;ms-d73fd5fce55fb58ef8e9;ms-29ae8ff2b706fed904df;ms-36ce7b44f44c615347ab;ms-d024c00b780e0df06b55", + "expert_regret": 0.0, + "expert_score": 0.18145142495632172, + "expert_success": false, + "group_id": "ms-003a2225c0892dcda683", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8105911016464233, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18940889835357666, + "restore_error": 1.1920928955078125e-07, + "score": 0.18940889835357666, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8109539151191711, + "candidate_source_group_id": "ms-dc5563c9b0dcd84e393b;ms-a96bca1ef0b74f686018;ms-c8fa3c12dd48ffd82fcf;ms-9fd23a06ae1659cef27b;ms-e6b654653119682cf01e;ms-9919d2d2a89c5d491093", + "expert_regret": 0.06176315248012543, + "expert_score": 0.13852080702781677, + "expert_success": false, + "group_id": "ms-25aa923fccf402a7639c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.9232423454523087, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07675765454769135, + "restore_error": 1.1920928955078125e-07, + "score": 0.07675765454769135, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2501814663410187, + "candidate_source_group_id": "ms-883bd3738bfe11cfc192;ms-1577a0922a9e53528571;ms-714913716f5f0a287401;ms-070184c0f6831eb39bc1;ms-52f9c8427a88de8dfa6b;ms-615d4a98352149e15ff1", + "expert_regret": 0.0, + "expert_score": 0.12250044196844101, + "expert_success": false, + "group_id": "ms-deaf653f7a97ed4a22b7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.23258867859840393, + "oracle_success": false, + "progress": 0.25469839572906494, + "restore_error": 1.1920928955078125e-07, + "score": 0.25469839572906494, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.45075565576553345, + "candidate_source_group_id": "ms-2eabcf580547d2c133ce;ms-f4f9dd2ff38f992d4fb9;ms-cad33aa1136af34af6ec;ms-4dc6f09c1beeb5314d11;ms-e30fd80adc089e9f697a;ms-0093b06390890d181104", + "expert_regret": 0.0, + "expert_score": 0.1136304959654808, + "expert_success": false, + "group_id": "ms-6f26118aa94bacd82250", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.046074360609054565, + "oracle_score": 0.19666370749473572, + "oracle_success": false, + "progress": 0.15058934688568115, + "restore_error": 1.1920928955078125e-07, + "score": 0.15058934688568115, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.5567893981933594, + "candidate_source_group_id": "ms-0345d8ac530f88cefd61;ms-d45766ebe3a1d7f8876c;ms-a96bca1ef0b74f686018;ms-7df455efd413d77e6ce3;ms-0228f3312b428eaf7e9d;ms-1577a0922a9e53528571", + "expert_regret": 1.9144477248191833, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fce6752dcf61a2b52d15", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9144477248191833, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08555227518081665, + "restore_error": 1.1920928955078125e-07, + "score": 0.08555227518081665, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5963354110717773, + "candidate_source_group_id": "ms-9915a1632fdf65172a02;ms-3d208c1e04bb84341859;ms-88de0a1035cb8f8ef16a;ms-db2cfd3c0ce8ece8a112;ms-d593c823d7fa1cd02635;ms-33e036c8224f052e6279", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a39c5eb6453fab13bb3f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7814355492591858, + "candidate_source_group_id": "ms-7dd90f1575d9612c456c;ms-5884cb0ce8ef0e034fec;ms-70e24231e9bb560abb3e;ms-2a4611f1099507f9babf;ms-fbfbee34b928dbb775da;ms-c109289291b46fd832b3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fa637544793129258022", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4902976155281067, + "candidate_source_group_id": "ms-0b13513f98f2d3def73a;ms-bfe867e8d518b9f8333a;ms-33e036c8224f052e6279;ms-cece69f5a160c40d613a;ms-f2f594b2492898e947f0;ms-d130baa9773a108ae1b1", + "expert_regret": 1.914405643939972, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2a7f05987ae1fd0fa33d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.914405643939972, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08559435606002808, + "restore_error": 1.1920928955078125e-07, + "score": 0.08559435606002808, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5839609503746033, + "candidate_source_group_id": "ms-c16b5cbd61b51f0b66e7;ms-22f6ac0312682d5358b5;ms-22f153f0d4fa656018e6;ms-4c74a17f4d3e6237c0e5;ms-9345a7952bca93b2be95;ms-dc6ca032f5df915c7945", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-40c0e775426e28c3afd9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.48538920283317566, + "candidate_source_group_id": "ms-64f98d163b6bff29332b;ms-1fe4b5c84ee5c0e6fcdb;ms-8d4ee30bf4815d04c391;ms-551020d425c370126f59;ms-8278abbc47a6efcb5b68;ms-c1f8e861c7c4485c361a", + "expert_regret": 1.9343324452638626, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-027592312fc833e8768d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9343324452638626, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06566755473613739, + "restore_error": 1.1920928955078125e-07, + "score": 0.06566755473613739, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5496498942375183, + "candidate_source_group_id": "ms-2413d1155c87f0442485;ms-876805da5863dc637246;ms-575e151c0d1622c7ccd1;ms-d5f6186b51268063515e;ms-1405ab4a382fd1a07e63;ms-4aa2c82355bdbbb93f9d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4866796139a8dac6d73b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5399356484413147, + "candidate_source_group_id": "ms-cffdaeae3b980aaeb8f7;ms-e95a64701812302bd039;ms-adf081811af7bca643a1;ms-c4a78f303c7f2b1a437b;ms-b2c71dc14945b7bd8a60;ms-74f12c8d99a319a9d020", + "expert_regret": 1.974699079990387, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-16619fc9e4f3627b8dd1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.974699079990387, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.025300920009613037, + "restore_error": 1.1920928955078125e-07, + "score": 0.025300920009613037, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5623153448104858, + "candidate_source_group_id": "ms-dae29d741eb65a2fc4b3;ms-5dab866561f657e9aa8d;ms-9b50c72d20e7510258b8;ms-f492405ef825467ddcba;ms-c3191d9c08e5756e90e7;ms-f52fe666ef7c9b997778", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10a1077a32c1abd486f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.385033518075943, + "candidate_source_group_id": "ms-4e67cfd30a257b4bad0c;ms-f848ee8748cea24fc8a0;ms-1e3b1d1f26baebcdb86a;ms-cf1db8d3ccb39453a3fd;ms-3c326d05fec66e1d6bea;ms-8a8484751c0ce80cd2f6", + "expert_regret": 0.10885299742221832, + "expert_score": 0.1630544364452362, + "expert_success": false, + "group_id": "ms-fe38b164397dd669f391", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9457985609769821, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05420143902301788, + "restore_error": 1.1920928955078125e-07, + "score": 0.05420143902301788, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.32057419419288635, + "candidate_source_group_id": "ms-6d48ff55845b6759a8c4;ms-66d3cc0e17bcbfb5f36e;ms-351f07141fc0a8885759;ms-60a0de44d30044ef60ff;ms-bb9f2f5b67bbb7e0f516;ms-1f195ac1f3ae4b397c71", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-234ce02cf98f85bda72c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.41639137268066406, + "candidate_source_group_id": "ms-84404222b954c48c48d8;ms-f97fbc8f36f0af9ce18c;ms-8d23082fdeffba7cba51;ms-e9bb31726937713db23a;ms-c8902580575f6effb241;ms-8efd9238ae8d6ca1cd1a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d0005f84908a87243dd6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.36595553159713745, + "candidate_source_group_id": "ms-ff08c0b84d984d3d8620;ms-b5f45644a5e3ed45c86d;ms-ec5ac79449116b0a30c1;ms-85a4fc6e131dacc9d839;ms-aca9b69b504ede73bcac;ms-365d8c6de6de16f66744", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cbdc087c47e35d3d93d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6736586689949036, + "candidate_source_group_id": "ms-4d96769e78d7391e43f7;ms-048c14d42c3f3b352f53;ms-8293ae7689b30820278f;ms-f7db0d0ad0967af1d0c5;ms-3b99101d58e538cfbd6d;ms-653181f057aeaeeadfe2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a0863466a999b4680737", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.46888217329978943, + "candidate_source_group_id": "ms-8d4ee30bf4815d04c391;ms-c1f8e861c7c4485c361a;ms-64f98d163b6bff29332b;ms-72da580865509f75d6eb;ms-1fe4b5c84ee5c0e6fcdb;ms-551020d425c370126f59", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0942bb0cc1143a2058f9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5339882969856262, + "candidate_source_group_id": "ms-22f153f0d4fa656018e6;ms-ae5eaf676ba740f3dc07;ms-2baa5b5b99121cff72c2;ms-ba0ee0c9c181cdc7de9d;ms-c16b5cbd61b51f0b66e7;ms-ec5819de002710aa5d97", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b0d0004818ae853d5bc5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1527465134859085, + "candidate_source_group_id": "ms-e411015630dcff33d0f7;ms-608a539637578968beb3;ms-183174ef761d19fb85d9;ms-949bca60825f84d7b5b9;ms-7f5fe657331466b2e262;ms-383c0d1f90c5a0b55e07", + "expert_regret": 0.0, + "expert_score": 0.1350320279598236, + "expert_success": false, + "group_id": "ms-1979b899f11945b46b51", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.394660085439682, + "candidate_source_group_id": "ms-674d9e270ff9ba879886;ms-c4a78f303c7f2b1a437b;ms-adf081811af7bca643a1;ms-e95a64701812302bd039;ms-9d943a2732771576e41d;ms-cffdaeae3b980aaeb8f7", + "expert_regret": 1.9827189445495605, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb7c4ead34050a60dbdd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9827189445495605, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.017281055450439453, + "restore_error": 2.384185791015625e-07, + "score": 0.017281055450439453, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5634130239486694, + "candidate_source_group_id": "ms-f2f594b2492898e947f0;ms-e31553038464afab4ec1;ms-cece69f5a160c40d613a;ms-29788f80c9da2d2d8b4e;ms-33e036c8224f052e6279;ms-9915a1632fdf65172a02", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a83154b77975bca93e5e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.47030800580978394, + "candidate_source_group_id": "ms-06c528eb38baee4e31b8;ms-5816c255ea56bc8a63c3;ms-80269804728c7aaaf9a7;ms-d5d38df1f2dbae367af0;ms-fd66d311a01f9c4fc825;ms-c8ffa7d45ed61e2b94d6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cefef59d2909a69dd709", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5469375252723694, + "candidate_source_group_id": "ms-c3191d9c08e5756e90e7;ms-4711dffcd73048a3656c;ms-9b50c72d20e7510258b8;ms-5dab866561f657e9aa8d;ms-f52fe666ef7c9b997778;ms-7530a944fb0979ba91e3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5ae7b4d324285dfe6e80", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.42871004343032837, + "candidate_source_group_id": "ms-383c0d1f90c5a0b55e07;ms-7f5fe657331466b2e262;ms-e411015630dcff33d0f7;ms-183174ef761d19fb85d9;ms-4015b8ac7c0a1397c076;ms-608a539637578968beb3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c10cf873dd3f68d97755", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5798802971839905, + "candidate_source_group_id": "ms-9df99aca252d63f555b2;ms-d2aed645029072f5c82f;ms-64142b18744de985eb63;ms-9448b2a52a4a475af1f9;ms-8a2ada13f7fd1a5aeb2f;ms-81eff749adbf328a93e1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8dd1387678e0e62a1298", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.18416118621826172, + "candidate_source_group_id": "ms-ae5eaf676ba740f3dc07;ms-22f153f0d4fa656018e6;ms-ba0ee0c9c181cdc7de9d;ms-2baa5b5b99121cff72c2;ms-c16b5cbd61b51f0b66e7;ms-ec5819de002710aa5d97", + "expert_regret": 0.0, + "expert_score": 3.814697265625e-06, + "expert_success": false, + "group_id": "ms-6825a9112cb71ea137c9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4678089916706085, + "candidate_source_group_id": "ms-c1513a6417b0ba250dee;ms-6ed65c65b566e21474a8;ms-d7cbc8db5f1b69fcd9f9;ms-97ccdc4668a995776663;ms-2b27b1ecc0284ec3a993;ms-edeb8cb36d3d06244421", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e2a1bc3e5cd509eb08c2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6102389693260193, + "candidate_source_group_id": "ms-9d82d1927529dc675bc5;ms-fae97eb60014b2866413;ms-4dbdc6ed61dccebbfe92;ms-9d1d3a7b2dcafeda3bf3;ms-f261341a4a394ae06c69;ms-aec40fad850827331244", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3a5eaa0095953c9d6241", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.9573173522949219, + "candidate_source_group_id": "ms-4e67cfd30a257b4bad0c;ms-cf1db8d3ccb39453a3fd;ms-8a8484751c0ce80cd2f6;ms-1e3b1d1f26baebcdb86a;ms-51fc0cc7406cb59b5c24;ms-f848ee8748cea24fc8a0", + "expert_regret": 1.9459884315729141, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5f750a2e67b4e9597b2c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9459884315729141, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.054011568427085876, + "restore_error": 1.1920928955078125e-07, + "score": 0.054011568427085876, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2666466236114502, + "candidate_source_group_id": "ms-8efd9238ae8d6ca1cd1a;ms-f97fbc8f36f0af9ce18c;ms-8d23082fdeffba7cba51;ms-e9bb31726937713db23a;ms-c8902580575f6effb241;ms-84404222b954c48c48d8", + "expert_regret": 1.9274527430534363, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a18cc16207970cd8f84d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9274527430534363, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07254725694656372, + "restore_error": 1.1920928955078125e-07, + "score": 0.07254725694656372, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4473486542701721, + "candidate_source_group_id": "ms-ae5eaf676ba740f3dc07;ms-05f34a90fa7355262b8e;ms-ec5819de002710aa5d97;ms-7f22550a9f6707a45cd4;ms-7f0fb9edfc18e6b83b41;ms-338d0d83a8a30b40ee75", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-864a932d1281c7e316af", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5205754041671753, + "candidate_source_group_id": "ms-316e11b816e8a3495dd9;ms-90a840c7cbbfe35e8a67;ms-33e036c8224f052e6279;ms-44e2ba085128234ef9eb;ms-db2cfd3c0ce8ece8a112;ms-783ceec205863d92ef8a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e333fb7b8697ebeb474e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6798768043518066, + "candidate_source_group_id": "ms-7c72cdc319220ea76854;ms-c109289291b46fd832b3;ms-49731d5e69272f3bd959;ms-7dd90f1575d9612c456c;ms-ca9a06f00b861bf34c4d;ms-5884cb0ce8ef0e034fec", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68682a8a5d31b10fcadb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.48735374212265015, + "candidate_source_group_id": "ms-316e11b816e8a3495dd9;ms-27eb5fd79735a667570a;ms-783ceec205863d92ef8a;ms-e7fcbe2b61632a79fe6a;ms-90a840c7cbbfe35e8a67;ms-88de0a1035cb8f8ef16a", + "expert_regret": 1.9688911885023117, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-82d6fc374e1f1808654b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9688911885023117, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.031108811497688293, + "restore_error": 1.1920928955078125e-07, + "score": 0.031108811497688293, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6351538300514221, + "candidate_source_group_id": "ms-01fe80a36517a246929d;ms-60c02d02de5f1e91124f;ms-87f2f63d694d8ccca7f8;ms-b187043687d88d509fc7;ms-81eff749adbf328a93e1;ms-d2aed645029072f5c82f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cbdf12e174c323015f38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5393973588943481, + "candidate_source_group_id": "ms-f2f594b2492898e947f0;ms-29788f80c9da2d2d8b4e;ms-b559638a0a726e441847;ms-cece69f5a160c40d613a;ms-34ea26afcb2c6fe1a1fe;ms-33e036c8224f052e6279", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1188a1b8e0ac31187b3b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5613733530044556, + "candidate_source_group_id": "ms-25119a8a2d03c8e71300;ms-eccd5c34e1762a33f643;ms-2ba02dcefa15a9371706;ms-05f34a90fa7355262b8e;ms-8a38529670b19d605663;ms-fa27eb61283e52488bdb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a012d1677923703d5a0c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4348800480365753, + "candidate_source_group_id": "ms-c4a78f303c7f2b1a437b;ms-adf081811af7bca643a1;ms-674d9e270ff9ba879886;ms-e95a64701812302bd039;ms-74f12c8d99a319a9d020;ms-cffdaeae3b980aaeb8f7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5d39d1a6fdb17aeb8116", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4074484407901764, + "candidate_source_group_id": "ms-75dce23f7afca1f3e5b5;ms-f6755a487459505d598f;ms-2baa5b5b99121cff72c2;ms-f261341a4a394ae06c69;ms-eea4df1b36e8a31b40a3;ms-fae97eb60014b2866413", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-05139cc8ec8867b8ea3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5028883218765259, + "candidate_source_group_id": "ms-ba0d059f1c55c5737e17;ms-9d190663aa55bb434720;ms-70dd7025d2b038824c72;ms-4c8a03e5d6e3b7a13c29;ms-f39cb13a5942ca3317d0;ms-ce6cbc6d7664766f1285", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-238b0d92a2c0a61289b7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.43953412771224976, + "candidate_source_group_id": "ms-2e237a4b84b582828c37;ms-e4656ad3c67bd430c1a6;ms-8b813b6035f0425892bd;ms-b25b49e16e98af4a554c;ms-65d0541a2ba23a8478fa;ms-6ffe441e29681c8f116e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-130f96b49e1bdb7c0e7c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5183249711990356, + "candidate_source_group_id": "ms-7f5fe657331466b2e262;ms-383c0d1f90c5a0b55e07;ms-e411015630dcff33d0f7;ms-183174ef761d19fb85d9;ms-608a539637578968beb3;ms-0952da757675889102ec", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9f33c55b8e06fcb5e21e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.727508544921875, + "candidate_source_group_id": "ms-23a02f5f0c3f979684ff;ms-51fc0cc7406cb59b5c24;ms-8a8484751c0ce80cd2f6;ms-cf1db8d3ccb39453a3fd;ms-2d9efcce135f0c9d2203;ms-2423891634e7b469eed8", + "expert_regret": 1.9538522511720657, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f40f6fe1910a94971980", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9538522511720657, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.046147748827934265, + "restore_error": 1.1920928955078125e-07, + "score": 0.046147748827934265, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.07072790712118149, + "candidate_source_group_id": "ms-ea67d3a4697351095f09;ms-6ed65c65b566e21474a8;ms-1405ab4a382fd1a07e63;ms-d7cbc8db5f1b69fcd9f9;ms-627eaad017d31a933984;ms-c1513a6417b0ba250dee", + "expert_regret": 0.0, + "expert_score": 9.402632713317871e-06, + "expert_success": false, + "group_id": "ms-c2ae2b78ab7891e74c80", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.8207356333732605e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5491761565208435, + "candidate_source_group_id": "ms-2867deaca7e98582620b;ms-ff08c0b84d984d3d8620;ms-ec5ac79449116b0a30c1;ms-771e632c1b0f3181ff36;ms-f492405ef825467ddcba;ms-aca9b69b504ede73bcac", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9fd5ccb16c4e5d0c4579", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.8207356333732605e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6599943041801453, + "candidate_source_group_id": "ms-87f2f63d694d8ccca7f8;ms-c9a00cd02aa3ea31af1c;ms-c257731ddcf5cf149393;ms-b4293fc495a608f8063c;ms-ca9a06f00b861bf34c4d;ms-c109289291b46fd832b3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f14cda80db7270dd0f86", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.8207356333732605e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.40126726031303406, + "candidate_source_group_id": "ms-4a4de470c6c7cb5a3c34;ms-68054c6c805197b033a7;ms-876805da5863dc637246;ms-9d1d3a7b2dcafeda3bf3;ms-98d8d5d728ee4cff6776;ms-4aa2c82355bdbbb93f9d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2a4f1cbd3f416f9084dc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.8207356333732605e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5745968222618103, + "candidate_source_group_id": "ms-9df99aca252d63f555b2;ms-d2aed645029072f5c82f;ms-81eff749adbf328a93e1;ms-9448b2a52a4a475af1f9;ms-60c02d02de5f1e91124f;ms-f6635cbacd4195f7f4ab", + "expert_regret": 1.909422591328621, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1be8db140ae74d18596f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.909422591328621, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09057740867137909, + "restore_error": 1.8207356333732605e-07, + "score": 0.09057740867137909, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7180745005607605, + "candidate_source_group_id": "ms-80269804728c7aaaf9a7;ms-06c528eb38baee4e31b8;ms-d5d38df1f2dbae367af0;ms-c8ffa7d45ed61e2b94d6;ms-e6b0ee06238145e2a517;ms-5816c255ea56bc8a63c3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-63b9ac9cfd0a96150eb1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.8207356333732605e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.38426199555397034, + "candidate_source_group_id": "ms-e7fcbe2b61632a79fe6a;ms-44e2ba085128234ef9eb;ms-316e11b816e8a3495dd9;ms-f848ee8748cea24fc8a0;ms-27eb5fd79735a667570a;ms-783ceec205863d92ef8a", + "expert_regret": 0.10104028880596161, + "expert_score": 0.1547313630580902, + "expert_success": false, + "group_id": "ms-3f6cd47af5e9e6781b73", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9463089257478714, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0536910742521286, + "restore_error": 1.8207356333732605e-07, + "score": 0.0536910742521286, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.623443067073822, + "candidate_source_group_id": "ms-f6755a487459505d598f;ms-75dce23f7afca1f3e5b5;ms-5383e9b606cc63b724ab;ms-f261341a4a394ae06c69;ms-3cb727b6501f5c1a5a16;ms-2baa5b5b99121cff72c2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5df972e5e36afb67a009", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.8207356333732605e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.338472843170166, + "candidate_source_group_id": "ms-f492405ef825467ddcba;ms-dae29d741eb65a2fc4b3;ms-2867deaca7e98582620b;ms-aca9b69b504ede73bcac;ms-ff08c0b84d984d3d8620;ms-365d8c6de6de16f66744", + "expert_regret": 0.0, + "expert_score": 0.15766333043575287, + "expert_success": false, + "group_id": "ms-28a10bea0cf3f917e067", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5828019380569458, + "candidate_source_group_id": "ms-7c72cdc319220ea76854;ms-ca9a06f00b861bf34c4d;ms-c257731ddcf5cf149393;ms-c9a00cd02aa3ea31af1c;ms-49731d5e69272f3bd959;ms-c109289291b46fd832b3", + "expert_regret": 1.9999813586473465, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-45b8b3cec97878df0d19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9999813586473465, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.8641352653503418e-05, + "restore_error": 1.1920928955078125e-07, + "score": 1.8641352653503418e-05, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3583429753780365, + "candidate_source_group_id": "ms-ec5ac79449116b0a30c1;ms-ff08c0b84d984d3d8620;ms-a649d9cf4fba45822ad9;ms-64f98d163b6bff29332b;ms-72da580865509f75d6eb;ms-771e632c1b0f3181ff36", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-31880fb2dfed92c021ef", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8795352578163147, + "candidate_source_group_id": "ms-4e67cfd30a257b4bad0c;ms-cf1db8d3ccb39453a3fd;ms-8a8484751c0ce80cd2f6;ms-e7fcbe2b61632a79fe6a;ms-3c326d05fec66e1d6bea;ms-f848ee8748cea24fc8a0", + "expert_regret": 1.9551713317632675, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b265e13a79d2147718c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9551713317632675, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04482866823673248, + "restore_error": 1.1920928955078125e-07, + "score": 0.04482866823673248, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.47165992856025696, + "candidate_source_group_id": "ms-98d738638749a1c0999d;ms-b559638a0a726e441847;ms-33e036c8224f052e6279;ms-0b13513f98f2d3def73a;ms-90a840c7cbbfe35e8a67;ms-d593c823d7fa1cd02635", + "expert_regret": 1.9373318254947662, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e4a99e5ef340bcc181c9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9373318254947662, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06266817450523376, + "restore_error": 1.1920928955078125e-07, + "score": 0.06266817450523376, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 1.0101100206375122, + "candidate_source_group_id": "ms-be8665e211c9b1cc13b4;ms-3b99101d58e538cfbd6d;ms-a5f722aaecb894444ac4;ms-1003d1fe41aba4c8af84;ms-918efaf9527826841090;ms-eb0a75800f4ab451b92e", + "expert_regret": 1.9317032992839813, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f3b9739bcb72c30a5535", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9317032992839813, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06829670071601868, + "restore_error": 1.1920928955078125e-07, + "score": 0.06829670071601868, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3302142322063446, + "candidate_source_group_id": "ms-51fc0cc7406cb59b5c24;ms-23a02f5f0c3f979684ff;ms-8a8484751c0ce80cd2f6;ms-cf1db8d3ccb39453a3fd;ms-4e67cfd30a257b4bad0c;ms-1f6006a647438280a273", + "expert_regret": 0.122815802693367, + "expert_score": 0.18460628390312195, + "expert_success": false, + "group_id": "ms-543339410c02ce2269d1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.938209518790245, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.061790481209754944, + "restore_error": 1.1920928955078125e-07, + "score": 0.061790481209754944, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1648108959197998, + "candidate_source_group_id": "ms-3e17d03f9d640185853b;ms-7a102c1d0334bab9656e;ms-20bc116cad15b072a2ea;ms-2b309050ebafdd5a3482;ms-579eb7a700037d011e3f;ms-0818eb8cc217c9b3040a", + "expert_regret": 0.0, + "expert_score": 0.14907020330429077, + "expert_success": false, + "group_id": "ms-ccccd221a821803e36c5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3202340602874756, + "candidate_source_group_id": "ms-3589c30bbad90d19f2c4;ms-0350672b45f92c437c22;ms-edeb8cb36d3d06244421;ms-5c7ab237037e9344a2ed;ms-167bd325bc0845dcaba3;ms-d7cbc8db5f1b69fcd9f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-da66340af8ac9f3852c4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5052973031997681, + "candidate_source_group_id": "ms-109d9131cce2e94f40c1;ms-147e4106b5d337cefcb2;ms-670a696bd472769ac513;ms-b5ca4a8c438aadab9ec5;ms-998ac1af1755510c9229;ms-4c9ed894520169849bc6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7fac99962876b33e8d0b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6378278732299805, + "candidate_source_group_id": "ms-733b04f5bd4720d79e99;ms-c333dcd8ec59f2ae8a3d;ms-3333e935277a2e1f4e05;ms-64b6e9f72ae5e2999f56;ms-1e15448c374f47bee884;ms-3ee8f778784665ea6ee0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-33dcfa4725ad078cc898", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4705886244773865, + "candidate_source_group_id": "ms-82a203dfa8631639ba7e;ms-cf8cc7e3c4481783d5f5;ms-5d4b83a1d21ee90ef69f;ms-1044e227d00afb01a5dd;ms-c8593eabfdb5a6bca7bb;ms-5a0da896925f50a1d2ee", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f813ff3f9ae188b0259c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3622974455356598, + "candidate_source_group_id": "ms-64142b18744de985eb63;ms-9df99aca252d63f555b2;ms-f6635cbacd4195f7f4ab;ms-9448b2a52a4a475af1f9;ms-0952da757675889102ec;ms-4015b8ac7c0a1397c076", + "expert_regret": 0.0, + "expert_score": 0.17416667938232422, + "expert_success": false, + "group_id": "ms-1c4df81cce643ca4fb3e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1929382085800171, + "candidate_source_group_id": "ms-f83aacaa71f0151421c7;ms-338d0d83a8a30b40ee75;ms-be7166dbee42ee877e29;ms-eb0a75800f4ab451b92e;ms-316e11b816e8a3495dd9;ms-0b13513f98f2d3def73a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fa20766f8a3e706a8ea1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.16500650346279144, + "candidate_source_group_id": "ms-f1b05f75f6ad032a0cd1;ms-3579b51b91daa627d195;ms-d65e80424e917743d9a4;ms-933425ede670e8efc04e;ms-74704688fb63757619e1;ms-4401ec9ab8c89fb39f58", + "expert_regret": 0.0, + "expert_score": 0.20227843523025513, + "expert_success": false, + "group_id": "ms-54346a8f79bd9dca1dfe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4854171574115753, + "candidate_source_group_id": "ms-ea67d3a4697351095f09;ms-d7cbc8db5f1b69fcd9f9;ms-edeb8cb36d3d06244421;ms-627eaad017d31a933984;ms-0350672b45f92c437c22;ms-5c7ab237037e9344a2ed", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bb6a2f2ae3014b135b40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5536621809005737, + "candidate_source_group_id": "ms-f39cb13a5942ca3317d0;ms-9d190663aa55bb434720;ms-70dd7025d2b038824c72;ms-fbfbee34b928dbb775da;ms-ba0d059f1c55c5737e17;ms-4c8a03e5d6e3b7a13c29", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f9a8bf8a8c0882b4039", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.38990408182144165, + "candidate_source_group_id": "ms-630c7d4c0ef39da64304;ms-4096e2d9cf2e9d4943c7;ms-a5885ec43a0aa166a0e7;ms-8b813b6035f0425892bd;ms-9feb7d8fdc15e384b8b7;ms-2e237a4b84b582828c37", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2a738f03ee216527dfa6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.348292738199234, + "candidate_source_group_id": "ms-0350672b45f92c437c22;ms-3589c30bbad90d19f2c4;ms-167bd325bc0845dcaba3;ms-edeb8cb36d3d06244421;ms-5c7ab237037e9344a2ed;ms-d7cbc8db5f1b69fcd9f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2b4b951e47485c8be41", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4914661943912506, + "candidate_source_group_id": "ms-1f6006a647438280a273;ms-d130baa9773a108ae1b1;ms-a5f722aaecb894444ac4;ms-98d738638749a1c0999d;ms-e7fcbe2b61632a79fe6a;ms-0b13513f98f2d3def73a", + "expert_regret": 1.9663528800010681, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-25942684dfc6d81c449a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9663528800010681, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.033647119998931885, + "restore_error": 1.1920928955078125e-07, + "score": 0.033647119998931885, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 1.0517890453338623, + "candidate_source_group_id": "ms-783ceec205863d92ef8a;ms-e7fcbe2b61632a79fe6a;ms-c57abcef044f324c2f1d;ms-44e2ba085128234ef9eb;ms-90a840c7cbbfe35e8a67;ms-4e67cfd30a257b4bad0c", + "expert_regret": 1.9417406916618347, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-269731d0630cffc1a216", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9417406916618347, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05825930833816528, + "restore_error": 1.1920928955078125e-07, + "score": 0.05825930833816528, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2635951638221741, + "candidate_source_group_id": "ms-a5f722aaecb894444ac4;ms-be8665e211c9b1cc13b4;ms-1f6006a647438280a273;ms-98d738638749a1c0999d;ms-130188b25b236b6c13fc;ms-1003d1fe41aba4c8af84", + "expert_regret": 0.07071307301521301, + "expert_score": 0.1476379632949829, + "expert_success": false, + "group_id": "ms-5d646fb3dbdcd5443729", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.07807961106300354, + "oracle_score": 0.15500450134277344, + "oracle_success": false, + "progress": 0.0769248902797699, + "restore_error": 1.1920928955078125e-07, + "score": 0.0769248902797699, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8876304626464844, + "candidate_source_group_id": "ms-8a8484751c0ce80cd2f6;ms-a5f722aaecb894444ac4;ms-1f6006a647438280a273;ms-4e67cfd30a257b4bad0c;ms-eb0a75800f4ab451b92e;ms-98d738638749a1c0999d", + "expert_regret": 1.939664676785469, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-47d33f56890889e86355", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.939664676785469, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.060335323214530945, + "restore_error": 1.1920928955078125e-07, + "score": 0.060335323214530945, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7958014607429504, + "candidate_source_group_id": "ms-dab80e1bb7987577e33d;ms-b559638a0a726e441847;ms-e31553038464afab4ec1;ms-9915a1632fdf65172a02;ms-cece69f5a160c40d613a;ms-f2f594b2492898e947f0", + "expert_regret": 1.8580889999866486, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-db41eac14b49855e7e58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8580889999866486, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.14191100001335144, + "restore_error": 1.1920928955078125e-07, + "score": 0.14191100001335144, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5320432782173157, + "candidate_source_group_id": "ms-2baa5b5b99121cff72c2;ms-22f153f0d4fa656018e6;ms-ba0ee0c9c181cdc7de9d;ms-eea4df1b36e8a31b40a3;ms-ae5eaf676ba740f3dc07;ms-fae97eb60014b2866413", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ecf6837325ac3bc3b66d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.36580660939216614, + "candidate_source_group_id": "ms-74f12c8d99a319a9d020;ms-cffdaeae3b980aaeb8f7;ms-adf081811af7bca643a1;ms-c4a78f303c7f2b1a437b;ms-e95a64701812302bd039;ms-674d9e270ff9ba879886", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9ac0a7f45996f7326682", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6167503595352173, + "candidate_source_group_id": "ms-20bc116cad15b072a2ea;ms-998ac1af1755510c9229;ms-109d9131cce2e94f40c1;ms-147e4106b5d337cefcb2;ms-670a696bd472769ac513;ms-2b309050ebafdd5a3482", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-93cbf45c02a304a2f6dc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7965822219848633, + "candidate_source_group_id": "ms-29788f80c9da2d2d8b4e;ms-f2f594b2492898e947f0;ms-beb40d1c9533f7508aa5;ms-34ea26afcb2c6fe1a1fe;ms-b559638a0a726e441847;ms-e31553038464afab4ec1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1371e0e5fe7f126bbea2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3647167980670929, + "candidate_source_group_id": "ms-80269804728c7aaaf9a7;ms-06c528eb38baee4e31b8;ms-c8ffa7d45ed61e2b94d6;ms-5816c255ea56bc8a63c3;ms-d5d38df1f2dbae367af0;ms-fd66d311a01f9c4fc825", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2962fafa0fcd14e516bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5947961807250977, + "candidate_source_group_id": "ms-3ee8f778784665ea6ee0;ms-733b04f5bd4720d79e99;ms-7c72cdc319220ea76854;ms-49731d5e69272f3bd959;ms-933425ede670e8efc04e;ms-7dd90f1575d9612c456c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cfed5c82c6f4d1c1c3f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.15988729894161224, + "candidate_source_group_id": "ms-b6ed7cdf9226aa0b0d1e;ms-121bc2e6676c1ac10911;ms-14c6516a0f22d20ef6b0;ms-9c49860c264bb0bec403;ms-2c4224657fa8115b2b8b;ms-68054c6c805197b033a7", + "expert_regret": 0.0, + "expert_score": 0.1821424663066864, + "expert_success": false, + "group_id": "ms-398ddbf730ed8830b08b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.35524556040763855, + "candidate_source_group_id": "ms-e9bb31726937713db23a;ms-8d23082fdeffba7cba51;ms-84404222b954c48c48d8;ms-f97fbc8f36f0af9ce18c;ms-8efd9238ae8d6ca1cd1a;ms-c8902580575f6effb241", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-698e09998c5dbfa6b7e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.158731147646904, + "candidate_source_group_id": "ms-966895e247be1f41daee;ms-c1f8e861c7c4485c361a;ms-72da580865509f75d6eb;ms-64f98d163b6bff29332b;ms-8d4ee30bf4815d04c391;ms-c9568dec28405d273943", + "expert_regret": 0.0, + "expert_score": 0.19493231177330017, + "expert_success": false, + "group_id": "ms-9fad82fd288e4296e354", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5500129461288452, + "candidate_source_group_id": "ms-0818eb8cc217c9b3040a;ms-3e17d03f9d640185853b;ms-7a102c1d0334bab9656e;ms-579eb7a700037d011e3f;ms-5383e9b606cc63b724ab;ms-7a699e157f311f764b46", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-847200a83b8ce5835fd9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5552700757980347, + "candidate_source_group_id": "ms-cdca8a6fff0640ab7f16;ms-fe5a68745bbc6b4256cf;ms-111355c28fcb5ef51167;ms-b5dee7bdaf34270e6515;ms-f49fbce5bf7a0a169f1e;ms-d99360c1e4bb4bed6d50", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4f291cdf6a62b9af9e5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6071560978889465, + "candidate_source_group_id": "ms-d2aed645029072f5c82f;ms-9df99aca252d63f555b2;ms-60c02d02de5f1e91124f;ms-81eff749adbf328a93e1;ms-64142b18744de985eb63;ms-9448b2a52a4a475af1f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c2312d2a272dbcbae71", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7752695083618164, + "candidate_source_group_id": "ms-c9a00cd02aa3ea31af1c;ms-31372cdadd8d9da23b8d;ms-c257731ddcf5cf149393;ms-87f2f63d694d8ccca7f8;ms-ca9a06f00b861bf34c4d;ms-01fe80a36517a246929d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-44a69da62321224c1df9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.9309391975402832, + "candidate_source_group_id": "ms-a5f722aaecb894444ac4;ms-1f6006a647438280a273;ms-98d738638749a1c0999d;ms-be8665e211c9b1cc13b4;ms-8a8484751c0ce80cd2f6;ms-edb1d483ba0ada6fa703", + "expert_regret": 1.9328189343214035, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e132f1526b2090e440e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9328189343214035, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0671810656785965, + "restore_error": 1.1920928955078125e-07, + "score": 0.0671810656785965, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5580233931541443, + "candidate_source_group_id": "ms-9d1d3a7b2dcafeda3bf3;ms-9d82d1927529dc675bc5;ms-f261341a4a394ae06c69;ms-4dbdc6ed61dccebbfe92;ms-3cb727b6501f5c1a5a16;ms-fae97eb60014b2866413", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69b8e0564f16c652d900", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6183470487594604, + "candidate_source_group_id": "ms-9915a1632fdf65172a02;ms-db2cfd3c0ce8ece8a112;ms-88de0a1035cb8f8ef16a;ms-0b13513f98f2d3def73a;ms-bfe867e8d518b9f8333a;ms-d593c823d7fa1cd02635", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e2058192b3065ce7dc60", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5026769638061523, + "candidate_source_group_id": "ms-de96f1dcca4527c03814;ms-170a9228df2273649f1c;ms-82a5b63ed41420747fb9;ms-0a001f1bda12891b219f;ms-b8f5ebd4732c0274945b;ms-88c39906a4e9c32ec286", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7aaa46eaa657a3179a70", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3199872374534607, + "candidate_source_group_id": "ms-8efd9238ae8d6ca1cd1a;ms-c8902580575f6effb241;ms-f97fbc8f36f0af9ce18c;ms-8d23082fdeffba7cba51;ms-e9bb31726937713db23a;ms-84404222b954c48c48d8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-680b80c5d2872be1e66a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4088141918182373, + "candidate_source_group_id": "ms-33885f2999b6dbe71f42;ms-949bca60825f84d7b5b9;ms-8278abbc47a6efcb5b68;ms-551020d425c370126f59;ms-2e368b0323bc5ae1cfed;ms-608a539637578968beb3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-686b6de62b641e0dba0d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.49830499291419983, + "candidate_source_group_id": "ms-8682e5b9068871041b74;ms-ea6878cc654f7f255811;ms-30caf93619a0e2f94eae;ms-170a9228df2273649f1c;ms-217aa98e4a691e43cf68;ms-b8f5ebd4732c0274945b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d867fd6ed17aeaa97c2b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.47616666555404663, + "candidate_source_group_id": "ms-383c0d1f90c5a0b55e07;ms-4015b8ac7c0a1397c076;ms-7f5fe657331466b2e262;ms-9d8348ba3054f969ad8e;ms-0952da757675889102ec;ms-f6635cbacd4195f7f4ab", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3028df2c22f4c029b533", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3382994830608368, + "candidate_source_group_id": "ms-c4a78f303c7f2b1a437b;ms-adf081811af7bca643a1;ms-674d9e270ff9ba879886;ms-e95a64701812302bd039;ms-74f12c8d99a319a9d020;ms-cffdaeae3b980aaeb8f7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-07321628f307d0c91b44", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.20846936106681824, + "candidate_source_group_id": "ms-88d7cbdbd7c9636e456f;ms-5909e93ba4f8ed21d193;ms-584d52e4f9515f695251;ms-5a32c809ed679663dcb1;ms-571d878853654c42a521;ms-8f84a0371a7ac44c1b1a", + "expert_regret": 0.6594777852296829, + "expert_score": 0.8558006286621094, + "expert_success": false, + "group_id": "ms-4048f8f6e047422e3c79", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8036771565675735, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19632284343242645, + "restore_error": 1.1920928955078125e-07, + "score": 0.19632284343242645, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.38824060559272766, + "candidate_source_group_id": "ms-020ab0b7cfa5045f3fc7;ms-8ccec039b839e612969b;ms-daff16c01452c735345f;ms-a054eb19f228304d37aa;ms-ae1b8592cb57dbf2fe98;ms-97cdb4c400ad4ae36518", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a77b8d61c09ed6ea23a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8578664660453796, + "candidate_source_group_id": "ms-e1bce061511b584c5381;ms-99bc7344d022af875494;ms-c164dd3b3b89c546a184;ms-d368732bc01f4100cf07;ms-5c8151ea6809f3c331e5;ms-711cecdbf06d02f7ca2e", + "expert_regret": 1.3975104093551636, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fd81a55becc2666437aa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.3975104093551636, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6024895906448364, + "restore_error": 1.1920928955078125e-07, + "score": 0.6024895906448364, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3583182692527771, + "candidate_source_group_id": "ms-dc4738f9c7a8af86722d;ms-fd2387aeed9bfc9a0d08;ms-a40882954ff51b61c49c;ms-16850056120649fcc370;ms-ecb37ebbab21a506d8ca;ms-ba1dca497a16134eeed8", + "expert_regret": 0.6502515226602554, + "expert_score": 0.8334652185440063, + "expert_success": false, + "group_id": "ms-d50a82b8770f333f1947", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.816786304116249, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18321369588375092, + "restore_error": 1.1920928955078125e-07, + "score": 0.18321369588375092, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1856382042169571, + "candidate_source_group_id": "ms-19b9e8a1108ac25f3476;ms-dd8ebc7d7211ece74e03;ms-325cd8b08e89bb498c82;ms-aa1da4bf5f94c6a74839;ms-01094af881b751ef29aa;ms-7dca31b0d7d6fab018f3", + "expert_regret": 0.7130676805973053, + "expert_score": 0.8273264169692993, + "expert_success": false, + "group_id": "ms-68f53650da9a9354b58f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.7394121587276459, + "oracle_score": 0.8536708950996399, + "oracle_success": false, + "progress": 0.11425873637199402, + "restore_error": 1.1920928955078125e-07, + "score": 0.11425873637199402, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.04924618452787399, + "candidate_source_group_id": "ms-5edf28a87bfd0731da89;ms-804705b564058a7ac34c;ms-62601bc1741cf8792326;ms-d648b2c7a7b42db45550;ms-aa7cc7e3e5eb86e58ee9;ms-bc96a8973358d1c20ed3", + "expert_regret": 0.0, + "expert_score": 0.84140944480896, + "expert_success": false, + "group_id": "ms-923e9fb031870b12d9b4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.847260594367981, + "oracle_success": false, + "progress": 0.8566837310791016, + "restore_error": 1.1920928955078125e-07, + "score": 0.8566837310791016, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0403996706008911, + "candidate_source_group_id": "ms-54f7cae3bd3cb84062d3;ms-cba80792e163a5084a92;ms-c52ffa349a79397da8c3;ms-626991ad29d003c808f8;ms-76c9576538106cb9d5db;ms-dab618f516ccc10f176e", + "expert_regret": 0.6308336853981018, + "expert_score": 0.8314990997314453, + "expert_success": false, + "group_id": "ms-5973a2df030fcd05cd24", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.6308336853981018, + "oracle_score": 0.8314990997314453, + "oracle_success": false, + "progress": 0.2006654143333435, + "restore_error": 1.1920928955078125e-07, + "score": 0.2006654143333435, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.311972439289093, + "candidate_source_group_id": "ms-75ddae05fd4d968ebac7;ms-19a3669e096e98232ec8;ms-f2509e6c3c468c4e30f0;ms-52a2ef2f862cee509ce1;ms-6bd5870eb5ff0dd76919;ms-7e2762eb1b21b04fe873", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-552acc881ce2bbff59f8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.553926408290863, + "candidate_source_group_id": "ms-7e2762eb1b21b04fe873;ms-2fef2f43af8009bb88f1;ms-ebf15fd96b4a62e0b393;ms-7fba35a6c125e88b8f54;ms-cc52efdf7f7b9efb1f9e;ms-500ed73f6d891e237b30", + "expert_regret": 1.1484599709510803, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1d025a89862bf212d621", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1484599709510803, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8515400290489197, + "restore_error": 2.3469328880310059e-07, + "score": 0.8515400290489197, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3618415892124176, + "candidate_source_group_id": "ms-7ee2d50e0788ccf0cdec;ms-5909e93ba4f8ed21d193;ms-8f84a0371a7ac44c1b1a;ms-584d52e4f9515f695251;ms-571d878853654c42a521;ms-f9148dff7961fa66a8a1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9edb3f445256b0d5341", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3469328880310059e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.1020721197128296, + "candidate_source_group_id": "ms-f4579acd00ff9f578098;ms-54f7cae3bd3cb84062d3;ms-fdf4af00031d452221d9;ms-b1b98e21cd4886f70563;ms-7bc1b098e6c696f6d4de;ms-dab618f516ccc10f176e", + "expert_regret": 1.4228788018226624, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10405f0fac390b29a04b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4228788018226624, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5771211981773376, + "restore_error": 2.3469328880310059e-07, + "score": 0.5771211981773376, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8854374289512634, + "candidate_source_group_id": "ms-4cab292bc65fa59274ef;ms-52a2ef2f862cee509ce1;ms-5a456ddf97d294548cf1;ms-6bd5870eb5ff0dd76919;ms-19a3669e096e98232ec8;ms-f2509e6c3c468c4e30f0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f0033d0b5f4f2e160859", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3469328880310059e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6743847727775574, + "candidate_source_group_id": "ms-242302c2a1e59588b319;ms-0547201761e8e1873482;ms-b651d43182be35524aad;ms-7c300541f4986f403b47;ms-b04a4cfe76d719518dae;ms-60f5fff0649ceb50ab60", + "expert_regret": 1.7851764261722565, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2b93411a16dbb5d4202", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7851764261722565, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21482357382774353, + "restore_error": 2.3469328880310059e-07, + "score": 0.21482357382774353, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8820180892944336, + "candidate_source_group_id": "ms-da2f79e022bb63a2af11;ms-42b26451056c6dd2150e;ms-0ccc81e9a63663c50096;ms-4cab45c9b21452c1b523;ms-a7760c53ebe20579190e;ms-8d02415bb9af319f215a", + "expert_regret": 1.9420073926448822, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65a8786e4fb1527342f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9420073926448822, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0579926073551178, + "restore_error": 2.3469328880310059e-07, + "score": 0.0579926073551178, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.26657238602638245, + "candidate_source_group_id": "ms-82b267d663e8400d19ca;ms-783f5e7f8c889bef010e;ms-3ec29a5b20bd65943255;ms-e1f9403543e48fbdde9d;ms-12ea343fddf9f6e6b9e8;ms-61852da845126d62ff5b", + "expert_regret": 0.6550534963607788, + "expert_score": 0.8367745876312256, + "expert_success": false, + "group_id": "ms-01e6eaaaf40875e0ef5a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8182789087295532, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18172109127044678, + "restore_error": 2.3469328880310059e-07, + "score": 0.18172109127044678, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0965300798416138, + "candidate_source_group_id": "ms-b651d43182be35524aad;ms-7c300541f4986f403b47;ms-dfcbf1a7d2e3b33eb3e9;ms-9a14552b7db695dee92c;ms-242302c2a1e59588b319;ms-0c2f2dc98424b6704c79", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5e19aac5dcd26c992bfd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3469328880310059e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7984063029289246, + "candidate_source_group_id": "ms-8f84a0371a7ac44c1b1a;ms-12ea343fddf9f6e6b9e8;ms-76774eb92b50132c54b6;ms-5a32c809ed679663dcb1;ms-f3f100caf89a2487faaf;ms-bf36bafb9ac562480022", + "expert_regret": 0.0, + "expert_score": 0.19744239747524261, + "expert_success": false, + "group_id": "ms-eaccbf417256e38345aa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.19744239747524261, + "oracle_success": false, + "progress": 0.5971182584762573, + "restore_error": 1.9371509552001953e-07, + "score": 0.5971182584762573, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0618736743927002, + "candidate_source_group_id": "ms-41847ae4ccfbee4666d8;ms-242302c2a1e59588b319;ms-fee86da43c17dbf07059;ms-58e6bcca0d74ea38d3dc;ms-33ac0623919ea05d354a;ms-0547201761e8e1873482", + "expert_regret": 0.26822102069854736, + "expert_score": 0.8587179183959961, + "expert_success": false, + "group_id": "ms-ff0d7559bf7f39d82ded", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.26822102069854736, + "oracle_score": 0.8587179183959961, + "oracle_success": false, + "progress": 0.5904968976974487, + "restore_error": 1.9371509552001953e-07, + "score": 0.5904968976974487, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.0440666563808918, + "candidate_source_group_id": "ms-a9eb9fab62fb296d2cf3;ms-797db95b24deab760f10;ms-0ec57b5bc28a71d3aac0;ms-0b226017db7f07c5307e;ms-b75d7924ddc6f1056f17;ms-4dd3c4d0161d01abb6d4", + "expert_regret": 0.0, + "expert_score": 0.8303894400596619, + "expert_success": false, + "group_id": "ms-e7959111ef1429bcf699", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9371509552001953e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8386640548706055, + "candidate_source_group_id": "ms-88070bf04696eceac1e9;ms-3945306c3b05b122fa9b;ms-265435476b51eb83fb9b;ms-9747840abee181e3e4cf;ms-829c9968f0750cd9aed6;ms-49e1584a68d8f465e8e3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-554f2960f25ff627b596", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9371509552001953e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.49430951476097107, + "candidate_source_group_id": "ms-caa5773983c25018c3f8;ms-19a3669e096e98232ec8;ms-32a86ecc263b3d79db00;ms-a13e71cca2a60d77aed4;ms-52a2ef2f862cee509ce1;ms-6bd5870eb5ff0dd76919", + "expert_regret": 1.7845114320516586, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d9e7096b437e7ce7cda8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.7845114320516586, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21548856794834137, + "restore_error": 1.9371509552001953e-07, + "score": 0.21548856794834137, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.438952088356018, + "candidate_source_group_id": "ms-bf36bafb9ac562480022;ms-5a32c809ed679663dcb1;ms-8f84a0371a7ac44c1b1a;ms-584d52e4f9515f695251;ms-2cc60867f3629a801fc4;ms-76774eb92b50132c54b6", + "expert_regret": 1.809349998831749, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6ab6c8a66fc509e2113e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.809349998831749, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19065000116825104, + "restore_error": 1.9371509552001953e-07, + "score": 0.19065000116825104, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5611944198608398, + "candidate_source_group_id": "ms-03df3e12e1d61aa9ebbf;ms-76c9576538106cb9d5db;ms-0982ec8847911627c519;ms-54f7cae3bd3cb84062d3;ms-fdf4af00031d452221d9;ms-ceb81989361d018a9e67", + "expert_regret": 1.1800888776779175, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-720c704eeac615b41763", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.1800888776779175, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8199111223220825, + "restore_error": 1.9371509552001953e-07, + "score": 0.8199111223220825, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.775628387928009, + "candidate_source_group_id": "ms-7f58527819036c01daa4;ms-e2a5f29a9c0d835f3cd8;ms-fdf4af00031d452221d9;ms-c5945ca04bebc81e72a8;ms-03df3e12e1d61aa9ebbf;ms-ceb81989361d018a9e67", + "expert_regret": 1.8441091775894165, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-253682457d6db5d265bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8441091775894165, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1558908224105835, + "restore_error": 1.9371509552001953e-07, + "score": 0.1558908224105835, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2592608332633972, + "candidate_source_group_id": "ms-60f5fff0649ceb50ab60;ms-242302c2a1e59588b319;ms-97cdb4c400ad4ae36518;ms-daff16c01452c735345f;ms-64ff9614d692fd9dc48b;ms-b04a4cfe76d719518dae", + "expert_regret": 0.0, + "expert_score": 0.1309145987033844, + "expert_success": false, + "group_id": "ms-5902e6c4037ecda77a5f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.619186520576477, + "oracle_score": 0.784722626209259, + "oracle_success": false, + "progress": 0.16553610563278198, + "restore_error": 1.1920928955078125e-07, + "score": 0.16553610563278198, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.080472931265831, + "candidate_source_group_id": "ms-4cab45c9b21452c1b523;ms-a7760c53ebe20579190e;ms-110944a3259f0e310db9;ms-3a5cf404fd30dd8a2f76;ms-893e0a0d03b5e47b65dd;ms-42b26451056c6dd2150e", + "expert_regret": 0.6471035480499268, + "expert_score": 0.8325278759002686, + "expert_success": false, + "group_id": "ms-15fc8cc6f74cf589056f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8145756721496582, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1854243278503418, + "restore_error": 1.1920928955078125e-07, + "score": 0.1854243278503418, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7394660115242004, + "candidate_source_group_id": "ms-0ee3134ab4e9435f2c2c;ms-f774646335321f6c5980;ms-44940e96c327541acf19;ms-4d687a60b9ce1f0f1ddd;ms-01094af881b751ef29aa;ms-48ddae21c360b2a12b8d", + "expert_regret": 1.9229668527841568, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bfb169ce850eae1c3995", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9229668527841568, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0770331472158432, + "restore_error": 1.1920928955078125e-07, + "score": 0.0770331472158432, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0443350076675415, + "candidate_source_group_id": "ms-f50f1c1b673d0c96d4ce;ms-1a37fdd82d982ae6dbd8;ms-801727be95e46ae5da07;ms-e297545a438d902a680e;ms-3efaacea10b7eb4adb57;ms-f9148dff7961fa66a8a1", + "expert_regret": 1.4077457189559937, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dc2e360a4876f6edce82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4077457189559937, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5922542810440063, + "restore_error": 1.1920928955078125e-07, + "score": 0.5922542810440063, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8867186903953552, + "candidate_source_group_id": "ms-7c300541f4986f403b47;ms-b651d43182be35524aad;ms-579af9eb582ab20522a9;ms-0c2f2dc98424b6704c79;ms-350716d0809bd7ef12df;ms-420280f15a522ce21c72", + "expert_regret": 1.8067529499530792, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9e96728c711ffe98fe69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8067529499530792, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19324705004692078, + "restore_error": 1.1920928955078125e-07, + "score": 0.19324705004692078, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7981629967689514, + "candidate_source_group_id": "ms-77c4a01dcf26dcd8f0f3;ms-733f43f6aaed1e84c020;ms-bf2b9cc05ccb6bce0d30;ms-6c8d06bace98a28a8e4e;ms-68067370d3b20b9bd4e2;ms-3c87c16acc91c68c522f", + "expert_regret": 1.4055313467979431, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-39cea5dde6dc1718d478", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4055313467979431, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5944686532020569, + "restore_error": 1.1920928955078125e-07, + "score": 0.5944686532020569, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6808744072914124, + "candidate_source_group_id": "ms-8b45028168ed68ec8303;ms-744cdc2b2570c3c26326;ms-01e08f0dcb4e2c030a79;ms-56a0e8e80e2e1e5645d7;ms-462c1284ee1a148a7e1d;ms-9f80c93ae6940a427c83", + "expert_regret": 1.8636407107114792, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-666f00775d4c54be1282", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8636407107114792, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1363592892885208, + "restore_error": 1.1920928955078125e-07, + "score": 0.1363592892885208, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.777806282043457, + "candidate_source_group_id": "ms-0fb946120bcbd8ed0632;ms-48ddae21c360b2a12b8d;ms-0ee3134ab4e9435f2c2c;ms-151e5f61c8e3c2ece4e7;ms-cdd9ca03b64c4145587b;ms-63979e5d869bff8d3515", + "expert_regret": 0.26661092042922974, + "expert_score": 0.840457022190094, + "expert_success": false, + "group_id": "ms-0ce4aecc96a50498e2f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.26661092042922974, + "oracle_score": 0.840457022190094, + "oracle_success": false, + "progress": 0.5738461017608643, + "restore_error": 1.1920928955078125e-07, + "score": 0.5738461017608643, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5587782859802246, + "candidate_source_group_id": "ms-d1960368ef76bbb10669;ms-c5d2ddd0416072b20d5d;ms-68067370d3b20b9bd4e2;ms-8c2dade5b58489e26a4b;ms-3c87c16acc91c68c522f;ms-9e99b7303fbd7ecbb17d", + "expert_regret": 0.0, + "expert_score": 0.8367365002632141, + "expert_success": false, + "group_id": "ms-5dfbb16e173e1a3e2bd6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5089045763015747, + "candidate_source_group_id": "ms-9ad3b276d9ccaf668d30;ms-180d0e0a6315a06a7021;ms-0ccc81e9a63663c50096;ms-495b33a30a68ee055eef;ms-0ea6d57781e366b578c1;ms-1cb54e3347c49dcdf28e", + "expert_regret": 1.7736347317695618, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9c7464444eaec0fa07c0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.7736347317695618, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22636526823043823, + "restore_error": 1.1920928955078125e-07, + "score": 0.22636526823043823, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.32448408007621765, + "candidate_source_group_id": "ms-2cc60867f3629a801fc4;ms-875a4668671c02054a3c;ms-283f98eecc655a33d459;ms-274ef8c6420a669dd5b4;ms-1cc18d88615939309d51;ms-4b6cf86fc2450321163a", + "expert_regret": 0.0, + "expert_score": 0.18662652373313904, + "expert_success": false, + "group_id": "ms-a31b52cc38a95273af77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.02054506540298462, + "oracle_score": 0.5935691595077515, + "oracle_success": false, + "progress": 0.5730240941047668, + "restore_error": 1.1920928955078125e-07, + "score": 0.5730240941047668, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6360163688659668, + "candidate_source_group_id": "ms-875a4668671c02054a3c;ms-2cc60867f3629a801fc4;ms-5a32c809ed679663dcb1;ms-0949097d19e597fc7f63;ms-0cdb564903c69734321f;ms-283f98eecc655a33d459", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-220e8ddf7349fcbaf64d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5940096974372864, + "candidate_source_group_id": "ms-58e6bcca0d74ea38d3dc;ms-242302c2a1e59588b319;ms-60f5fff0649ceb50ab60;ms-20976520a892ae80760a;ms-b04a4cfe76d719518dae;ms-2e683dfff18ef7e90d7d", + "expert_regret": 1.4137922525405884, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01f463a409e2ec0c6c3e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4137922525405884, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5862077474594116, + "restore_error": 1.1920928955078125e-07, + "score": 0.5862077474594116, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0761356353759766, + "candidate_source_group_id": "ms-2360ac84ff893ee51c5f;ms-852c671b0adeccfa4bf1;ms-bc2d3b425d9163a62dbb;ms-9d4cfe1888484d9da1ee;ms-9d12ad4ebdf37419994c;ms-9e7e3b675db86ea3e212", + "expert_regret": 1.8180560171604156, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-05ab68d4cd79b74a45ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8180560171604156, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18194398283958435, + "restore_error": 1.1920928955078125e-07, + "score": 0.18194398283958435, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3122592270374298, + "candidate_source_group_id": "ms-27d723ae87abc93a95f0;ms-bc2d3b425d9163a62dbb;ms-9e7e3b675db86ea3e212;ms-9d12ad4ebdf37419994c;ms-852c671b0adeccfa4bf1;ms-9d4cfe1888484d9da1ee", + "expert_regret": 0.24202752113342285, + "expert_score": 0.8267612457275391, + "expert_success": false, + "group_id": "ms-748baf7aee43c63797e1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.2632497549057007, + "oracle_score": 0.8479834794998169, + "oracle_success": false, + "progress": 0.5847337245941162, + "restore_error": 1.1920928955078125e-07, + "score": 0.5847337245941162, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5811511278152466, + "candidate_source_group_id": "ms-88d7cbdbd7c9636e456f;ms-5909e93ba4f8ed21d193;ms-0cdb564903c69734321f;ms-875a4668671c02054a3c;ms-5a32c809ed679663dcb1;ms-0949097d19e597fc7f63", + "expert_regret": 1.405631959438324, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c83fb7e9f1a7a8ad58f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.405631959438324, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.594368040561676, + "restore_error": 1.1920928955078125e-07, + "score": 0.594368040561676, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8037970662117004, + "candidate_source_group_id": "ms-dd9b840c99c305ac1977;ms-0a4d4909900fb0bc4a9a;ms-f2a349cfaa6f7422237b;ms-da5f2c1dbafa907d725b;ms-3cdc09425d5b71524854;ms-71e32140ee4d77f3b275", + "expert_regret": 1.7814643383026123, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a50b6ab3c59b1c953197", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.7814643383026123, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2185356616973877, + "restore_error": 1.1920928955078125e-07, + "score": 0.2185356616973877, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5233011841773987, + "candidate_source_group_id": "ms-626991ad29d003c808f8;ms-c52ffa349a79397da8c3;ms-e1f9403543e48fbdde9d;ms-3afd8959363e917591d4;ms-cba80792e163a5084a92;ms-76c9576538106cb9d5db", + "expert_regret": 1.1831169128417969, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-49516a81fe99935ef15e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1831169128417969, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8168830871582031, + "restore_error": 1.1920928955078125e-07, + "score": 0.8168830871582031, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.08130843192338943, + "candidate_source_group_id": "ms-b86c44375ba5328a1608;ms-a601803235735bea0610;ms-119db4f7ab55afe5b9f6;ms-804705b564058a7ac34c;ms-b1ea4f7f813ac0c87079;ms-acb486cbc23907df2568", + "expert_regret": 0.0, + "expert_score": 0.8631211519241333, + "expert_success": false, + "group_id": "ms-c80e71e55d51d8595499", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9900966286659241, + "candidate_source_group_id": "ms-a601803235735bea0610;ms-b1ea4f7f813ac0c87079;ms-acb486cbc23907df2568;ms-36112cc5608a9f625764;ms-bb299baa34e49eafb9fc;ms-dc26a7037003b94b9f93", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3451f857ec88eeb49c38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.6346276998519897, + "candidate_source_group_id": "ms-42b26451056c6dd2150e;ms-3a5cf404fd30dd8a2f76;ms-ba396eb71806ac992acd;ms-a134953a8d3e6be63757;ms-1cb54e3347c49dcdf28e;ms-97e2c618a3045e0a759e", + "expert_regret": 1.7942206263542175, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0fa473b2c94d12bc3945", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7942206263542175, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20577937364578247, + "restore_error": 1.1920928955078125e-07, + "score": 0.20577937364578247, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9530676603317261, + "candidate_source_group_id": "ms-88070bf04696eceac1e9;ms-5dfeb87aa77e4660d09b;ms-829c9968f0750cd9aed6;ms-265435476b51eb83fb9b;ms-49e1584a68d8f465e8e3;ms-141aab4472db1ecc0ea2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5eb6b813b57d14f6573", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8645098805427551, + "candidate_source_group_id": "ms-0c2f2dc98424b6704c79;ms-86b55250e01b9b6fba7e;ms-7c300541f4986f403b47;ms-0b6ba12f99b3554c0e88;ms-573ab0ef1d4166be9b54;ms-b651d43182be35524aad", + "expert_regret": 1.4127869606018066, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4118fc55a3d3e6bee8c0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4127869606018066, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5872130393981934, + "restore_error": 1.1920928955078125e-07, + "score": 0.5872130393981934, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.38451337814331055, + "candidate_source_group_id": "ms-71e32140ee4d77f3b275;ms-07b479748a91a9c92b20;ms-f2a349cfaa6f7422237b;ms-3cdc09425d5b71524854;ms-cc52efdf7f7b9efb1f9e;ms-dd9b840c99c305ac1977", + "expert_regret": 0.7434499561786652, + "expert_score": 0.8516564965248108, + "expert_success": false, + "group_id": "ms-9dd1ff4c297a81b13071", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8917934596538544, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10820654034614563, + "restore_error": 1.1920928955078125e-07, + "score": 0.10820654034614563, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5557944178581238, + "candidate_source_group_id": "ms-8e69308e5c86a307b08a;ms-c9c7a51e43dd2c33de08;ms-edf898278a0dd01a5b37;ms-bdc0e2b6d589c1d90d69;ms-546f8817db5b76b563f0;ms-bf2b9cc05ccb6bce0d30", + "expert_regret": 1.7638387084007263, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87d132d28bc30b07002b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.7638387084007263, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23616129159927368, + "restore_error": 1.1920928955078125e-07, + "score": 0.23616129159927368, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0946834087371826, + "candidate_source_group_id": "ms-14064e79c1a1abcf10e3;ms-95950ddf57046910494b;ms-783f5e7f8c889bef010e;ms-82b267d663e8400d19ca;ms-036f329c4a881ff59e5f;ms-61852da845126d62ff5b", + "expert_regret": 1.8186079412698746, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-207e9a9f9123d6c3eeb6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8186079412698746, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18139205873012543, + "restore_error": 1.1920928955078125e-07, + "score": 0.18139205873012543, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5384587049484253, + "candidate_source_group_id": "ms-48ddae21c360b2a12b8d;ms-0841a07e9aeb84cff70f;ms-0fb946120bcbd8ed0632;ms-22c36189b47df8987e8e;ms-0d8e00d0e73f9a7b4ce8;ms-0ac85b1b15125006eb50", + "expert_regret": 0.8135382235050201, + "expert_score": 0.83223956823349, + "expert_success": false, + "group_id": "ms-2da5f229550b61852483", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.8380716145038605, + "oracle_score": 0.8567729592323303, + "oracle_success": false, + "progress": 0.01870134472846985, + "restore_error": 1.1920928955078125e-07, + "score": 0.01870134472846985, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5677810311317444, + "candidate_source_group_id": "ms-141aab4472db1ecc0ea2;ms-a2ee6034df65b51c4d97;ms-eff3caf3c103c5232495;ms-ff4c9c58b742da7135da;ms-035231abc135f925e1cc;ms-499d2429a00f3cc35add", + "expert_regret": 0.0, + "expert_score": 0.8559293746948242, + "expert_success": false, + "group_id": "ms-cbc1fadecdd913c44ce5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.8559293746948242, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.37677159905433655, + "candidate_source_group_id": "ms-37d6b220ad58fb776f7b;ms-be0ca7fa48a7ea391aa8;ms-7e2762eb1b21b04fe873;ms-d6b0d6d7c66509eb4543;ms-d648b2c7a7b42db45550;ms-728ce6cbfd4c82607908", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1ed36d926d5d640b4a04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.1934348344802856, + "candidate_source_group_id": "ms-ceb81989361d018a9e67;ms-fdf4af00031d452221d9;ms-f0fdcc26c648ce089746;ms-03df3e12e1d61aa9ebbf;ms-b1b98e21cd4886f70563;ms-76c9576538106cb9d5db", + "expert_regret": 1.8262678533792496, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5d6aa86eb739a9ef05cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8262678533792496, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17373214662075043, + "restore_error": 1.1920928955078125e-07, + "score": 0.17373214662075043, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7935320734977722, + "candidate_source_group_id": "ms-716586cf73f853a45bfd;ms-ecc526493f8048cf4c56;ms-38ed02dacc133a888d3a;ms-0c490961b934978e5b1c;ms-02aa62c077c9d4f86e61;ms-b6ce87522fcc35b563c7", + "expert_regret": 0.605079710483551, + "expert_score": 0.8367664813995361, + "expert_success": false, + "group_id": "ms-f72b64534388e443b220", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.605079710483551, + "oracle_score": 0.8367664813995361, + "oracle_success": false, + "progress": 0.2316867709159851, + "restore_error": 1.1920928955078125e-07, + "score": 0.2316867709159851, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1446835994720459, + "candidate_source_group_id": "ms-5922d6b0cb028950a6a3;ms-bc96a8973358d1c20ed3;ms-aa7cc7e3e5eb86e58ee9;ms-728ce6cbfd4c82607908;ms-7ac4c9b07c994cd878f9;ms-4dd3c4d0161d01abb6d4", + "expert_regret": 0.742235004901886, + "expert_score": 0.8517612218856812, + "expert_success": false, + "group_id": "ms-36bc1364d2439099e9ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8904737830162048, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10952621698379517, + "restore_error": 1.1920928955078125e-07, + "score": 0.10952621698379517, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.34398725628852844, + "candidate_source_group_id": "ms-48b2c358243f84013a0c;ms-e71e880736efd3e42c02;ms-702c6c5000ad4d6424ea;ms-6d7030c17759f787a361;ms-15248c64e70b0dafcb33;ms-1c4ef17cdeed30bb2548", + "expert_regret": 0.654291570186615, + "expert_score": 0.8351176977157593, + "expert_success": false, + "group_id": "ms-e887dbfa0133af46829d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8191738724708557, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1808261275291443, + "restore_error": 1.1920928955078125e-07, + "score": 0.1808261275291443, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4765801727771759, + "candidate_source_group_id": "ms-3945306c3b05b122fa9b;ms-035231abc135f925e1cc;ms-eff3caf3c103c5232495;ms-88070bf04696eceac1e9;ms-141aab4472db1ecc0ea2;ms-63f384579c130870fde3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c4a4c6a275c817d8b03f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5336299538612366, + "candidate_source_group_id": "ms-0a4d4909900fb0bc4a9a;ms-dd9b840c99c305ac1977;ms-f2a349cfaa6f7422237b;ms-0ac85b1b15125006eb50;ms-da5f2c1dbafa907d725b;ms-584219be39de32d776d4", + "expert_regret": 0.024045929312705994, + "expert_score": 0.23011930286884308, + "expert_success": false, + "group_id": "ms-e2f303a0d1e6017e1fc4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.024045929312705994, + "oracle_score": 0.23011930286884308, + "oracle_success": false, + "progress": 0.20607337355613708, + "restore_error": 1.1920928955078125e-07, + "score": 0.20607337355613708, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.46117058396339417, + "candidate_source_group_id": "ms-03beb7dddeba28c64afa;ms-b6ce87522fcc35b563c7;ms-673f96236583a1925836;ms-ecc526493f8048cf4c56;ms-38ed02dacc133a888d3a;ms-016c5de39ed3c111889a", + "expert_regret": 1.8009988069534302, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b5f0f2ae74766beae291", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8009988069534302, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19900119304656982, + "restore_error": 1.1920928955078125e-07, + "score": 0.19900119304656982, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.26215052604675293, + "candidate_source_group_id": "ms-7ee2d50e0788ccf0cdec;ms-12ea343fddf9f6e6b9e8;ms-3ec29a5b20bd65943255;ms-578073df4f8fe9b936d2;ms-61852da845126d62ff5b;ms-f9148dff7961fa66a8a1", + "expert_regret": 0.0, + "expert_score": 0.8328490257263184, + "expert_success": false, + "group_id": "ms-ed6314fb8f69f956daf6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.8351536393165588, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.34326171875, + "candidate_source_group_id": "ms-f4579acd00ff9f578098;ms-cba80792e163a5084a92;ms-dab618f516ccc10f176e;ms-3afd8959363e917591d4;ms-a2a546ebe0d1283df0f0;ms-b1b98e21cd4886f70563", + "expert_regret": 1.8220994770526886, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-07c39d2c4595d6826040", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8220994770526886, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1779005229473114, + "restore_error": 1.1920928955078125e-07, + "score": 0.1779005229473114, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7090511322021484, + "candidate_source_group_id": "ms-dc26a7037003b94b9f93;ms-df6a1fb4b1ccbb410b4c;ms-b1ea4f7f813ac0c87079;ms-4c788310cab7df5251e1;ms-141aab4472db1ecc0ea2;ms-36112cc5608a9f625764", + "expert_regret": 1.145445704460144, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-921a0cd2d5ef7e70229a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.145445704460144, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.854554295539856, + "restore_error": 1.1920928955078125e-07, + "score": 0.854554295539856, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.2799595594406128, + "candidate_source_group_id": "ms-5c8151ea6809f3c331e5;ms-d368732bc01f4100cf07;ms-0f7cd7813265e3795e0a;ms-bb742574fc7cfaea26d0;ms-fc9523f9953b1b5bfbcd;ms-bc99c1baec671e7f85a0", + "expert_regret": 1.8374791145324707, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6b2df24ea06ce2cdfb5e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8374791145324707, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1625208854675293, + "restore_error": 1.1920928955078125e-07, + "score": 0.1625208854675293, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.729581356048584, + "candidate_source_group_id": "ms-a7760c53ebe20579190e;ms-4cab45c9b21452c1b523;ms-110944a3259f0e310db9;ms-3a5cf404fd30dd8a2f76;ms-4734f618e638d42bae46;ms-42b26451056c6dd2150e", + "expert_regret": 1.8836455196142197, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-741c227f6249d1c8c9f1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8836455196142197, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11635448038578033, + "restore_error": 1.1920928955078125e-07, + "score": 0.11635448038578033, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4166158139705658, + "candidate_source_group_id": "ms-ab5acce4dba71f19d5ad;ms-20ab0b7fffdbb23e6d53;ms-180d0e0a6315a06a7021;ms-0ccc81e9a63663c50096;ms-b8492a3a812095651d75;ms-4af6806104210ccf74b0", + "expert_regret": 1.797333374619484, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-185c13ec401a35f393b7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.797333374619484, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20266662538051605, + "restore_error": 1.1920928955078125e-07, + "score": 0.20266662538051605, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9200296401977539, + "candidate_source_group_id": "ms-283f98eecc655a33d459;ms-5b26c33feed6992386b1;ms-2cc60867f3629a801fc4;ms-bf36bafb9ac562480022;ms-6c8d06bace98a28a8e4e;ms-e297545a438d902a680e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f90e4d887f4c840a0b25", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2990821897983551, + "candidate_source_group_id": "ms-852c671b0adeccfa4bf1;ms-6d7030c17759f787a361;ms-ce9505086ea115f86649;ms-bc2d3b425d9163a62dbb;ms-702c6c5000ad4d6424ea;ms-e71e880736efd3e42c02", + "expert_regret": 0.6608132421970367, + "expert_score": 0.844826340675354, + "expert_success": false, + "group_id": "ms-55e78c04643bd06fd5f8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8159869015216827, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18401309847831726, + "restore_error": 1.1920928955078125e-07, + "score": 0.18401309847831726, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7732803225517273, + "candidate_source_group_id": "ms-b75d7924ddc6f1056f17;ms-1e17eb687986f7c5bc22;ms-141aab4472db1ecc0ea2;ms-a2ee6034df65b51c4d97;ms-ff4c9c58b742da7135da;ms-a9eb9fab62fb296d2cf3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d5da9bf431cb1294c82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.14153286814689636, + "candidate_source_group_id": "ms-d648b2c7a7b42db45550;ms-be0ca7fa48a7ea391aa8;ms-7e2762eb1b21b04fe873;ms-d6b0d6d7c66509eb4543;ms-1c9cd9629e4a927ed921;ms-79b745efd36e00515fa7", + "expert_regret": 0.0, + "expert_score": 0.8197344541549683, + "expert_success": false, + "group_id": "ms-efdc07c985935d871adf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5915894508361816, + "candidate_source_group_id": "ms-8b45028168ed68ec8303;ms-9f80c93ae6940a427c83;ms-cc21e4000cabb2fad805;ms-01e08f0dcb4e2c030a79;ms-49685adafe2cb8da301f;ms-90777a893f2fff27728c", + "expert_regret": 1.794285386800766, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-19dbfb3664d48598041e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.794285386800766, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.205714613199234, + "restore_error": 1.1920928955078125e-07, + "score": 0.205714613199234, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3871150016784668, + "candidate_source_group_id": "ms-652234a929b7ed4d3b23;ms-94b9114b294d56e3f88a;ms-893e0a0d03b5e47b65dd;ms-e0e2a425cce52e820a7e;ms-8c67f938fb3d0264393c;ms-0ea6d57781e366b578c1", + "expert_regret": 1.821585327386856, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c5469e5b4af75482d89", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.821585327386856, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17841467261314392, + "restore_error": 1.1920928955078125e-07, + "score": 0.17841467261314392, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6679325699806213, + "candidate_source_group_id": "ms-01e08f0dcb4e2c030a79;ms-8b45028168ed68ec8303;ms-9f80c93ae6940a427c83;ms-49685adafe2cb8da301f;ms-074bf4470a893ac7955a;ms-cc21e4000cabb2fad805", + "expert_regret": 1.8536493480205536, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-64b4e29bb42bf0b35d4d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8536493480205536, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1463506519794464, + "restore_error": 1.1920928955078125e-07, + "score": 0.1463506519794464, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3102271258831024, + "candidate_source_group_id": "ms-ac8685beeff23e48af61;ms-c9bac4a12aa021442f03;ms-58e6bcca0d74ea38d3dc;ms-9d12ad4ebdf37419994c;ms-bc8e9fc055c591071ea3;ms-2360ac84ff893ee51c5f", + "expert_regret": 0.0, + "expert_score": 0.8432589173316956, + "expert_success": false, + "group_id": "ms-9228f8295b9891cf011c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.146773338317871, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8532266616821289, + "restore_error": 1.1920928955078125e-07, + "score": 0.8532266616821289, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2986210882663727, + "candidate_source_group_id": "ms-2e683dfff18ef7e90d7d;ms-20976520a892ae80760a;ms-584d52e4f9515f695251;ms-76774eb92b50132c54b6;ms-5909e93ba4f8ed21d193;ms-58e6bcca0d74ea38d3dc", + "expert_regret": 0.6247961223125458, + "expert_score": 0.8314920663833618, + "expert_success": false, + "group_id": "ms-72777024349c2aacd5e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.793304055929184, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20669594407081604, + "restore_error": 1.1920928955078125e-07, + "score": 0.20669594407081604, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5526995062828064, + "candidate_source_group_id": "ms-48ddae21c360b2a12b8d;ms-0841a07e9aeb84cff70f;ms-22c36189b47df8987e8e;ms-0fb946120bcbd8ed0632;ms-0d8e00d0e73f9a7b4ce8;ms-d6ed8683183759789495", + "expert_regret": 0.79910908639431, + "expert_score": 0.8524717688560486, + "expert_success": false, + "group_id": "ms-5ac1bf2d7d319955d45d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9466373175382614, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.053362682461738586, + "restore_error": 1.1920928955078125e-07, + "score": 0.053362682461738586, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6124740839004517, + "candidate_source_group_id": "ms-d8cc5ba8ab1cd4a46519;ms-df6a1fb4b1ccbb410b4c;ms-9f5d57fe2153fd267774;ms-07b479748a91a9c92b20;ms-62601bc1741cf8792326;ms-d648b2c7a7b42db45550", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dd1eec30969c12ec89af", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.2104222774505615, + "candidate_source_group_id": "ms-151e5f61c8e3c2ece4e7;ms-cdd9ca03b64c4145587b;ms-0ee3134ab4e9435f2c2c;ms-57ccc6bbce43f1c7c000;ms-de304cefeb20dcc17ede;ms-fc68c8b1bef631b6cae9", + "expert_regret": 1.971116065979004, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-230391b47c390f51bc07", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.971116065979004, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.028883934020996094, + "restore_error": 1.1920928955078125e-07, + "score": 0.028883934020996094, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.41155722737312317, + "candidate_source_group_id": "ms-7d484dd14e9d001a07b1;ms-5edf28a87bfd0731da89;ms-7e2762eb1b21b04fe873;ms-9747840abee181e3e4cf;ms-62601bc1741cf8792326;ms-578fcc1f0f27f76ff933", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-06e6e1db86d9e82e56cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0802479982376099, + "candidate_source_group_id": "ms-58e6bcca0d74ea38d3dc;ms-ac8685beeff23e48af61;ms-60f5fff0649ceb50ab60;ms-daff16c01452c735345f;ms-20976520a892ae80760a;ms-87efe56140dec7d3ffb8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13243cd92a78eba8c08b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4032277464866638, + "candidate_source_group_id": "ms-ff4c9c58b742da7135da;ms-a2ee6034df65b51c4d97;ms-63ac245579b1188935ad;ms-a4d692315fd15700e75b;ms-4c788310cab7df5251e1;ms-499d2429a00f3cc35add", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e7f710fb5e661e71fd3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.736140787601471, + "candidate_source_group_id": "ms-16850056120649fcc370;ms-983f35821c4f83c6e4bb;ms-e3bbabc7ac3950eb91a2;ms-fd2387aeed9bfc9a0d08;ms-dc4738f9c7a8af86722d;ms-ecb37ebbab21a506d8ca", + "expert_regret": 1.792683720588684, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9804ff90a86259f7149", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.792683720588684, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20731627941131592, + "restore_error": 2.384185791015625e-07, + "score": 0.20731627941131592, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8220450282096863, + "candidate_source_group_id": "ms-20ab0b7fffdbb23e6d53;ms-3278c343e1bdece2f252;ms-b8492a3a812095651d75;ms-180d0e0a6315a06a7021;ms-4dc0defd156f4c30aaf8;ms-ab5acce4dba71f19d5ad", + "expert_regret": 1.9369750320911407, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fffe17005e577cb2ac1c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9369750320911407, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06302496790885925, + "restore_error": 2.384185791015625e-07, + "score": 0.06302496790885925, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4309106469154358, + "candidate_source_group_id": "ms-c9c7a51e43dd2c33de08;ms-08077ae7bcd1d20bb2a6;ms-1b50d8927c080cd97a79;ms-e9cb92d664266091b91d;ms-88070bf04696eceac1e9;ms-829c9968f0750cd9aed6", + "expert_regret": 1.8005890250205994, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-578fc3b8cbdbe6b0542f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8005890250205994, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19941097497940063, + "restore_error": 2.384185791015625e-07, + "score": 0.19941097497940063, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.09016304463148117, + "candidate_source_group_id": "ms-5dfeb87aa77e4660d09b;ms-829c9968f0750cd9aed6;ms-54f4d544f76358c09ee9;ms-96ebb8e6e71464ac9172;ms-499d2429a00f3cc35add;ms-141aab4472db1ecc0ea2", + "expert_regret": 0.0, + "expert_score": 0.8359193205833435, + "expert_success": false, + "group_id": "ms-b33c18c58125678627a6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.09744881093502045, + "candidate_source_group_id": "ms-49685adafe2cb8da301f;ms-ba1dca497a16134eeed8;ms-cc21e4000cabb2fad805;ms-e3bbabc7ac3950eb91a2;ms-bc02d87b2ed5769ee484;ms-7dca31b0d7d6fab018f3", + "expert_regret": 0.6496871560811996, + "expert_score": 0.8450801968574524, + "expert_success": false, + "group_id": "ms-0b1dd0e538b8df15a6e4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8046069592237473, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19539304077625275, + "restore_error": 2.384185791015625e-07, + "score": 0.19539304077625275, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9589530229568481, + "candidate_source_group_id": "ms-4dd3c4d0161d01abb6d4;ms-bc96a8973358d1c20ed3;ms-728ce6cbfd4c82607908;ms-797db95b24deab760f10;ms-aa7cc7e3e5eb86e58ee9;ms-5922d6b0cb028950a6a3", + "expert_regret": 1.9486850202083588, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e95a846b4e77792e3e6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9486850202083588, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.051314979791641235, + "restore_error": 2.384185791015625e-07, + "score": 0.051314979791641235, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.28548526763916016, + "candidate_source_group_id": "ms-63ac245579b1188935ad;ms-ff4c9c58b742da7135da;ms-a2ee6034df65b51c4d97;ms-44b52b73161bb03c5a27;ms-0ec57b5bc28a71d3aac0;ms-a4d692315fd15700e75b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97343fa03fd05700c270", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.39789482951164246, + "candidate_source_group_id": "ms-0841a07e9aeb84cff70f;ms-48ddae21c360b2a12b8d;ms-0fb946120bcbd8ed0632;ms-0d8e00d0e73f9a7b4ce8;ms-22c36189b47df8987e8e;ms-57ccc6bbce43f1c7c000", + "expert_regret": 1.1504404544830322, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d46da887312a51a9f2a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1504404544830322, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8495595455169678, + "restore_error": 1.1920928955078125e-07, + "score": 0.8495595455169678, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8600123524665833, + "candidate_source_group_id": "ms-804705b564058a7ac34c;ms-a601803235735bea0610;ms-acb486cbc23907df2568;ms-62601bc1741cf8792326;ms-a9eb9fab62fb296d2cf3;ms-7d484dd14e9d001a07b1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c72d626356a30cbef93b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.49198177456855774, + "candidate_source_group_id": "ms-88d7cbdbd7c9636e456f;ms-37d6b220ad58fb776f7b;ms-be0ca7fa48a7ea391aa8;ms-88070bf04696eceac1e9;ms-d6b0d6d7c66509eb4543;ms-79b745efd36e00515fa7", + "expert_regret": 1.1855216026306152, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-00ce5c82d2af61a7d7e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1855216026306152, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8144783973693848, + "restore_error": 1.1920928955078125e-07, + "score": 0.8144783973693848, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.26939088106155396, + "candidate_source_group_id": "ms-f50f1c1b673d0c96d4ce;ms-3efaacea10b7eb4adb57;ms-1a37fdd82d982ae6dbd8;ms-20f3cfcf183c69853b1e;ms-f9148dff7961fa66a8a1;ms-e297545a438d902a680e", + "expert_regret": 0.012932777404785156, + "expert_score": 0.8352580070495605, + "expert_success": false, + "group_id": "ms-04eec0abab5f55620e4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1776747703552246, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8223252296447754, + "restore_error": 1.1920928955078125e-07, + "score": 0.8223252296447754, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9772171378135681, + "candidate_source_group_id": "ms-d776afa14e6322cadedd;ms-20f3cfcf183c69853b1e;ms-e297545a438d902a680e;ms-6c8d06bace98a28a8e4e;ms-f50f1c1b673d0c96d4ce;ms-3efaacea10b7eb4adb57", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e327fef230e956dab37c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6917557120323181, + "candidate_source_group_id": "ms-500ed73f6d891e237b30;ms-f79778f4c5ec302bbfb4;ms-2fef2f43af8009bb88f1;ms-7fba35a6c125e88b8f54;ms-79b745efd36e00515fa7;ms-ce827a7939377a151af9", + "expert_regret": 1.9306150376796722, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc1ca12b92e3561b95b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9306150376796722, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06938496232032776, + "restore_error": 1.1920928955078125e-07, + "score": 0.06938496232032776, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.3376227617263794, + "candidate_source_group_id": "ms-d6b0d6d7c66509eb4543;ms-1c9cd9629e4a927ed921;ms-79b745efd36e00515fa7;ms-7e2762eb1b21b04fe873;ms-f79778f4c5ec302bbfb4;ms-2fef2f43af8009bb88f1", + "expert_regret": 1.8693332374095917, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0460b73af19ce1336bba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8693332374095917, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.13066676259040833, + "restore_error": 1.1920928955078125e-07, + "score": 0.13066676259040833, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7775846123695374, + "candidate_source_group_id": "ms-9f5d57fe2153fd267774;ms-d8cc5ba8ab1cd4a46519;ms-a601803235735bea0610;ms-acb486cbc23907df2568;ms-804705b564058a7ac34c;ms-4c788310cab7df5251e1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-71c5493fbcd8ea88898b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8062154054641724, + "candidate_source_group_id": "ms-36112cc5608a9f625764;ms-22457d523f50e99d7acb;ms-bb299baa34e49eafb9fc;ms-3cdc09425d5b71524854;ms-a9eb9fab62fb296d2cf3;ms-0ec57b5bc28a71d3aac0", + "expert_regret": 1.819749265909195, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f413b168078609ed4fe4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.819749265909195, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18025073409080505, + "restore_error": 1.1920928955078125e-07, + "score": 0.18025073409080505, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6415737867355347, + "candidate_source_group_id": "ms-ab5acce4dba71f19d5ad;ms-0ccc81e9a63663c50096;ms-c8706d0aa14a930236de;ms-da2f79e022bb63a2af11;ms-baba39ca95aa09893dc0;ms-61cb49c57a8600267d61", + "expert_regret": 1.4018269181251526, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5bc4935790fb8ef7b81", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4018269181251526, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5981730818748474, + "restore_error": 1.1920928955078125e-07, + "score": 0.5981730818748474, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6065253019332886, + "candidate_source_group_id": "ms-b4f96b4975ceb839c5e3;ms-3c87c16acc91c68c522f;ms-e6e8b4cdcadec645d910;ms-d1960368ef76bbb10669;ms-68067370d3b20b9bd4e2;ms-77536801924a2a78688e", + "expert_regret": 1.8288904428482056, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6af11918833ace7c694", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8288904428482056, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17110955715179443, + "restore_error": 1.1920928955078125e-07, + "score": 0.17110955715179443, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + } + ], + "seed": 0, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 219, + "retrieval_residual_residual_near_miss": 62, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 78, + "retrieval_residual_residual_no_op": 51, + "retrieval_residual_residual_wrong_gripper": 165 + }, + "selected_residual_scale_counts": { + "0.35": 295, + "0.4": 126, + "0.45": 154 + }, + "selection_margin": 0.0, + "selection_mode": "retrieval_residual", + "split": "validation_groups" +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_rank005.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_rank005.json new file mode 100644 index 0000000000000000000000000000000000000000..bcd9d4845e2a1bebcf169df80887063d7d71b744 --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_rank005.json @@ -0,0 +1,12263 @@ +{ + "action_mse_to_best": 0.4981627210083863, + "backbone_model": null, + "backbone_type": "native", + "candidate_oracle_rollouts": 0, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_sigma": 0.0, + "candidate_type_bonus_components": false, + "candidate_type_bonuses": {}, + "candidate_type_bonuses_by_task": { + "*": { + "retrieval_residual_policy_residual": 0.0, + "retrieval_residual_residual_near_miss": 0.0, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.0, + "retrieval_residual_residual_no_op": -0.0, + "retrieval_residual_residual_wrong_gripper": -0.0 + }, + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.0, + "retrieval_residual_residual_near_miss": -0.0, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.0, + "retrieval_residual_residual_no_op": 0.0, + "retrieval_residual_residual_wrong_gripper": -0.0 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 0.0, + "retrieval_residual_residual_near_miss": 0.0, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": -0.0, + "retrieval_residual_residual_no_op": -0.0, + "retrieval_residual_residual_wrong_gripper": -0.0 + } + }, + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/best_transport.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "expert_success_rate": 0.7721739130434783, + "field_optim_l2_penalty": 0.0, + "field_optim_step_size": 0.0, + "field_optim_steps": 0, + "field_optim_trust_radius": 0.0, + "field_rank_biases_by_task": { + "*": [ + 0.0, + -0.0028736126536503537, + -0.0036299500165594637, + -0.004726945271296801 + ], + "LiftPegUpright-v1": [ + 0.0, + -0.005727425539316078, + -0.007138531004302851, + -0.008038773555909434 + ], + "PickCube-v1": [ + 0.0, + 2.3330905350371636e-05, + -6.834261590307201e-05, + -0.001365064166261809 + ] + }, + "group_batch_size": 8, + "lattice_exclude_type_tasks": {}, + "lattice_exclude_types": [ + "residual_random_negative", + "residual_wrong_direction", + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper" + ], + "num_candidates": 48, + "num_groups": 575, + "objective": "lattice_field", + "observation_mode": "state", + "oracle_success_rate": 0.8573913043478261, + "per_task": { + "LiftPegUpright-v1": { + "action_mse_to_best": 0.33983143654258285, + "expert_success_rate": 0.8865979381443299, + "num_groups": 97, + "oracle_success_rate": 0.9278350515463918, + "policy_expert_regret": 1.07819144181984, + "policy_oracle_regret": 1.1046069195282828, + "policy_rollout_progress": 0.5716054517890989, + "policy_rollout_success_rate": 0.2268041237113402, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "action_mse_to_best": 0.46344211518477935, + "expert_success_rate": 0.9375, + "num_groups": 208, + "oracle_success_rate": 0.9471153846153846, + "policy_expert_regret": 0.9422954545230963, + "policy_oracle_regret": 0.9490729826233851, + "policy_rollout_progress": 0.6223857593991292, + "policy_rollout_success_rate": 0.3605769230769231, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "action_mse_to_best": 0.6133117520963991, + "expert_success_rate": 0.19480519480519481, + "num_groups": 77, + "oracle_success_rate": 0.36363636363636365, + "policy_expert_regret": 0.2165840214432834, + "policy_oracle_regret": 0.383972076118573, + "policy_rollout_progress": 0.36198321732317473, + "policy_rollout_success_rate": 0.2597402597402597, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "action_mse_to_best": 0.5042698027447183, + "expert_success_rate": 0.8617021276595744, + "num_groups": 94, + "oracle_success_rate": 0.9893617021276596, + "policy_expert_regret": 0.37636212211974124, + "policy_oracle_regret": 0.4349256801478406, + "policy_rollout_progress": 0.7794892613558059, + "policy_rollout_success_rate": 0.7659574468085106, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "action_mse_to_best": 0.6308847364376892, + "expert_success_rate": 0.6767676767676768, + "num_groups": 99, + "oracle_success_rate": 0.8585858585858586, + "policy_expert_regret": 0.8869800036302721, + "policy_oracle_regret": 1.0460948816152533, + "policy_rollout_progress": 0.5194412894321211, + "policy_rollout_success_rate": 0.2828282828282828, + "restore_max_error": 2.384185791015625e-07 + } + }, + "policy_expert_regret": 0.7659966154558503, + "policy_oracle_regret": 0.8322892324432083, + "policy_rollout_progress": 0.5869067004063855, + "policy_rollout_success_rate": 0.3773913043478261, + "prepend_policy_candidate": false, + "proposal_lattice_types": [], + "proposal_types": [], + "restore_max_error": 2.384185791015625e-07, + "retrieval_metric": "raw", + "retrieval_neighbors": 6, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_anchor": "expert", + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_type_tasks": {}, + "retrieval_residual_challenger_types": [], + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_by_task": { + "*": 0.0, + "PickCube-v1": 0.01, + "StackCube-v1": 0.05 + }, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "rows": [ + { + "action_mse_to_best": 0.16403727233409882, + "candidate_source_group_id": "ms-99f263cb3f383b1f6243;ms-aa46bb6dc8e6274963b6;ms-ec4accef21246e0c9213;ms-c76aba3db8d4ce0062bc;ms-b0302a41f75a827cd4e4;ms-7272e1e33d4ecc07470c", + "expert_regret": 1.3218209743499756, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-575bd87a5da90963019d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3218209743499756, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6781790256500244, + "restore_error": 1.1920928955078125e-07, + "score": 0.6781790256500244, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.182577982544899, + "candidate_source_group_id": "ms-c76aba3db8d4ce0062bc;ms-aa46bb6dc8e6274963b6;ms-ec4accef21246e0c9213;ms-b0302a41f75a827cd4e4;ms-9a72e47e2204fa794718;ms-99f263cb3f383b1f6243", + "expert_regret": 1.3254237174987793, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28c139f34a954b692962", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3254237174987793, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6745762825012207, + "restore_error": 1.1920928955078125e-07, + "score": 0.6745762825012207, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3051590025424957, + "candidate_source_group_id": "ms-074cb86179cdd7f52737;ms-9bbea286acf66b5cfb8e;ms-3c1e7b47135487435fc1;ms-675833805d1139c2f2a0;ms-f1529c9d823325056e8d;ms-e89a3ba400f81d2795f3", + "expert_regret": 1.2905534505844116, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8bab784ae53525967763", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2905534505844116, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7094465494155884, + "restore_error": 1.1920928955078125e-07, + "score": 0.7094465494155884, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5033681988716125, + "candidate_source_group_id": "ms-1955408aeb8a8a4d0847;ms-8b15f77ad3436ac282ba;ms-917b0f051489227842f0;ms-524ae7618ed9b6a272ae;ms-85fcc6b4797417c3473f;ms-50b9f93dd246400d20c8", + "expert_regret": 1.2926936149597168, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8a9e7d69f7ade362fe40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2926936149597168, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7073063850402832, + "restore_error": 1.1920928955078125e-07, + "score": 0.7073063850402832, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1658484935760498, + "candidate_source_group_id": "ms-13d8bae55d3c3710138f;ms-ec2e4afb34b439731136;ms-9852b3671856321cecc8;ms-c2b904f450b45e2a8c9a;ms-36d1128e3bd512cffe18;ms-28835618507e7bc71227", + "expert_regret": 0.5253258347511292, + "expert_score": 0.728327751159668, + "expert_success": false, + "group_id": "ms-e1b6bcb41532a800d3cb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7969980835914612, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20300191640853882, + "restore_error": 1.1920928955078125e-07, + "score": 0.20300191640853882, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.256663978099823, + "candidate_source_group_id": "ms-6939f3ecafd5e0a4bfee;ms-2590f9fd91265598fb45;ms-5b24bcde90348f24bb19;ms-484ea653bbca2de3a4a2;ms-65e9da4468e522823587;ms-7b1a03be4a61ba27261c", + "expert_regret": 1.625543236732483, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f6e7085c865144a7408", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.625543236732483, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3744567632675171, + "restore_error": 1.1920928955078125e-07, + "score": 0.3744567632675171, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38028913736343384, + "candidate_source_group_id": "ms-c910a469460f71880556;ms-0a8109ce7ab2ddc1bb1e;ms-e12808f670338ca180c6;ms-f3211ecde366ca9f6ac7;ms-8c8cf210aa675c5db1fe;ms-44a607bf50304347ead8", + "expert_regret": 1.797069028019905, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83c0299c23fa800452c7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.797069028019905, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2029309719800949, + "restore_error": 1.1920928955078125e-07, + "score": 0.2029309719800949, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3688965439796448, + "candidate_source_group_id": "ms-6a03497f97765ffd444e;ms-c1f3359c70d068a36081;ms-043a17d678e610264bb8;ms-e6ca7414c5035e80d0ac;ms-a4420cda0b159dda82a2;ms-252706fc0657a82ba5a4", + "expert_regret": 1.7417368590831757, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-88f748134c3fd27fcf72", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7417368590831757, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25826314091682434, + "restore_error": 1.1920928955078125e-07, + "score": 0.25826314091682434, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2206980139017105, + "candidate_source_group_id": "ms-340913cb08bfca09a4e3;ms-e536e40f6902c6ba0927;ms-080e034927abe2f30d60;ms-13aa39b96923ad8c913a;ms-bdb04ada069c35d51e2e;ms-3e0dbff4309ecbd35d36", + "expert_regret": 1.746465265750885, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01ab68aa5051226638ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.746465265750885, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.253534734249115, + "restore_error": 1.1920928955078125e-07, + "score": 0.253534734249115, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.08368216454982758, + "candidate_source_group_id": "ms-83019373a06eb384c886;ms-8864796e31bbe93d7c5d;ms-f5ebbab81506fa27fc6d;ms-8e23d2d44e709420e46d;ms-938b53ef53e669518a56;ms-dbad4f4d0df3c19c7bbb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83c62951219e6599b630", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3766658902168274, + "candidate_source_group_id": "ms-e6ca7414c5035e80d0ac;ms-252706fc0657a82ba5a4;ms-08ab006a923f5fdae198;ms-c1f3359c70d068a36081;ms-9bb65f13e00984482ef8;ms-043a17d678e610264bb8", + "expert_regret": 1.7473297417163849, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d229ac64c91c9bb6ce88", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7473297417163849, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2526702582836151, + "restore_error": 1.1920928955078125e-07, + "score": 0.2526702582836151, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3637847304344177, + "candidate_source_group_id": "ms-02cacb03f445c8a460e8;ms-8bc7aa419d17368d81b5;ms-7334e620435d1f3545fd;ms-a6e4ac1995198def96a8;ms-a40dee47c502e73949af;ms-510cafd84de611de3909", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f24ad2e217963943c12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48431602120399475, + "candidate_source_group_id": "ms-c1f3359c70d068a36081;ms-dd94921779f12b249579;ms-93b076203c0c65fb22be;ms-6a03497f97765ffd444e;ms-e4090b0b0c1739070201;ms-2b59042e27453aff03a7", + "expert_regret": 1.7679226398468018, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1e41619ab39cf51b7822", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7679226398468018, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23207736015319824, + "restore_error": 1.1920928955078125e-07, + "score": 0.23207736015319824, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.26977354288101196, + "candidate_source_group_id": "ms-af25c332ad54eee6e1c3;ms-de68dbb7daad3e3a71fe;ms-fdf18cd6260d82226927;ms-074b26fed4c4a9dd3449;ms-4a845dab9503bc4eba04;ms-c146ea1c89beb683b6fd", + "expert_regret": 1.687372624874115, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a6cf775fbba580161c4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.687372624874115, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.312627375125885, + "restore_error": 1.1920928955078125e-07, + "score": 0.312627375125885, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4117461144924164, + "candidate_source_group_id": "ms-35babd5f83dcf1561f9a;ms-c7c812bb98308442d95b;ms-97c28a7584b35207bf84;ms-062addb9da32a0c2ea97;ms-a4420cda0b159dda82a2;ms-684a66885f21739d826b", + "expert_regret": 1.645468831062317, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5a56eefeb2de0abe600", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.645468831062317, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3545311689376831, + "restore_error": 1.1920928955078125e-07, + "score": 0.3545311689376831, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4817766547203064, + "candidate_source_group_id": "ms-7b1a03be4a61ba27261c;ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-8be8a38748f9fb037556;ms-484ea653bbca2de3a4a2;ms-6959fa589edc996753d7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f539c5c30da21c875657", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16072355210781097, + "candidate_source_group_id": "ms-bc56601ca069f65cd08f;ms-a4ade4de51ca437ac432;ms-4a86d570dabb0916f020;ms-1145e0f6add300eee9bd;ms-988537a36edfece3d073;ms-8fcf4d9d042de2f74d76", + "expert_regret": 1.7474114298820496, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-38758efd8620a312267d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7474114298820496, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25258857011795044, + "restore_error": 1.1920928955078125e-07, + "score": 0.25258857011795044, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3146516978740692, + "candidate_source_group_id": "ms-fe790caba27d92511f71;ms-faeff0379a053e9ea351;ms-caa0a38b7df789550f8a;ms-bdc14f3225a9c9f26513;ms-e2950dcb50ed2b955be6;ms-2436538e05fdcf8e44fc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2f1164357c9732e059d4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.056728024035692215, + "candidate_source_group_id": "ms-cce5ef6cfa69a08a1e05;ms-4e825dd3ade30a42e899;ms-0660d5f65df5fc4b6132;ms-3c550bf52d7bf91f4ca2;ms-de8d6051e6ee74b62fec;ms-715db95b13ebc6c977c8", + "expert_regret": 0.5219925045967102, + "expert_score": 0.720818042755127, + "expert_success": false, + "group_id": "ms-c2c265f2f5013746eaa1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.528826892375946, + "oracle_score": 0.7276524305343628, + "oracle_success": false, + "progress": 0.19882553815841675, + "restore_error": 1.1920928955078125e-07, + "score": 0.19882553815841675, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.20318324863910675, + "candidate_source_group_id": "ms-aee5716b3e4fc47e46ba;ms-7272e1e33d4ecc07470c;ms-20cd6d8ccbf13e36dcdb;ms-92070f417bd9d14d6fc7;ms-6e2b02ee71a4a44bc325;ms-59474486dd5cb4e5bfd5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6a4398375c43dbf887b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.44475239515304565, + "candidate_source_group_id": "ms-bc29afbe2bbf00638d25;ms-a4420cda0b159dda82a2;ms-684a66885f21739d826b;ms-076246c4c5d1ca8ccd9d;ms-aedc3dee6e275342eb8f;ms-97c28a7584b35207bf84", + "expert_regret": 1.3794038891792297, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-507199452c6d42562a38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3794038891792297, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6205961108207703, + "restore_error": 1.1920928955078125e-07, + "score": 0.6205961108207703, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41978126764297485, + "candidate_source_group_id": "ms-e536e40f6902c6ba0927;ms-340913cb08bfca09a4e3;ms-caeb4c3d358f256799a8;ms-ff3256da4e1731651937;ms-5bbc4c4b1b51e2a088db;ms-1b8e9b173562648021f6", + "expert_regret": 1.7638336420059204, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ef8de99d917753ec603c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7638336420059204, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2361663579940796, + "restore_error": 1.1920928955078125e-07, + "score": 0.2361663579940796, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6280216574668884, + "candidate_source_group_id": "ms-a5bd3a36c6fe41cd0b35;ms-0d80d6d87a27a53951fe;ms-0a57aa04002f1b843856;ms-6f03b16858c35025503e;ms-1a2d298bf9972ddc1a7e;ms-6ceb341dfa656e485a13", + "expert_regret": 0.5116468369960785, + "expert_score": 0.7269317507743835, + "expert_success": false, + "group_id": "ms-c9e0182d4090ddaa991c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5116468369960785, + "oracle_score": 0.7269317507743835, + "oracle_success": false, + "progress": 0.21528491377830505, + "restore_error": 1.1920928955078125e-07, + "score": 0.21528491377830505, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3402126133441925, + "candidate_source_group_id": "ms-3e0dbff4309ecbd35d36;ms-080e034927abe2f30d60;ms-bdb04ada069c35d51e2e;ms-a4ade4de51ca437ac432;ms-ebeb5587176e3877b98a;ms-9c33d4837de7d23232d6", + "expert_regret": 1.7471709549427032, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-835bd462e505aa659d16", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7471709549427032, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25282904505729675, + "restore_error": 1.1920928955078125e-07, + "score": 0.25282904505729675, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4367155432701111, + "candidate_source_group_id": "ms-261f6f6b578cee63be20;ms-8be46dac6fc06c6c928a;ms-48db1178206eee52434a;ms-e91b824c3841686ed053;ms-7a3daad6772d2384ea66;ms-fb131b52f94500da894b", + "expert_regret": 1.2878472805023193, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-35d84da6eb1afcf8a811", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2878472805023193, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7121527194976807, + "restore_error": 1.1920928955078125e-07, + "score": 0.7121527194976807, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3436945974826813, + "candidate_source_group_id": "ms-e6478d71ed92dae06539;ms-35c12c467fb8a54f89f0;ms-f3211ecde366ca9f6ac7;ms-a103dfbc0567d05ade6e;ms-44a607bf50304347ead8;ms-de8d6051e6ee74b62fec", + "expert_regret": 1.7995912581682205, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ba9541c7192498a1d8bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7995912581682205, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20040874183177948, + "restore_error": 1.1920928955078125e-07, + "score": 0.20040874183177948, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4052918553352356, + "candidate_source_group_id": "ms-22aaa483f5e7d381b63d;ms-c3818c2c4474a784fc6b;ms-0ef5d3238b33bdebae4d;ms-8556e974064f31ae1468;ms-e4090b0b0c1739070201;ms-3a09e411ee6c882ef7df", + "expert_regret": 1.3104048371315002, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d26dc2146eb8ae9a5434", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3104048371315002, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6895951628684998, + "restore_error": 1.1920928955078125e-07, + "score": 0.6895951628684998, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3534383773803711, + "candidate_source_group_id": "ms-1b8e9b173562648021f6;ms-5bbc4c4b1b51e2a088db;ms-502c195c0e4810814bac;ms-4906f3adfda6dace862d;ms-9f993a6e9bb26846d4f4;ms-c871c1157a16e19e6150", + "expert_regret": 1.7680997997522354, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3661d65df223386f1be9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7680997997522354, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2319002002477646, + "restore_error": 1.1920928955078125e-07, + "score": 0.2319002002477646, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2675606310367584, + "candidate_source_group_id": "ms-ebeb5587176e3877b98a;ms-cdbfe4d3b05f4ed12db3;ms-0f02ff35b7fa1234c52e;ms-9f993a6e9bb26846d4f4;ms-502c195c0e4810814bac;ms-1cb9edbe8bd7ed4106c1", + "expert_regret": 1.7073913514614105, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3db845076f92a16d1840", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7073913514614105, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2926086485385895, + "restore_error": 1.1920928955078125e-07, + "score": 0.2926086485385895, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3257105052471161, + "candidate_source_group_id": "ms-662379c2c351807b9cdf;ms-a40abdebe8a9c17de878;ms-b383acd9844466b19579;ms-5799584ed40e211c50a5;ms-80d8d8fc4a3308139975;ms-7a1b60ea1461eb460bed", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4b3a296acc66a14476c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1882317215204239, + "candidate_source_group_id": "ms-cf8c5d9c874edc9f000d;ms-b025d8068f740557d630;ms-9257b89b9b635a0fb174;ms-28fe4b5a2888189c28d9;ms-fc3c8a3572fd96442723;ms-9554f100dd5be3a4fa47", + "expert_regret": 1.6283776760101318, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3176a570b75767d1d729", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6283776760101318, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.37162232398986816, + "restore_error": 1.1920928955078125e-07, + "score": 0.37162232398986816, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.09845292568206787, + "candidate_source_group_id": "ms-067e0fe46e4e9483e2a1;ms-5003e0cda1e13bd4850a;ms-472376eba1a5e1c706bf;ms-908213fef55ccf1dfda6;ms-dfc38c43e9a87f99ef7f;ms-785fb44f1371895f7721", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-14dabc3ac1e1a339ebe4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.25713029503822327, + "candidate_source_group_id": "ms-080e034927abe2f30d60;ms-bdb04ada069c35d51e2e;ms-13aa39b96923ad8c913a;ms-7dfc3684b46df95070e2;ms-3e0dbff4309ecbd35d36;ms-a4ade4de51ca437ac432", + "expert_regret": 1.7218148410320282, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f0d2ffde521e268efc83", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7218148410320282, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2781851589679718, + "restore_error": 2.384185791015625e-07, + "score": 0.2781851589679718, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4278603196144104, + "candidate_source_group_id": "ms-8c8cf210aa675c5db1fe;ms-30e2d8b7825053276e0c;ms-efb5a07185a3a1b33226;ms-e2a037eadb166228b1dd;ms-af91167a0cf15457c6ba;ms-e7573c5d29c3a1a3f228", + "expert_regret": 1.2787054777145386, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-89520c3ac8779d9e81e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2787054777145386, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7212945222854614, + "restore_error": 2.384185791015625e-07, + "score": 0.7212945222854614, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.362408846616745, + "candidate_source_group_id": "ms-472376eba1a5e1c706bf;ms-dfc38c43e9a87f99ef7f;ms-908213fef55ccf1dfda6;ms-067e0fe46e4e9483e2a1;ms-785fb44f1371895f7721;ms-938b53ef53e669518a56", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-487d0fe2a13fb699dd7a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.312634140253067, + "candidate_source_group_id": "ms-54b1042de0891da7c07e;ms-debd7e5668e2acdf6bb0;ms-a1a99e83fb2868164e40;ms-9a72e47e2204fa794718;ms-92070f417bd9d14d6fc7;ms-7aeb0835d3396e6666b6", + "expert_regret": 1.283835768699646, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61c099575bcff2de95e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.283835768699646, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.716164231300354, + "restore_error": 2.384185791015625e-07, + "score": 0.716164231300354, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3357120156288147, + "candidate_source_group_id": "ms-865f9d670f806778ae61;ms-619d3d285d2cae3abbb9;ms-c7677b8f230103dd3c51;ms-88f7199271947fc4c7e8;ms-c090bce47703a4c4bb0b;ms-0fe90299788e1f71f98a", + "expert_regret": 0.5074718296527863, + "expert_score": 0.7231871485710144, + "expert_success": false, + "group_id": "ms-64a755437c34f39cda2a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5074718296527863, + "oracle_score": 0.7231871485710144, + "oracle_success": false, + "progress": 0.21571531891822815, + "restore_error": 2.384185791015625e-07, + "score": 0.21571531891822815, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.12310095876455307, + "candidate_source_group_id": "ms-059d7962a5f998edf668;ms-26322bd4de52dbd5743c;ms-e2950dcb50ed2b955be6;ms-e3f38594991aafbffc23;ms-908213fef55ccf1dfda6;ms-472376eba1a5e1c706bf", + "expert_regret": 0.0, + "expert_score": 0.6909128427505493, + "expert_success": false, + "group_id": "ms-9156a9a9c1b829b742ad", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34731075167655945, + "candidate_source_group_id": "ms-340913cb08bfca09a4e3;ms-e536e40f6902c6ba0927;ms-3e0dbff4309ecbd35d36;ms-bdb04ada069c35d51e2e;ms-5bbc4c4b1b51e2a088db;ms-13aa39b96923ad8c913a", + "expert_regret": 1.7465482950210571, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b4281a37b8b48a0b4c54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7465482950210571, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25345170497894287, + "restore_error": 2.384185791015625e-07, + "score": 0.25345170497894287, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.25278300046920776, + "candidate_source_group_id": "ms-3e0dbff4309ecbd35d36;ms-080e034927abe2f30d60;ms-bdb04ada069c35d51e2e;ms-5bbc4c4b1b51e2a088db;ms-9c33d4837de7d23232d6;ms-a4ade4de51ca437ac432", + "expert_regret": 1.6944690346717834, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-44e7935dbed5f3b3c739", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6944690346717834, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.30553096532821655, + "restore_error": 2.384185791015625e-07, + "score": 0.30553096532821655, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.08199330419301987, + "candidate_source_group_id": "ms-e3c96ca4b56c4a26d40d;ms-83019373a06eb384c886;ms-caa0a38b7df789550f8a;ms-9551db96b60a51ccf62a;ms-938b53ef53e669518a56;ms-8e23d2d44e709420e46d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-36f204d04ec4c4af3169", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.18974170088768005, + "candidate_source_group_id": "ms-4a86d570dabb0916f020;ms-1cb9edbe8bd7ed4106c1;ms-73259d17883355f7fa88;ms-0f02ff35b7fa1234c52e;ms-becd2ffef1c49174810a;ms-0a6bff8326e7e32702f3", + "expert_regret": 1.339151680469513, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-832f0e966173abd16c34", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.339151680469513, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6608483195304871, + "restore_error": 1.1920928955078125e-07, + "score": 0.6608483195304871, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.44810017943382263, + "candidate_source_group_id": "ms-7a3daad6772d2384ea66;ms-2f2b16367db3db120235;ms-84264ef080ec4f3631df;ms-01a86e5f5731af7002ab;ms-e91b824c3841686ed053;ms-8be46dac6fc06c6c928a", + "expert_regret": 1.4891876578330994, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e56b37f0e3881a70ef54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4891876578330994, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5108123421669006, + "restore_error": 1.1920928955078125e-07, + "score": 0.5108123421669006, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40373674035072327, + "candidate_source_group_id": "ms-c663f7e73e7e8376a05c;ms-3c3fb1d170c1a7965ac4;ms-6818a4edf6ef35dacfb0;ms-0bc111c5ce4e0052716b;ms-73e3079ce5eb7cd14ec8;ms-efbde8652e75274fbd69", + "expert_regret": 1.4050753116607666, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b37738e210bf33a45a1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4050753116607666, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5949246883392334, + "restore_error": 1.1920928955078125e-07, + "score": 0.5949246883392334, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.24720242619514465, + "candidate_source_group_id": "ms-2e7fc6c97e5ce1f024e5;ms-32943eea3e70cd02f313;ms-73e3079ce5eb7cd14ec8;ms-3c3fb1d170c1a7965ac4;ms-efbde8652e75274fbd69;ms-076246c4c5d1ca8ccd9d", + "expert_regret": 1.634339988231659, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d30b515ab0ee174afa58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.634339988231659, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.36566001176834106, + "restore_error": 1.1920928955078125e-07, + "score": 0.36566001176834106, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41043663024902344, + "candidate_source_group_id": "ms-e6ca7414c5035e80d0ac;ms-252706fc0657a82ba5a4;ms-043a17d678e610264bb8;ms-e9a43adf4bba03b65d5d;ms-c1f3359c70d068a36081;ms-6a03497f97765ffd444e", + "expert_regret": 1.7693287879228592, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5b0141f336d28927cf31", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7693287879228592, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2306712120771408, + "restore_error": 1.1920928955078125e-07, + "score": 0.2306712120771408, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38953498005867004, + "candidate_source_group_id": "ms-324a58dd51dfecb51fa8;ms-8c4a08985213114fffb7;ms-7b1a03be4a61ba27261c;ms-2590f9fd91265598fb45;ms-4c72a9ad08cbf51799fb;ms-6939f3ecafd5e0a4bfee", + "expert_regret": 1.2830954790115356, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d602b7370c5b90f8a439", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2830954790115356, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7169045209884644, + "restore_error": 1.1920928955078125e-07, + "score": 0.7169045209884644, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1937592327594757, + "candidate_source_group_id": "ms-4a86d570dabb0916f020;ms-0a6bff8326e7e32702f3;ms-becd2ffef1c49174810a;ms-1cb9edbe8bd7ed4106c1;ms-0f02ff35b7fa1234c52e;ms-73259d17883355f7fa88", + "expert_regret": 1.2763134241104126, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bbefdf03d0471be60f8f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2763134241104126, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7236865758895874, + "restore_error": 1.1920928955078125e-07, + "score": 0.7236865758895874, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2583308517932892, + "candidate_source_group_id": "ms-04cc31b72a8dc8a91911;ms-5b24bcde90348f24bb19;ms-2590f9fd91265598fb45;ms-8c4a08985213114fffb7;ms-4c72a9ad08cbf51799fb;ms-6939f3ecafd5e0a4bfee", + "expert_regret": 1.5362626910209656, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-09b2d832d7823c11fd22", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5362626910209656, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4637373089790344, + "restore_error": 2.384185791015625e-07, + "score": 0.4637373089790344, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5354069471359253, + "candidate_source_group_id": "ms-cf2603516869355b8b13;ms-c0142e4a5d15dd8d647a;ms-40392e5aeef63551f9ac;ms-49c99f285560483a85ee;ms-524ae7618ed9b6a272ae;ms-9b687dc2de14c6813d44", + "expert_regret": 1.7917144894599915, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e2f90eb6c79dfd9ce6fd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7917144894599915, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20828551054000854, + "restore_error": 2.384185791015625e-07, + "score": 0.20828551054000854, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2778758704662323, + "candidate_source_group_id": "ms-aedc3dee6e275342eb8f;ms-684a66885f21739d826b;ms-a4420cda0b159dda82a2;ms-e9a43adf4bba03b65d5d;ms-b0861c414f8690d62a82;ms-252706fc0657a82ba5a4", + "expert_regret": 1.7466300427913666, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-780ea60ea0255941e6c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7466300427913666, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2533699572086334, + "restore_error": 2.384185791015625e-07, + "score": 0.2533699572086334, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7863624691963196, + "candidate_source_group_id": "ms-a67a1ab4d96d811cec77;ms-894cd0e5dafb2d38831d;ms-0fe90299788e1f71f98a;ms-88f7199271947fc4c7e8;ms-effca6c13ef9ccfd21a0;ms-c7677b8f230103dd3c51", + "expert_regret": 0.00597207248210907, + "expert_score": 0.23429617285728455, + "expert_success": false, + "group_id": "ms-a932cbf7e2b5755db22e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.00597207248210907, + "oracle_score": 0.23429617285728455, + "oracle_success": false, + "progress": 0.22832410037517548, + "restore_error": 2.384185791015625e-07, + "score": 0.22832410037517548, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.27540335059165955, + "candidate_source_group_id": "ms-0fe90299788e1f71f98a;ms-c7677b8f230103dd3c51;ms-88f7199271947fc4c7e8;ms-4c72a9ad08cbf51799fb;ms-894cd0e5dafb2d38831d;ms-04cc31b72a8dc8a91911", + "expert_regret": 1.276581346988678, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e705fef3e4caa4c49718", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.276581346988678, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.723418653011322, + "restore_error": 2.384185791015625e-07, + "score": 0.723418653011322, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3506665825843811, + "candidate_source_group_id": "ms-a6e4ac1995198def96a8;ms-a40dee47c502e73949af;ms-510cafd84de611de3909;ms-e89a3ba400f81d2795f3;ms-bb567fcac946f012535a;ms-31fe1d98bc7adcd515db", + "expert_regret": 1.284674882888794, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-136f1ebebd0b697c3310", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.284674882888794, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.715325117111206, + "restore_error": 2.384185791015625e-07, + "score": 0.715325117111206, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.012667025439441204, + "candidate_source_group_id": "ms-4a86d570dabb0916f020;ms-0f02ff35b7fa1234c52e;ms-7334e620435d1f3545fd;ms-f6f0d14ef7c24b9e4621;ms-0a6bff8326e7e32702f3;ms-510cafd84de611de3909", + "expert_regret": 0.0, + "expert_score": 0.7196991443634033, + "expert_success": false, + "group_id": "ms-ea164b21572d39ffed58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.19189170002937317, + "candidate_source_group_id": "ms-8fabc0ac20ec87ead026;ms-cba95475cb68ea42b041;ms-52ea0261959dfacdbcac;ms-22d1b2dcc954dcdff384;ms-ee28aef4a7ee25ff7f7c;ms-0fe90299788e1f71f98a", + "expert_regret": 1.7184981405735016, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0251a326271aa1cab82b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7184981405735016, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2815018594264984, + "restore_error": 2.384185791015625e-07, + "score": 0.2815018594264984, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.29789599776268005, + "candidate_source_group_id": "ms-7a1b60ea1461eb460bed;ms-a40abdebe8a9c17de878;ms-662379c2c351807b9cdf;ms-ecb5cc61f0b736e3f06f;ms-ed30f8fbb80b2cf46fbc;ms-80d8d8fc4a3308139975", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-96e1562aaca7ef49db28", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4550604820251465, + "candidate_source_group_id": "ms-c2b904f450b45e2a8c9a;ms-9852b3671856321cecc8;ms-ec2e4afb34b439731136;ms-33a0bdb4bcee42c79a2b;ms-13d8bae55d3c3710138f;ms-c0ed69f549e56aa55f3d", + "expert_regret": 1.3230541944503784, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29a11d7bdcf49c86bd7a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3230541944503784, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6769458055496216, + "restore_error": 1.1920928955078125e-07, + "score": 0.6769458055496216, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1746968924999237, + "candidate_source_group_id": "ms-078317e23cc56a9d719d;ms-bc56601ca069f65cd08f;ms-a242f1d12ebfcd82de05;ms-8fcf4d9d042de2f74d76;ms-1145e0f6add300eee9bd;ms-f6f0d14ef7c24b9e4621", + "expert_regret": 1.3052598237991333, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-051860c228aa5160d5a6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3052598237991333, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6947401762008667, + "restore_error": 1.1920928955078125e-07, + "score": 0.6947401762008667, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.155882328748703, + "candidate_source_group_id": "ms-f6f0d14ef7c24b9e4621;ms-675833805d1139c2f2a0;ms-0a6bff8326e7e32702f3;ms-a242f1d12ebfcd82de05;ms-074cb86179cdd7f52737;ms-31fe1d98bc7adcd515db", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-690f52acc6ead9c7c078", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35907047986984253, + "candidate_source_group_id": "ms-44a607bf50304347ead8;ms-f3211ecde366ca9f6ac7;ms-35c12c467fb8a54f89f0;ms-0a8109ce7ab2ddc1bb1e;ms-a103dfbc0567d05ade6e;ms-e6478d71ed92dae06539", + "expert_regret": 1.3154233694076538, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3af721139694f7f3ec04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3154233694076538, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6845766305923462, + "restore_error": 1.1920928955078125e-07, + "score": 0.6845766305923462, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4529951512813568, + "candidate_source_group_id": "ms-a43b35c03282fe0c8464;ms-a103dfbc0567d05ade6e;ms-35c12c467fb8a54f89f0;ms-44a607bf50304347ead8;ms-0a8109ce7ab2ddc1bb1e;ms-f3211ecde366ca9f6ac7", + "expert_regret": 1.800988107919693, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68c63442972f322789b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.800988107919693, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.199011892080307, + "restore_error": 1.1920928955078125e-07, + "score": 0.199011892080307, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36040037870407104, + "candidate_source_group_id": "ms-da28f7d135db8979d5b8;ms-6ca37421eb5405e1a9a5;ms-e825996818ee6f2f7d26;ms-227f2e245df67a5ef5ed;ms-85e3feba1c0f3084cfa0;ms-e467ecc93a4793286423", + "expert_regret": 1.3329521417617798, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-577341cca32521f4045e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3329521417617798, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6670478582382202, + "restore_error": 1.1920928955078125e-07, + "score": 0.6670478582382202, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.44727060198783875, + "candidate_source_group_id": "ms-093472a082b3b61e73d6;ms-b2d1a5e132eaeb353782;ms-0a57aa04002f1b843856;ms-1a2d298bf9972ddc1a7e;ms-6ceb341dfa656e485a13;ms-0d80d6d87a27a53951fe", + "expert_regret": 1.4472208619117737, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b60078e9e6ea9c26dedc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4472208619117737, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5527791380882263, + "restore_error": 1.1920928955078125e-07, + "score": 0.5527791380882263, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3340490162372589, + "candidate_source_group_id": "ms-340913cb08bfca09a4e3;ms-e536e40f6902c6ba0927;ms-13aa39b96923ad8c913a;ms-7dfc3684b46df95070e2;ms-080e034927abe2f30d60;ms-bdb04ada069c35d51e2e", + "expert_regret": 1.4321141242980957, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fdb2637276b27c46c757", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4321141242980957, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5678858757019043, + "restore_error": 2.384185791015625e-07, + "score": 0.5678858757019043, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3310411870479584, + "candidate_source_group_id": "ms-340913cb08bfca09a4e3;ms-e536e40f6902c6ba0927;ms-bdb04ada069c35d51e2e;ms-3e0dbff4309ecbd35d36;ms-5bbc4c4b1b51e2a088db;ms-080e034927abe2f30d60", + "expert_regret": 1.746169537305832, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-457db124a2f46a06175b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.746169537305832, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2538304626941681, + "restore_error": 2.384185791015625e-07, + "score": 0.2538304626941681, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.15981507301330566, + "candidate_source_group_id": "ms-becd2ffef1c49174810a;ms-0a6bff8326e7e32702f3;ms-4a86d570dabb0916f020;ms-1cb9edbe8bd7ed4106c1;ms-bc56601ca069f65cd08f;ms-73259d17883355f7fa88", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-06cb0796d1097e6ca111", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3110937476158142, + "candidate_source_group_id": "ms-4a845dab9503bc4eba04;ms-227f2e245df67a5ef5ed;ms-c146ea1c89beb683b6fd;ms-af25c332ad54eee6e1c3;ms-074b26fed4c4a9dd3449;ms-40fb8acb1e648bf3b617", + "expert_regret": 1.2862606048583984, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2286d9cf8d88e878c4d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2862606048583984, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7137393951416016, + "restore_error": 2.384185791015625e-07, + "score": 0.7137393951416016, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3207549452781677, + "candidate_source_group_id": "ms-e2950dcb50ed2b955be6;ms-26322bd4de52dbd5743c;ms-059d7962a5f998edf668;ms-2436538e05fdcf8e44fc;ms-faeff0379a053e9ea351;ms-e3f38594991aafbffc23", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f56672eac1c00e9c2b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5321293473243713, + "candidate_source_group_id": "ms-6ceb341dfa656e485a13;ms-b2d1a5e132eaeb353782;ms-d5241a32e5c9de09f2e4;ms-0d80d6d87a27a53951fe;ms-6f03b16858c35025503e;ms-741e906eafd57d115b5d", + "expert_regret": 1.282269835472107, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-27251a7c7f13bf165e21", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.282269835472107, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7177301645278931, + "restore_error": 2.384185791015625e-07, + "score": 0.7177301645278931, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.46346133947372437, + "candidate_source_group_id": "ms-29027a8e3742362fd477;ms-4906f3adfda6dace862d;ms-03495469257613a802b4;ms-b3d9d9570bf9b64c18fe;ms-9f993a6e9bb26846d4f4;ms-1b8e9b173562648021f6", + "expert_regret": 1.7415349185466766, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-131a98e2d4a78a9645f8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7415349185466766, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25846508145332336, + "restore_error": 2.384185791015625e-07, + "score": 0.25846508145332336, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3494322597980499, + "candidate_source_group_id": "ms-d8f42ed6b0b686d819ab;ms-a195f05e99bccc48907e;ms-80e3d8a34c3cb94cad65;ms-84264ef080ec4f3631df;ms-6a9c4c704edd84c21cda;ms-8be46dac6fc06c6c928a", + "expert_regret": 1.5574810802936554, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ff012c1c8597c8db3cc7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5574810802936554, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4425189197063446, + "restore_error": 2.384185791015625e-07, + "score": 0.4425189197063446, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40837761759757996, + "candidate_source_group_id": "ms-30e2d8b7825053276e0c;ms-4b4cd12d70c0615e0930;ms-e12808f670338ca180c6;ms-8c8cf210aa675c5db1fe;ms-715db95b13ebc6c977c8;ms-c0ed69f549e56aa55f3d", + "expert_regret": 1.2810443043708801, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-251c1dfd1010906f559f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2810443043708801, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7189556956291199, + "restore_error": 2.384185791015625e-07, + "score": 0.7189556956291199, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.46498483419418335, + "candidate_source_group_id": "ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-98c8fcf4c9f098cebe8d;ms-dd0fad10ce064047d62e;ms-6959fa589edc996753d7;ms-483520829af0d733cb2a", + "expert_regret": 1.6554043292999268, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-18ab33df290e3919a468", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6554043292999268, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.34459567070007324, + "restore_error": 2.384185791015625e-07, + "score": 0.34459567070007324, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39810895919799805, + "candidate_source_group_id": "ms-324a58dd51dfecb51fa8;ms-7b1a03be4a61ba27261c;ms-4c72a9ad08cbf51799fb;ms-2590f9fd91265598fb45;ms-8c4a08985213114fffb7;ms-8be8a38748f9fb037556", + "expert_regret": 1.2841413021087646, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3996b923bb25440c29e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2841413021087646, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7158586978912354, + "restore_error": 2.384185791015625e-07, + "score": 0.7158586978912354, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.018775267526507378, + "candidate_source_group_id": "ms-cdbfe4d3b05f4ed12db3;ms-e0952f3218e0bf6fe027;ms-ebeb5587176e3877b98a;ms-0a6bff8326e7e32702f3;ms-988537a36edfece3d073;ms-1cb9edbe8bd7ed4106c1", + "expert_regret": 0.0005006194114685059, + "expert_score": 0.7242826819419861, + "expert_success": false, + "group_id": "ms-491aad3896ede89ea0dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.004117012023925781, + "oracle_score": 0.7278990745544434, + "oracle_success": false, + "progress": 0.7237820625305176, + "restore_error": 2.384185791015625e-07, + "score": 0.7237820625305176, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35127776861190796, + "candidate_source_group_id": "ms-ff3256da4e1731651937;ms-502c195c0e4810814bac;ms-1b8e9b173562648021f6;ms-5bbc4c4b1b51e2a088db;ms-9f993a6e9bb26846d4f4;ms-caeb4c3d358f256799a8", + "expert_regret": 1.736996352672577, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7cd314f076bfe5c32088", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.736996352672577, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2630036473274231, + "restore_error": 2.384185791015625e-07, + "score": 0.2630036473274231, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3906612992286682, + "candidate_source_group_id": "ms-a74a87e26362d09598fe;ms-57dc9349b8f2c9c49105;ms-40eb8d19498413d4e730;ms-c090bce47703a4c4bb0b;ms-effca6c13ef9ccfd21a0;ms-9f844e24c570295e0497", + "expert_regret": 1.309517502784729, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69785feff08dbf9a50be", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.309517502784729, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.690482497215271, + "restore_error": 2.384185791015625e-07, + "score": 0.690482497215271, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22864416241645813, + "candidate_source_group_id": "ms-9bbea286acf66b5cfb8e;ms-25195d526c9adb43ac79;ms-ad7b7d5d7fb25961859f;ms-0f02ff35b7fa1234c52e;ms-4a86d570dabb0916f020;ms-9c33d4837de7d23232d6", + "expert_regret": 0.47324836254119873, + "expert_score": 0.725988507270813, + "expert_success": false, + "group_id": "ms-8d3d849234ceb98c3dc1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.47324836254119873, + "oracle_score": 0.725988507270813, + "oracle_success": false, + "progress": 0.25274014472961426, + "restore_error": 2.384185791015625e-07, + "score": 0.25274014472961426, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37407049536705017, + "candidate_source_group_id": "ms-6a9c4c704edd84c21cda;ms-a195f05e99bccc48907e;ms-d8f42ed6b0b686d819ab;ms-84264ef080ec4f3631df;ms-e825996818ee6f2f7d26;ms-80e3d8a34c3cb94cad65", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b55ca348be8b64323714", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.49732705950737, + "candidate_source_group_id": "ms-01a86e5f5731af7002ab;ms-2f2b16367db3db120235;ms-7a3daad6772d2384ea66;ms-84264ef080ec4f3631df;ms-6a9c4c704edd84c21cda;ms-8be46dac6fc06c6c928a", + "expert_regret": 1.6930929124355316, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1d728ae415a4d3cb782e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6930929124355316, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3069070875644684, + "restore_error": 1.1920928955078125e-07, + "score": 0.3069070875644684, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3289710581302643, + "candidate_source_group_id": "ms-ff3256da4e1731651937;ms-1b8e9b173562648021f6;ms-502c195c0e4810814bac;ms-5bbc4c4b1b51e2a088db;ms-4906f3adfda6dace862d;ms-bdb04ada069c35d51e2e", + "expert_regret": 1.7295383214950562, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4dc9ab19fbe571f09699", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7295383214950562, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.27046167850494385, + "restore_error": 1.1920928955078125e-07, + "score": 0.27046167850494385, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4190102219581604, + "candidate_source_group_id": "ms-67b6e4d62036c13cc466;ms-2c6000014d31fc0bb21c;ms-f97bd60d5430c32f9494;ms-639913ac0e6b3997faae;ms-87fa87e06dc88c28a44f;ms-093472a082b3b61e73d6", + "expert_regret": 1.2874041199684143, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ace117030ae44c474db1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2874041199684143, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7125958800315857, + "restore_error": 1.1920928955078125e-07, + "score": 0.7125958800315857, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5816861391067505, + "candidate_source_group_id": "ms-059d7962a5f998edf668;ms-e3f38594991aafbffc23;ms-26322bd4de52dbd5743c;ms-e2950dcb50ed2b955be6;ms-908213fef55ccf1dfda6;ms-472376eba1a5e1c706bf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb329ccd569163c53415", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4353472888469696, + "candidate_source_group_id": "ms-30e2d8b7825053276e0c;ms-af91167a0cf15457c6ba;ms-4b4cd12d70c0615e0930;ms-ec2e4afb34b439731136;ms-e12808f670338ca180c6;ms-c0ed69f549e56aa55f3d", + "expert_regret": 1.8018748760223389, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-320d99264926ea029f95", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8018748760223389, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19812512397766113, + "restore_error": 1.1920928955078125e-07, + "score": 0.19812512397766113, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48699185252189636, + "candidate_source_group_id": "ms-4c72a9ad08cbf51799fb;ms-8c4a08985213114fffb7;ms-894cd0e5dafb2d38831d;ms-7b1a03be4a61ba27261c;ms-5b24bcde90348f24bb19;ms-2590f9fd91265598fb45", + "expert_regret": 1.5459740459918976, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-55e89d326b6531345902", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5459740459918976, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4540259540081024, + "restore_error": 1.1920928955078125e-07, + "score": 0.4540259540081024, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16978923976421356, + "candidate_source_group_id": "ms-9a72e47e2204fa794718;ms-c76aba3db8d4ce0062bc;ms-ec4accef21246e0c9213;ms-b0302a41f75a827cd4e4;ms-aa46bb6dc8e6274963b6;ms-b933fbfb7c8fa68a445f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-118ba8926eda06ffc61e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2064460664987564, + "candidate_source_group_id": "ms-baa36ee75ec2de550b9b;ms-2b59042e27453aff03a7;ms-3a09e411ee6c882ef7df;ms-93b076203c0c65fb22be;ms-e3526036a5bf85cac0bf;ms-d9ed0a9faf86ca5f5caa", + "expert_regret": 1.5979151725769043, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9fd14cc61816c2d4360e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5979151725769043, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4020848274230957, + "restore_error": 1.1920928955078125e-07, + "score": 0.4020848274230957, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34993547201156616, + "candidate_source_group_id": "ms-715db95b13ebc6c977c8;ms-648250f7c25953eab081;ms-3c550bf52d7bf91f4ca2;ms-0660d5f65df5fc4b6132;ms-c0ed69f549e56aa55f3d;ms-ec2e4afb34b439731136", + "expert_regret": 0.025553882122039795, + "expert_score": 0.7266449332237244, + "expert_success": false, + "group_id": "ms-68d9596217cc37c949c4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.025553882122039795, + "oracle_score": 0.7266449332237244, + "oracle_success": false, + "progress": 0.7010910511016846, + "restore_error": 1.1920928955078125e-07, + "score": 0.7010910511016846, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5412268042564392, + "candidate_source_group_id": "ms-851d25e7a1dde4242f33;ms-a5bd3a36c6fe41cd0b35;ms-0a57aa04002f1b843856;ms-1a2d298bf9972ddc1a7e;ms-22d006041320a4487c21;ms-d2febdb2a469fbbac4f2", + "expert_regret": 1.2784996628761292, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf44ae14778c60c36af0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2784996628761292, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7215003371238708, + "restore_error": 1.1920928955078125e-07, + "score": 0.7215003371238708, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22236786782741547, + "candidate_source_group_id": "ms-7272e1e33d4ecc07470c;ms-9ced92cccacfe4d157b0;ms-cc0b4a1deec28e53722a;ms-92070f417bd9d14d6fc7;ms-aee5716b3e4fc47e46ba;ms-9a72e47e2204fa794718", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-145f60d5fff285e7d05b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7740393877029419, + "candidate_source_group_id": "ms-ea41340182245326a218;ms-d8295b43b30ceea30907;ms-957002faf092f769aa8e;ms-ef2d84500e27679d22d9;ms-a96ff9a1d5571ec4a6f2;ms-d2839c13649000454a65", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-88fb2bebd038dc786c01", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.13083618879318237, + "candidate_source_group_id": "ms-f5ebbab81506fa27fc6d;ms-8864796e31bbe93d7c5d;ms-83019373a06eb384c886;ms-8e23d2d44e709420e46d;ms-9551db96b60a51ccf62a;ms-5b4f2522663bec742b02", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cbd6cc8b2708d5e3e4a9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4890407919883728, + "candidate_source_group_id": "ms-9f844e24c570295e0497;ms-effca6c13ef9ccfd21a0;ms-ce7b349699ed248bb67c;ms-40eb8d19498413d4e730;ms-c090bce47703a4c4bb0b;ms-a74a87e26362d09598fe", + "expert_regret": 1.5723373889923096, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8de8d619c0cf5fd633e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5723373889923096, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.42766261100769043, + "restore_error": 1.1920928955078125e-07, + "score": 0.42766261100769043, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.2187960147857666, + "candidate_source_group_id": "ms-8f3d4e1d07bb5dcc7c57;ms-a103dfbc0567d05ade6e;ms-95264bfdaa3892cf66ac;ms-33a0bdb4bcee42c79a2b;ms-efb5a07185a3a1b33226;ms-0e48a13af39db4a58bbc", + "expert_regret": 1.7546736299991608, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dfc111660c0d1c7b7e04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7546736299991608, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.24532637000083923, + "restore_error": 1.1920928955078125e-07, + "score": 0.24532637000083923, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.0334242582321167, + "candidate_source_group_id": "ms-851d25e7a1dde4242f33;ms-22d006041320a4487c21;ms-a5bd3a36c6fe41cd0b35;ms-d2febdb2a469fbbac4f2;ms-1a2d298bf9972ddc1a7e;ms-0a57aa04002f1b843856", + "expert_regret": 0.5085559487342834, + "expert_score": 0.7198216915130615, + "expert_success": false, + "group_id": "ms-b04b489f4fbad93b65ca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.788734257221222, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21126574277877808, + "restore_error": 1.1920928955078125e-07, + "score": 0.21126574277877808, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4599793255329132, + "candidate_source_group_id": "ms-a5bd3a36c6fe41cd0b35;ms-0a57aa04002f1b843856;ms-6f03b16858c35025503e;ms-1a2d298bf9972ddc1a7e;ms-851d25e7a1dde4242f33;ms-0d80d6d87a27a53951fe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9f4b47c80d59166302ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7182474136352539, + "candidate_source_group_id": "ms-45ed57caa698d87a99cf;ms-ffba357213945be5f9f7;ms-ee32e6bb3c0bb45702b9;ms-9bcf8a1e5e7b0f7ff6f5;ms-caeb59971565b08f2513;ms-28d5618562729c763eb6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4385e9c56007fdaa94b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4487960636615753, + "candidate_source_group_id": "ms-8b98e8aa8ecee10bea27;ms-cd71a93dcab09ba15592;ms-ebb616f9b291184677b3;ms-b5deb1971bf3b3484282;ms-ac79bc3a841958ce127f;ms-de0abc7a53a48164f82d", + "expert_regret": 0.5099188908934593, + "expert_score": 0.5987673401832581, + "expert_success": false, + "group_id": "ms-1b83fc0981e283975488", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.5099188908934593, + "oracle_score": 0.5987673401832581, + "oracle_success": false, + "progress": 0.08884844928979874, + "restore_error": 1.1920928955078125e-07, + "score": 0.08884844928979874, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6164261698722839, + "candidate_source_group_id": "ms-dbcc3da47d96ceeaf9f0;ms-b7800060cd4a8c3cb6b9;ms-c3f7b780f604922f4f67;ms-4681331b496c8a9cf14d;ms-ad5ad5314850df7b0853;ms-b0aa24be399d843c9d50", + "expert_regret": 1.4431589245796204, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-732819b0c220a4c06870", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4431589245796204, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5568410754203796, + "restore_error": 1.1920928955078125e-07, + "score": 0.5568410754203796, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6231967210769653, + "candidate_source_group_id": "ms-09de52dad7e40970c938;ms-61068da67676a95e5065;ms-a8864b25c00ee193d0ea;ms-ee055e1282f6302ad9e8;ms-48cdfa31865ed70997c8;ms-fb92a1e6b67121783fff", + "expert_regret": 1.4481760263442993, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-74517e19dfdee44d2f81", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4481760263442993, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5518239736557007, + "restore_error": 1.1920928955078125e-07, + "score": 0.5518239736557007, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7438225150108337, + "candidate_source_group_id": "ms-169b1786513146593ea8;ms-add4b7d277e1fc171144;ms-bcd9be34f050d97499bd;ms-f6db4e8bed63ed868487;ms-55c2bba961a327aa5260;ms-3a65e7b378a87a7eeb11", + "expert_regret": 1.8402741104364395, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-71ef8f2cdc11d83250fa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8402741104364395, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.15972588956356049, + "restore_error": 1.1920928955078125e-07, + "score": 0.15972588956356049, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.591272234916687, + "candidate_source_group_id": "ms-2458fcfffb3f96c6ca1a;ms-0019f809318a077c3910;ms-2259a78b2187e22f9f37;ms-3e971096794f04f325f2;ms-3b0ad4f07f1813ecf670;ms-cea745484a24f376d7e8", + "expert_regret": 1.8916823267936707, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e0b2e69a5ea0d0ad4fb5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8916823267936707, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10831767320632935, + "restore_error": 1.1920928955078125e-07, + "score": 0.10831767320632935, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.725892186164856, + "candidate_source_group_id": "ms-564c02492863ae749ea9;ms-dd1311efb8ab2a0a2d23;ms-bd6b2dc41ba42b44462a;ms-93e3d9968204474eff49;ms-4082ce1f04dbacd6a5b9;ms-52c6c227fd4b61609031", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6f1db8895d5164cc5ae5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.708389937877655, + "candidate_source_group_id": "ms-bc615957d9bf177dfe26;ms-eb206a3dda0ac16e1643;ms-bcfeba2af1e844c22aed;ms-3352e05afd9065cd09bf;ms-1735d1abca4a91293d78;ms-326a7b583623d136470e", + "expert_regret": 1.4927456974983215, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9044026b69850d12d05b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4927456974983215, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5072543025016785, + "restore_error": 1.1920928955078125e-07, + "score": 0.5072543025016785, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43983522057533264, + "candidate_source_group_id": "ms-a44a2c9eee8baea5d29e;ms-dd4f37e032d56b692a0e;ms-763c73c94818a090d358;ms-a6b029a958e91306966a;ms-b0aa24be399d843c9d50;ms-c7020fdb7cba871e8b3e", + "expert_regret": 1.4389615058898926, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c39b520dca0a325535f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4389615058898926, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5610384941101074, + "restore_error": 1.1920928955078125e-07, + "score": 0.5610384941101074, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5431128144264221, + "candidate_source_group_id": "ms-28d5618562729c763eb6;ms-9bcf8a1e5e7b0f7ff6f5;ms-daaac2887015a6e4f3e0;ms-ffba357213945be5f9f7;ms-45ed57caa698d87a99cf;ms-23f9cca8edfca421a4a6", + "expert_regret": 0.010110080242156982, + "expert_score": 0.5644940733909607, + "expert_success": false, + "group_id": "ms-0adce283894b0a2b7b94", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.010110080242156982, + "oracle_score": 0.5644940733909607, + "oracle_success": false, + "progress": 0.5543839931488037, + "restore_error": 1.1920928955078125e-07, + "score": 0.5543839931488037, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.436994731426239, + "candidate_source_group_id": "ms-e2ddf4681b47f39e15da;ms-2af09f91e05d19f7f181;ms-813cac6d08ed5af48b12;ms-a5a651f9e28ea52016fe;ms-3c2515d4a10082514714;ms-10af171aa279a879207d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dbb32d9fd6999e09f589", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5142117738723755, + "candidate_source_group_id": "ms-432ca73236be93cb76df;ms-fbea3b8005a30431cb52;ms-80d5c509e83845ab1bc7;ms-54f34c73458181a65e9a;ms-bfda95ffffd5d1a2683a;ms-a5775906ce2fb6556103", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5316151a88a3282436ca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4312407076358795, + "candidate_source_group_id": "ms-3d0d437ee74041fc61bb;ms-83d2b158041f4eed3646;ms-42117385b9e6e57c7e63;ms-5d430ebe6f7933dc6c8c;ms-a6060f858cb9f93c5588;ms-b6df140b235c8fe0eaad", + "expert_regret": 1.416714370250702, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a7f98a43ff113d74f009", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.416714370250702, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5832856297492981, + "restore_error": 1.1920928955078125e-07, + "score": 0.5832856297492981, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4088735580444336, + "candidate_source_group_id": "ms-54a04864cb68a4c3caac;ms-c6beb139304a0ea6f7ae;ms-b59a7ccfb736df4c4c68;ms-b01677be2df71c474d1f;ms-d5bfdabc97e56c680680;ms-3b4b0b8c60ad41bb16b0", + "expert_regret": 1.494712471961975, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9eea613e8158816f3193", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.494712471961975, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5052875280380249, + "restore_error": 1.1920928955078125e-07, + "score": 0.5052875280380249, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6136406660079956, + "candidate_source_group_id": "ms-a949424c5fa615565d72;ms-dd7f9cc9585878b84824;ms-eff5f21c51f26a85f07c;ms-0cfef0ba35d4e6097003;ms-32346c22352f72d3de3a;ms-2592e5fa970f1b474388", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8522a9364bf70311450d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4127190411090851, + "candidate_source_group_id": "ms-10f2865bef6da7b66423;ms-66ec6692758e9a7f2e01;ms-739a89fb4521bc481a9f;ms-f69d6aec4ddb12d88c5b;ms-d462cff6e1b4b201a6ce;ms-18fb80871b8e11d1ae9a", + "expert_regret": 1.474697768688202, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f947dbf28ad85666e2f1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.474697768688202, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5253022313117981, + "restore_error": 1.1920928955078125e-07, + "score": 0.5253022313117981, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28073641657829285, + "candidate_source_group_id": "ms-2e5c2f75d3f6311e0a1c;ms-307f9067d5b66f55b3a6;ms-5c8b50523e0de37d80b8;ms-44694e99af9263ad3c45;ms-9edc0261b6ca7980ff81;ms-5847c6d196024fce1770", + "expert_regret": 1.9491984844207764, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d305a11348461ae1622c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9491984844207764, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05080151557922363, + "restore_error": 1.1920928955078125e-07, + "score": 0.05080151557922363, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8404534459114075, + "candidate_source_group_id": "ms-a9ac13384fe5afc835f1;ms-edcdf99767068f94bcb4;ms-86b302005e0461f28c43;ms-4ca84594a789c9abd5d9;ms-c774aeee2c4066edd668;ms-5e85dc3760eef8a53a67", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69962cd1c448094e4fb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6676772236824036, + "candidate_source_group_id": "ms-519fb779d24a0bdf3809;ms-bb60defa0d234da9e0bc;ms-6029bab18ae94b126d79;ms-8315ae30e2cf041c8674;ms-2ee00a97b477ba241dba;ms-95320371ce6b820c85f6", + "expert_regret": 1.4581542611122131, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ee19bfbcb2f4fbf5a44d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4581542611122131, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5418457388877869, + "restore_error": 1.1920928955078125e-07, + "score": 0.5418457388877869, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.23567426204681396, + "candidate_source_group_id": "ms-eaf612349e2da547ee98;ms-5daa8575a80e98a83170;ms-f101cf5cc8575be3c201;ms-8b73e5dfa1f2a01e6017;ms-06715386190189185900;ms-c6beb139304a0ea6f7ae", + "expert_regret": 1.4432731866836548, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29653e236de96058ef6d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4432731866836548, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5567268133163452, + "restore_error": 1.1920928955078125e-07, + "score": 0.5567268133163452, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6551793813705444, + "candidate_source_group_id": "ms-c3a1cf0e424a4f065459;ms-49219cb8ed7dad70c897;ms-67f602a0e4efc9984d72;ms-4e86b87d6e5f6ab914fe;ms-6029bab18ae94b126d79;ms-10af171aa279a879207d", + "expert_regret": 1.4383516311645508, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b4af4c8b9dcd6976546c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4383516311645508, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5616483688354492, + "restore_error": 1.1920928955078125e-07, + "score": 0.5616483688354492, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6137762665748596, + "candidate_source_group_id": "ms-cd71a93dcab09ba15592;ms-7fd4a05174dcc8eaff38;ms-ac79bc3a841958ce127f;ms-578537600f7a649c2dd5;ms-cd340bca589f0cebd7da;ms-8b98e8aa8ecee10bea27", + "expert_regret": 1.8958082050085068, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2cf1227610d4602f88ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8958082050085068, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10419179499149323, + "restore_error": 1.1920928955078125e-07, + "score": 0.10419179499149323, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7045746445655823, + "candidate_source_group_id": "ms-351c397795d9af204ec6;ms-4b970be37419ce0be0ae;ms-f682952c6ecb2b833c35;ms-12ac4329c5bca5f2bb62;ms-7651a7f31eae24958ef0;ms-caed5c1b1c882141e2e9", + "expert_regret": 1.9731060974299908, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f8e2d5d25706493821d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9731060974299908, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02689390257000923, + "restore_error": 1.1920928955078125e-07, + "score": 0.02689390257000923, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5294834971427917, + "candidate_source_group_id": "ms-81085eba1dd49b17ec9c;ms-4fe7fdaf946c97803c82;ms-e093f85b121d443b61e2;ms-61068da67676a95e5065;ms-4276f24b1b5dce771bff;ms-fb92a1e6b67121783fff", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1bfca22d4af29f0e14b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7085054516792297, + "candidate_source_group_id": "ms-8b85ebf659960395db9c;ms-893159691d11a40c7537;ms-90bfce2cef85e101138e;ms-7020f1cda882b79bffa3;ms-8d1978e8c3540cb5b1f6;ms-edda00243c6d6275fc0f", + "expert_regret": 1.9359732121229172, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-02ab2e7a74d970154eb7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9359732121229172, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06402678787708282, + "restore_error": 1.1920928955078125e-07, + "score": 0.06402678787708282, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.13754646480083466, + "candidate_source_group_id": "ms-42895361db5578b75c0e;ms-22412b51e61621b6025b;ms-ce992c1fa0bcc38512b7;ms-4705657703da9d791fb9;ms-869a04e41dc5cc90916b;ms-25a8e32c071be83d913b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11230e3aaabb1feec834", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.36604171991348267, + "candidate_source_group_id": "ms-0f219ce35aff264455e2;ms-1309e1770b6ca6e71c7e;ms-d5d7c690819019cb7869;ms-76b9f40367a1ee020744;ms-295de2ad6c52ab50de1a;ms-486ff31b7a04a7e9e8f9", + "expert_regret": 1.4464380741119385, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6b2d805dc063382ade2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4464380741119385, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5535619258880615, + "restore_error": 1.1920928955078125e-07, + "score": 0.5535619258880615, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5354131460189819, + "candidate_source_group_id": "ms-bcd9be34f050d97499bd;ms-e20f5d43f319248c5001;ms-add4b7d277e1fc171144;ms-bc53e550cb202b5fcdf3;ms-38ceda08bad38fbebc1c;ms-10a5b6cc3ec06dfdc5c5", + "expert_regret": 1.980337368324399, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e058c0dba52df04b8642", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.980337368324399, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.019662631675601006, + "restore_error": 1.1920928955078125e-07, + "score": 0.019662631675601006, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.36061766743659973, + "candidate_source_group_id": "ms-48d490ed21088bb5ba85;ms-57ac136bd68be6387c6f;ms-f101cf5cc8575be3c201;ms-f39bbaa063044719a98d;ms-d5bfdabc97e56c680680;ms-8fcc78fba7b3bec0fab6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-935ff204de9424ec00a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.07028709352016449, + "candidate_source_group_id": "ms-5f98f13f17e8f41f7436;ms-d19c9e3ab1d7daf06344;ms-4276f24b1b5dce771bff;ms-295de2ad6c52ab50de1a;ms-e441e4042cb7d77a4986;ms-a145b708d79b243da21f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b97cb4ec02e8234b08c5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22389984130859375, + "candidate_source_group_id": "ms-23d6e5835aa90a62b6ef;ms-f897cc2141a0a303fc6a;ms-c0bfce3c9dd10f9d3231;ms-054a02413d31389d1b7f;ms-910364d2d86091c5e0cf;ms-fbb609a3f2a334986245", + "expert_regret": 1.412960946559906, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29dd2cdbb66fe13ab877", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.412960946559906, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.587039053440094, + "restore_error": 1.1920928955078125e-07, + "score": 0.587039053440094, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2526889443397522, + "candidate_source_group_id": "ms-2e5c2f75d3f6311e0a1c;ms-307f9067d5b66f55b3a6;ms-5c8b50523e0de37d80b8;ms-8af2224cc82636ef1dd7;ms-9edc0261b6ca7980ff81;ms-90a03366976eaa1ad013", + "expert_regret": 1.981122063472867, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5415e349e8f9f2bce641", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.981122063472867, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.018877936527132988, + "restore_error": 1.1920928955078125e-07, + "score": 0.018877936527132988, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4296707510948181, + "candidate_source_group_id": "ms-2b556c4c1b55a20b14c8;ms-488a34fe7b7e84250616;ms-f8439d39ae9ed028a4cd;ms-d19573dc65181befd83d;ms-b42e0a68875b0405904b;ms-fffe378a3bad31bbed52", + "expert_regret": 1.454673171043396, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5780f9e1e9f9e740d474", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.454673171043396, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.545326828956604, + "restore_error": 2.384185791015625e-07, + "score": 0.545326828956604, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28095659613609314, + "candidate_source_group_id": "ms-ebb616f9b291184677b3;ms-8b98e8aa8ecee10bea27;ms-b5deb1971bf3b3484282;ms-cd71a93dcab09ba15592;ms-de0abc7a53a48164f82d;ms-4015c296239564108da2", + "expert_regret": 1.5025149881839752, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-adfe268e473c03b72c65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5025149881839752, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4974850118160248, + "restore_error": 2.384185791015625e-07, + "score": 0.4974850118160248, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5126510262489319, + "candidate_source_group_id": "ms-0c9c39c462522b25ef2b;ms-ee32e6bb3c0bb45702b9;ms-a166a9b750ec3446beea;ms-8fdde5008d12abb7ae6a;ms-3aa5793c449b59c77b6f;ms-60c7d1d3b5701e7f4e48", + "expert_regret": 1.4471758604049683, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b8276cb9b6cb9a9b302f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4471758604049683, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5528241395950317, + "restore_error": 2.384185791015625e-07, + "score": 0.5528241395950317, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5299636721611023, + "candidate_source_group_id": "ms-22412b51e61621b6025b;ms-c0bfce3c9dd10f9d3231;ms-869a04e41dc5cc90916b;ms-ce992c1fa0bcc38512b7;ms-f8c4e700a751537ebb16;ms-30998855587c076a2a77", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-55ea22014575410563a4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5497986674308777, + "candidate_source_group_id": "ms-813cac6d08ed5af48b12;ms-ce2924d08bdd6c379777;ms-64ab703e7a82799a47dd;ms-4e86b87d6e5f6ab914fe;ms-10af171aa279a879207d;ms-67f602a0e4efc9984d72", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-70342af6b601660d7c69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.31451353430747986, + "candidate_source_group_id": "ms-1df0775c4ef08d0cf1bf;ms-561f4f913d7b4991d81a;ms-d69b907e65875420bab7;ms-8b5b5e5f9237c41e0fe9;ms-bb0d941f78d3d9c5a886;ms-2dc8e489908f72903319", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3d095a49ed03de972849", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.17418743669986725, + "candidate_source_group_id": "ms-561f4f913d7b4991d81a;ms-4ec67456479f53e605e1;ms-dd1311efb8ab2a0a2d23;ms-ed7b02bc8f37b8524a56;ms-8f0e2c9caad14bd37ecf;ms-31782020143c24b4271b", + "expert_regret": 1.4341338276863098, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-73e36360221b6732c688", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4341338276863098, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5658661723136902, + "restore_error": 2.384185791015625e-07, + "score": 0.5658661723136902, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45281070470809937, + "candidate_source_group_id": "ms-de0321d0ece4c58bc224;ms-54a7c3d32b6a267d81a2;ms-59020093d2eeaf58aa84;ms-e110d8ef3eb852a0f564;ms-dea17c1c383f54d05636;ms-382000b79932b7c68326", + "expert_regret": 1.4508819580078125, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-56ad75c28031e049a3dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4508819580078125, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5491180419921875, + "restore_error": 2.384185791015625e-07, + "score": 0.5491180419921875, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5829674601554871, + "candidate_source_group_id": "ms-a8864b25c00ee193d0ea;ms-4e395d53889980b05784;ms-42f83ea069c0558ea81b;ms-288532d255e4828bb15b;ms-225fbe08f2933f91d603;ms-b7ed399f40d2d554b16d", + "expert_regret": 1.4818578362464905, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a745e34fa5a8d527e77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4818578362464905, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5181421637535095, + "restore_error": 1.1920928955078125e-07, + "score": 0.5181421637535095, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6015873551368713, + "candidate_source_group_id": "ms-bb60defa0d234da9e0bc;ms-95320371ce6b820c85f6;ms-79c7332b2b329eaa6a13;ms-478f754a15221314d15e;ms-61b1188974f35233b883;ms-708baf01c22c75cafd22", + "expert_regret": 0.0, + "expert_score": 0.5963302850723267, + "expert_success": false, + "group_id": "ms-66cc354bbf4e8bdd1051", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.5963302850723267, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5664483904838562, + "candidate_source_group_id": "ms-fd6deac5a281d169bc75;ms-753929cfdc4aaa652b32;ms-eb16021deb5d03f15c9d;ms-561f4f913d7b4991d81a;ms-8f0e2c9caad14bd37ecf;ms-1df0775c4ef08d0cf1bf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-023e021f079a8774c741", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7682738304138184, + "candidate_source_group_id": "ms-288532d255e4828bb15b;ms-b7ed399f40d2d554b16d;ms-1abd8c7cc1c683f88d3d;ms-8af87d14945da6a910e4;ms-42f83ea069c0558ea81b;ms-b82cc8ce5d9d348ba6b4", + "expert_regret": 1.4358729124069214, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb228a036fe5973bcad1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4358729124069214, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5641270875930786, + "restore_error": 1.1920928955078125e-07, + "score": 0.5641270875930786, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42866024374961853, + "candidate_source_group_id": "ms-68970d9d9bf975e25eb5;ms-f80ae137a8d9981f8c98;ms-dc2a8fa76e1ceb0d8925;ms-25839c690d85a4f5b986;ms-45d4b692eda9ecacaa55;ms-f4d6da245d340cd16d30", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f6d30c2ade00e451dc2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.08132987469434738, + "candidate_source_group_id": "ms-88e10d1be12a407b3926;ms-79d500110f3723b57da8;ms-7e0ef0b7f94396bf0029;ms-5e3b1693ad7b75221847;ms-2a67eea0b1293de9bcf9;ms-53fdabb5d8ef20778214", + "expert_regret": 1.440644919872284, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7af1e453acf970f40546", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.440644919872284, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5593550801277161, + "restore_error": 1.1920928955078125e-07, + "score": 0.5593550801277161, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4210624396800995, + "candidate_source_group_id": "ms-0d1db6695acdf1ec3eaf;ms-c7041c6f758f8e4a3698;ms-57ac136bd68be6387c6f;ms-0cfef0ba35d4e6097003;ms-e45b5de01eafae73e492;ms-f101cf5cc8575be3c201", + "expert_regret": 1.4483854174613953, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8420ccaff5986c85063f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4483854174613953, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5516145825386047, + "restore_error": 1.1920928955078125e-07, + "score": 0.5516145825386047, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33167871832847595, + "candidate_source_group_id": "ms-c5d026dffb39f2f1d38a;ms-3aa5793c449b59c77b6f;ms-ee32e6bb3c0bb45702b9;ms-c70be4072fb4e49ac106;ms-9783ccaf76f1b20c766e;ms-30fe784e67f732ef9a3d", + "expert_regret": 1.4811084270477295, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-99ecd2226d7187416316", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4811084270477295, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5188915729522705, + "restore_error": 1.1920928955078125e-07, + "score": 0.5188915729522705, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4236549735069275, + "candidate_source_group_id": "ms-7fd4a05174dcc8eaff38;ms-578537600f7a649c2dd5;ms-cd340bca589f0cebd7da;ms-ac79bc3a841958ce127f;ms-cd71a93dcab09ba15592;ms-68e331088400739273da", + "expert_regret": 1.465423583984375, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c2bc492ab5eb87a73789", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.465423583984375, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.534576416015625, + "restore_error": 1.1920928955078125e-07, + "score": 0.534576416015625, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20128123462200165, + "candidate_source_group_id": "ms-32435d71bb817daf01d9;ms-f80ae137a8d9981f8c98;ms-dc2a8fa76e1ceb0d8925;ms-339ae3ec9482aa259eec;ms-53cfcc878e30fc078bba;ms-5ac153f97fd3c2f689c5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a10d8368c33b56390f77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5964337587356567, + "candidate_source_group_id": "ms-bb0d941f78d3d9c5a886;ms-44252df6095f31d8b26e;ms-f3e40db5e157647d463d;ms-eb16021deb5d03f15c9d;ms-fe2964cc8940ee7c24aa;ms-fd6deac5a281d169bc75", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d91cbe61314c18955b6b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.388397216796875, + "candidate_source_group_id": "ms-2dc4f12ea7e8567e3a6e;ms-90a03366976eaa1ad013;ms-add4b7d277e1fc171144;ms-3fdce65bd5c5681403a7;ms-0843bef6b0c13c3ede69;ms-307f9067d5b66f55b3a6", + "expert_regret": 1.9786759614944458, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bdd1924b44de2db5b07a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9786759614944458, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0213240385055542, + "restore_error": 1.1920928955078125e-07, + "score": 0.0213240385055542, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.31226903200149536, + "candidate_source_group_id": "ms-13557287cd450bc12c6f;ms-22325628db75967cf779;ms-5df54a8baaceb8c73c8a;ms-236601c5e076b4ee5d75;ms-f7c9f440fec3a22cd6d4;ms-f763382872d8e89017c2", + "expert_regret": 1.4594687819480896, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c425c810f7865e9564ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4594687819480896, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5405312180519104, + "restore_error": 1.1920928955078125e-07, + "score": 0.5405312180519104, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42418649792671204, + "candidate_source_group_id": "ms-763c73c94818a090d358;ms-a44a2c9eee8baea5d29e;ms-4fe47d946641f0096a85;ms-7d81f3e8b6a42695871d;ms-9b56e5007c76d9fefd1f;ms-dd4f37e032d56b692a0e", + "expert_regret": 1.4641725420951843, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-486572c62484eb4d73db", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4641725420951843, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5358274579048157, + "restore_error": 1.1920928955078125e-07, + "score": 0.5358274579048157, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5450857877731323, + "candidate_source_group_id": "ms-3ea30989082ec714e12d;ms-d849d754f346b826e052;ms-b7ed399f40d2d554b16d;ms-288532d255e4828bb15b;ms-1abd8c7cc1c683f88d3d;ms-ae5421846020d2765f82", + "expert_regret": 1.460453987121582, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a8e6435948250f5e163d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.460453987121582, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.539546012878418, + "restore_error": 1.1920928955078125e-07, + "score": 0.539546012878418, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.350025475025177, + "candidate_source_group_id": "ms-25a8e32c071be83d913b;ms-4705657703da9d791fb9;ms-813cac6d08ed5af48b12;ms-ce992c1fa0bcc38512b7;ms-d05d9bbb98f24da55981;ms-351818a836474e594d3c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7be1c6c8ef67031b1f90", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5665478110313416, + "candidate_source_group_id": "ms-859d0ea38fb5e8aa6b98;ms-ee7463f3d937dbc16f89;ms-e7f2d1f0de50c6fcccb4;ms-3deb9fa600781abb51c1;ms-a3fa10726c656e851515;ms-12a997dde50b7a7f35cb", + "expert_regret": 1.5186463296413422, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0cc80a2933abf1b4853f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5186463296413422, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.48135367035865784, + "restore_error": 1.1920928955078125e-07, + "score": 0.48135367035865784, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5294297933578491, + "candidate_source_group_id": "ms-1d5b929cb9614dc18304;ms-fcfb7dd60d966e20b98d;ms-793a98188fd57ed5291f;ms-8fa24da5c97dc1dad5c1;ms-10dbf8bb0c239a44ec0f;ms-15c083989d8277fd07ec", + "expert_regret": 1.9656741842627525, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-72cf68c15631675b063f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9656741842627525, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03432581573724747, + "restore_error": 1.1920928955078125e-07, + "score": 0.03432581573724747, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6957783102989197, + "candidate_source_group_id": "ms-4acbf69acd30d96e46a7;ms-fe650308e25459ee64c6;ms-a01e21b91a5b37a16afe;ms-706943f06888dd5bbb3a;ms-9233eae706910c204b79;ms-0915b75e9fd1468d464e", + "expert_regret": 1.461875557899475, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-aea09fb002af52e12bd8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.461875557899475, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5381244421005249, + "restore_error": 1.1920928955078125e-07, + "score": 0.5381244421005249, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.30053088068962097, + "candidate_source_group_id": "ms-46987cd8daa3091c8a85;ms-81d1d8def1fbeb3b1cc5;ms-3950f823020f08f8e8cd;ms-68970d9d9bf975e25eb5;ms-f4d6da245d340cd16d30;ms-25839c690d85a4f5b986", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f4b95f2b569e3f1bf086", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41175439953804016, + "candidate_source_group_id": "ms-50f62a61a82a96061d9a;ms-f3ddc66fde2d59666e07;ms-ca10d8b9d03f4d59806c;ms-f77305a344da6a4ccc84;ms-b606af28580a38cea636;ms-70d994c15153752d0dce", + "expert_regret": 1.4365848302841187, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4d43fb19477b7ab848bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4365848302841187, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5634151697158813, + "restore_error": 1.1920928955078125e-07, + "score": 0.5634151697158813, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.10417819768190384, + "candidate_source_group_id": "ms-68970d9d9bf975e25eb5;ms-46987cd8daa3091c8a85;ms-3950f823020f08f8e8cd;ms-81d1d8def1fbeb3b1cc5;ms-45d4b692eda9ecacaa55;ms-10621e1108a69d0b633e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-16a7ccf3c442984c2feb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6242393851280212, + "candidate_source_group_id": "ms-d8b4090565126a66d13e;ms-999a8c1454dd4597a834;ms-b0d54c14a65fb73f08ca;ms-b23839ace2fb08438144;ms-3b7c5c91ae441f282006;ms-630663751ab841a96d5a", + "expert_regret": 1.8811547011137009, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b481531ab787e3d6fb1e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8811547011137009, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11884529888629913, + "restore_error": 1.1920928955078125e-07, + "score": 0.11884529888629913, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5609027743339539, + "candidate_source_group_id": "ms-6e4cc893fcbca1b385e8;ms-47fd1407ae4e17ed4bee;ms-5a7891a58bac94796178;ms-61b1188974f35233b883;ms-0e12a6083750bfecca87;ms-1158e6997b2f1281b105", + "expert_regret": 0.11907544732093811, + "expert_score": 0.6174660325050354, + "expert_success": false, + "group_id": "ms-309c09cf5d782e9ba0a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.11907544732093811, + "oracle_score": 0.6174660325050354, + "oracle_success": false, + "progress": 0.4983905851840973, + "restore_error": 1.1920928955078125e-07, + "score": 0.4983905851840973, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3304498493671417, + "candidate_source_group_id": "ms-8315ae30e2cf041c8674;ms-7b932868f83725def2ed;ms-6029bab18ae94b126d79;ms-70d994c15153752d0dce;ms-4e86b87d6e5f6ab914fe;ms-7cab119c7b8019254ba4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d807915e233a0c74b809", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.05149386450648308, + "candidate_source_group_id": "ms-8315ae30e2cf041c8674;ms-70d994c15153752d0dce;ms-7b932868f83725def2ed;ms-6029bab18ae94b126d79;ms-2f846e9f31e2b8c4965f;ms-4e86b87d6e5f6ab914fe", + "expert_regret": 1.4364500045776367, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b40ee5a75332685d5cec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4364500045776367, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5635499954223633, + "restore_error": 1.1920928955078125e-07, + "score": 0.5635499954223633, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47404745221138, + "candidate_source_group_id": "ms-2d4547df5dccc4c4ca24;ms-fe1a5f1bc3c4ec7669f2;ms-e2ddf4681b47f39e15da;ms-0bb8964d3e6f9dd302f4;ms-88e10d1be12a407b3926;ms-a3a13ba6243be437d674", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8a74cf665984273be00d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.57984858751297, + "candidate_source_group_id": "ms-0cfef0ba35d4e6097003;ms-a949424c5fa615565d72;ms-eff5f21c51f26a85f07c;ms-c7041c6f758f8e4a3698;ms-dd7f9cc9585878b84824;ms-8d111990da24dde1403b", + "expert_regret": 1.468389868736267, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fd225482b96686f51dc8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.468389868736267, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5316101312637329, + "restore_error": 1.1920928955078125e-07, + "score": 0.5316101312637329, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7517665028572083, + "candidate_source_group_id": "ms-fa911d56cdf9bf122b5c;ms-e218d19c595e580c3e32;ms-fe650308e25459ee64c6;ms-a01e21b91a5b37a16afe;ms-630663751ab841a96d5a;ms-3b7c5c91ae441f282006", + "expert_regret": 0.5867563355714083, + "expert_score": 0.6087449193000793, + "expert_success": false, + "group_id": "ms-b9e46b7345a63ded4397", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5867563355714083, + "oracle_score": 0.6087449193000793, + "oracle_success": false, + "progress": 0.021988583728671074, + "restore_error": 1.1920928955078125e-07, + "score": 0.021988583728671074, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5388303399085999, + "candidate_source_group_id": "ms-ad058e704a159164d7c4;ms-5dfad80e83d210946447;ms-e318e13f77e75e7cd802;ms-c7156b26670838d40934;ms-076d67ac4d2de4e0c627;ms-8330999c6669ec42122a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a196fc3a729550509b18", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6620988845825195, + "candidate_source_group_id": "ms-31782020143c24b4271b;ms-93e3d9968204474eff49;ms-ae33e3afb57e61026d72;ms-bd6b2dc41ba42b44462a;ms-dd1311efb8ab2a0a2d23;ms-564c02492863ae749ea9", + "expert_regret": 1.4903653860092163, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-21155188bc35f0f021d3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4903653860092163, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5096346139907837, + "restore_error": 1.1920928955078125e-07, + "score": 0.5096346139907837, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.06565668433904648, + "candidate_source_group_id": "ms-daaac2887015a6e4f3e0;ms-23f9cca8edfca421a4a6;ms-9bcf8a1e5e7b0f7ff6f5;ms-28d5618562729c763eb6;ms-d824135bf97b907f7cc2;ms-ffba357213945be5f9f7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a460f3c1b67817c19de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5137452483177185, + "candidate_source_group_id": "ms-50d83ce148904504ec50;ms-32435d71bb817daf01d9;ms-25839c690d85a4f5b986;ms-5ac153f97fd3c2f689c5;ms-29afe3c91faef25f1343;ms-3f4967102c7b10057ab9", + "expert_regret": 1.430201768875122, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ca25b016439a98198434", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.430201768875122, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5697982311248779, + "restore_error": 2.384185791015625e-07, + "score": 0.5697982311248779, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24737799167633057, + "candidate_source_group_id": "ms-6d7b10e8b2b0a516b786;ms-f07607bc0ce1c4e202b0;ms-a2908e99b0a12a9980cc;ms-1d36e5be82aee5a8e3b8;ms-7fa85a7251186eb18d0b;ms-e793d78eaff3fb28deb6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6995d4366e7c20010126", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.717295229434967, + "candidate_source_group_id": "ms-f5fb668380b64d4f1e74;ms-d19c9e3ab1d7daf06344;ms-eb48573b3e330e44504d;ms-766b6fe7c08a3525ce94;ms-72b7d76602371f044fe3;ms-5f98f13f17e8f41f7436", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a22fbce4503f088acb1f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1952245533466339, + "candidate_source_group_id": "ms-8b85ebf659960395db9c;ms-90bfce2cef85e101138e;ms-893159691d11a40c7537;ms-5d169f059bde8e429786;ms-263556e167dc363ebc42;ms-edda00243c6d6275fc0f", + "expert_regret": 0.0, + "expert_score": 0.6177694201469421, + "expert_success": false, + "group_id": "ms-b7e7fe66a6c86898eec2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3592790961265564, + "candidate_source_group_id": "ms-c35a083df7c08225af3b;ms-c07472c627b51086ff33;ms-1a801d8b486ef19642bf;ms-03cdc738473ac1df9dfc;ms-525a7841d99bba385bc5;ms-1fec069b4a095dd0425a", + "expert_regret": 1.4587417244911194, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6b8adb335c80e03d5cd5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4587417244911194, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5412582755088806, + "restore_error": 2.384185791015625e-07, + "score": 0.5412582755088806, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.11273392289876938, + "candidate_source_group_id": "ms-1924e52af208c9f66592;ms-6f1ec735350c81ef9fca;ms-9b4483fb034248fe882d;ms-61ac2be70a9798adeda0;ms-d44f5bd2488ea182132b;ms-38d3e0274ddfa4ed7202", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c4cb99b887c88c707ba9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7089564204216003, + "candidate_source_group_id": "ms-dc5a883a3e28b90ebf1a;ms-4ec67456479f53e605e1;ms-486ff31b7a04a7e9e8f9;ms-17330235d51598ebcb4e;ms-635a384c88604ad7ba4f;ms-351844f358ea7564d27d", + "expert_regret": 1.444502055644989, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cafa65eeb953aff47f30", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.444502055644989, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.555497944355011, + "restore_error": 2.384185791015625e-07, + "score": 0.555497944355011, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44093939661979675, + "candidate_source_group_id": "ms-288532d255e4828bb15b;ms-b7ed399f40d2d554b16d;ms-1abd8c7cc1c683f88d3d;ms-8af87d14945da6a910e4;ms-b82cc8ce5d9d348ba6b4;ms-3ea30989082ec714e12d", + "expert_regret": 1.4399347305297852, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-26e09c86be9068a34acf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4399347305297852, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5600652694702148, + "restore_error": 2.384185791015625e-07, + "score": 0.5600652694702148, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.16046179831027985, + "candidate_source_group_id": "ms-f3e40db5e157647d463d;ms-fe2964cc8940ee7c24aa;ms-93e3d9968204474eff49;ms-52c6c227fd4b61609031;ms-fbb609a3f2a334986245;ms-6355260c6fa49f291729", + "expert_regret": 0.010340452194213867, + "expert_score": 0.5548074245452881, + "expert_success": false, + "group_id": "ms-29f1abb869ff206a4d52", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.014757275581359863, + "oracle_score": 0.5592242479324341, + "oracle_success": false, + "progress": 0.5444669723510742, + "restore_error": 1.1920928955078125e-07, + "score": 0.5444669723510742, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.697062075138092, + "candidate_source_group_id": "ms-86b302005e0461f28c43;ms-5e85dc3760eef8a53a67;ms-edcdf99767068f94bcb4;ms-a9ac13384fe5afc835f1;ms-c774aeee2c4066edd668;ms-4ca84594a789c9abd5d9", + "expert_regret": 1.453887701034546, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-417cab1470cf46273b02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.453887701034546, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5461122989654541, + "restore_error": 1.1920928955078125e-07, + "score": 0.5461122989654541, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7665362358093262, + "candidate_source_group_id": "ms-3deb9fa600781abb51c1;ms-f69d6aec4ddb12d88c5b;ms-175375383979526d80b5;ms-e7f2d1f0de50c6fcccb4;ms-ee7463f3d937dbc16f89;ms-d16053a4f8b95c94dc46", + "expert_regret": 1.9490171186625957, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6558f35ae2a2871a4bfd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9490171186625957, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05098288133740425, + "restore_error": 1.1920928955078125e-07, + "score": 0.05098288133740425, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4315245449542999, + "candidate_source_group_id": "ms-48d490ed21088bb5ba85;ms-57ac136bd68be6387c6f;ms-b671fa9fcef84dbf2a13;ms-910d27b58a0585327a27;ms-e45b5de01eafae73e492;ms-c7041c6f758f8e4a3698", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2ae57bab6d2ea11f6638", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5600346922874451, + "candidate_source_group_id": "ms-a5775906ce2fb6556103;ms-9b15f9c696a2661346cf;ms-bc53e550cb202b5fcdf3;ms-91ad1a5f945470b4346e;ms-5071d49489e1900dfa91;ms-80d5c509e83845ab1bc7", + "expert_regret": 1.4879427552223206, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-578e24198ed828a74485", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4879427552223206, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5120572447776794, + "restore_error": 1.1920928955078125e-07, + "score": 0.5120572447776794, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4107026159763336, + "candidate_source_group_id": "ms-da46296bd4e9032570df;ms-36e8cb2e7f34f8dceb05;ms-0d1db6695acdf1ec3eaf;ms-28b1f1e4380d434605de;ms-e45b5de01eafae73e492;ms-a927d1bd67068f1d9302", + "expert_regret": 1.4320718050003052, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e589f7d40c12eff1712e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4320718050003052, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5679281949996948, + "restore_error": 1.1920928955078125e-07, + "score": 0.5679281949996948, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5030257105827332, + "candidate_source_group_id": "ms-c78721d9c4196a9e8ec5;ms-0ca11ec8f7fbf0c1d66e;ms-17e8d6ba42404c7b7d07;ms-10f4c68dcad8285f4acd;ms-cda24997adbad130b09d;ms-1cea800b74c1ea2f6338", + "expert_regret": 1.4368053078651428, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9e1f3c14116ebca6164d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4368053078651428, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5631946921348572, + "restore_error": 1.1920928955078125e-07, + "score": 0.5631946921348572, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4422142207622528, + "candidate_source_group_id": "ms-90464666adfd66056785;ms-57a213acdc6a7231f799;ms-4dcb031152807390c6dd;ms-32b9c353a4890631f1bd;ms-a01f0549a18d924d31c0;ms-84b677a48d338212ceb7", + "expert_regret": 1.4315574169158936, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-30ad687dc1bc8318fa45", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4315574169158936, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5684425830841064, + "restore_error": 1.1920928955078125e-07, + "score": 0.5684425830841064, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5420692563056946, + "candidate_source_group_id": "ms-2df0b9d5fa91156e430a;ms-b0fd98bae1ed5d543f35;ms-81c855f8645b35f0856d;ms-e07f80b44faf328c5e58;ms-cb16b458af723bf7cd0a;ms-ae5421846020d2765f82", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6305829d7ca1c68a3ce", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7574557662010193, + "candidate_source_group_id": "ms-5e6d18ccfcf923f52f8e;ms-8c6e41e7542bc6924a1f;ms-3417f5f2f1470c61d0a8;ms-61781d30cb05657c5f5d;ms-3cfb09df08ad7279ef02;ms-912718b1f2ef92066799", + "expert_regret": 1.437152922153473, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f39e1d7a2d636e39a02f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.437152922153473, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5628470778465271, + "restore_error": 1.1920928955078125e-07, + "score": 0.5628470778465271, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4864576756954193, + "candidate_source_group_id": "ms-32435d71bb817daf01d9;ms-50d83ce148904504ec50;ms-dc2a8fa76e1ceb0d8925;ms-f80ae137a8d9981f8c98;ms-10621e1108a69d0b633e;ms-c7020fdb7cba871e8b3e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a45ed89f5b95d1e7ab07", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48478269577026367, + "candidate_source_group_id": "ms-9320da73e81045277fae;ms-9e87481ce12fa45b2554;ms-02acbd591a961c0dbd46;ms-1781d9c562b4425df7c8;ms-3b4b0b8c60ad41bb16b0;ms-8b68d8b4d22e6ff0451d", + "expert_regret": 1.4873601794242859, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9a2d8f0085e6740cf5b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4873601794242859, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5126398205757141, + "restore_error": 1.1920928955078125e-07, + "score": 0.5126398205757141, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5161551237106323, + "candidate_source_group_id": "ms-47662cfa5e75ac8250e7;ms-0e9908c8405f241086ac;ms-11930c353a2b4fefab82;ms-4aa0c1a37cdb70ba8877;ms-62ece8fe2f85092ca96f;ms-3c12da28c8edab3fa554", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2b56888f10733707f14b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33227667212486267, + "candidate_source_group_id": "ms-66ec6692758e9a7f2e01;ms-10f2865bef6da7b66423;ms-f69d6aec4ddb12d88c5b;ms-739a89fb4521bc481a9f;ms-1cdd36810a138190ce3c;ms-d988976b029886d18476", + "expert_regret": 1.472398817539215, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08c39d9cc9eb7578e6e9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.472398817539215, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5276011824607849, + "restore_error": 1.1920928955078125e-07, + "score": 0.5276011824607849, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6058573722839355, + "candidate_source_group_id": "ms-bc53e550cb202b5fcdf3;ms-b1c9975d1a007dd03dc4;ms-982922e263d07c54c136;ms-91ad1a5f945470b4346e;ms-10a5b6cc3ec06dfdc5c5;ms-de709118c78966c5aff7", + "expert_regret": 0.07462817430496216, + "expert_score": 0.5934287309646606, + "expert_success": false, + "group_id": "ms-9a1de6130828dc946a51", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.07462817430496216, + "oracle_score": 0.5934287309646606, + "oracle_success": false, + "progress": 0.5188005566596985, + "restore_error": 1.1920928955078125e-07, + "score": 0.5188005566596985, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4154447019100189, + "candidate_source_group_id": "ms-6029bab18ae94b126d79;ms-8315ae30e2cf041c8674;ms-7b932868f83725def2ed;ms-746436cac05100783ad7;ms-c3a1cf0e424a4f065459;ms-4e86b87d6e5f6ab914fe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d4bde31fd7e7cee76b09", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.17777156829833984, + "candidate_source_group_id": "ms-7fa68a6085e0b973ce6b;ms-5f98f13f17e8f41f7436;ms-d19c9e3ab1d7daf06344;ms-81085eba1dd49b17ec9c;ms-f6591d52d6824c6d2909;ms-4fe7fdaf946c97803c82", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-943b5187cbe128b9b563", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45067644119262695, + "candidate_source_group_id": "ms-f39bbaa063044719a98d;ms-759ba8b7be233ca47c30;ms-ee0986397bc7267882d8;ms-9c8a90334c3b933c8976;ms-8b68d8b4d22e6ff0451d;ms-cca07eb504a242633931", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-166b7f66bf9f4eec432b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4380374550819397, + "candidate_source_group_id": "ms-759ba8b7be233ca47c30;ms-f39bbaa063044719a98d;ms-ee0986397bc7267882d8;ms-9c8a90334c3b933c8976;ms-8b68d8b4d22e6ff0451d;ms-cca07eb504a242633931", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bcc70292f404cd1c7f75", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.25329941511154175, + "candidate_source_group_id": "ms-0ca11ec8f7fbf0c1d66e;ms-f1d1776b7a5bd0a7b02c;ms-d824135bf97b907f7cc2;ms-0e55645c0c701caac48a;ms-cd25efec908bd600e45e;ms-5f5bf12b5ebb67eeb361", + "expert_regret": 1.5022796988487244, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5ad75923125806db5404", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.5022796988487244, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49772030115127563, + "restore_error": 1.1920928955078125e-07, + "score": 0.49772030115127563, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.664857029914856, + "candidate_source_group_id": "ms-10cb98b0a1ca5429dd28;ms-14c40aa19f7b9307511d;ms-7d18f6f16879d2933bcd;ms-7e6493bb6b1ff650d6de;ms-8bb2d8cb7c0d33fa0c1d;ms-f653a3ac16eba9fba5dd", + "expert_regret": 1.8948925361037254, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2d995e39f2b95fed1a67", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8948925361037254, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10510746389627457, + "restore_error": 1.1920928955078125e-07, + "score": 0.10510746389627457, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3621908724308014, + "candidate_source_group_id": "ms-d5bfdabc97e56c680680;ms-b59a7ccfb736df4c4c68;ms-d1aac7be45644e12a976;ms-54a04864cb68a4c3caac;ms-c6beb139304a0ea6f7ae;ms-f3d9efbde383ef5f742f", + "expert_regret": 1.4423971772193909, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-127908707208e993527d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4423971772193909, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5576028227806091, + "restore_error": 1.1920928955078125e-07, + "score": 0.5576028227806091, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.041095416992902756, + "candidate_source_group_id": "ms-813cac6d08ed5af48b12;ms-e2ddf4681b47f39e15da;ms-10af171aa279a879207d;ms-4705657703da9d791fb9;ms-64ab703e7a82799a47dd;ms-ce992c1fa0bcc38512b7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-99b15d50660b77fe2fcb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.79758220911026, + "candidate_source_group_id": "ms-1d1969094d91fe52667d;ms-b6fd2931116c15db0f0a;ms-c684df0b998b593db723;ms-cb16b458af723bf7cd0a;ms-0a48fbd111be17b50be5;ms-326a7b583623d136470e", + "expert_regret": 1.4482174515724182, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1add4cf84fdadf5703d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4482174515724182, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5517825484275818, + "restore_error": 1.1920928955078125e-07, + "score": 0.5517825484275818, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22749784588813782, + "candidate_source_group_id": "ms-81729abe5d83a1ca280d;ms-2073841ae01f224365a1;ms-8d94c7c692c91a962f25;ms-5922c28e4a71a88c6d21;ms-59cc3cdf6918248d7f78;ms-fd9f10f7df6a11ec2cef", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97598e118c5cc8c254a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4201344847679138, + "candidate_source_group_id": "ms-9af03b651b5e36ac2ae3;ms-2592e5fa970f1b474388;ms-51f2c34d5f8f132af1ed;ms-f625d521be1e85b1c49d;ms-cda24997adbad130b09d;ms-caeb59971565b08f2513", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9eb40f856528204bbcfd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5802620649337769, + "candidate_source_group_id": "ms-95320371ce6b820c85f6;ms-bb60defa0d234da9e0bc;ms-79c7332b2b329eaa6a13;ms-7a17ceb004979b99a586;ms-61b1188974f35233b883;ms-1158e6997b2f1281b105", + "expert_regret": 1.4366613030433655, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3aa864ead19c9cb9fb49", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4366613030433655, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5633386969566345, + "restore_error": 1.1920928955078125e-07, + "score": 0.5633386969566345, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2143862545490265, + "candidate_source_group_id": "ms-4d6099258a3a6e037aff;ms-d686ae387b1a0ce2f2f3;ms-0b4ac5b183639ac19191;ms-4746e04d636d13cfbe6c;ms-193063285cdb9faff39b;ms-6c081eee5edb633d6caf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d75a00b1388f50bf8919", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1167844608426094, + "candidate_source_group_id": "ms-8c6e41e7542bc6924a1f;ms-61781d30cb05657c5f5d;ms-3cfb09df08ad7279ef02;ms-912718b1f2ef92066799;ms-85eef30b36b044b33f60;ms-3417f5f2f1470c61d0a8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13af3f2f8e0b8444fe68", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5110610723495483, + "candidate_source_group_id": "ms-0541a144afe57b5a7ae6;ms-3eeaca32feb66f450a0b;ms-5e23219a8e2aadd039c7;ms-2470946f31fee328ad6c;ms-8c8198e44eea32f98ca7;ms-16cd0a94ad2cb78b1ada", + "expert_regret": 0.5099796876311302, + "expert_score": 0.6058399081230164, + "expert_success": false, + "group_id": "ms-c2e07545267c612a022c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5099796876311302, + "oracle_score": 0.6058399081230164, + "oracle_success": false, + "progress": 0.09586022049188614, + "restore_error": 1.1920928955078125e-07, + "score": 0.09586022049188614, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5091508626937866, + "candidate_source_group_id": "ms-5c8b50523e0de37d80b8;ms-8af2224cc82636ef1dd7;ms-7e94769c30229d5cc7b8;ms-2e5c2f75d3f6311e0a1c;ms-3737178a1f85502652ea;ms-ddc0b3adf8506c30f503", + "expert_regret": 1.5232220590114594, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a1d69e0b112064914357", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5232220590114594, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.47677794098854065, + "restore_error": 1.1920928955078125e-07, + "score": 0.47677794098854065, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44705185294151306, + "candidate_source_group_id": "ms-f3e40db5e157647d463d;ms-fe2964cc8940ee7c24aa;ms-93e3d9968204474eff49;ms-fbb609a3f2a334986245;ms-52c6c227fd4b61609031;ms-6355260c6fa49f291729", + "expert_regret": 0.010322153568267822, + "expert_score": 0.5545835494995117, + "expert_success": false, + "group_id": "ms-3c4ff3dae26217f22a8b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.010322153568267822, + "oracle_score": 0.5545835494995117, + "oracle_success": false, + "progress": 0.5442613959312439, + "restore_error": 1.1920928955078125e-07, + "score": 0.5442613959312439, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7063695788383484, + "candidate_source_group_id": "ms-b6df140b235c8fe0eaad;ms-66540aefd55a84b5088f;ms-38d3e0274ddfa4ed7202;ms-a6060f858cb9f93c5588;ms-61ac2be70a9798adeda0;ms-61781d30cb05657c5f5d", + "expert_regret": 1.430912971496582, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-76c78750d7abc6570487", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.430912971496582, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.569087028503418, + "restore_error": 1.1920928955078125e-07, + "score": 0.569087028503418, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.0938357338309288, + "candidate_source_group_id": "ms-c9c1649478107785e9d2;ms-5e6d18ccfcf923f52f8e;ms-8c6e41e7542bc6924a1f;ms-3cfb09df08ad7279ef02;ms-912718b1f2ef92066799;ms-3417f5f2f1470c61d0a8", + "expert_regret": 0.03951340913772583, + "expert_score": 0.5946909785270691, + "expert_success": false, + "group_id": "ms-309d2258d275ae304857", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4448224306106567, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5551775693893433, + "restore_error": 1.1920928955078125e-07, + "score": 0.5551775693893433, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6074506044387817, + "candidate_source_group_id": "ms-1735d1abca4a91293d78;ms-0bf5f9b5ab423eb0a7c3;ms-0de368e8d16fd01f4e67;ms-8beca0622be320b282c1;ms-4b94e0333251263012ec;ms-b33f1d4ddb6a531d2a71", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ce8d2ef7d19bed381822", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.521450400352478, + "candidate_source_group_id": "ms-766b6fe7c08a3525ce94;ms-f5fb668380b64d4f1e74;ms-72b7d76602371f044fe3;ms-7d962acc9cfbc27c599c;ms-7241a1c25af41f4c0b5a;ms-f34c69fb0bf1b1055163", + "expert_regret": 1.4526532292366028, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11bb3387454624de8143", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4526532292366028, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5473467707633972, + "restore_error": 1.1920928955078125e-07, + "score": 0.5473467707633972, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3098950982093811, + "candidate_source_group_id": "ms-2e5c2f75d3f6311e0a1c;ms-307f9067d5b66f55b3a6;ms-8af2224cc82636ef1dd7;ms-5c8b50523e0de37d80b8;ms-4015c296239564108da2;ms-90a03366976eaa1ad013", + "expert_regret": 1.9312996119260788, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1c0e2bb3a811fac6d567", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9312996119260788, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0687003880739212, + "restore_error": 1.1920928955078125e-07, + "score": 0.0687003880739212, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6015204191207886, + "candidate_source_group_id": "ms-23a355317920e192147f;ms-22675530f3a401b3fd6d;ms-618c9e3c06f4879ba788;ms-7d32f6b32c14e33b1eb1;ms-7cbbc5e7dc896a803efa;ms-ff96d76fba5b6ceb1289", + "expert_regret": 1.919272042810917, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4f833710c2706ee077af", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.919272042810917, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0807279571890831, + "restore_error": 1.1920928955078125e-07, + "score": 0.0807279571890831, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5665464997291565, + "candidate_source_group_id": "ms-813cac6d08ed5af48b12;ms-64ab703e7a82799a47dd;ms-10af171aa279a879207d;ms-67f602a0e4efc9984d72;ms-ce2924d08bdd6c379777;ms-32b9c353a4890631f1bd", + "expert_regret": 1.4494405388832092, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d88107eff1e361cdcc4c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4494405388832092, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5505594611167908, + "restore_error": 1.1920928955078125e-07, + "score": 0.5505594611167908, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5902133584022522, + "candidate_source_group_id": "ms-fb92a1e6b67121783fff;ms-81085eba1dd49b17ec9c;ms-635a384c88604ad7ba4f;ms-4fe7fdaf946c97803c82;ms-1abf5e6d483e2788b086;ms-ee055e1282f6302ad9e8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-07e0726dedce0a0e4419", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.611986517906189, + "candidate_source_group_id": "ms-cea745484a24f376d7e8;ms-a1846ef1f00eb54e2d60;ms-3e971096794f04f325f2;ms-0843bef6b0c13c3ede69;ms-3b0ad4f07f1813ecf670;ms-950df0830b2e57010248", + "expert_regret": 1.5102460384368896, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6af227c07aaf7c0f0aea", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5102460384368896, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.48975396156311035, + "restore_error": 2.2910535335540771e-07, + "score": 0.48975396156311035, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5360666513442993, + "candidate_source_group_id": "ms-978bbf0a6fc563f745ab;ms-c6d4f51c1adffc449778;ms-5b122bd43e749623ebe0;ms-4d9cef437c77474dc62d;ms-5e3b1693ad7b75221847;ms-53fdabb5d8ef20778214", + "expert_regret": 1.4320629239082336, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-27b0553a5c49108e6a98", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4320629239082336, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5679370760917664, + "restore_error": 2.2910535335540771e-07, + "score": 0.5679370760917664, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5251818895339966, + "candidate_source_group_id": "ms-b59a7ccfb736df4c4c68;ms-d1aac7be45644e12a976;ms-b01677be2df71c474d1f;ms-c6beb139304a0ea6f7ae;ms-57ac136bd68be6387c6f;ms-d5bfdabc97e56c680680", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dfc737e32df79e1fc429", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.2910535335540771e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28955915570259094, + "candidate_source_group_id": "ms-45ed57caa698d87a99cf;ms-28d5618562729c763eb6;ms-9bcf8a1e5e7b0f7ff6f5;ms-ffba357213945be5f9f7;ms-ee32e6bb3c0bb45702b9;ms-30fe784e67f732ef9a3d", + "expert_regret": 1.4331609010696411, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c1ac63fb3644e3a2ae06", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4331609010696411, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5668390989303589, + "restore_error": 2.2910535335540771e-07, + "score": 0.5668390989303589, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48990970849990845, + "candidate_source_group_id": "ms-acd4bde23cf4608facc2;ms-7849511ad9b8262adae7;ms-d8583c895a59df2871d2;ms-4b970be37419ce0be0ae;ms-4cd1ceea2dda2732110a;ms-06935a084a7af6d7596c", + "expert_regret": 1.4771255254745483, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-34495bfe34440ac63cf6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4771255254745483, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5228744745254517, + "restore_error": 2.2910535335540771e-07, + "score": 0.5228744745254517, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6543890833854675, + "candidate_source_group_id": "ms-54a7c3d32b6a267d81a2;ms-d67409d8ecfd5d97336d;ms-a509a572b3871e591d26;ms-59020093d2eeaf58aa84;ms-de0321d0ece4c58bc224;ms-382000b79932b7c68326", + "expert_regret": 1.8693376928567886, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0b7f8ba789c00b37caa0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8693376928567886, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.13066230714321136, + "restore_error": 2.2910535335540771e-07, + "score": 0.13066230714321136, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5563293099403381, + "candidate_source_group_id": "ms-20e5ffa93544d6d8b313;ms-28817fe297f38fd9550a;ms-4f405775dcbb88f7d8b0;ms-f682952c6ecb2b833c35;ms-fe9347448b7f810d1353;ms-c3cdd70e2bc10bba1930", + "expert_regret": 1.4748098254203796, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4fad1f976cc64cc06826", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4748098254203796, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5251901745796204, + "restore_error": 2.2910535335540771e-07, + "score": 0.5251901745796204, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3705131411552429, + "candidate_source_group_id": "ms-7de8743758ec505a3294;ms-7a17ceb004979b99a586;ms-0e12a6083750bfecca87;ms-61b1188974f35233b883;ms-79c7332b2b329eaa6a13;ms-f71c7cf8ca320b8eb7a4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-842e179244eddac303a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.2910535335540771e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18958832323551178, + "candidate_source_group_id": "ms-4082ce1f04dbacd6a5b9;ms-564c02492863ae749ea9;ms-93e3d9968204474eff49;ms-bd6b2dc41ba42b44462a;ms-dd1311efb8ab2a0a2d23;ms-ae33e3afb57e61026d72", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87f8bbc8d9e7f4dcaacf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41587209701538086, + "candidate_source_group_id": "ms-12ac4329c5bca5f2bb62;ms-59cc3cdf6918248d7f78;ms-8e4755f1627d85c12bd8;ms-3b0ad4f07f1813ecf670;ms-81729abe5d83a1ca280d;ms-2dc4f12ea7e8567e3a6e", + "expert_regret": 1.9761655200272799, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-844b753810c45699d501", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9761655200272799, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.023834479972720146, + "restore_error": 1.1920928955078125e-07, + "score": 0.023834479972720146, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.0789332389831543, + "candidate_source_group_id": "ms-5e1e38c86ef8f564ec77;ms-5e6d18ccfcf923f52f8e;ms-a7179e4e4e2a0d5335b3;ms-3417f5f2f1470c61d0a8;ms-39af5447d3c90872c25f;ms-dd4e13e425fbe9bd9140", + "expert_regret": 1.4240495562553406, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ed419c64a6693cb8998b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4240495562553406, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5759504437446594, + "restore_error": 1.1920928955078125e-07, + "score": 0.5759504437446594, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42913976311683655, + "candidate_source_group_id": "ms-519fb779d24a0bdf3809;ms-bb60defa0d234da9e0bc;ms-ea72196e20393870bcbb;ms-af16712eadcaebf175ff;ms-708baf01c22c75cafd22;ms-79c7332b2b329eaa6a13", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c104c2ebba7bf9b34680", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5341709852218628, + "candidate_source_group_id": "ms-564c02492863ae749ea9;ms-dd1311efb8ab2a0a2d23;ms-486ff31b7a04a7e9e8f9;ms-0f219ce35aff264455e2;ms-4ec67456479f53e605e1;ms-d5d7c690819019cb7869", + "expert_regret": 1.4376118779182434, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-39450dbba738dbd8a764", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4376118779182434, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5623881220817566, + "restore_error": 1.1920928955078125e-07, + "score": 0.5623881220817566, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7666489481925964, + "candidate_source_group_id": "ms-999a8c1454dd4597a834;ms-f5483f0819e0e8bc352e;ms-8ccc51fb09484026ebbb;ms-7670f25745871759e69e;ms-b0d54c14a65fb73f08ca;ms-547f4204888aee978bf0", + "expert_regret": 1.4429883360862732, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a76ae18568c88af1da6b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4429883360862732, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5570116639137268, + "restore_error": 1.1920928955078125e-07, + "score": 0.5570116639137268, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.31990912556648254, + "candidate_source_group_id": "ms-88e10d1be12a407b3926;ms-2d4547df5dccc4c4ca24;ms-8fdde5008d12abb7ae6a;ms-c9e31a19a776a861f9d7;ms-7e0ef0b7f94396bf0029;ms-53fdabb5d8ef20778214", + "expert_regret": 1.429645836353302, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a3c53708416dbfb9fbc5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.429645836353302, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.570354163646698, + "restore_error": 1.1920928955078125e-07, + "score": 0.570354163646698, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5246077179908752, + "candidate_source_group_id": "ms-97a18aeeea0b34f7c606;ms-f28fbb82a51d4de7811b;ms-f4fd59b4d1bce2d6b6a4;ms-6edb3f8fe977a81f8979;ms-fffe378a3bad31bbed52;ms-0a48fbd111be17b50be5", + "expert_regret": 1.4791504740715027, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f3f6a1b34fdf35290a6c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4791504740715027, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5208495259284973, + "restore_error": 1.1920928955078125e-07, + "score": 0.5208495259284973, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3745659291744232, + "candidate_source_group_id": "ms-b01677be2df71c474d1f;ms-d44f5bd2488ea182132b;ms-61ac2be70a9798adeda0;ms-8b68d8b4d22e6ff0451d;ms-38d3e0274ddfa4ed7202;ms-66540aefd55a84b5088f", + "expert_regret": 1.453370749950409, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c83412fa0aa5180ad89", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.453370749950409, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5466292500495911, + "restore_error": 1.1920928955078125e-07, + "score": 0.5466292500495911, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.368693083524704, + "candidate_source_group_id": "ms-e2ddf4681b47f39e15da;ms-10af171aa279a879207d;ms-64ab703e7a82799a47dd;ms-42895361db5578b75c0e;ms-813cac6d08ed5af48b12;ms-25a8e32c071be83d913b", + "expert_regret": 1.4867588877677917, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e275939f12a9dcee0a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4867588877677917, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5132411122322083, + "restore_error": 1.1920928955078125e-07, + "score": 0.5132411122322083, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3454369902610779, + "candidate_source_group_id": "ms-cb99eeafec52800f3b77;ms-bcfeba2af1e844c22aed;ms-97140da7cf409922f6ce;ms-3352e05afd9065cd09bf;ms-a26c2ffdac089c72ade5;ms-0de368e8d16fd01f4e67", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-478b7b8b729f9212a522", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3868001103401184, + "candidate_source_group_id": "ms-f101cf5cc8575be3c201;ms-0d1db6695acdf1ec3eaf;ms-57ac136bd68be6387c6f;ms-8fcc78fba7b3bec0fab6;ms-48d490ed21088bb5ba85;ms-c7041c6f758f8e4a3698", + "expert_regret": 1.4307696223258972, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d73a2a984d5829e884f9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4307696223258972, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5692303776741028, + "restore_error": 1.1920928955078125e-07, + "score": 0.5692303776741028, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4715028405189514, + "candidate_source_group_id": "ms-2af09f91e05d19f7f181;ms-88e10d1be12a407b3926;ms-5e3b1693ad7b75221847;ms-7e0ef0b7f94396bf0029;ms-a5a651f9e28ea52016fe;ms-c6d4f51c1adffc449778", + "expert_regret": 1.4615989923477173, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13b3c492538e5b3c7bdd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4615989923477173, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5384010076522827, + "restore_error": 1.1920928955078125e-07, + "score": 0.5384010076522827, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.16902072727680206, + "candidate_source_group_id": "ms-6a7e80154a9a4e5e9c08;ms-41b0258c4e329a734da7;ms-c7041c6f758f8e4a3698;ms-d4aab6f9b6717dd5712e;ms-8fcc78fba7b3bec0fab6;ms-910d27b58a0585327a27", + "expert_regret": 1.4290318489074707, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1a4ecfbe9c97214d5c78", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4290318489074707, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5709681510925293, + "restore_error": 1.1920928955078125e-07, + "score": 0.5709681510925293, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5360503196716309, + "candidate_source_group_id": "ms-bcd9be34f050d97499bd;ms-55c2bba961a327aa5260;ms-e20f5d43f319248c5001;ms-add4b7d277e1fc171144;ms-f6db4e8bed63ed868487;ms-fd1c44c6d5d8f7f11451", + "expert_regret": 1.9430760256946087, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-782893a3eb2e3dcfd15e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9430760256946087, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05692397430539131, + "restore_error": 1.1920928955078125e-07, + "score": 0.05692397430539131, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43227696418762207, + "candidate_source_group_id": "ms-08858c7ba8d4a3357e05;ms-b35643e98e1b846e27cf;ms-488a34fe7b7e84250616;ms-6edb3f8fe977a81f8979;ms-d19573dc65181befd83d;ms-2b556c4c1b55a20b14c8", + "expert_regret": 1.446914255619049, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f241450069e74460a40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.446914255619049, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5530857443809509, + "restore_error": 1.1920928955078125e-07, + "score": 0.5530857443809509, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.11481288820505142, + "candidate_source_group_id": "ms-054a02413d31389d1b7f;ms-1518756d5da0b8d3c190;ms-f897cc2141a0a303fc6a;ms-fbb609a3f2a334986245;ms-ff23e4fce42c637ed617;ms-090e18187bb6ae4a9120", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3a07c49566decfea04de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5109859704971313, + "candidate_source_group_id": "ms-c5d026dffb39f2f1d38a;ms-3aa5793c449b59c77b6f;ms-9783ccaf76f1b20c766e;ms-c70be4072fb4e49ac106;ms-0c9c39c462522b25ef2b;ms-ee32e6bb3c0bb45702b9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-88bdd8987f890af7e9ea", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.715061366558075, + "candidate_source_group_id": "ms-197fee321caebfd320f5;ms-a68740208f81c5d6c97b;ms-0ac53e56b4852c85ca2e;ms-c7156b26670838d40934;ms-0ec98183be760ea25a45;ms-f5483f0819e0e8bc352e", + "expert_regret": 1.9692460764199495, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b786173f210fcaa65a6e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9692460764199495, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03075392358005047, + "restore_error": 1.1920928955078125e-07, + "score": 0.03075392358005047, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3905788064002991, + "candidate_source_group_id": "ms-3fdce65bd5c5681403a7;ms-3b0639bfe64ecfd35594;ms-2dc4f12ea7e8567e3a6e;ms-90a03366976eaa1ad013;ms-3a65e7b378a87a7eeb11;ms-add4b7d277e1fc171144", + "expert_regret": 1.961555253714323, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ac281cce8f6e42586359", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.961555253714323, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.038444746285676956, + "restore_error": 1.1920928955078125e-07, + "score": 0.038444746285676956, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6917992234230042, + "candidate_source_group_id": "ms-a509a572b3871e591d26;ms-d67409d8ecfd5d97336d;ms-54a7c3d32b6a267d81a2;ms-ee7463f3d937dbc16f89;ms-de0321d0ece4c58bc224;ms-4bc023d8d1f7748b0e12", + "expert_regret": 1.503154069185257, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-91d86cba2602d1fa780d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.503154069185257, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49684593081474304, + "restore_error": 1.1920928955078125e-07, + "score": 0.49684593081474304, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6628471612930298, + "candidate_source_group_id": "ms-d44f5bd2488ea182132b;ms-6c081eee5edb633d6caf;ms-68ab6033433b360464f8;ms-cca07eb504a242633931;ms-239a07967247700a8ed1;ms-4d6099258a3a6e037aff", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5fc884c238818acdde08", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5983284711837769, + "candidate_source_group_id": "ms-09de52dad7e40970c938;ms-ee055e1282f6302ad9e8;ms-61068da67676a95e5065;ms-a8864b25c00ee193d0ea;ms-48cdfa31865ed70997c8;ms-fb92a1e6b67121783fff", + "expert_regret": 1.433107316493988, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-283da8c8dae2e161c439", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.433107316493988, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.566892683506012, + "restore_error": 1.1920928955078125e-07, + "score": 0.566892683506012, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.043795935809612274, + "candidate_source_group_id": "ms-13192a27f5fcf4fd24d7;ms-7d962acc9cfbc27c599c;ms-766b6fe7c08a3525ce94;ms-7241a1c25af41f4c0b5a;ms-4742d169606f3ec2b474;ms-225fbe08f2933f91d603", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a6273302894af3505ca8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7665945887565613, + "candidate_source_group_id": "ms-67f602a0e4efc9984d72;ms-c3a1cf0e424a4f065459;ms-813cac6d08ed5af48b12;ms-32b9c353a4890631f1bd;ms-6029bab18ae94b126d79;ms-10af171aa279a879207d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-16d5b122db1824caf92b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5875269770622253, + "candidate_source_group_id": "ms-22325628db75967cf779;ms-236601c5e076b4ee5d75;ms-f7c9f440fec3a22cd6d4;ms-5df54a8baaceb8c73c8a;ms-d6e14cec49894dd329f0;ms-13557287cd450bc12c6f", + "expert_regret": 1.9676730260252953, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c76158673d20b18c2622", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9676730260252953, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03232697397470474, + "restore_error": 1.1920928955078125e-07, + "score": 0.03232697397470474, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47946372628211975, + "candidate_source_group_id": "ms-54a04864cb68a4c3caac;ms-68ab6033433b360464f8;ms-eaf612349e2da547ee98;ms-42117385b9e6e57c7e63;ms-6c081eee5edb633d6caf;ms-c6beb139304a0ea6f7ae", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4bf0620f8d1294466596", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5437256097793579, + "candidate_source_group_id": "ms-28d5618562729c763eb6;ms-9bcf8a1e5e7b0f7ff6f5;ms-daaac2887015a6e4f3e0;ms-45ed57caa698d87a99cf;ms-ffba357213945be5f9f7;ms-1cea800b74c1ea2f6338", + "expert_regret": 1.4450927376747131, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc30ca6b7675f4de5041", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4450927376747131, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5549072623252869, + "restore_error": 1.1920928955078125e-07, + "score": 0.5549072623252869, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4771974980831146, + "candidate_source_group_id": "ms-91ad1a5f945470b4346e;ms-7fe236a99d555408d474;ms-b1c9975d1a007dd03dc4;ms-bfda95ffffd5d1a2683a;ms-bc53e550cb202b5fcdf3;ms-de709118c78966c5aff7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0a4c4442237909d5f7b7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5264493227005005, + "candidate_source_group_id": "ms-3737178a1f85502652ea;ms-5c8b50523e0de37d80b8;ms-7c76bb3c93411136f11a;ms-7e94769c30229d5cc7b8;ms-3aaa0d68ca26b1fe6626;ms-8af2224cc82636ef1dd7", + "expert_regret": 1.458557367324829, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-62b597990a3d637e5a8a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.458557367324829, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5414426326751709, + "restore_error": 1.1920928955078125e-07, + "score": 0.5414426326751709, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6269025206565857, + "candidate_source_group_id": "ms-31782020143c24b4271b;ms-6355260c6fa49f291729;ms-ae33e3afb57e61026d72;ms-bd6b2dc41ba42b44462a;ms-93e3d9968204474eff49;ms-ff23e4fce42c637ed617", + "expert_regret": 1.4752809405326843, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbcc714230de2c097d0d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4752809405326843, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5247190594673157, + "restore_error": 1.1920928955078125e-07, + "score": 0.5247190594673157, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3824610114097595, + "candidate_source_group_id": "ms-7670f25745871759e69e;ms-999a8c1454dd4597a834;ms-f5483f0819e0e8bc352e;ms-fa911d56cdf9bf122b5c;ms-b0d54c14a65fb73f08ca;ms-8ccc51fb09484026ebbb", + "expert_regret": 1.5329926013946533, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ed9addab41f3298db7bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5329926013946533, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4670073986053467, + "restore_error": 1.1920928955078125e-07, + "score": 0.4670073986053467, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12460243701934814, + "candidate_source_group_id": "ms-17e8d6ba42404c7b7d07;ms-802e63c9d42228a69c22;ms-da46296bd4e9032570df;ms-d33444117889b5aa9cfb;ms-a927d1bd67068f1d9302;ms-cda24997adbad130b09d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ece7b8c91d9d82f244b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7403615117073059, + "candidate_source_group_id": "ms-4ca84594a789c9abd5d9;ms-9cdebdcdad56bd8d87cc;ms-edcdf99767068f94bcb4;ms-a9ac13384fe5afc835f1;ms-86b302005e0461f28c43;ms-c774aeee2c4066edd668", + "expert_regret": 0.03538203239440918, + "expert_score": 0.582298219203949, + "expert_success": false, + "group_id": "ms-eac0d7dd54b1e797fdbd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.03538203239440918, + "oracle_score": 0.582298219203949, + "oracle_success": false, + "progress": 0.5469161868095398, + "restore_error": 2.384185791015625e-07, + "score": 0.5469161868095398, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.652205765247345, + "candidate_source_group_id": "ms-3c8ba3016f7269bfe44f;ms-ee055e1282f6302ad9e8;ms-1abf5e6d483e2788b086;ms-fb92a1e6b67121783fff;ms-09de52dad7e40970c938;ms-128c7c43e30023e6b1a3", + "expert_regret": 1.483424186706543, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bee62a6ef02134938aae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.483424186706543, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.516575813293457, + "restore_error": 2.384185791015625e-07, + "score": 0.516575813293457, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8436082005500793, + "candidate_source_group_id": "ms-5df54a8baaceb8c73c8a;ms-f763382872d8e89017c2;ms-22325628db75967cf779;ms-13557287cd450bc12c6f;ms-236601c5e076b4ee5d75;ms-d16053a4f8b95c94dc46", + "expert_regret": 0.5471844300627708, + "expert_score": 0.5785713195800781, + "expert_success": false, + "group_id": "ms-42edbdb8ff281fc33a99", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5471844300627708, + "oracle_score": 0.5785713195800781, + "oracle_success": false, + "progress": 0.03138688951730728, + "restore_error": 2.384185791015625e-07, + "score": 0.03138688951730728, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5589243173599243, + "candidate_source_group_id": "ms-cb70b56d6ad32b11c3cf;ms-61ac2be70a9798adeda0;ms-a6060f858cb9f93c5588;ms-b6df140b235c8fe0eaad;ms-66540aefd55a84b5088f;ms-38d3e0274ddfa4ed7202", + "expert_regret": 1.4352908730506897, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11a2794efa24f4d93d83", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4352908730506897, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5647091269493103, + "restore_error": 2.384185791015625e-07, + "score": 0.5647091269493103, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5041157603263855, + "candidate_source_group_id": "ms-a73f46824bdbdfb96238;ms-6edb3f8fe977a81f8979;ms-d19573dc65181befd83d;ms-478f754a15221314d15e;ms-fffe378a3bad31bbed52;ms-b6827e38768a63212d73", + "expert_regret": 1.4650242924690247, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9ff81e54049443a0f3d3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4650242924690247, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5349757075309753, + "restore_error": 2.384185791015625e-07, + "score": 0.5349757075309753, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6968103051185608, + "candidate_source_group_id": "ms-c9c1649478107785e9d2;ms-8f219d526891ae3c2dea;ms-8c6e41e7542bc6924a1f;ms-3cfb09df08ad7279ef02;ms-912718b1f2ef92066799;ms-85eef30b36b044b33f60", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61d4dd4acc03b8d30f19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.06388462334871292, + "candidate_source_group_id": "ms-570c074dbf28b5faae58;ms-5d430ebe6f7933dc6c8c;ms-81951a4920488e6c62e9;ms-3731f1c5af3c4a133633;ms-e0c2c1fbe39cd1d652b3;ms-193063285cdb9faff39b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5425964a186feaf6fd99", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1327148824930191, + "candidate_source_group_id": "ms-4d9cef437c77474dc62d;ms-c6d4f51c1adffc449778;ms-978bbf0a6fc563f745ab;ms-5e3b1693ad7b75221847;ms-25a8e32c071be83d913b;ms-53fdabb5d8ef20778214", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-774e954ffdc5da041261", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43418726325035095, + "candidate_source_group_id": "ms-7c76bb3c93411136f11a;ms-3737178a1f85502652ea;ms-3aaa0d68ca26b1fe6626;ms-7e94769c30229d5cc7b8;ms-f682952c6ecb2b833c35;ms-20e5ffa93544d6d8b313", + "expert_regret": 1.9838889483362436, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf274fbe4c657d04d7c4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9838889483362436, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.01611105166375637, + "restore_error": 1.1920928955078125e-07, + "score": 0.01611105166375637, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5575429201126099, + "candidate_source_group_id": "ms-28817fe297f38fd9550a;ms-3c458f671129e1ebe7b4;ms-fe9347448b7f810d1353;ms-17a17b212837b7f1309f;ms-2259a78b2187e22f9f37;ms-4f405775dcbb88f7d8b0", + "expert_regret": 1.8995819315314293, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0377c81a67d9819ab96b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8995819315314293, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10041806846857071, + "restore_error": 1.1920928955078125e-07, + "score": 0.10041806846857071, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6511504054069519, + "candidate_source_group_id": "ms-9bc153354c4dd2e5c1a5;ms-c91cae30acaa8dc7a12b;ms-51873059990aa55691a2;ms-7241a1c25af41f4c0b5a;ms-d4c3c235768529c33843;ms-72b7d76602371f044fe3", + "expert_regret": 1.435030996799469, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a934ef3c442100d9cc58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.435030996799469, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.564969003200531, + "restore_error": 1.1920928955078125e-07, + "score": 0.564969003200531, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5489664077758789, + "candidate_source_group_id": "ms-525a7841d99bba385bc5;ms-c07472c627b51086ff33;ms-9320da73e81045277fae;ms-03cdc738473ac1df9dfc;ms-1fec069b4a095dd0425a;ms-9e87481ce12fa45b2554", + "expert_regret": 1.497317135334015, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c8666cbd7e5a9d0fd036", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.497317135334015, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5026828646659851, + "restore_error": 1.1920928955078125e-07, + "score": 0.5026828646659851, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5836424827575684, + "candidate_source_group_id": "ms-13557287cd450bc12c6f;ms-d16053a4f8b95c94dc46;ms-8e741ca11a7fbe85ba1d;ms-d988976b029886d18476;ms-d462cff6e1b4b201a6ce;ms-5df54a8baaceb8c73c8a", + "expert_regret": 1.9088144749403, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1fb2f4c1e17e99767558", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9088144749403, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09118552505970001, + "restore_error": 1.1920928955078125e-07, + "score": 0.09118552505970001, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12954320013523102, + "candidate_source_group_id": "ms-fb92a1e6b67121783fff;ms-81085eba1dd49b17ec9c;ms-4fe7fdaf946c97803c82;ms-635a384c88604ad7ba4f;ms-09de52dad7e40970c938;ms-61068da67676a95e5065", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87b44e6219279322a723", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6019412279129028, + "candidate_source_group_id": "ms-a7179e4e4e2a0d5335b3;ms-39af5447d3c90872c25f;ms-3417f5f2f1470c61d0a8;ms-a6060f858cb9f93c5588;ms-b6df140b235c8fe0eaad;ms-66540aefd55a84b5088f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2f57eadf546710065684", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5826963186264038, + "candidate_source_group_id": "ms-d19c9e3ab1d7daf06344;ms-5f98f13f17e8f41f7436;ms-cddf387bbcd6aed98fca;ms-225fbe08f2933f91d603;ms-4276f24b1b5dce771bff;ms-dc68e92d0571b68f51b9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-625b5d55ca76cc565049", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.54255610704422, + "candidate_source_group_id": "ms-c3a3764fb110503bd651;ms-52c6c227fd4b61609031;ms-4cd9eae753bf9e48f520;ms-2be3bf4f348678c0cc6c;ms-f5aa7ce332ee9702812a;ms-8f0e2c9caad14bd37ecf", + "expert_regret": 1.4440749287605286, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1136e4a92618d203f415", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4440749287605286, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5559250712394714, + "restore_error": 1.1920928955078125e-07, + "score": 0.5559250712394714, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9293727874755859, + "candidate_source_group_id": "ms-b1bf2ab59a5385d22e54;ms-7fa85a7251186eb18d0b;ms-525a7841d99bba385bc5;ms-1fec069b4a095dd0425a;ms-c07472c627b51086ff33;ms-9e87481ce12fa45b2554", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9e53ca6bc5ddb9133ffa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8213658928871155, + "candidate_source_group_id": "ms-a01e21b91a5b37a16afe;ms-fe650308e25459ee64c6;ms-630663751ab841a96d5a;ms-0915b75e9fd1468d464e;ms-e218d19c595e580c3e32;ms-706943f06888dd5bbb3a", + "expert_regret": 1.9690040946006775, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-319a6c0cef0ac1a872d5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9690040946006775, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03099590539932251, + "restore_error": 1.1920928955078125e-07, + "score": 0.03099590539932251, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2228090763092041, + "candidate_source_group_id": "ms-fcbac5ac63b87452c719;ms-7361bfba9d2ab4f1913e;ms-fef1cf4879be83a77574;ms-01067b8ff16f74652382;ms-175375383979526d80b5;ms-5e23219a8e2aadd039c7", + "expert_regret": 1.958231806755066, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8adf1cf09ddabdc5fe5f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.958231806755066, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04176819324493408, + "restore_error": 1.1920928955078125e-07, + "score": 0.04176819324493408, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8962258696556091, + "candidate_source_group_id": "ms-8c0b600aef5393f929cd;ms-49641ecf3e1326621609;ms-17a04b4ac2d938261bff;ms-7982e5af0d533320432f;ms-4895312f7ef7a8e0109c;ms-f5e621c9ae7bcca8e596", + "expert_regret": 1.9656642191112041, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7f427f37d47501932e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9656642191112041, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03433578088879585, + "restore_error": 1.1920928955078125e-07, + "score": 0.03433578088879585, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5363895297050476, + "candidate_source_group_id": "ms-2af09f91e05d19f7f181;ms-70d994c15153752d0dce;ms-e2ddf4681b47f39e15da;ms-f77305a344da6a4ccc84;ms-f3ddc66fde2d59666e07;ms-4e86b87d6e5f6ab914fe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f5255815f8b70b48734", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.37094971537590027, + "candidate_source_group_id": "ms-1df0775c4ef08d0cf1bf;ms-4cd9eae753bf9e48f520;ms-2dc8e489908f72903319;ms-81951a4920488e6c62e9;ms-561f4f913d7b4991d81a;ms-3731f1c5af3c4a133633", + "expert_regret": 1.4903900027275085, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8fbdbddd9200f5091d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4903900027275085, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5096099972724915, + "restore_error": 1.1920928955078125e-07, + "score": 0.5096099972724915, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.348163902759552, + "candidate_source_group_id": "ms-0915b75e9fd1468d464e;ms-fed4628b22c7e42e32d9;ms-9233eae706910c204b79;ms-98427ae2d94c1f85811a;ms-706943f06888dd5bbb3a;ms-19c0b893fda0e6bb05f7", + "expert_regret": 1.9837065692991018, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b972386cfdf0158a0a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9837065692991018, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.01629343070089817, + "restore_error": 1.1920928955078125e-07, + "score": 0.01629343070089817, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39637988805770874, + "candidate_source_group_id": "ms-90464666adfd66056785;ms-1518756d5da0b8d3c190;ms-57a213acdc6a7231f799;ms-4705657703da9d791fb9;ms-642670f4bb658d32970b;ms-a01f0549a18d924d31c0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4b1561bd0029228fdbbe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.35425567626953125, + "candidate_source_group_id": "ms-0e4af96af7d344ec47a0;ms-fbcca760f5e16aa5c776;ms-0e12a6083750bfecca87;ms-47fd1407ae4e17ed4bee;ms-f5e621c9ae7bcca8e596;ms-8a22f0da78e59cd1eb5f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d9b2a5ccd43461f827e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20843683183193207, + "candidate_source_group_id": "ms-4746e04d636d13cfbe6c;ms-193063285cdb9faff39b;ms-570c074dbf28b5faae58;ms-3731f1c5af3c4a133633;ms-81951a4920488e6c62e9;ms-f5aa7ce332ee9702812a", + "expert_regret": 1.4360369443893433, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-12050326f623a94ae9e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4360369443893433, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5639630556106567, + "restore_error": 1.1920928955078125e-07, + "score": 0.5639630556106567, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8007098436355591, + "candidate_source_group_id": "ms-578537600f7a649c2dd5;ms-9c7e6b057c74f3014fd5;ms-86b0447349029dfaa6ab;ms-c86956f3f1333e136186;ms-ac79bc3a841958ce127f;ms-7651a7f31eae24958ef0", + "expert_regret": 1.8684044629335403, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f9c00ba41392adec3fd1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8684044629335403, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.13159553706645966, + "restore_error": 1.1920928955078125e-07, + "score": 0.13159553706645966, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.32410112023353577, + "candidate_source_group_id": "ms-fbcca760f5e16aa5c776;ms-ad058e704a159164d7c4;ms-0e4af96af7d344ec47a0;ms-5dfad80e83d210946447;ms-e318e13f77e75e7cd802;ms-8330999c6669ec42122a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-41279eb586ca5e587474", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8051166534423828, + "candidate_source_group_id": "ms-5df54a8baaceb8c73c8a;ms-13557287cd450bc12c6f;ms-22325628db75967cf779;ms-236601c5e076b4ee5d75;ms-f763382872d8e89017c2;ms-d988976b029886d18476", + "expert_regret": 1.9008250012993813, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-81f48d29d0404300ea93", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9008250012993813, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09917499870061874, + "restore_error": 1.1920928955078125e-07, + "score": 0.09917499870061874, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7030319571495056, + "candidate_source_group_id": "ms-f69d6aec4ddb12d88c5b;ms-66ec6692758e9a7f2e01;ms-10f2865bef6da7b66423;ms-a323150b5305fc2a329d;ms-a699ee643e76a610b444;ms-175375383979526d80b5", + "expert_regret": 1.9762223474681377, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbda7bc51ca269d1cda4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9762223474681377, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02377765253186226, + "restore_error": 1.1920928955078125e-07, + "score": 0.02377765253186226, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22956980764865875, + "candidate_source_group_id": "ms-53fdabb5d8ef20778214;ms-41c5500153912a1743de;ms-f1eb908e172570b07cae;ms-88e10d1be12a407b3926;ms-5e3b1693ad7b75221847;ms-2a67eea0b1293de9bcf9", + "expert_regret": 1.4298805594444275, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2b3e081263ed25d45dc8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4298805594444275, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5701194405555725, + "restore_error": 1.1920928955078125e-07, + "score": 0.5701194405555725, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4329002797603607, + "candidate_source_group_id": "ms-9c8a90334c3b933c8976;ms-759ba8b7be233ca47c30;ms-f39bbaa063044719a98d;ms-ee0986397bc7267882d8;ms-4a0ae3deadb8560fd315;ms-97aebe1dd42939e3b340", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e1972ebf2c5587a6fdf9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4448542594909668, + "candidate_source_group_id": "ms-d19573dc65181befd83d;ms-b42e0a68875b0405904b;ms-fffe378a3bad31bbed52;ms-2b556c4c1b55a20b14c8;ms-6edb3f8fe977a81f8979;ms-488a34fe7b7e84250616", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7057de70d36f5cc31472", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43198832869529724, + "candidate_source_group_id": "ms-519fb779d24a0bdf3809;ms-bb60defa0d234da9e0bc;ms-ea72196e20393870bcbb;ms-af16712eadcaebf175ff;ms-493f7fe7164e2c3e7616;ms-708baf01c22c75cafd22", + "expert_regret": 1.4279742240905762, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4bc32bd893d0cff76423", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4279742240905762, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5720257759094238, + "restore_error": 1.1920928955078125e-07, + "score": 0.5720257759094238, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12491361796855927, + "candidate_source_group_id": "ms-a01f0549a18d924d31c0;ms-50f29e19c798fee5422f;ms-c81880a77c4d978a0b7a;ms-1451f536f2ac0df844f6;ms-4dcb031152807390c6dd;ms-a01e21b91a5b37a16afe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bef9b88ae40ca98647aa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4174652695655823, + "candidate_source_group_id": "ms-3d0d437ee74041fc61bb;ms-1a801d8b486ef19642bf;ms-a7179e4e4e2a0d5335b3;ms-a6060f858cb9f93c5588;ms-cb70b56d6ad32b11c3cf;ms-39af5447d3c90872c25f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01db5970aec167a8ee1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7229833006858826, + "candidate_source_group_id": "ms-f763382872d8e89017c2;ms-5df54a8baaceb8c73c8a;ms-22325628db75967cf779;ms-13557287cd450bc12c6f;ms-d16053a4f8b95c94dc46;ms-8e741ca11a7fbe85ba1d", + "expert_regret": 1.921281911432743, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de066fc4200163ebd06b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.921281911432743, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07871808856725693, + "restore_error": 1.1920928955078125e-07, + "score": 0.07871808856725693, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.30212587118148804, + "candidate_source_group_id": "ms-5847c6d196024fce1770;ms-9edc0261b6ca7980ff81;ms-44694e99af9263ad3c45;ms-307f9067d5b66f55b3a6;ms-4d03463bb4536a28d67a;ms-ddc0b3adf8506c30f503", + "expert_regret": 1.4810639023780823, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-52cdfff790d71133c5a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4810639023780823, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5189360976219177, + "restore_error": 1.1920928955078125e-07, + "score": 0.5189360976219177, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.13028128445148468, + "candidate_source_group_id": "ms-7ea16036a1dd971fc4e0;ms-663aa9934c0f923cc125;ms-350b797a531f87ad2c0f;ms-a6b029a958e91306966a;ms-a44a2c9eee8baea5d29e;ms-4fe47d946641f0096a85", + "expert_regret": 1.4482032656669617, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-704fee4c9fb9941a26e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4482032656669617, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5517967343330383, + "restore_error": 1.1920928955078125e-07, + "score": 0.5517967343330383, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.10286815464496613, + "candidate_source_group_id": "ms-47a55ae1d3a858eed51c;ms-b606af28580a38cea636;ms-ca10d8b9d03f4d59806c;ms-c151229bc1dd03ed2feb;ms-2b64c720290c6dad7e35;ms-6a6a41baedceb27ad888", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ffef7730418c831245b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4975949823856354, + "candidate_source_group_id": "ms-4b94e0333251263012ec;ms-03acca095918dea64872;ms-a073398629e6943ad1fb;ms-8beca0622be320b282c1;ms-751daa0137578c486f3d;ms-0bf5f9b5ab423eb0a7c3", + "expert_regret": 1.4367590546607971, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e15eeda61ed4064a5c9f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4367590546607971, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5632409453392029, + "restore_error": 1.1920928955078125e-07, + "score": 0.5632409453392029, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5645878314971924, + "candidate_source_group_id": "ms-6be8614a1bd50b974b95;ms-4d9cef437c77474dc62d;ms-22412b51e61621b6025b;ms-43ce9f798efb923a120c;ms-5b122bd43e749623ebe0;ms-f1eb908e172570b07cae", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ff3f17774184180998f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43074655532836914, + "candidate_source_group_id": "ms-fd99b14bf152ebc0ef8e;ms-6c0ef0ef8b493232246c;ms-74868f62709b91077e27;ms-a2c5c9fd35d9fda5ce9e;ms-59cc3cdf6918248d7f78;ms-5922c28e4a71a88c6d21", + "expert_regret": 1.4491477012634277, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-227fe0347d2ea57a66a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4491477012634277, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5508522987365723, + "restore_error": 1.1920928955078125e-07, + "score": 0.5508522987365723, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3535260856151581, + "candidate_source_group_id": "ms-88e10d1be12a407b3926;ms-5e3b1693ad7b75221847;ms-41c5500153912a1743de;ms-53fdabb5d8ef20778214;ms-8fdde5008d12abb7ae6a;ms-7e0ef0b7f94396bf0029", + "expert_regret": 1.4429116249084473, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb98254adaa23dc128df", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4429116249084473, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5570883750915527, + "restore_error": 1.1920928955078125e-07, + "score": 0.5570883750915527, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41544824838638306, + "candidate_source_group_id": "ms-2259a78b2187e22f9f37;ms-732d0515ed28df031b8e;ms-3c458f671129e1ebe7b4;ms-2458fcfffb3f96c6ca1a;ms-1f458832fc85f00873cc;ms-17a17b212837b7f1309f", + "expert_regret": 1.9082990139722824, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87fd37bcc6b666e220ef", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9082990139722824, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09170098602771759, + "restore_error": 1.1920928955078125e-07, + "score": 0.09170098602771759, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3402498662471771, + "candidate_source_group_id": "ms-4aa0c1a37cdb70ba8877;ms-e14bfc5549c2a71bc7c6;ms-8f219d526891ae3c2dea;ms-4a0ae3deadb8560fd315;ms-759ba8b7be233ca47c30;ms-0e9908c8405f241086ac", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2c68b2b895bdbedbaa08", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3472101390361786, + "candidate_source_group_id": "ms-62f8c18a15c566ec4b00;ms-dc26b448cce4164a23e6;ms-1f19fd22562f87bdb776;ms-57be9ae181c077e7821f;ms-070184c0f6831eb39bc1;ms-4143ca4fca04091084e4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-91ad1e8602f14dada73c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3484681248664856, + "candidate_source_group_id": "ms-a96bca1ef0b74f686018;ms-dc5563c9b0dcd84e393b;ms-9fd23a06ae1659cef27b;ms-e6b654653119682cf01e;ms-35a50d2822c2c3cc4516;ms-b94dfc54c3bf844d5146", + "expert_regret": 0.0, + "expert_score": 0.017857711762189865, + "expert_success": false, + "group_id": "ms-3a4e2d080c9c4b279895", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.118787981569767, + "oracle_score": 0.19097411632537842, + "oracle_success": false, + "progress": 0.07218613475561142, + "restore_error": 2.3096799850463867e-07, + "score": 0.07218613475561142, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7906211018562317, + "candidate_source_group_id": "ms-db2c4015a0690cc80d24;ms-28bcbcc6e675708de340;ms-50e54f9608e1420ba11a;ms-efa875b7aef4c7b2092c;ms-cf4b63d109a88a4c42bf;ms-fc3d80c6ea6b9a4878ab", + "expert_regret": 0.15195772051811218, + "expert_score": 0.28376850485801697, + "expert_success": false, + "group_id": "ms-141d17d2b48dd9e008ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.15195772051811218, + "oracle_score": 0.28376850485801697, + "oracle_success": false, + "progress": 0.13181078433990479, + "restore_error": 2.3096799850463867e-07, + "score": 0.13181078433990479, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4803672432899475, + "candidate_source_group_id": "ms-d5da60ea045af7f677a8;ms-15459afe7e32ce62fc1b;ms-52b4f33b924e82688187;ms-aefa917c6b1659d6edd2;ms-4de1f6d71208bf1d182d;ms-bce8c4ec2bf882ca0b2e", + "expert_regret": 0.0, + "expert_score": 0.10191375017166138, + "expert_success": false, + "group_id": "ms-47460f61b9edd000c05d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.044195592403411865, + "oracle_score": 0.16129642724990845, + "oracle_success": false, + "progress": 0.11710083484649658, + "restore_error": 2.3096799850463867e-07, + "score": 0.11710083484649658, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.36985233426094055, + "candidate_source_group_id": "ms-fc87ea5245c2743bdb2d;ms-082cb0ac119a83c42c2d;ms-6b789356d65b3312fbae;ms-cb8cbd90038493c30888;ms-372f2ecb6685d8cae8d5;ms-d271e7de6bc331371e9c", + "expert_regret": 0.0, + "expert_score": 0.13208997249603271, + "expert_success": false, + "group_id": "ms-c673132197ce77ae8c9b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.06335794925689697, + "oracle_score": 0.20713643729686737, + "oracle_success": false, + "progress": 0.1437784880399704, + "restore_error": 2.3096799850463867e-07, + "score": 0.1437784880399704, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5612149238586426, + "candidate_source_group_id": "ms-344d81289be624d70b0e;ms-19cb10d10516bd0216a6;ms-ee4ddb148e138fce841c;ms-6661b157c41ad4d6ab85;ms-6ad14a70593958c00a63;ms-1faf779e909ec0415be0", + "expert_regret": 1.9415667243301868, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e2fe413566da0516273d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9415667243301868, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.058433275669813156, + "restore_error": 2.3096799850463867e-07, + "score": 0.058433275669813156, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5505504012107849, + "candidate_source_group_id": "ms-6e27d292a9cbea108fc9;ms-f4f9dd2ff38f992d4fb9;ms-cad33aa1136af34af6ec;ms-2eabcf580547d2c133ce;ms-e30fd80adc089e9f697a;ms-d6cc29ec9fbbc53d0f68", + "expert_regret": 0.0, + "expert_score": 0.12572264671325684, + "expert_success": false, + "group_id": "ms-9c6eae5aaafcbc2e7b1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.15684467554092407, + "oracle_success": false, + "progress": 0.18504157662391663, + "restore_error": 2.3096799850463867e-07, + "score": 0.18504157662391663, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2700751721858978, + "candidate_source_group_id": "ms-8c07fff2c7a5131a141b;ms-0228f3312b428eaf7e9d;ms-a6a6de64c39abad45f86;ms-620cd9e02d46b021f112;ms-3ed611d029d2ae0b12d8;ms-3c223e8c7f870c807541", + "expert_regret": 0.0, + "expert_score": 0.18430539965629578, + "expert_success": false, + "group_id": "ms-3f8284543efb724e8845", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.012908786535263062, + "oracle_score": 0.22120842337608337, + "oracle_success": false, + "progress": 0.2082996368408203, + "restore_error": 2.3096799850463867e-07, + "score": 0.2082996368408203, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.46599164605140686, + "candidate_source_group_id": "ms-1faf779e909ec0415be0;ms-6661b157c41ad4d6ab85;ms-c31b98b3d3702c6f9c8c;ms-bccd7bbe1b1b98254147;ms-394edcd961226f337ce1;ms-fc87ea5245c2743bdb2d", + "expert_regret": 0.0, + "expert_score": 0.08069789409637451, + "expert_success": false, + "group_id": "ms-223b0a8319beb051a1ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.1593424528837204, + "oracle_success": false, + "progress": 0.21881139278411865, + "restore_error": 1.1920928955078125e-07, + "score": 0.21881139278411865, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6149843335151672, + "candidate_source_group_id": "ms-4143ca4fca04091084e4;ms-070184c0f6831eb39bc1;ms-7eaea428dfdef7255a66;ms-57be9ae181c077e7821f;ms-dc26b448cce4164a23e6;ms-340e4b5de99447fbcd5e", + "expert_regret": 0.0, + "expert_score": 0.27674734592437744, + "expert_success": false, + "group_id": "ms-067cac2e4dbeddb12239", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4169948399066925, + "candidate_source_group_id": "ms-f497cc22967badd9f8b0;ms-a6a6de64c39abad45f86;ms-babaeb20129c46551281;ms-3ed611d029d2ae0b12d8;ms-1a4d443c5b80e0dac794;ms-620cd9e02d46b021f112", + "expert_regret": 0.06693574041128159, + "expert_score": 0.11277659982442856, + "expert_success": false, + "group_id": "ms-7f57045c114ddad153b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.18178153038024902, + "oracle_score": 0.227622389793396, + "oracle_success": false, + "progress": 0.04584085941314697, + "restore_error": 1.1920928955078125e-07, + "score": 0.04584085941314697, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3542344272136688, + "candidate_source_group_id": "ms-0093b06390890d181104;ms-20b11e3e581c2a865096;ms-34726202b475d29cdf38;ms-2eabcf580547d2c133ce;ms-d6cc29ec9fbbc53d0f68;ms-4dc6f09c1beeb5314d11", + "expert_regret": 0.0, + "expert_score": 0.013159613125026226, + "expert_success": false, + "group_id": "ms-ccc79c981e3a67ebeaf2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.023448124527931213, + "oracle_score": 0.1627672165632248, + "oracle_success": false, + "progress": 0.13931909203529358, + "restore_error": 1.1920928955078125e-07, + "score": 0.13931909203529358, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3184930682182312, + "candidate_source_group_id": "ms-d81f9c2974c2d599f151;ms-9fd23a06ae1659cef27b;ms-4920f51977e482b3a66c;ms-9919d2d2a89c5d491093;ms-61bde0225d6f4175b7cb;ms-6939bfeb878a54849131", + "expert_regret": 0.0, + "expert_score": 0.18328528106212616, + "expert_success": false, + "group_id": "ms-c0e3ab57fcf0d12ea4d8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.20295384526252747, + "oracle_success": false, + "progress": 0.27070218324661255, + "restore_error": 1.1920928955078125e-07, + "score": 0.27070218324661255, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.325725257396698, + "candidate_source_group_id": "ms-28bcbcc6e675708de340;ms-20ca52baa214c31b3186;ms-e6b654653119682cf01e;ms-dc5563c9b0dcd84e393b;ms-efa875b7aef4c7b2092c;ms-a96bca1ef0b74f686018", + "expert_regret": 0.11948532611131668, + "expert_score": 0.1586810052394867, + "expert_success": false, + "group_id": "ms-85f911fca087fed2caff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.1369408592581749, + "oracle_score": 0.1761365383863449, + "oracle_success": false, + "progress": 0.03919567912817001, + "restore_error": 1.1920928955078125e-07, + "score": 0.03919567912817001, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5407652854919434, + "candidate_source_group_id": "ms-eab38ab23e5fd0218632;ms-e9d7fc13264ff1c06637;ms-57e91ed3c8bd0299534f;ms-26c3a975205dfd16f076;ms-b28f44671fe871a8bea8;ms-e8afd0ad85d7e219a1ec", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9fbd54f73e56e3231631", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.2912523746490479, + "candidate_source_group_id": "ms-26c3a975205dfd16f076;ms-abf8880f672677acc931;ms-e8afd0ad85d7e219a1ec;ms-57e91ed3c8bd0299534f;ms-eab38ab23e5fd0218632;ms-4d400b68d540cebcc9e0", + "expert_regret": 1.8450060784816742, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8551c2634431d2ade8a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8450060784816742, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1549939215183258, + "restore_error": 1.1920928955078125e-07, + "score": 0.1549939215183258, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5641147494316101, + "candidate_source_group_id": "ms-cf4b63d109a88a4c42bf;ms-52b4f33b924e82688187;ms-fc3d80c6ea6b9a4878ab;ms-1ca019318ddec8ce5e8a;ms-50e54f9608e1420ba11a;ms-db2c4015a0690cc80d24", + "expert_regret": 0.011880218982696533, + "expert_score": 0.14895068109035492, + "expert_success": false, + "group_id": "ms-8a87ddbfc0fce8bb13d5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.10306942462921143, + "oracle_score": 0.2401398867368698, + "oracle_success": false, + "progress": 0.1370704621076584, + "restore_error": 1.1920928955078125e-07, + "score": 0.1370704621076584, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5350193977355957, + "candidate_source_group_id": "ms-a04e804d3aad7b40f1ac;ms-89c4edc5d083202b2443;ms-9a50730a0ff65eb93ea5;ms-3d31ef4f467b204b8477;ms-f9740a08a98cb251b761;ms-ec2eec3ab528878445cd", + "expert_regret": 1.8874801993370056, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-45131c0aa974fa9602ad", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8874801993370056, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11251980066299438, + "restore_error": 1.1920928955078125e-07, + "score": 0.11251980066299438, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5497828125953674, + "candidate_source_group_id": "ms-423347f93e1045f6bdd0;ms-5e422b9487b4a1efd7af;ms-d92cec7cfd1915a30824;ms-109ea940d18ab80efabc;ms-6a43c1f6dd61d4df80ec;ms-80801b0de8334bd2bcc8", + "expert_regret": 0.060485005378723145, + "expert_score": 0.1001773476600647, + "expert_success": false, + "group_id": "ms-8a58b518ca9ac275d8d5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.08883363008499146, + "oracle_score": 0.128525972366333, + "oracle_success": false, + "progress": 0.03969234228134155, + "restore_error": 1.1920928955078125e-07, + "score": 0.03969234228134155, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.31047219038009644, + "candidate_source_group_id": "ms-aefa917c6b1659d6edd2;ms-bce8c4ec2bf882ca0b2e;ms-3f2aed5964eed6c4936a;ms-b8fc1568ce66c45c8d8b;ms-d0158d7b3df11d64095c;ms-29f47a1dc1d9c3ec3365", + "expert_regret": 0.0, + "expert_score": 0.19225573539733887, + "expert_success": false, + "group_id": "ms-267832544376e3727efb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.28689613938331604, + "oracle_success": false, + "progress": 0.30374741554260254, + "restore_error": 1.1920928955078125e-07, + "score": 0.30374741554260254, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3238678276538849, + "candidate_source_group_id": "ms-4cc40587ec490257b1d2;ms-ac4fb33f3ab4db853995;ms-ac94b48febe523da15a5;ms-68b43d83b97196e0d27f;ms-29f47a1dc1d9c3ec3365;ms-b8fc1568ce66c45c8d8b", + "expert_regret": 0.140425905585289, + "expert_score": 0.22809019684791565, + "expert_success": false, + "group_id": "ms-37384bede4d1c03f3b80", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9123357087373734, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08766429126262665, + "restore_error": 1.1920928955078125e-07, + "score": 0.08766429126262665, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.76860511302948, + "candidate_source_group_id": "ms-e50ef9df7287938b501c;ms-f40162c64827e8c44a1a;ms-8a72b73ac452bc190aeb;ms-dd7527ab9ed49f79d2ba;ms-89538d844f6299774906;ms-728b865677134d3788e3", + "expert_regret": 0.0, + "expert_score": 0.02689284086227417, + "expert_success": false, + "group_id": "ms-8a375db7db980fd133a9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.2017425298690796, + "oracle_score": 0.24813735485076904, + "oracle_success": false, + "progress": 0.04639482498168945, + "restore_error": 1.1920928955078125e-07, + "score": 0.04639482498168945, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6586058735847473, + "candidate_source_group_id": "ms-aab59ee607a5ba7e3bfa;ms-4db7b82d22bfbf9258b5;ms-60f0d45b604940db0058;ms-1e30e297540582d59926;ms-8a72b73ac452bc190aeb;ms-9dbf65115872ab5360e4", + "expert_regret": 0.0018047690391540527, + "expert_score": 0.018661757931113243, + "expert_success": false, + "group_id": "ms-3798cbeab8a36b08c295", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.24945727922022343, + "oracle_score": 0.2663142681121826, + "oracle_success": false, + "progress": 0.01685698889195919, + "restore_error": 1.1920928955078125e-07, + "score": 0.01685698889195919, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0919121503829956, + "candidate_source_group_id": "ms-9df6734b8268172ea7e5;ms-59d4cdcd401477b5adfc;ms-02311c7783bc67e188b4;ms-b784fe769f0fb1d315e5;ms-1a4d443c5b80e0dac794;ms-0f5ffa7a4448b22b7951", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ccd3b342e4da3980c688", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7367820739746094, + "candidate_source_group_id": "ms-0b63f107b0ced8009668;ms-80801b0de8334bd2bcc8;ms-3d090ac2459c4b891dd1;ms-fad04ef94fd664ff89ae;ms-0285f5815c210ac00bec;ms-1150c257eb77fdf40f55", + "expert_regret": 1.964781641960144, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a54d67e82a4dc1380e7b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.964781641960144, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03521835803985596, + "restore_error": 1.1920928955078125e-07, + "score": 0.03521835803985596, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.31398704648017883, + "candidate_source_group_id": "ms-344d81289be624d70b0e;ms-f126e1cf5b3ee52a8476;ms-6ad14a70593958c00a63;ms-6661b157c41ad4d6ab85;ms-1faf779e909ec0415be0;ms-19cb10d10516bd0216a6", + "expert_regret": 0.0, + "expert_score": 0.15715323388576508, + "expert_success": false, + "group_id": "ms-c083dba0e5dcc8ca1004", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1859475076198578, + "oracle_success": false, + "progress": 0.2070106714963913, + "restore_error": 1.1920928955078125e-07, + "score": 0.2070106714963913, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.696792483329773, + "candidate_source_group_id": "ms-344d81289be624d70b0e;ms-6ad14a70593958c00a63;ms-6661b157c41ad4d6ab85;ms-f126e1cf5b3ee52a8476;ms-1faf779e909ec0415be0;ms-19cb10d10516bd0216a6", + "expert_regret": 0.014661014080047607, + "expert_score": 0.26739317178726196, + "expert_success": false, + "group_id": "ms-53344c3bc69a3b0fe303", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.014661014080047607, + "oracle_score": 0.26739317178726196, + "oracle_success": false, + "progress": 0.25273215770721436, + "restore_error": 1.1920928955078125e-07, + "score": 0.25273215770721436, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.26962319016456604, + "candidate_source_group_id": "ms-714913716f5f0a287401;ms-615d4a98352149e15ff1;ms-e2f8f0ef073900703441;ms-b8fc1568ce66c45c8d8b;ms-29f47a1dc1d9c3ec3365;ms-3f2aed5964eed6c4936a", + "expert_regret": 0.0, + "expert_score": 0.15440061688423157, + "expert_success": false, + "group_id": "ms-5ecde7b64c80d2abbe1f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3174113631248474, + "candidate_source_group_id": "ms-f4a2d61f02d4224bad4f;ms-e6b654653119682cf01e;ms-20ca52baa214c31b3186;ms-a2518826fa0a816cc46f;ms-28bcbcc6e675708de340;ms-a96bca1ef0b74f686018", + "expert_regret": 0.0, + "expert_score": 0.01361372135579586, + "expert_success": false, + "group_id": "ms-81f4e8858b2ba90aea2e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.09626209735870361, + "oracle_score": 0.1631626933813095, + "oracle_success": false, + "progress": 0.0669005960226059, + "restore_error": 1.1920928955078125e-07, + "score": 0.0669005960226059, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.688199758529663, + "candidate_source_group_id": "ms-615d4a98352149e15ff1;ms-29f47a1dc1d9c3ec3365;ms-ac94b48febe523da15a5;ms-714913716f5f0a287401;ms-b8fc1568ce66c45c8d8b;ms-3f2aed5964eed6c4936a", + "expert_regret": 1.9631666131317616, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bd90866faa10e62fce2c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9631666131317616, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03683338686823845, + "restore_error": 1.1920928955078125e-07, + "score": 0.03683338686823845, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4596509337425232, + "candidate_source_group_id": "ms-4920f51977e482b3a66c;ms-d81f9c2974c2d599f151;ms-9919d2d2a89c5d491093;ms-9fd23a06ae1659cef27b;ms-6939bfeb878a54849131;ms-482c5c8d208b5907a2c2", + "expert_regret": 0.0, + "expert_score": 0.028925320133566856, + "expert_success": false, + "group_id": "ms-638d2ba1917eff4d09e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.11176212877035141, + "oracle_success": false, + "progress": 0.16716167330741882, + "restore_error": 1.1920928955078125e-07, + "score": 0.16716167330741882, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3503929078578949, + "candidate_source_group_id": "ms-482c5c8d208b5907a2c2;ms-ba11d52e628b2efe32ea;ms-6939bfeb878a54849131;ms-4920f51977e482b3a66c;ms-a8731059713697ce5e2a;ms-d8e18d4d22b4cc73b803", + "expert_regret": 0.00038405507802963257, + "expert_score": 0.12288884818553925, + "expert_success": false, + "group_id": "ms-1c2768099019b86daca7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.10088718682527542, + "oracle_score": 0.22339197993278503, + "oracle_success": false, + "progress": 0.12250479310750961, + "restore_error": 1.1920928955078125e-07, + "score": 0.12250479310750961, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4972439408302307, + "candidate_source_group_id": "ms-2eabcf580547d2c133ce;ms-e30fd80adc089e9f697a;ms-cad33aa1136af34af6ec;ms-f4f9dd2ff38f992d4fb9;ms-4aed2a49597da545e551;ms-d402ca600d53b2db9dbe", + "expert_regret": 0.0, + "expert_score": 0.0808674544095993, + "expert_success": false, + "group_id": "ms-c832439976a37f52d094", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.11478939652442932, + "oracle_score": 0.2594742774963379, + "oracle_success": false, + "progress": 0.14468488097190857, + "restore_error": 2.3096799850463867e-07, + "score": 0.14468488097190857, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.34052419662475586, + "candidate_source_group_id": "ms-c8fa3c12dd48ffd82fcf;ms-e6b654653119682cf01e;ms-a96bca1ef0b74f686018;ms-dc5563c9b0dcd84e393b;ms-7e88428497a6b13936c4;ms-9fd23a06ae1659cef27b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6f425f086690b71d778", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8149509429931641, + "candidate_source_group_id": "ms-778efc20fc2ee8a3dd02;ms-3c62736c7767014960e0;ms-271889c9e921f7716135;ms-3c223e8c7f870c807541;ms-633308d7f0e52c013505;ms-4f0a59b7bc897c0d5e5e", + "expert_regret": 0.0, + "expert_score": 0.07535885274410248, + "expert_success": false, + "group_id": "ms-2e40499cb146da6f89e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.21672499179840088, + "oracle_success": false, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5017176270484924, + "candidate_source_group_id": "ms-1772611570ffaf72c98c;ms-c1620854ba52f09e24d5;ms-14352bb1538a8e9f86b0;ms-f1e36651e3572ab8b97b;ms-20e1efbb745fd02abc95;ms-1cba84e4c11e030aeb3e", + "expert_regret": 0.0, + "expert_score": 0.1711789071559906, + "expert_success": false, + "group_id": "ms-0e592951fa32139b6dc9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.24661025404930115, + "oracle_success": false, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3383164405822754, + "candidate_source_group_id": "ms-372f2ecb6685d8cae8d5;ms-cb8cbd90038493c30888;ms-45309d0bdc5e3babc17b;ms-6b789356d65b3312fbae;ms-0dee962a5901fb8b5bbb;ms-7a044cb6c7bb03f3ea10", + "expert_regret": 0.0, + "expert_score": 0.2534019351005554, + "expert_success": false, + "group_id": "ms-45672e1bf3b083eb3fc3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.2607541084289551, + "oracle_success": false, + "progress": 0.26828300952911377, + "restore_error": 2.3096799850463867e-07, + "score": 0.26828300952911377, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7145858407020569, + "candidate_source_group_id": "ms-f4a2d61f02d4224bad4f;ms-20ca52baa214c31b3186;ms-e6b654653119682cf01e;ms-a2518826fa0a816cc46f;ms-28bcbcc6e675708de340;ms-60f0d45b604940db0058", + "expert_regret": 0.002057887613773346, + "expert_score": 0.12084104865789413, + "expert_success": false, + "group_id": "ms-49b9e0f9ceaf91314919", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8812168389558792, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11878316104412079, + "restore_error": 2.3096799850463867e-07, + "score": 0.11878316104412079, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.759924054145813, + "candidate_source_group_id": "ms-2b7ca4255af28e33db96;ms-7df455efd413d77e6ce3;ms-38f7298184a2c5005e94;ms-387e6771a55be98f1a59;ms-728b865677134d3788e3;ms-397e502908d16b7804b0", + "expert_regret": 0.0341072678565979, + "expert_score": 0.24371962249279022, + "expert_success": false, + "group_id": "ms-757b3e9ecfc21efc80a7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0341072678565979, + "oracle_score": 0.24371962249279022, + "oracle_success": false, + "progress": 0.20961235463619232, + "restore_error": 2.3096799850463867e-07, + "score": 0.20961235463619232, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.321493923664093, + "candidate_source_group_id": "ms-394edcd961226f337ce1;ms-bccd7bbe1b1b98254147;ms-2dc5138251afd26a040d;ms-c31b98b3d3702c6f9c8c;ms-5b513b00260d517c02d9;ms-fbd73493bcf73542f735", + "expert_regret": 0.0, + "expert_score": 0.21231906116008759, + "expert_success": false, + "group_id": "ms-7c749541fc4ad37e461c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5371356010437012, + "candidate_source_group_id": "ms-f5dd1c43ebc4c0cfc3f1;ms-8b603da9f857de028798;ms-99357c610a8ebf4f5613;ms-0dee962a5901fb8b5bbb;ms-b7d7021b782f73816083;ms-c2398cb80b194084dbfc", + "expert_regret": 0.06991183757781982, + "expert_score": 0.18241576850414276, + "expert_success": false, + "group_id": "ms-a4d2c89304817ce28313", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.09347636997699738, + "oracle_score": 0.2059803009033203, + "oracle_success": false, + "progress": 0.11250393092632294, + "restore_error": 1.1920928955078125e-07, + "score": 0.11250393092632294, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.9318700432777405, + "candidate_source_group_id": "ms-0f5ffa7a4448b22b7951;ms-59d4cdcd401477b5adfc;ms-8577816da2917a2bb63d;ms-02311c7783bc67e188b4;ms-84388e63928e1a30ffc4;ms-1d3f30fae746c0b9cefc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61c3c0e99a653d2a7fe2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3834650218486786, + "candidate_source_group_id": "ms-b7d7021b782f73816083;ms-45309d0bdc5e3babc17b;ms-0dee962a5901fb8b5bbb;ms-7a044cb6c7bb03f3ea10;ms-9681d9cb43cc26adb0fe;ms-4bda8533405961380322", + "expert_regret": 0.0, + "expert_score": 0.11683736741542816, + "expert_success": false, + "group_id": "ms-e87c704dfdbf7ee7f51f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.09636077284812927, + "oracle_score": 0.2421749234199524, + "oracle_success": false, + "progress": 0.14581415057182312, + "restore_error": 1.1920928955078125e-07, + "score": 0.14581415057182312, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.27826493978500366, + "candidate_source_group_id": "ms-b92ca6f216624d6305c2;ms-b794f77d280289ce22a4;ms-7923b8196b397863cf4f;ms-fd4b2d974e51fed9536e;ms-109ea940d18ab80efabc;ms-5dbfefbfb832855ef80a", + "expert_regret": 0.0, + "expert_score": 0.20465779304504395, + "expert_success": false, + "group_id": "ms-ebacae0135af2832dfbb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3812790513038635, + "candidate_source_group_id": "ms-59d4cdcd401477b5adfc;ms-0f5ffa7a4448b22b7951;ms-9df6734b8268172ea7e5;ms-02311c7783bc67e188b4;ms-8577816da2917a2bb63d;ms-b784fe769f0fb1d315e5", + "expert_regret": 0.0, + "expert_score": 0.11729311943054199, + "expert_success": false, + "group_id": "ms-f2b2b2a1aa2863c3676f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1847240924835205, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.606471598148346, + "candidate_source_group_id": "ms-4143ca4fca04091084e4;ms-070184c0f6831eb39bc1;ms-7eaea428dfdef7255a66;ms-57be9ae181c077e7821f;ms-dc26b448cce4164a23e6;ms-62f8c18a15c566ec4b00", + "expert_regret": 0.0, + "expert_score": 0.23635749518871307, + "expert_success": false, + "group_id": "ms-16661b2fd2c85f57a66c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.36507219076156616, + "candidate_source_group_id": "ms-fa8b4ba41ecac8030271;ms-554727d05aa9a2b32904;ms-f85a653af630821f2572;ms-e84163d9ef2e7014daca;ms-7b2cb5c6abcc36a362d1;ms-02d160e1d5db6e544363", + "expert_regret": 0.20703228190541267, + "expert_score": 0.2422785758972168, + "expert_success": false, + "group_id": "ms-972c5be72d0b24be7cd5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.9647537060081959, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03524629399180412, + "restore_error": 1.1920928955078125e-07, + "score": 0.03524629399180412, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.42368799448013306, + "candidate_source_group_id": "ms-8577816da2917a2bb63d;ms-0f5ffa7a4448b22b7951;ms-84388e63928e1a30ffc4;ms-1d3f30fae746c0b9cefc;ms-59d4cdcd401477b5adfc;ms-7e295b5859c07c90487f", + "expert_regret": 0.0, + "expert_score": 0.12672781944274902, + "expert_success": false, + "group_id": "ms-f7a54f4783da1d4129a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.30690255761146545, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.28351008892059326, + "candidate_source_group_id": "ms-70549468e433100cfaa6;ms-db2c4015a0690cc80d24;ms-7b90f35aa521ef45ea27;ms-50e54f9608e1420ba11a;ms-7e88428497a6b13936c4;ms-cf4b63d109a88a4c42bf", + "expert_regret": 0.0, + "expert_score": 0.13041290640830994, + "expert_success": false, + "group_id": "ms-a1b57fcae964d7b531da", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.15699544548988342, + "oracle_success": false, + "progress": 0.28398820757865906, + "restore_error": 1.1920928955078125e-07, + "score": 0.28398820757865906, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.461877703666687, + "candidate_source_group_id": "ms-e6b654653119682cf01e;ms-20ca52baa214c31b3186;ms-28bcbcc6e675708de340;ms-efa875b7aef4c7b2092c;ms-35a50d2822c2c3cc4516;ms-a96bca1ef0b74f686018", + "expert_regret": 0.06007345765829086, + "expert_score": 0.15479056537151337, + "expert_success": false, + "group_id": "ms-35940a55db9e3f7e6ad0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.06007345765829086, + "oracle_score": 0.15479056537151337, + "oracle_success": false, + "progress": 0.0947171077132225, + "restore_error": 1.1920928955078125e-07, + "score": 0.0947171077132225, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5014495253562927, + "candidate_source_group_id": "ms-cad6645f8175e38ad155;ms-4cc40587ec490257b1d2;ms-29f47a1dc1d9c3ec3365;ms-714913716f5f0a287401;ms-e2f8f0ef073900703441;ms-3f2aed5964eed6c4936a", + "expert_regret": 0.0, + "expert_score": 0.14633941650390625, + "expert_success": false, + "group_id": "ms-465d531b9cec5bc77ed7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.491880178451538, + "candidate_source_group_id": "ms-b8c3ec3ea915c5d35b3e;ms-d21367899e99e3048dbe;ms-8c07fff2c7a5131a141b;ms-62bd92bfcbc50801e008;ms-9681d9cb43cc26adb0fe;ms-b7d7021b782f73816083", + "expert_regret": 0.0, + "expert_score": 0.08654259145259857, + "expert_success": false, + "group_id": "ms-257c70d0b302f96fc23f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.08654259145259857, + "oracle_success": false, + "progress": 0.14071428775787354, + "restore_error": 1.1920928955078125e-07, + "score": 0.14071428775787354, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2777966558933258, + "candidate_source_group_id": "ms-f4a2d61f02d4224bad4f;ms-a2518826fa0a816cc46f;ms-e6b654653119682cf01e;ms-20ca52baa214c31b3186;ms-28bcbcc6e675708de340;ms-efa875b7aef4c7b2092c", + "expert_regret": 0.0734216570854187, + "expert_score": 0.14901995658874512, + "expert_success": false, + "group_id": "ms-ebfb82df795e73599373", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.18022483587265015, + "oracle_score": 0.25582313537597656, + "oracle_success": false, + "progress": 0.07559829950332642, + "restore_error": 1.1920928955078125e-07, + "score": 0.07559829950332642, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.353408545255661, + "candidate_source_group_id": "ms-4bda8533405961380322;ms-728b865677134d3788e3;ms-3bfe7e8a312d53f966d0;ms-9681d9cb43cc26adb0fe;ms-b7d7021b782f73816083;ms-ba11d52e628b2efe32ea", + "expert_regret": 0.0, + "expert_score": 0.03362294286489487, + "expert_success": false, + "group_id": "ms-6754ed0131c952830729", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.09807375073432922, + "oracle_score": 0.28973090648651123, + "oracle_success": false, + "progress": 0.191657155752182, + "restore_error": 1.1920928955078125e-07, + "score": 0.191657155752182, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.43112045526504517, + "candidate_source_group_id": "ms-ac94b48febe523da15a5;ms-29f47a1dc1d9c3ec3365;ms-b8fc1568ce66c45c8d8b;ms-615d4a98352149e15ff1;ms-714913716f5f0a287401;ms-3f2aed5964eed6c4936a", + "expert_regret": 0.0, + "expert_score": 0.22621813416481018, + "expert_success": false, + "group_id": "ms-e9ed5d488afdfd6449d1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.6912482678890228, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3087517321109772, + "restore_error": 1.1920928955078125e-07, + "score": 0.3087517321109772, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7748209238052368, + "candidate_source_group_id": "ms-dd7527ab9ed49f79d2ba;ms-9826b7a6fdcc0fd3eb69;ms-1e30e297540582d59926;ms-89538d844f6299774906;ms-98eb81debb5186ebbe38;ms-7ea98b8f4d2220347ee0", + "expert_regret": 0.017639338970184326, + "expert_score": 0.18361739814281464, + "expert_success": false, + "group_id": "ms-c79a79c1cbd7a472da65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.017639338970184326, + "oracle_score": 0.18361739814281464, + "oracle_success": false, + "progress": 0.1659780591726303, + "restore_error": 1.1920928955078125e-07, + "score": 0.1659780591726303, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.5604044198989868, + "candidate_source_group_id": "ms-35a50d2822c2c3cc4516;ms-d81f9c2974c2d599f151;ms-dc5563c9b0dcd84e393b;ms-206099bab6bfe7c84fce;ms-9fd23a06ae1659cef27b;ms-bce8c4ec2bf882ca0b2e", + "expert_regret": 0.01199255883693695, + "expert_score": 0.164321169257164, + "expert_success": false, + "group_id": "ms-8e56b0eaa2604db6749e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13344866037368774, + "oracle_score": 0.2857772707939148, + "oracle_success": false, + "progress": 0.15232861042022705, + "restore_error": 2.3096799850463867e-07, + "score": 0.15232861042022705, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.256323903799057, + "candidate_source_group_id": "ms-1ca019318ddec8ce5e8a;ms-50e54f9608e1420ba11a;ms-d6da14bffe59c0265db7;ms-db2c4015a0690cc80d24;ms-7b90f35aa521ef45ea27;ms-cf4b63d109a88a4c42bf", + "expert_regret": 0.0, + "expert_score": 0.15946325659751892, + "expert_success": false, + "group_id": "ms-c96b415f083f60857334", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.031110167503356934, + "oracle_score": 0.26426148414611816, + "oracle_success": false, + "progress": 0.23315131664276123, + "restore_error": 2.3096799850463867e-07, + "score": 0.23315131664276123, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6952919363975525, + "candidate_source_group_id": "ms-2b7ca4255af28e33db96;ms-38f7298184a2c5005e94;ms-7df455efd413d77e6ce3;ms-397e502908d16b7804b0;ms-4f0a41c8fb3caaeb9540;ms-387e6771a55be98f1a59", + "expert_regret": 0.044721685349941254, + "expert_score": 0.11666401475667953, + "expert_success": false, + "group_id": "ms-9229ce141dd41a11fac1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.1157570332288742, + "oracle_score": 0.1876993626356125, + "oracle_success": false, + "progress": 0.07194232940673828, + "restore_error": 2.3096799850463867e-07, + "score": 0.07194232940673828, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.36335626244544983, + "candidate_source_group_id": "ms-cd16fb1ce2fc83c6eafb;ms-1772611570ffaf72c98c;ms-61bde0225d6f4175b7cb;ms-14352bb1538a8e9f86b0;ms-d0158d7b3df11d64095c;ms-68b43d83b97196e0d27f", + "expert_regret": 0.03835634887218475, + "expert_score": 0.21240054070949554, + "expert_success": false, + "group_id": "ms-c9bf7588a0bb8232c909", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.07079511880874634, + "oracle_score": 0.24483931064605713, + "oracle_success": false, + "progress": 0.1740441918373108, + "restore_error": 2.3096799850463867e-07, + "score": 0.1740441918373108, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7759523391723633, + "candidate_source_group_id": "ms-109ea940d18ab80efabc;ms-ee30ebaf98622759d888;ms-5e422b9487b4a1efd7af;ms-d92cec7cfd1915a30824;ms-6758deb06644a14aa722;ms-fd4b2d974e51fed9536e", + "expert_regret": 0.0, + "expert_score": 0.0937957763671875, + "expert_success": false, + "group_id": "ms-be219977a9db8dbb1e58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.23859378695487976, + "oracle_success": false, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.42588990926742554, + "candidate_source_group_id": "ms-50e54f9608e1420ba11a;ms-1ca019318ddec8ce5e8a;ms-cf4b63d109a88a4c42bf;ms-fc3d80c6ea6b9a4878ab;ms-db2c4015a0690cc80d24;ms-7b90f35aa521ef45ea27", + "expert_regret": 0.0, + "expert_score": 0.029628556221723557, + "expert_success": false, + "group_id": "ms-e3e9c08ff116ef32db75", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.06523827463388443, + "oracle_score": 0.17530643939971924, + "oracle_success": false, + "progress": 0.11006816476583481, + "restore_error": 2.3096799850463867e-07, + "score": 0.11006816476583481, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.1394777297973633, + "candidate_source_group_id": "ms-ac4fb33f3ab4db853995;ms-c09bd18e1017cc532aee;ms-b6b7052345036de1448d;ms-b6dae6677869af5f7f52;ms-575c7eef4563e02ec689;ms-ff129e39095c2861b522", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97832747def371d6de99", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6046186685562134, + "candidate_source_group_id": "ms-340e4b5de99447fbcd5e;ms-7eaea428dfdef7255a66;ms-02d160e1d5db6e544363;ms-554727d05aa9a2b32904;ms-070184c0f6831eb39bc1;ms-7b2cb5c6abcc36a362d1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-906dbd4dc79cb6be1e2c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0817124843597412, + "candidate_source_group_id": "ms-babaeb20129c46551281;ms-a6a6de64c39abad45f86;ms-3ed611d029d2ae0b12d8;ms-620cd9e02d46b021f112;ms-3c223e8c7f870c807541;ms-151566379dfd7af6fe63", + "expert_regret": 1.9020228758454323, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b0c64b4a1c04972e47a1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9020228758454323, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09797712415456772, + "restore_error": 2.3096799850463867e-07, + "score": 0.09797712415456772, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4247415363788605, + "candidate_source_group_id": "ms-14352bb1538a8e9f86b0;ms-f1e36651e3572ab8b97b;ms-c1620854ba52f09e24d5;ms-1772611570ffaf72c98c;ms-1cba84e4c11e030aeb3e;ms-20e1efbb745fd02abc95", + "expert_regret": 0.0, + "expert_score": 0.14843207597732544, + "expert_success": false, + "group_id": "ms-da142025733b53fcf7eb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.2643269896507263, + "oracle_success": false, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6893054246902466, + "candidate_source_group_id": "ms-b6b7052345036de1448d;ms-575c7eef4563e02ec689;ms-ac4fb33f3ab4db853995;ms-b6dae6677869af5f7f52;ms-8e12f7ad446482627dd3;ms-ac94b48febe523da15a5", + "expert_regret": 0.0, + "expert_score": 0.08186312764883041, + "expert_success": false, + "group_id": "ms-6388b5d2356c556c3e55", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.91774582862854, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08225417137145996, + "restore_error": 2.3096799850463867e-07, + "score": 0.08225417137145996, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7649450302124023, + "candidate_source_group_id": "ms-7b2cb5c6abcc36a362d1;ms-554727d05aa9a2b32904;ms-e84163d9ef2e7014daca;ms-02d160e1d5db6e544363;ms-f85a653af630821f2572;ms-340e4b5de99447fbcd5e", + "expert_regret": 0.0, + "expert_score": 0.16841016709804535, + "expert_success": false, + "group_id": "ms-26751f54c657b24b4da2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0276917964220047, + "oracle_score": 0.25515007972717285, + "oracle_success": false, + "progress": 0.22745828330516815, + "restore_error": 2.3096799850463867e-07, + "score": 0.22745828330516815, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5490906238555908, + "candidate_source_group_id": "ms-070184c0f6831eb39bc1;ms-dc26b448cce4164a23e6;ms-7eaea428dfdef7255a66;ms-340e4b5de99447fbcd5e;ms-57be9ae181c077e7821f;ms-62f8c18a15c566ec4b00", + "expert_regret": 1.936880961060524, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dce346f7f90e29664890", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.936880961060524, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06311903893947601, + "restore_error": 2.3096799850463867e-07, + "score": 0.06311903893947601, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5590795278549194, + "candidate_source_group_id": "ms-d5da60ea045af7f677a8;ms-15459afe7e32ce62fc1b;ms-e2bad6e99e8a281207cc;ms-ee4ddb148e138fce841c;ms-19cb10d10516bd0216a6;ms-4de1f6d71208bf1d182d", + "expert_regret": 0.0, + "expert_score": 0.07638250291347504, + "expert_success": false, + "group_id": "ms-0819eb89e627595e7e1b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0115337073802948, + "oracle_score": 0.14572584629058838, + "oracle_success": false, + "progress": 0.13419213891029358, + "restore_error": 2.3096799850463867e-07, + "score": 0.13419213891029358, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.5897496938705444, + "candidate_source_group_id": "ms-6661b157c41ad4d6ab85;ms-e7c50fae013f9728539a;ms-1faf779e909ec0415be0;ms-45fbd749d5ed3fe37c13;ms-397e502908d16b7804b0;ms-8b603da9f857de028798", + "expert_regret": 0.0, + "expert_score": 0.1521211564540863, + "expert_success": false, + "group_id": "ms-cc07f96f3454a4643b9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.002748727798461914, + "oracle_score": 0.191031813621521, + "oracle_success": false, + "progress": 0.18828308582305908, + "restore_error": 2.3096799850463867e-07, + "score": 0.18828308582305908, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8784918189048767, + "candidate_source_group_id": "ms-652ad552ba98d2736620;ms-6d5f6a187b61ea26c2e2;ms-07215d42deb9f67c65fd;ms-a9747843e0fddd993263;ms-7e295b5859c07c90487f;ms-f7f4e41613e39d53b7c1", + "expert_regret": 0.13251960277557373, + "expert_score": 0.18896210193634033, + "expert_success": false, + "group_id": "ms-aa45731e1b9734a493fd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13251960277557373, + "oracle_score": 0.18896210193634033, + "oracle_success": false, + "progress": 0.0564424991607666, + "restore_error": 2.3096799850463867e-07, + "score": 0.0564424991607666, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.33170655369758606, + "candidate_source_group_id": "ms-b92ca6f216624d6305c2;ms-7dedf60ad41ea2d92ee5;ms-d73fd5fce55fb58ef8e9;ms-29ae8ff2b706fed904df;ms-36ce7b44f44c615347ab;ms-d024c00b780e0df06b55", + "expert_regret": 0.0, + "expert_score": 0.18145142495632172, + "expert_success": false, + "group_id": "ms-003a2225c0892dcda683", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8109539151191711, + "candidate_source_group_id": "ms-dc5563c9b0dcd84e393b;ms-a96bca1ef0b74f686018;ms-c8fa3c12dd48ffd82fcf;ms-9fd23a06ae1659cef27b;ms-e6b654653119682cf01e;ms-9919d2d2a89c5d491093", + "expert_regret": 0.06176315248012543, + "expert_score": 0.13852080702781677, + "expert_success": false, + "group_id": "ms-25aa923fccf402a7639c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.9232423454523087, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07675765454769135, + "restore_error": 1.1920928955078125e-07, + "score": 0.07675765454769135, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2624800503253937, + "candidate_source_group_id": "ms-883bd3738bfe11cfc192;ms-1577a0922a9e53528571;ms-714913716f5f0a287401;ms-070184c0f6831eb39bc1;ms-52f9c8427a88de8dfa6b;ms-615d4a98352149e15ff1", + "expert_regret": 0.0, + "expert_score": 0.12250044196844101, + "expert_success": false, + "group_id": "ms-deaf653f7a97ed4a22b7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.23258867859840393, + "oracle_success": false, + "progress": 0.25439324975013733, + "restore_error": 1.1920928955078125e-07, + "score": 0.25439324975013733, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.45075565576553345, + "candidate_source_group_id": "ms-2eabcf580547d2c133ce;ms-f4f9dd2ff38f992d4fb9;ms-cad33aa1136af34af6ec;ms-4dc6f09c1beeb5314d11;ms-e30fd80adc089e9f697a;ms-0093b06390890d181104", + "expert_regret": 0.0, + "expert_score": 0.1136304959654808, + "expert_success": false, + "group_id": "ms-6f26118aa94bacd82250", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.046074360609054565, + "oracle_score": 0.19666370749473572, + "oracle_success": false, + "progress": 0.15058934688568115, + "restore_error": 1.1920928955078125e-07, + "score": 0.15058934688568115, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.5567893981933594, + "candidate_source_group_id": "ms-0345d8ac530f88cefd61;ms-d45766ebe3a1d7f8876c;ms-a96bca1ef0b74f686018;ms-7df455efd413d77e6ce3;ms-0228f3312b428eaf7e9d;ms-1577a0922a9e53528571", + "expert_regret": 1.9144477248191833, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fce6752dcf61a2b52d15", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9144477248191833, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08555227518081665, + "restore_error": 1.1920928955078125e-07, + "score": 0.08555227518081665, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5963354110717773, + "candidate_source_group_id": "ms-9915a1632fdf65172a02;ms-3d208c1e04bb84341859;ms-88de0a1035cb8f8ef16a;ms-db2cfd3c0ce8ece8a112;ms-d593c823d7fa1cd02635;ms-33e036c8224f052e6279", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a39c5eb6453fab13bb3f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7814355492591858, + "candidate_source_group_id": "ms-7dd90f1575d9612c456c;ms-5884cb0ce8ef0e034fec;ms-70e24231e9bb560abb3e;ms-2a4611f1099507f9babf;ms-fbfbee34b928dbb775da;ms-c109289291b46fd832b3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fa637544793129258022", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4902976155281067, + "candidate_source_group_id": "ms-0b13513f98f2d3def73a;ms-bfe867e8d518b9f8333a;ms-33e036c8224f052e6279;ms-cece69f5a160c40d613a;ms-f2f594b2492898e947f0;ms-d130baa9773a108ae1b1", + "expert_regret": 1.914405643939972, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2a7f05987ae1fd0fa33d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.914405643939972, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08559435606002808, + "restore_error": 1.1920928955078125e-07, + "score": 0.08559435606002808, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5839609503746033, + "candidate_source_group_id": "ms-c16b5cbd61b51f0b66e7;ms-22f6ac0312682d5358b5;ms-22f153f0d4fa656018e6;ms-4c74a17f4d3e6237c0e5;ms-9345a7952bca93b2be95;ms-dc6ca032f5df915c7945", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-40c0e775426e28c3afd9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.48538920283317566, + "candidate_source_group_id": "ms-64f98d163b6bff29332b;ms-1fe4b5c84ee5c0e6fcdb;ms-8d4ee30bf4815d04c391;ms-551020d425c370126f59;ms-8278abbc47a6efcb5b68;ms-c1f8e861c7c4485c361a", + "expert_regret": 1.9343324452638626, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-027592312fc833e8768d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9343324452638626, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06566755473613739, + "restore_error": 1.1920928955078125e-07, + "score": 0.06566755473613739, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5496498942375183, + "candidate_source_group_id": "ms-2413d1155c87f0442485;ms-876805da5863dc637246;ms-575e151c0d1622c7ccd1;ms-d5f6186b51268063515e;ms-1405ab4a382fd1a07e63;ms-4aa2c82355bdbbb93f9d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4866796139a8dac6d73b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5399356484413147, + "candidate_source_group_id": "ms-cffdaeae3b980aaeb8f7;ms-e95a64701812302bd039;ms-adf081811af7bca643a1;ms-c4a78f303c7f2b1a437b;ms-b2c71dc14945b7bd8a60;ms-74f12c8d99a319a9d020", + "expert_regret": 1.974699079990387, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-16619fc9e4f3627b8dd1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.974699079990387, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.025300920009613037, + "restore_error": 1.1920928955078125e-07, + "score": 0.025300920009613037, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5623153448104858, + "candidate_source_group_id": "ms-dae29d741eb65a2fc4b3;ms-5dab866561f657e9aa8d;ms-9b50c72d20e7510258b8;ms-f492405ef825467ddcba;ms-c3191d9c08e5756e90e7;ms-f52fe666ef7c9b997778", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10a1077a32c1abd486f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.385033518075943, + "candidate_source_group_id": "ms-4e67cfd30a257b4bad0c;ms-f848ee8748cea24fc8a0;ms-1e3b1d1f26baebcdb86a;ms-cf1db8d3ccb39453a3fd;ms-3c326d05fec66e1d6bea;ms-8a8484751c0ce80cd2f6", + "expert_regret": 0.10885299742221832, + "expert_score": 0.1630544364452362, + "expert_success": false, + "group_id": "ms-fe38b164397dd669f391", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9457985609769821, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05420143902301788, + "restore_error": 1.1920928955078125e-07, + "score": 0.05420143902301788, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.32057419419288635, + "candidate_source_group_id": "ms-6d48ff55845b6759a8c4;ms-66d3cc0e17bcbfb5f36e;ms-351f07141fc0a8885759;ms-60a0de44d30044ef60ff;ms-bb9f2f5b67bbb7e0f516;ms-1f195ac1f3ae4b397c71", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-234ce02cf98f85bda72c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.41639137268066406, + "candidate_source_group_id": "ms-84404222b954c48c48d8;ms-f97fbc8f36f0af9ce18c;ms-8d23082fdeffba7cba51;ms-e9bb31726937713db23a;ms-c8902580575f6effb241;ms-8efd9238ae8d6ca1cd1a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d0005f84908a87243dd6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.36595553159713745, + "candidate_source_group_id": "ms-ff08c0b84d984d3d8620;ms-b5f45644a5e3ed45c86d;ms-ec5ac79449116b0a30c1;ms-85a4fc6e131dacc9d839;ms-aca9b69b504ede73bcac;ms-365d8c6de6de16f66744", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cbdc087c47e35d3d93d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6736586689949036, + "candidate_source_group_id": "ms-4d96769e78d7391e43f7;ms-048c14d42c3f3b352f53;ms-8293ae7689b30820278f;ms-f7db0d0ad0967af1d0c5;ms-3b99101d58e538cfbd6d;ms-653181f057aeaeeadfe2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a0863466a999b4680737", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.46888217329978943, + "candidate_source_group_id": "ms-8d4ee30bf4815d04c391;ms-c1f8e861c7c4485c361a;ms-64f98d163b6bff29332b;ms-72da580865509f75d6eb;ms-1fe4b5c84ee5c0e6fcdb;ms-551020d425c370126f59", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0942bb0cc1143a2058f9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5339882969856262, + "candidate_source_group_id": "ms-22f153f0d4fa656018e6;ms-ae5eaf676ba740f3dc07;ms-2baa5b5b99121cff72c2;ms-ba0ee0c9c181cdc7de9d;ms-c16b5cbd61b51f0b66e7;ms-ec5819de002710aa5d97", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b0d0004818ae853d5bc5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1527465134859085, + "candidate_source_group_id": "ms-e411015630dcff33d0f7;ms-608a539637578968beb3;ms-183174ef761d19fb85d9;ms-949bca60825f84d7b5b9;ms-7f5fe657331466b2e262;ms-383c0d1f90c5a0b55e07", + "expert_regret": 0.0, + "expert_score": 0.1350320279598236, + "expert_success": false, + "group_id": "ms-1979b899f11945b46b51", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.394660085439682, + "candidate_source_group_id": "ms-674d9e270ff9ba879886;ms-c4a78f303c7f2b1a437b;ms-adf081811af7bca643a1;ms-e95a64701812302bd039;ms-9d943a2732771576e41d;ms-cffdaeae3b980aaeb8f7", + "expert_regret": 1.9827189445495605, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb7c4ead34050a60dbdd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9827189445495605, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.017281055450439453, + "restore_error": 2.384185791015625e-07, + "score": 0.017281055450439453, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5634130239486694, + "candidate_source_group_id": "ms-f2f594b2492898e947f0;ms-e31553038464afab4ec1;ms-cece69f5a160c40d613a;ms-29788f80c9da2d2d8b4e;ms-33e036c8224f052e6279;ms-9915a1632fdf65172a02", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a83154b77975bca93e5e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.47030800580978394, + "candidate_source_group_id": "ms-06c528eb38baee4e31b8;ms-5816c255ea56bc8a63c3;ms-80269804728c7aaaf9a7;ms-d5d38df1f2dbae367af0;ms-fd66d311a01f9c4fc825;ms-c8ffa7d45ed61e2b94d6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cefef59d2909a69dd709", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5469375252723694, + "candidate_source_group_id": "ms-c3191d9c08e5756e90e7;ms-4711dffcd73048a3656c;ms-9b50c72d20e7510258b8;ms-5dab866561f657e9aa8d;ms-f52fe666ef7c9b997778;ms-7530a944fb0979ba91e3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5ae7b4d324285dfe6e80", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.42871004343032837, + "candidate_source_group_id": "ms-383c0d1f90c5a0b55e07;ms-7f5fe657331466b2e262;ms-e411015630dcff33d0f7;ms-183174ef761d19fb85d9;ms-4015b8ac7c0a1397c076;ms-608a539637578968beb3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c10cf873dd3f68d97755", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5798802971839905, + "candidate_source_group_id": "ms-9df99aca252d63f555b2;ms-d2aed645029072f5c82f;ms-64142b18744de985eb63;ms-9448b2a52a4a475af1f9;ms-8a2ada13f7fd1a5aeb2f;ms-81eff749adbf328a93e1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8dd1387678e0e62a1298", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.18416118621826172, + "candidate_source_group_id": "ms-ae5eaf676ba740f3dc07;ms-22f153f0d4fa656018e6;ms-ba0ee0c9c181cdc7de9d;ms-2baa5b5b99121cff72c2;ms-c16b5cbd61b51f0b66e7;ms-ec5819de002710aa5d97", + "expert_regret": 0.0, + "expert_score": 3.814697265625e-06, + "expert_success": false, + "group_id": "ms-6825a9112cb71ea137c9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4678089916706085, + "candidate_source_group_id": "ms-c1513a6417b0ba250dee;ms-6ed65c65b566e21474a8;ms-d7cbc8db5f1b69fcd9f9;ms-97ccdc4668a995776663;ms-2b27b1ecc0284ec3a993;ms-edeb8cb36d3d06244421", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e2a1bc3e5cd509eb08c2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6102389693260193, + "candidate_source_group_id": "ms-9d82d1927529dc675bc5;ms-fae97eb60014b2866413;ms-4dbdc6ed61dccebbfe92;ms-9d1d3a7b2dcafeda3bf3;ms-f261341a4a394ae06c69;ms-aec40fad850827331244", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3a5eaa0095953c9d6241", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.9573173522949219, + "candidate_source_group_id": "ms-4e67cfd30a257b4bad0c;ms-cf1db8d3ccb39453a3fd;ms-8a8484751c0ce80cd2f6;ms-1e3b1d1f26baebcdb86a;ms-51fc0cc7406cb59b5c24;ms-f848ee8748cea24fc8a0", + "expert_regret": 1.9459884315729141, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5f750a2e67b4e9597b2c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9459884315729141, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.054011568427085876, + "restore_error": 1.1920928955078125e-07, + "score": 0.054011568427085876, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2666466236114502, + "candidate_source_group_id": "ms-8efd9238ae8d6ca1cd1a;ms-f97fbc8f36f0af9ce18c;ms-8d23082fdeffba7cba51;ms-e9bb31726937713db23a;ms-c8902580575f6effb241;ms-84404222b954c48c48d8", + "expert_regret": 1.9274527430534363, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a18cc16207970cd8f84d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9274527430534363, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07254725694656372, + "restore_error": 1.1920928955078125e-07, + "score": 0.07254725694656372, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4473486542701721, + "candidate_source_group_id": "ms-ae5eaf676ba740f3dc07;ms-05f34a90fa7355262b8e;ms-ec5819de002710aa5d97;ms-7f22550a9f6707a45cd4;ms-7f0fb9edfc18e6b83b41;ms-338d0d83a8a30b40ee75", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-864a932d1281c7e316af", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5205754041671753, + "candidate_source_group_id": "ms-316e11b816e8a3495dd9;ms-90a840c7cbbfe35e8a67;ms-33e036c8224f052e6279;ms-44e2ba085128234ef9eb;ms-db2cfd3c0ce8ece8a112;ms-783ceec205863d92ef8a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e333fb7b8697ebeb474e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6798768043518066, + "candidate_source_group_id": "ms-7c72cdc319220ea76854;ms-c109289291b46fd832b3;ms-49731d5e69272f3bd959;ms-7dd90f1575d9612c456c;ms-ca9a06f00b861bf34c4d;ms-5884cb0ce8ef0e034fec", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68682a8a5d31b10fcadb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.48735374212265015, + "candidate_source_group_id": "ms-316e11b816e8a3495dd9;ms-27eb5fd79735a667570a;ms-783ceec205863d92ef8a;ms-e7fcbe2b61632a79fe6a;ms-90a840c7cbbfe35e8a67;ms-88de0a1035cb8f8ef16a", + "expert_regret": 1.9688911885023117, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-82d6fc374e1f1808654b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9688911885023117, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.031108811497688293, + "restore_error": 1.1920928955078125e-07, + "score": 0.031108811497688293, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6351538300514221, + "candidate_source_group_id": "ms-01fe80a36517a246929d;ms-60c02d02de5f1e91124f;ms-87f2f63d694d8ccca7f8;ms-b187043687d88d509fc7;ms-81eff749adbf328a93e1;ms-d2aed645029072f5c82f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cbdf12e174c323015f38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5393973588943481, + "candidate_source_group_id": "ms-f2f594b2492898e947f0;ms-29788f80c9da2d2d8b4e;ms-b559638a0a726e441847;ms-cece69f5a160c40d613a;ms-34ea26afcb2c6fe1a1fe;ms-33e036c8224f052e6279", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1188a1b8e0ac31187b3b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5613733530044556, + "candidate_source_group_id": "ms-25119a8a2d03c8e71300;ms-eccd5c34e1762a33f643;ms-2ba02dcefa15a9371706;ms-05f34a90fa7355262b8e;ms-8a38529670b19d605663;ms-fa27eb61283e52488bdb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a012d1677923703d5a0c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4348800480365753, + "candidate_source_group_id": "ms-c4a78f303c7f2b1a437b;ms-adf081811af7bca643a1;ms-674d9e270ff9ba879886;ms-e95a64701812302bd039;ms-74f12c8d99a319a9d020;ms-cffdaeae3b980aaeb8f7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5d39d1a6fdb17aeb8116", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4074484407901764, + "candidate_source_group_id": "ms-75dce23f7afca1f3e5b5;ms-f6755a487459505d598f;ms-2baa5b5b99121cff72c2;ms-f261341a4a394ae06c69;ms-eea4df1b36e8a31b40a3;ms-fae97eb60014b2866413", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-05139cc8ec8867b8ea3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5028883218765259, + "candidate_source_group_id": "ms-ba0d059f1c55c5737e17;ms-9d190663aa55bb434720;ms-70dd7025d2b038824c72;ms-4c8a03e5d6e3b7a13c29;ms-f39cb13a5942ca3317d0;ms-ce6cbc6d7664766f1285", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-238b0d92a2c0a61289b7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.43953412771224976, + "candidate_source_group_id": "ms-2e237a4b84b582828c37;ms-e4656ad3c67bd430c1a6;ms-8b813b6035f0425892bd;ms-b25b49e16e98af4a554c;ms-65d0541a2ba23a8478fa;ms-6ffe441e29681c8f116e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-130f96b49e1bdb7c0e7c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5183249711990356, + "candidate_source_group_id": "ms-7f5fe657331466b2e262;ms-383c0d1f90c5a0b55e07;ms-e411015630dcff33d0f7;ms-183174ef761d19fb85d9;ms-608a539637578968beb3;ms-0952da757675889102ec", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9f33c55b8e06fcb5e21e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.727508544921875, + "candidate_source_group_id": "ms-23a02f5f0c3f979684ff;ms-51fc0cc7406cb59b5c24;ms-8a8484751c0ce80cd2f6;ms-cf1db8d3ccb39453a3fd;ms-2d9efcce135f0c9d2203;ms-2423891634e7b469eed8", + "expert_regret": 1.9538522511720657, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f40f6fe1910a94971980", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9538522511720657, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.046147748827934265, + "restore_error": 1.1920928955078125e-07, + "score": 0.046147748827934265, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.07072790712118149, + "candidate_source_group_id": "ms-ea67d3a4697351095f09;ms-6ed65c65b566e21474a8;ms-1405ab4a382fd1a07e63;ms-d7cbc8db5f1b69fcd9f9;ms-627eaad017d31a933984;ms-c1513a6417b0ba250dee", + "expert_regret": 0.0, + "expert_score": 9.402632713317871e-06, + "expert_success": false, + "group_id": "ms-c2ae2b78ab7891e74c80", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.8207356333732605e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5491761565208435, + "candidate_source_group_id": "ms-2867deaca7e98582620b;ms-ff08c0b84d984d3d8620;ms-ec5ac79449116b0a30c1;ms-771e632c1b0f3181ff36;ms-f492405ef825467ddcba;ms-aca9b69b504ede73bcac", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9fd5ccb16c4e5d0c4579", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.8207356333732605e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6599943041801453, + "candidate_source_group_id": "ms-87f2f63d694d8ccca7f8;ms-c9a00cd02aa3ea31af1c;ms-c257731ddcf5cf149393;ms-b4293fc495a608f8063c;ms-ca9a06f00b861bf34c4d;ms-c109289291b46fd832b3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f14cda80db7270dd0f86", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.8207356333732605e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.40126726031303406, + "candidate_source_group_id": "ms-4a4de470c6c7cb5a3c34;ms-68054c6c805197b033a7;ms-876805da5863dc637246;ms-9d1d3a7b2dcafeda3bf3;ms-98d8d5d728ee4cff6776;ms-4aa2c82355bdbbb93f9d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2a4f1cbd3f416f9084dc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.8207356333732605e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5745968222618103, + "candidate_source_group_id": "ms-9df99aca252d63f555b2;ms-d2aed645029072f5c82f;ms-81eff749adbf328a93e1;ms-9448b2a52a4a475af1f9;ms-60c02d02de5f1e91124f;ms-f6635cbacd4195f7f4ab", + "expert_regret": 1.909422591328621, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1be8db140ae74d18596f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.909422591328621, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09057740867137909, + "restore_error": 1.8207356333732605e-07, + "score": 0.09057740867137909, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7180745005607605, + "candidate_source_group_id": "ms-80269804728c7aaaf9a7;ms-06c528eb38baee4e31b8;ms-d5d38df1f2dbae367af0;ms-c8ffa7d45ed61e2b94d6;ms-e6b0ee06238145e2a517;ms-5816c255ea56bc8a63c3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-63b9ac9cfd0a96150eb1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.8207356333732605e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.38426199555397034, + "candidate_source_group_id": "ms-e7fcbe2b61632a79fe6a;ms-44e2ba085128234ef9eb;ms-316e11b816e8a3495dd9;ms-f848ee8748cea24fc8a0;ms-27eb5fd79735a667570a;ms-783ceec205863d92ef8a", + "expert_regret": 0.10104028880596161, + "expert_score": 0.1547313630580902, + "expert_success": false, + "group_id": "ms-3f6cd47af5e9e6781b73", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9463089257478714, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0536910742521286, + "restore_error": 1.8207356333732605e-07, + "score": 0.0536910742521286, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.623443067073822, + "candidate_source_group_id": "ms-f6755a487459505d598f;ms-75dce23f7afca1f3e5b5;ms-5383e9b606cc63b724ab;ms-f261341a4a394ae06c69;ms-3cb727b6501f5c1a5a16;ms-2baa5b5b99121cff72c2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5df972e5e36afb67a009", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.8207356333732605e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.338472843170166, + "candidate_source_group_id": "ms-f492405ef825467ddcba;ms-dae29d741eb65a2fc4b3;ms-2867deaca7e98582620b;ms-aca9b69b504ede73bcac;ms-ff08c0b84d984d3d8620;ms-365d8c6de6de16f66744", + "expert_regret": 0.0, + "expert_score": 0.15766333043575287, + "expert_success": false, + "group_id": "ms-28a10bea0cf3f917e067", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5828019380569458, + "candidate_source_group_id": "ms-7c72cdc319220ea76854;ms-ca9a06f00b861bf34c4d;ms-c257731ddcf5cf149393;ms-c9a00cd02aa3ea31af1c;ms-49731d5e69272f3bd959;ms-c109289291b46fd832b3", + "expert_regret": 1.9999813586473465, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-45b8b3cec97878df0d19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9999813586473465, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.8641352653503418e-05, + "restore_error": 1.1920928955078125e-07, + "score": 1.8641352653503418e-05, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3583429753780365, + "candidate_source_group_id": "ms-ec5ac79449116b0a30c1;ms-ff08c0b84d984d3d8620;ms-a649d9cf4fba45822ad9;ms-64f98d163b6bff29332b;ms-72da580865509f75d6eb;ms-771e632c1b0f3181ff36", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-31880fb2dfed92c021ef", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8795352578163147, + "candidate_source_group_id": "ms-4e67cfd30a257b4bad0c;ms-cf1db8d3ccb39453a3fd;ms-8a8484751c0ce80cd2f6;ms-e7fcbe2b61632a79fe6a;ms-3c326d05fec66e1d6bea;ms-f848ee8748cea24fc8a0", + "expert_regret": 1.9551713317632675, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b265e13a79d2147718c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9551713317632675, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04482866823673248, + "restore_error": 1.1920928955078125e-07, + "score": 0.04482866823673248, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.47165992856025696, + "candidate_source_group_id": "ms-98d738638749a1c0999d;ms-b559638a0a726e441847;ms-33e036c8224f052e6279;ms-0b13513f98f2d3def73a;ms-90a840c7cbbfe35e8a67;ms-d593c823d7fa1cd02635", + "expert_regret": 1.9373318254947662, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e4a99e5ef340bcc181c9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9373318254947662, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06266817450523376, + "restore_error": 1.1920928955078125e-07, + "score": 0.06266817450523376, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 1.0101100206375122, + "candidate_source_group_id": "ms-be8665e211c9b1cc13b4;ms-3b99101d58e538cfbd6d;ms-a5f722aaecb894444ac4;ms-1003d1fe41aba4c8af84;ms-918efaf9527826841090;ms-eb0a75800f4ab451b92e", + "expert_regret": 1.9317032992839813, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f3b9739bcb72c30a5535", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9317032992839813, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06829670071601868, + "restore_error": 1.1920928955078125e-07, + "score": 0.06829670071601868, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3302142322063446, + "candidate_source_group_id": "ms-51fc0cc7406cb59b5c24;ms-23a02f5f0c3f979684ff;ms-8a8484751c0ce80cd2f6;ms-cf1db8d3ccb39453a3fd;ms-4e67cfd30a257b4bad0c;ms-1f6006a647438280a273", + "expert_regret": 0.122815802693367, + "expert_score": 0.18460628390312195, + "expert_success": false, + "group_id": "ms-543339410c02ce2269d1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.938209518790245, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.061790481209754944, + "restore_error": 1.1920928955078125e-07, + "score": 0.061790481209754944, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1648108959197998, + "candidate_source_group_id": "ms-3e17d03f9d640185853b;ms-7a102c1d0334bab9656e;ms-20bc116cad15b072a2ea;ms-2b309050ebafdd5a3482;ms-579eb7a700037d011e3f;ms-0818eb8cc217c9b3040a", + "expert_regret": 0.0, + "expert_score": 0.14907020330429077, + "expert_success": false, + "group_id": "ms-ccccd221a821803e36c5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3202340602874756, + "candidate_source_group_id": "ms-3589c30bbad90d19f2c4;ms-0350672b45f92c437c22;ms-edeb8cb36d3d06244421;ms-5c7ab237037e9344a2ed;ms-167bd325bc0845dcaba3;ms-d7cbc8db5f1b69fcd9f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-da66340af8ac9f3852c4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5052973031997681, + "candidate_source_group_id": "ms-109d9131cce2e94f40c1;ms-147e4106b5d337cefcb2;ms-670a696bd472769ac513;ms-b5ca4a8c438aadab9ec5;ms-998ac1af1755510c9229;ms-4c9ed894520169849bc6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7fac99962876b33e8d0b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6378278732299805, + "candidate_source_group_id": "ms-733b04f5bd4720d79e99;ms-c333dcd8ec59f2ae8a3d;ms-3333e935277a2e1f4e05;ms-64b6e9f72ae5e2999f56;ms-1e15448c374f47bee884;ms-3ee8f778784665ea6ee0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-33dcfa4725ad078cc898", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4705886244773865, + "candidate_source_group_id": "ms-82a203dfa8631639ba7e;ms-cf8cc7e3c4481783d5f5;ms-5d4b83a1d21ee90ef69f;ms-1044e227d00afb01a5dd;ms-c8593eabfdb5a6bca7bb;ms-5a0da896925f50a1d2ee", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f813ff3f9ae188b0259c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3622974455356598, + "candidate_source_group_id": "ms-64142b18744de985eb63;ms-9df99aca252d63f555b2;ms-f6635cbacd4195f7f4ab;ms-9448b2a52a4a475af1f9;ms-0952da757675889102ec;ms-4015b8ac7c0a1397c076", + "expert_regret": 0.0, + "expert_score": 0.17416667938232422, + "expert_success": false, + "group_id": "ms-1c4df81cce643ca4fb3e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1929382085800171, + "candidate_source_group_id": "ms-f83aacaa71f0151421c7;ms-338d0d83a8a30b40ee75;ms-be7166dbee42ee877e29;ms-eb0a75800f4ab451b92e;ms-316e11b816e8a3495dd9;ms-0b13513f98f2d3def73a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fa20766f8a3e706a8ea1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.16500650346279144, + "candidate_source_group_id": "ms-f1b05f75f6ad032a0cd1;ms-3579b51b91daa627d195;ms-d65e80424e917743d9a4;ms-933425ede670e8efc04e;ms-74704688fb63757619e1;ms-4401ec9ab8c89fb39f58", + "expert_regret": 0.0, + "expert_score": 0.20227843523025513, + "expert_success": false, + "group_id": "ms-54346a8f79bd9dca1dfe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4854171574115753, + "candidate_source_group_id": "ms-ea67d3a4697351095f09;ms-d7cbc8db5f1b69fcd9f9;ms-edeb8cb36d3d06244421;ms-627eaad017d31a933984;ms-0350672b45f92c437c22;ms-5c7ab237037e9344a2ed", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bb6a2f2ae3014b135b40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5536621809005737, + "candidate_source_group_id": "ms-f39cb13a5942ca3317d0;ms-9d190663aa55bb434720;ms-70dd7025d2b038824c72;ms-fbfbee34b928dbb775da;ms-ba0d059f1c55c5737e17;ms-4c8a03e5d6e3b7a13c29", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f9a8bf8a8c0882b4039", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.38990408182144165, + "candidate_source_group_id": "ms-630c7d4c0ef39da64304;ms-4096e2d9cf2e9d4943c7;ms-a5885ec43a0aa166a0e7;ms-8b813b6035f0425892bd;ms-9feb7d8fdc15e384b8b7;ms-2e237a4b84b582828c37", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2a738f03ee216527dfa6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.348292738199234, + "candidate_source_group_id": "ms-0350672b45f92c437c22;ms-3589c30bbad90d19f2c4;ms-167bd325bc0845dcaba3;ms-edeb8cb36d3d06244421;ms-5c7ab237037e9344a2ed;ms-d7cbc8db5f1b69fcd9f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2b4b951e47485c8be41", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4914661943912506, + "candidate_source_group_id": "ms-1f6006a647438280a273;ms-d130baa9773a108ae1b1;ms-a5f722aaecb894444ac4;ms-98d738638749a1c0999d;ms-e7fcbe2b61632a79fe6a;ms-0b13513f98f2d3def73a", + "expert_regret": 1.9663528800010681, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-25942684dfc6d81c449a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9663528800010681, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.033647119998931885, + "restore_error": 1.1920928955078125e-07, + "score": 0.033647119998931885, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 1.0517890453338623, + "candidate_source_group_id": "ms-783ceec205863d92ef8a;ms-e7fcbe2b61632a79fe6a;ms-c57abcef044f324c2f1d;ms-44e2ba085128234ef9eb;ms-90a840c7cbbfe35e8a67;ms-4e67cfd30a257b4bad0c", + "expert_regret": 1.9417406916618347, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-269731d0630cffc1a216", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9417406916618347, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05825930833816528, + "restore_error": 1.1920928955078125e-07, + "score": 0.05825930833816528, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2635951638221741, + "candidate_source_group_id": "ms-a5f722aaecb894444ac4;ms-be8665e211c9b1cc13b4;ms-1f6006a647438280a273;ms-98d738638749a1c0999d;ms-130188b25b236b6c13fc;ms-1003d1fe41aba4c8af84", + "expert_regret": 0.07071307301521301, + "expert_score": 0.1476379632949829, + "expert_success": false, + "group_id": "ms-5d646fb3dbdcd5443729", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.07807961106300354, + "oracle_score": 0.15500450134277344, + "oracle_success": false, + "progress": 0.0769248902797699, + "restore_error": 1.1920928955078125e-07, + "score": 0.0769248902797699, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8876304626464844, + "candidate_source_group_id": "ms-8a8484751c0ce80cd2f6;ms-a5f722aaecb894444ac4;ms-1f6006a647438280a273;ms-4e67cfd30a257b4bad0c;ms-eb0a75800f4ab451b92e;ms-98d738638749a1c0999d", + "expert_regret": 1.939664676785469, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-47d33f56890889e86355", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.939664676785469, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.060335323214530945, + "restore_error": 1.1920928955078125e-07, + "score": 0.060335323214530945, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7958014607429504, + "candidate_source_group_id": "ms-dab80e1bb7987577e33d;ms-b559638a0a726e441847;ms-e31553038464afab4ec1;ms-9915a1632fdf65172a02;ms-cece69f5a160c40d613a;ms-f2f594b2492898e947f0", + "expert_regret": 1.8580889999866486, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-db41eac14b49855e7e58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8580889999866486, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.14191100001335144, + "restore_error": 1.1920928955078125e-07, + "score": 0.14191100001335144, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5320432782173157, + "candidate_source_group_id": "ms-2baa5b5b99121cff72c2;ms-22f153f0d4fa656018e6;ms-ba0ee0c9c181cdc7de9d;ms-eea4df1b36e8a31b40a3;ms-ae5eaf676ba740f3dc07;ms-fae97eb60014b2866413", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ecf6837325ac3bc3b66d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.36580660939216614, + "candidate_source_group_id": "ms-74f12c8d99a319a9d020;ms-cffdaeae3b980aaeb8f7;ms-adf081811af7bca643a1;ms-c4a78f303c7f2b1a437b;ms-e95a64701812302bd039;ms-674d9e270ff9ba879886", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9ac0a7f45996f7326682", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6167503595352173, + "candidate_source_group_id": "ms-20bc116cad15b072a2ea;ms-998ac1af1755510c9229;ms-109d9131cce2e94f40c1;ms-147e4106b5d337cefcb2;ms-670a696bd472769ac513;ms-2b309050ebafdd5a3482", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-93cbf45c02a304a2f6dc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7965822219848633, + "candidate_source_group_id": "ms-29788f80c9da2d2d8b4e;ms-f2f594b2492898e947f0;ms-beb40d1c9533f7508aa5;ms-34ea26afcb2c6fe1a1fe;ms-b559638a0a726e441847;ms-e31553038464afab4ec1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1371e0e5fe7f126bbea2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3647167980670929, + "candidate_source_group_id": "ms-80269804728c7aaaf9a7;ms-06c528eb38baee4e31b8;ms-c8ffa7d45ed61e2b94d6;ms-5816c255ea56bc8a63c3;ms-d5d38df1f2dbae367af0;ms-fd66d311a01f9c4fc825", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2962fafa0fcd14e516bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5947961807250977, + "candidate_source_group_id": "ms-3ee8f778784665ea6ee0;ms-733b04f5bd4720d79e99;ms-7c72cdc319220ea76854;ms-49731d5e69272f3bd959;ms-933425ede670e8efc04e;ms-7dd90f1575d9612c456c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cfed5c82c6f4d1c1c3f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.15988729894161224, + "candidate_source_group_id": "ms-b6ed7cdf9226aa0b0d1e;ms-121bc2e6676c1ac10911;ms-14c6516a0f22d20ef6b0;ms-9c49860c264bb0bec403;ms-2c4224657fa8115b2b8b;ms-68054c6c805197b033a7", + "expert_regret": 0.0, + "expert_score": 0.1821424663066864, + "expert_success": false, + "group_id": "ms-398ddbf730ed8830b08b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.35524556040763855, + "candidate_source_group_id": "ms-e9bb31726937713db23a;ms-8d23082fdeffba7cba51;ms-84404222b954c48c48d8;ms-f97fbc8f36f0af9ce18c;ms-8efd9238ae8d6ca1cd1a;ms-c8902580575f6effb241", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-698e09998c5dbfa6b7e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.158731147646904, + "candidate_source_group_id": "ms-966895e247be1f41daee;ms-c1f8e861c7c4485c361a;ms-72da580865509f75d6eb;ms-64f98d163b6bff29332b;ms-8d4ee30bf4815d04c391;ms-c9568dec28405d273943", + "expert_regret": 0.0, + "expert_score": 0.19493231177330017, + "expert_success": false, + "group_id": "ms-9fad82fd288e4296e354", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5500129461288452, + "candidate_source_group_id": "ms-0818eb8cc217c9b3040a;ms-3e17d03f9d640185853b;ms-7a102c1d0334bab9656e;ms-579eb7a700037d011e3f;ms-5383e9b606cc63b724ab;ms-7a699e157f311f764b46", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-847200a83b8ce5835fd9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5552700757980347, + "candidate_source_group_id": "ms-cdca8a6fff0640ab7f16;ms-fe5a68745bbc6b4256cf;ms-111355c28fcb5ef51167;ms-b5dee7bdaf34270e6515;ms-f49fbce5bf7a0a169f1e;ms-d99360c1e4bb4bed6d50", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4f291cdf6a62b9af9e5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6071560978889465, + "candidate_source_group_id": "ms-d2aed645029072f5c82f;ms-9df99aca252d63f555b2;ms-60c02d02de5f1e91124f;ms-81eff749adbf328a93e1;ms-64142b18744de985eb63;ms-9448b2a52a4a475af1f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c2312d2a272dbcbae71", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7752695083618164, + "candidate_source_group_id": "ms-c9a00cd02aa3ea31af1c;ms-31372cdadd8d9da23b8d;ms-c257731ddcf5cf149393;ms-87f2f63d694d8ccca7f8;ms-ca9a06f00b861bf34c4d;ms-01fe80a36517a246929d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-44a69da62321224c1df9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.9309391975402832, + "candidate_source_group_id": "ms-a5f722aaecb894444ac4;ms-1f6006a647438280a273;ms-98d738638749a1c0999d;ms-be8665e211c9b1cc13b4;ms-8a8484751c0ce80cd2f6;ms-edb1d483ba0ada6fa703", + "expert_regret": 1.9328189343214035, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e132f1526b2090e440e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9328189343214035, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0671810656785965, + "restore_error": 1.1920928955078125e-07, + "score": 0.0671810656785965, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5580233931541443, + "candidate_source_group_id": "ms-9d1d3a7b2dcafeda3bf3;ms-9d82d1927529dc675bc5;ms-f261341a4a394ae06c69;ms-4dbdc6ed61dccebbfe92;ms-3cb727b6501f5c1a5a16;ms-fae97eb60014b2866413", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69b8e0564f16c652d900", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6183470487594604, + "candidate_source_group_id": "ms-9915a1632fdf65172a02;ms-db2cfd3c0ce8ece8a112;ms-88de0a1035cb8f8ef16a;ms-0b13513f98f2d3def73a;ms-bfe867e8d518b9f8333a;ms-d593c823d7fa1cd02635", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e2058192b3065ce7dc60", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5026769638061523, + "candidate_source_group_id": "ms-de96f1dcca4527c03814;ms-170a9228df2273649f1c;ms-82a5b63ed41420747fb9;ms-0a001f1bda12891b219f;ms-b8f5ebd4732c0274945b;ms-88c39906a4e9c32ec286", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7aaa46eaa657a3179a70", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3199872374534607, + "candidate_source_group_id": "ms-8efd9238ae8d6ca1cd1a;ms-c8902580575f6effb241;ms-f97fbc8f36f0af9ce18c;ms-8d23082fdeffba7cba51;ms-e9bb31726937713db23a;ms-84404222b954c48c48d8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-680b80c5d2872be1e66a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4088141918182373, + "candidate_source_group_id": "ms-33885f2999b6dbe71f42;ms-949bca60825f84d7b5b9;ms-8278abbc47a6efcb5b68;ms-551020d425c370126f59;ms-2e368b0323bc5ae1cfed;ms-608a539637578968beb3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-686b6de62b641e0dba0d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.49830499291419983, + "candidate_source_group_id": "ms-8682e5b9068871041b74;ms-ea6878cc654f7f255811;ms-30caf93619a0e2f94eae;ms-170a9228df2273649f1c;ms-217aa98e4a691e43cf68;ms-b8f5ebd4732c0274945b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d867fd6ed17aeaa97c2b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.47616666555404663, + "candidate_source_group_id": "ms-383c0d1f90c5a0b55e07;ms-4015b8ac7c0a1397c076;ms-7f5fe657331466b2e262;ms-9d8348ba3054f969ad8e;ms-0952da757675889102ec;ms-f6635cbacd4195f7f4ab", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3028df2c22f4c029b533", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3382994830608368, + "candidate_source_group_id": "ms-c4a78f303c7f2b1a437b;ms-adf081811af7bca643a1;ms-674d9e270ff9ba879886;ms-e95a64701812302bd039;ms-74f12c8d99a319a9d020;ms-cffdaeae3b980aaeb8f7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-07321628f307d0c91b44", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.20846936106681824, + "candidate_source_group_id": "ms-88d7cbdbd7c9636e456f;ms-5909e93ba4f8ed21d193;ms-584d52e4f9515f695251;ms-5a32c809ed679663dcb1;ms-571d878853654c42a521;ms-8f84a0371a7ac44c1b1a", + "expert_regret": 0.6594777852296829, + "expert_score": 0.8558006286621094, + "expert_success": false, + "group_id": "ms-4048f8f6e047422e3c79", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8036771565675735, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19632284343242645, + "restore_error": 1.1920928955078125e-07, + "score": 0.19632284343242645, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.38824060559272766, + "candidate_source_group_id": "ms-020ab0b7cfa5045f3fc7;ms-8ccec039b839e612969b;ms-daff16c01452c735345f;ms-a054eb19f228304d37aa;ms-ae1b8592cb57dbf2fe98;ms-97cdb4c400ad4ae36518", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a77b8d61c09ed6ea23a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8578664660453796, + "candidate_source_group_id": "ms-e1bce061511b584c5381;ms-99bc7344d022af875494;ms-c164dd3b3b89c546a184;ms-d368732bc01f4100cf07;ms-5c8151ea6809f3c331e5;ms-711cecdbf06d02f7ca2e", + "expert_regret": 1.3975104093551636, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fd81a55becc2666437aa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.3975104093551636, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6024895906448364, + "restore_error": 1.1920928955078125e-07, + "score": 0.6024895906448364, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3583182692527771, + "candidate_source_group_id": "ms-dc4738f9c7a8af86722d;ms-fd2387aeed9bfc9a0d08;ms-a40882954ff51b61c49c;ms-16850056120649fcc370;ms-ecb37ebbab21a506d8ca;ms-ba1dca497a16134eeed8", + "expert_regret": 0.6502515226602554, + "expert_score": 0.8334652185440063, + "expert_success": false, + "group_id": "ms-d50a82b8770f333f1947", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.816786304116249, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18321369588375092, + "restore_error": 1.1920928955078125e-07, + "score": 0.18321369588375092, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1856382042169571, + "candidate_source_group_id": "ms-19b9e8a1108ac25f3476;ms-dd8ebc7d7211ece74e03;ms-325cd8b08e89bb498c82;ms-aa1da4bf5f94c6a74839;ms-01094af881b751ef29aa;ms-7dca31b0d7d6fab018f3", + "expert_regret": 0.7130676805973053, + "expert_score": 0.8273264169692993, + "expert_success": false, + "group_id": "ms-68f53650da9a9354b58f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.7394121587276459, + "oracle_score": 0.8536708950996399, + "oracle_success": false, + "progress": 0.11425873637199402, + "restore_error": 1.1920928955078125e-07, + "score": 0.11425873637199402, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.04924618452787399, + "candidate_source_group_id": "ms-5edf28a87bfd0731da89;ms-804705b564058a7ac34c;ms-62601bc1741cf8792326;ms-d648b2c7a7b42db45550;ms-aa7cc7e3e5eb86e58ee9;ms-bc96a8973358d1c20ed3", + "expert_regret": 0.0, + "expert_score": 0.84140944480896, + "expert_success": false, + "group_id": "ms-923e9fb031870b12d9b4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.847260594367981, + "oracle_success": false, + "progress": 0.8566837310791016, + "restore_error": 1.1920928955078125e-07, + "score": 0.8566837310791016, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.649821400642395, + "candidate_source_group_id": "ms-54f7cae3bd3cb84062d3;ms-cba80792e163a5084a92;ms-c52ffa349a79397da8c3;ms-626991ad29d003c808f8;ms-76c9576538106cb9d5db;ms-dab618f516ccc10f176e", + "expert_regret": 0.24659669399261475, + "expert_score": 0.8314990997314453, + "expert_success": false, + "group_id": "ms-5973a2df030fcd05cd24", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.24659669399261475, + "oracle_score": 0.8314990997314453, + "oracle_success": false, + "progress": 0.5849024057388306, + "restore_error": 1.1920928955078125e-07, + "score": 0.5849024057388306, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.311972439289093, + "candidate_source_group_id": "ms-75ddae05fd4d968ebac7;ms-19a3669e096e98232ec8;ms-f2509e6c3c468c4e30f0;ms-52a2ef2f862cee509ce1;ms-6bd5870eb5ff0dd76919;ms-7e2762eb1b21b04fe873", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-552acc881ce2bbff59f8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.553926408290863, + "candidate_source_group_id": "ms-7e2762eb1b21b04fe873;ms-2fef2f43af8009bb88f1;ms-ebf15fd96b4a62e0b393;ms-7fba35a6c125e88b8f54;ms-cc52efdf7f7b9efb1f9e;ms-500ed73f6d891e237b30", + "expert_regret": 1.1484599709510803, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1d025a89862bf212d621", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1484599709510803, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8515400290489197, + "restore_error": 2.3469328880310059e-07, + "score": 0.8515400290489197, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3618415892124176, + "candidate_source_group_id": "ms-7ee2d50e0788ccf0cdec;ms-5909e93ba4f8ed21d193;ms-8f84a0371a7ac44c1b1a;ms-584d52e4f9515f695251;ms-571d878853654c42a521;ms-f9148dff7961fa66a8a1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9edb3f445256b0d5341", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3469328880310059e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.1020721197128296, + "candidate_source_group_id": "ms-f4579acd00ff9f578098;ms-54f7cae3bd3cb84062d3;ms-fdf4af00031d452221d9;ms-b1b98e21cd4886f70563;ms-7bc1b098e6c696f6d4de;ms-dab618f516ccc10f176e", + "expert_regret": 1.4228788018226624, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10405f0fac390b29a04b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4228788018226624, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5771211981773376, + "restore_error": 2.3469328880310059e-07, + "score": 0.5771211981773376, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8854374289512634, + "candidate_source_group_id": "ms-4cab292bc65fa59274ef;ms-52a2ef2f862cee509ce1;ms-5a456ddf97d294548cf1;ms-6bd5870eb5ff0dd76919;ms-19a3669e096e98232ec8;ms-f2509e6c3c468c4e30f0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f0033d0b5f4f2e160859", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3469328880310059e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6743847727775574, + "candidate_source_group_id": "ms-242302c2a1e59588b319;ms-0547201761e8e1873482;ms-b651d43182be35524aad;ms-7c300541f4986f403b47;ms-b04a4cfe76d719518dae;ms-60f5fff0649ceb50ab60", + "expert_regret": 1.7851764261722565, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2b93411a16dbb5d4202", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7851764261722565, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21482357382774353, + "restore_error": 2.3469328880310059e-07, + "score": 0.21482357382774353, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8820180892944336, + "candidate_source_group_id": "ms-da2f79e022bb63a2af11;ms-42b26451056c6dd2150e;ms-0ccc81e9a63663c50096;ms-4cab45c9b21452c1b523;ms-a7760c53ebe20579190e;ms-8d02415bb9af319f215a", + "expert_regret": 1.9420073926448822, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65a8786e4fb1527342f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9420073926448822, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0579926073551178, + "restore_error": 2.3469328880310059e-07, + "score": 0.0579926073551178, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.26657238602638245, + "candidate_source_group_id": "ms-82b267d663e8400d19ca;ms-783f5e7f8c889bef010e;ms-3ec29a5b20bd65943255;ms-e1f9403543e48fbdde9d;ms-12ea343fddf9f6e6b9e8;ms-61852da845126d62ff5b", + "expert_regret": 0.6550534963607788, + "expert_score": 0.8367745876312256, + "expert_success": false, + "group_id": "ms-01e6eaaaf40875e0ef5a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8182789087295532, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18172109127044678, + "restore_error": 2.3469328880310059e-07, + "score": 0.18172109127044678, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0965300798416138, + "candidate_source_group_id": "ms-b651d43182be35524aad;ms-7c300541f4986f403b47;ms-dfcbf1a7d2e3b33eb3e9;ms-9a14552b7db695dee92c;ms-242302c2a1e59588b319;ms-0c2f2dc98424b6704c79", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5e19aac5dcd26c992bfd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3469328880310059e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7984063029289246, + "candidate_source_group_id": "ms-8f84a0371a7ac44c1b1a;ms-12ea343fddf9f6e6b9e8;ms-76774eb92b50132c54b6;ms-5a32c809ed679663dcb1;ms-f3f100caf89a2487faaf;ms-bf36bafb9ac562480022", + "expert_regret": 0.0, + "expert_score": 0.19744239747524261, + "expert_success": false, + "group_id": "ms-eaccbf417256e38345aa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.19744239747524261, + "oracle_success": false, + "progress": 0.5971182584762573, + "restore_error": 1.9371509552001953e-07, + "score": 0.5971182584762573, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0618736743927002, + "candidate_source_group_id": "ms-41847ae4ccfbee4666d8;ms-242302c2a1e59588b319;ms-fee86da43c17dbf07059;ms-58e6bcca0d74ea38d3dc;ms-33ac0623919ea05d354a;ms-0547201761e8e1873482", + "expert_regret": 0.26822102069854736, + "expert_score": 0.8587179183959961, + "expert_success": false, + "group_id": "ms-ff0d7559bf7f39d82ded", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.26822102069854736, + "oracle_score": 0.8587179183959961, + "oracle_success": false, + "progress": 0.5904968976974487, + "restore_error": 1.9371509552001953e-07, + "score": 0.5904968976974487, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.0440666563808918, + "candidate_source_group_id": "ms-a9eb9fab62fb296d2cf3;ms-797db95b24deab760f10;ms-0ec57b5bc28a71d3aac0;ms-0b226017db7f07c5307e;ms-b75d7924ddc6f1056f17;ms-4dd3c4d0161d01abb6d4", + "expert_regret": 0.0, + "expert_score": 0.8303894400596619, + "expert_success": false, + "group_id": "ms-e7959111ef1429bcf699", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9371509552001953e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8386640548706055, + "candidate_source_group_id": "ms-88070bf04696eceac1e9;ms-3945306c3b05b122fa9b;ms-265435476b51eb83fb9b;ms-9747840abee181e3e4cf;ms-829c9968f0750cd9aed6;ms-49e1584a68d8f465e8e3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-554f2960f25ff627b596", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9371509552001953e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.49430951476097107, + "candidate_source_group_id": "ms-caa5773983c25018c3f8;ms-19a3669e096e98232ec8;ms-32a86ecc263b3d79db00;ms-a13e71cca2a60d77aed4;ms-52a2ef2f862cee509ce1;ms-6bd5870eb5ff0dd76919", + "expert_regret": 1.7845114320516586, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d9e7096b437e7ce7cda8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.7845114320516586, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21548856794834137, + "restore_error": 1.9371509552001953e-07, + "score": 0.21548856794834137, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.438952088356018, + "candidate_source_group_id": "ms-bf36bafb9ac562480022;ms-5a32c809ed679663dcb1;ms-8f84a0371a7ac44c1b1a;ms-584d52e4f9515f695251;ms-2cc60867f3629a801fc4;ms-76774eb92b50132c54b6", + "expert_regret": 1.809349998831749, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6ab6c8a66fc509e2113e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.809349998831749, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19065000116825104, + "restore_error": 1.9371509552001953e-07, + "score": 0.19065000116825104, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5611944198608398, + "candidate_source_group_id": "ms-03df3e12e1d61aa9ebbf;ms-76c9576538106cb9d5db;ms-0982ec8847911627c519;ms-54f7cae3bd3cb84062d3;ms-fdf4af00031d452221d9;ms-ceb81989361d018a9e67", + "expert_regret": 1.1800888776779175, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-720c704eeac615b41763", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.1800888776779175, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8199111223220825, + "restore_error": 1.9371509552001953e-07, + "score": 0.8199111223220825, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.775628387928009, + "candidate_source_group_id": "ms-7f58527819036c01daa4;ms-e2a5f29a9c0d835f3cd8;ms-fdf4af00031d452221d9;ms-c5945ca04bebc81e72a8;ms-03df3e12e1d61aa9ebbf;ms-ceb81989361d018a9e67", + "expert_regret": 1.8441091775894165, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-253682457d6db5d265bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8441091775894165, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1558908224105835, + "restore_error": 1.9371509552001953e-07, + "score": 0.1558908224105835, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2592608332633972, + "candidate_source_group_id": "ms-60f5fff0649ceb50ab60;ms-242302c2a1e59588b319;ms-97cdb4c400ad4ae36518;ms-daff16c01452c735345f;ms-64ff9614d692fd9dc48b;ms-b04a4cfe76d719518dae", + "expert_regret": 0.0, + "expert_score": 0.1309145987033844, + "expert_success": false, + "group_id": "ms-5902e6c4037ecda77a5f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.619186520576477, + "oracle_score": 0.784722626209259, + "oracle_success": false, + "progress": 0.16553610563278198, + "restore_error": 1.1920928955078125e-07, + "score": 0.16553610563278198, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.080472931265831, + "candidate_source_group_id": "ms-4cab45c9b21452c1b523;ms-a7760c53ebe20579190e;ms-110944a3259f0e310db9;ms-3a5cf404fd30dd8a2f76;ms-893e0a0d03b5e47b65dd;ms-42b26451056c6dd2150e", + "expert_regret": 0.6471035480499268, + "expert_score": 0.8325278759002686, + "expert_success": false, + "group_id": "ms-15fc8cc6f74cf589056f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8145756721496582, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1854243278503418, + "restore_error": 1.1920928955078125e-07, + "score": 0.1854243278503418, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7394660115242004, + "candidate_source_group_id": "ms-0ee3134ab4e9435f2c2c;ms-f774646335321f6c5980;ms-44940e96c327541acf19;ms-4d687a60b9ce1f0f1ddd;ms-01094af881b751ef29aa;ms-48ddae21c360b2a12b8d", + "expert_regret": 1.9229668527841568, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bfb169ce850eae1c3995", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9229668527841568, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0770331472158432, + "restore_error": 1.1920928955078125e-07, + "score": 0.0770331472158432, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0443350076675415, + "candidate_source_group_id": "ms-f50f1c1b673d0c96d4ce;ms-1a37fdd82d982ae6dbd8;ms-801727be95e46ae5da07;ms-e297545a438d902a680e;ms-3efaacea10b7eb4adb57;ms-f9148dff7961fa66a8a1", + "expert_regret": 1.4077457189559937, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dc2e360a4876f6edce82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4077457189559937, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5922542810440063, + "restore_error": 1.1920928955078125e-07, + "score": 0.5922542810440063, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8867186903953552, + "candidate_source_group_id": "ms-7c300541f4986f403b47;ms-b651d43182be35524aad;ms-579af9eb582ab20522a9;ms-0c2f2dc98424b6704c79;ms-350716d0809bd7ef12df;ms-420280f15a522ce21c72", + "expert_regret": 1.8067529499530792, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9e96728c711ffe98fe69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8067529499530792, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19324705004692078, + "restore_error": 1.1920928955078125e-07, + "score": 0.19324705004692078, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7981629967689514, + "candidate_source_group_id": "ms-77c4a01dcf26dcd8f0f3;ms-733f43f6aaed1e84c020;ms-bf2b9cc05ccb6bce0d30;ms-6c8d06bace98a28a8e4e;ms-68067370d3b20b9bd4e2;ms-3c87c16acc91c68c522f", + "expert_regret": 1.4055313467979431, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-39cea5dde6dc1718d478", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4055313467979431, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5944686532020569, + "restore_error": 1.1920928955078125e-07, + "score": 0.5944686532020569, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6808744072914124, + "candidate_source_group_id": "ms-8b45028168ed68ec8303;ms-744cdc2b2570c3c26326;ms-01e08f0dcb4e2c030a79;ms-56a0e8e80e2e1e5645d7;ms-462c1284ee1a148a7e1d;ms-9f80c93ae6940a427c83", + "expert_regret": 1.8636407107114792, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-666f00775d4c54be1282", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8636407107114792, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1363592892885208, + "restore_error": 1.1920928955078125e-07, + "score": 0.1363592892885208, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.777806282043457, + "candidate_source_group_id": "ms-0fb946120bcbd8ed0632;ms-48ddae21c360b2a12b8d;ms-0ee3134ab4e9435f2c2c;ms-151e5f61c8e3c2ece4e7;ms-cdd9ca03b64c4145587b;ms-63979e5d869bff8d3515", + "expert_regret": 0.26661092042922974, + "expert_score": 0.840457022190094, + "expert_success": false, + "group_id": "ms-0ce4aecc96a50498e2f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.26661092042922974, + "oracle_score": 0.840457022190094, + "oracle_success": false, + "progress": 0.5738461017608643, + "restore_error": 1.1920928955078125e-07, + "score": 0.5738461017608643, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5587782859802246, + "candidate_source_group_id": "ms-d1960368ef76bbb10669;ms-c5d2ddd0416072b20d5d;ms-68067370d3b20b9bd4e2;ms-8c2dade5b58489e26a4b;ms-3c87c16acc91c68c522f;ms-9e99b7303fbd7ecbb17d", + "expert_regret": 0.0, + "expert_score": 0.8367365002632141, + "expert_success": false, + "group_id": "ms-5dfbb16e173e1a3e2bd6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5089045763015747, + "candidate_source_group_id": "ms-9ad3b276d9ccaf668d30;ms-180d0e0a6315a06a7021;ms-0ccc81e9a63663c50096;ms-495b33a30a68ee055eef;ms-0ea6d57781e366b578c1;ms-1cb54e3347c49dcdf28e", + "expert_regret": 1.7736347317695618, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9c7464444eaec0fa07c0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.7736347317695618, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22636526823043823, + "restore_error": 1.1920928955078125e-07, + "score": 0.22636526823043823, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.32448408007621765, + "candidate_source_group_id": "ms-2cc60867f3629a801fc4;ms-875a4668671c02054a3c;ms-283f98eecc655a33d459;ms-274ef8c6420a669dd5b4;ms-1cc18d88615939309d51;ms-4b6cf86fc2450321163a", + "expert_regret": 0.0, + "expert_score": 0.18662652373313904, + "expert_success": false, + "group_id": "ms-a31b52cc38a95273af77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.02054506540298462, + "oracle_score": 0.5935691595077515, + "oracle_success": false, + "progress": 0.5730240941047668, + "restore_error": 1.1920928955078125e-07, + "score": 0.5730240941047668, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6360163688659668, + "candidate_source_group_id": "ms-875a4668671c02054a3c;ms-2cc60867f3629a801fc4;ms-5a32c809ed679663dcb1;ms-0949097d19e597fc7f63;ms-0cdb564903c69734321f;ms-283f98eecc655a33d459", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-220e8ddf7349fcbaf64d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5940096974372864, + "candidate_source_group_id": "ms-58e6bcca0d74ea38d3dc;ms-242302c2a1e59588b319;ms-60f5fff0649ceb50ab60;ms-20976520a892ae80760a;ms-b04a4cfe76d719518dae;ms-2e683dfff18ef7e90d7d", + "expert_regret": 1.4137922525405884, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01f463a409e2ec0c6c3e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4137922525405884, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5862077474594116, + "restore_error": 1.1920928955078125e-07, + "score": 0.5862077474594116, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0761356353759766, + "candidate_source_group_id": "ms-2360ac84ff893ee51c5f;ms-852c671b0adeccfa4bf1;ms-bc2d3b425d9163a62dbb;ms-9d4cfe1888484d9da1ee;ms-9d12ad4ebdf37419994c;ms-9e7e3b675db86ea3e212", + "expert_regret": 1.8180560171604156, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-05ab68d4cd79b74a45ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8180560171604156, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18194398283958435, + "restore_error": 1.1920928955078125e-07, + "score": 0.18194398283958435, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3122592270374298, + "candidate_source_group_id": "ms-27d723ae87abc93a95f0;ms-bc2d3b425d9163a62dbb;ms-9e7e3b675db86ea3e212;ms-9d12ad4ebdf37419994c;ms-852c671b0adeccfa4bf1;ms-9d4cfe1888484d9da1ee", + "expert_regret": 0.24202752113342285, + "expert_score": 0.8267612457275391, + "expert_success": false, + "group_id": "ms-748baf7aee43c63797e1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.2632497549057007, + "oracle_score": 0.8479834794998169, + "oracle_success": false, + "progress": 0.5847337245941162, + "restore_error": 1.1920928955078125e-07, + "score": 0.5847337245941162, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5811511278152466, + "candidate_source_group_id": "ms-88d7cbdbd7c9636e456f;ms-5909e93ba4f8ed21d193;ms-0cdb564903c69734321f;ms-875a4668671c02054a3c;ms-5a32c809ed679663dcb1;ms-0949097d19e597fc7f63", + "expert_regret": 1.405631959438324, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c83fb7e9f1a7a8ad58f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.405631959438324, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.594368040561676, + "restore_error": 1.1920928955078125e-07, + "score": 0.594368040561676, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8037970662117004, + "candidate_source_group_id": "ms-dd9b840c99c305ac1977;ms-0a4d4909900fb0bc4a9a;ms-f2a349cfaa6f7422237b;ms-da5f2c1dbafa907d725b;ms-3cdc09425d5b71524854;ms-71e32140ee4d77f3b275", + "expert_regret": 1.7814643383026123, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a50b6ab3c59b1c953197", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.7814643383026123, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2185356616973877, + "restore_error": 1.1920928955078125e-07, + "score": 0.2185356616973877, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5233011841773987, + "candidate_source_group_id": "ms-626991ad29d003c808f8;ms-c52ffa349a79397da8c3;ms-e1f9403543e48fbdde9d;ms-3afd8959363e917591d4;ms-cba80792e163a5084a92;ms-76c9576538106cb9d5db", + "expert_regret": 1.1831169128417969, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-49516a81fe99935ef15e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1831169128417969, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8168830871582031, + "restore_error": 1.1920928955078125e-07, + "score": 0.8168830871582031, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.08130843192338943, + "candidate_source_group_id": "ms-b86c44375ba5328a1608;ms-a601803235735bea0610;ms-119db4f7ab55afe5b9f6;ms-804705b564058a7ac34c;ms-b1ea4f7f813ac0c87079;ms-acb486cbc23907df2568", + "expert_regret": 0.0, + "expert_score": 0.8631211519241333, + "expert_success": false, + "group_id": "ms-c80e71e55d51d8595499", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9900966286659241, + "candidate_source_group_id": "ms-a601803235735bea0610;ms-b1ea4f7f813ac0c87079;ms-acb486cbc23907df2568;ms-36112cc5608a9f625764;ms-bb299baa34e49eafb9fc;ms-dc26a7037003b94b9f93", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3451f857ec88eeb49c38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.6346276998519897, + "candidate_source_group_id": "ms-42b26451056c6dd2150e;ms-3a5cf404fd30dd8a2f76;ms-ba396eb71806ac992acd;ms-a134953a8d3e6be63757;ms-1cb54e3347c49dcdf28e;ms-97e2c618a3045e0a759e", + "expert_regret": 1.7942206263542175, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0fa473b2c94d12bc3945", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7942206263542175, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20577937364578247, + "restore_error": 1.1920928955078125e-07, + "score": 0.20577937364578247, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9530676603317261, + "candidate_source_group_id": "ms-88070bf04696eceac1e9;ms-5dfeb87aa77e4660d09b;ms-829c9968f0750cd9aed6;ms-265435476b51eb83fb9b;ms-49e1584a68d8f465e8e3;ms-141aab4472db1ecc0ea2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5eb6b813b57d14f6573", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8645098805427551, + "candidate_source_group_id": "ms-0c2f2dc98424b6704c79;ms-86b55250e01b9b6fba7e;ms-7c300541f4986f403b47;ms-0b6ba12f99b3554c0e88;ms-573ab0ef1d4166be9b54;ms-b651d43182be35524aad", + "expert_regret": 1.4127869606018066, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4118fc55a3d3e6bee8c0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4127869606018066, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5872130393981934, + "restore_error": 1.1920928955078125e-07, + "score": 0.5872130393981934, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.38451337814331055, + "candidate_source_group_id": "ms-71e32140ee4d77f3b275;ms-07b479748a91a9c92b20;ms-f2a349cfaa6f7422237b;ms-3cdc09425d5b71524854;ms-cc52efdf7f7b9efb1f9e;ms-dd9b840c99c305ac1977", + "expert_regret": 0.7434499561786652, + "expert_score": 0.8516564965248108, + "expert_success": false, + "group_id": "ms-9dd1ff4c297a81b13071", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8917934596538544, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10820654034614563, + "restore_error": 1.1920928955078125e-07, + "score": 0.10820654034614563, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5557944178581238, + "candidate_source_group_id": "ms-8e69308e5c86a307b08a;ms-c9c7a51e43dd2c33de08;ms-edf898278a0dd01a5b37;ms-bdc0e2b6d589c1d90d69;ms-546f8817db5b76b563f0;ms-bf2b9cc05ccb6bce0d30", + "expert_regret": 1.7638387084007263, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87d132d28bc30b07002b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.7638387084007263, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23616129159927368, + "restore_error": 1.1920928955078125e-07, + "score": 0.23616129159927368, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0946834087371826, + "candidate_source_group_id": "ms-14064e79c1a1abcf10e3;ms-95950ddf57046910494b;ms-783f5e7f8c889bef010e;ms-82b267d663e8400d19ca;ms-036f329c4a881ff59e5f;ms-61852da845126d62ff5b", + "expert_regret": 1.8186079412698746, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-207e9a9f9123d6c3eeb6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8186079412698746, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18139205873012543, + "restore_error": 1.1920928955078125e-07, + "score": 0.18139205873012543, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5384587049484253, + "candidate_source_group_id": "ms-48ddae21c360b2a12b8d;ms-0841a07e9aeb84cff70f;ms-0fb946120bcbd8ed0632;ms-22c36189b47df8987e8e;ms-0d8e00d0e73f9a7b4ce8;ms-0ac85b1b15125006eb50", + "expert_regret": 0.8135382235050201, + "expert_score": 0.83223956823349, + "expert_success": false, + "group_id": "ms-2da5f229550b61852483", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.8380716145038605, + "oracle_score": 0.8567729592323303, + "oracle_success": false, + "progress": 0.01870134472846985, + "restore_error": 1.1920928955078125e-07, + "score": 0.01870134472846985, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5677810311317444, + "candidate_source_group_id": "ms-141aab4472db1ecc0ea2;ms-a2ee6034df65b51c4d97;ms-eff3caf3c103c5232495;ms-ff4c9c58b742da7135da;ms-035231abc135f925e1cc;ms-499d2429a00f3cc35add", + "expert_regret": 0.0, + "expert_score": 0.8559293746948242, + "expert_success": false, + "group_id": "ms-cbc1fadecdd913c44ce5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.8559293746948242, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.37677159905433655, + "candidate_source_group_id": "ms-37d6b220ad58fb776f7b;ms-be0ca7fa48a7ea391aa8;ms-7e2762eb1b21b04fe873;ms-d6b0d6d7c66509eb4543;ms-d648b2c7a7b42db45550;ms-728ce6cbfd4c82607908", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1ed36d926d5d640b4a04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.1934348344802856, + "candidate_source_group_id": "ms-ceb81989361d018a9e67;ms-fdf4af00031d452221d9;ms-f0fdcc26c648ce089746;ms-03df3e12e1d61aa9ebbf;ms-b1b98e21cd4886f70563;ms-76c9576538106cb9d5db", + "expert_regret": 1.8262678533792496, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5d6aa86eb739a9ef05cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8262678533792496, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17373214662075043, + "restore_error": 1.1920928955078125e-07, + "score": 0.17373214662075043, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7935320734977722, + "candidate_source_group_id": "ms-716586cf73f853a45bfd;ms-ecc526493f8048cf4c56;ms-38ed02dacc133a888d3a;ms-0c490961b934978e5b1c;ms-02aa62c077c9d4f86e61;ms-b6ce87522fcc35b563c7", + "expert_regret": 0.605079710483551, + "expert_score": 0.8367664813995361, + "expert_success": false, + "group_id": "ms-f72b64534388e443b220", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.605079710483551, + "oracle_score": 0.8367664813995361, + "oracle_success": false, + "progress": 0.2316867709159851, + "restore_error": 1.1920928955078125e-07, + "score": 0.2316867709159851, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1446835994720459, + "candidate_source_group_id": "ms-5922d6b0cb028950a6a3;ms-bc96a8973358d1c20ed3;ms-aa7cc7e3e5eb86e58ee9;ms-728ce6cbfd4c82607908;ms-7ac4c9b07c994cd878f9;ms-4dd3c4d0161d01abb6d4", + "expert_regret": 0.742235004901886, + "expert_score": 0.8517612218856812, + "expert_success": false, + "group_id": "ms-36bc1364d2439099e9ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8904737830162048, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10952621698379517, + "restore_error": 1.1920928955078125e-07, + "score": 0.10952621698379517, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.34398725628852844, + "candidate_source_group_id": "ms-48b2c358243f84013a0c;ms-e71e880736efd3e42c02;ms-702c6c5000ad4d6424ea;ms-6d7030c17759f787a361;ms-15248c64e70b0dafcb33;ms-1c4ef17cdeed30bb2548", + "expert_regret": 0.654291570186615, + "expert_score": 0.8351176977157593, + "expert_success": false, + "group_id": "ms-e887dbfa0133af46829d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8191738724708557, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1808261275291443, + "restore_error": 1.1920928955078125e-07, + "score": 0.1808261275291443, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4765801727771759, + "candidate_source_group_id": "ms-3945306c3b05b122fa9b;ms-035231abc135f925e1cc;ms-eff3caf3c103c5232495;ms-88070bf04696eceac1e9;ms-141aab4472db1ecc0ea2;ms-63f384579c130870fde3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c4a4c6a275c817d8b03f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5336299538612366, + "candidate_source_group_id": "ms-0a4d4909900fb0bc4a9a;ms-dd9b840c99c305ac1977;ms-f2a349cfaa6f7422237b;ms-0ac85b1b15125006eb50;ms-da5f2c1dbafa907d725b;ms-584219be39de32d776d4", + "expert_regret": 0.024045929312705994, + "expert_score": 0.23011930286884308, + "expert_success": false, + "group_id": "ms-e2f303a0d1e6017e1fc4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.024045929312705994, + "oracle_score": 0.23011930286884308, + "oracle_success": false, + "progress": 0.20607337355613708, + "restore_error": 1.1920928955078125e-07, + "score": 0.20607337355613708, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.46117058396339417, + "candidate_source_group_id": "ms-03beb7dddeba28c64afa;ms-b6ce87522fcc35b563c7;ms-673f96236583a1925836;ms-ecc526493f8048cf4c56;ms-38ed02dacc133a888d3a;ms-016c5de39ed3c111889a", + "expert_regret": 1.8009988069534302, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b5f0f2ae74766beae291", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8009988069534302, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19900119304656982, + "restore_error": 1.1920928955078125e-07, + "score": 0.19900119304656982, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.26215052604675293, + "candidate_source_group_id": "ms-7ee2d50e0788ccf0cdec;ms-12ea343fddf9f6e6b9e8;ms-3ec29a5b20bd65943255;ms-578073df4f8fe9b936d2;ms-61852da845126d62ff5b;ms-f9148dff7961fa66a8a1", + "expert_regret": 0.0, + "expert_score": 0.8328490257263184, + "expert_success": false, + "group_id": "ms-ed6314fb8f69f956daf6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.8351536393165588, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.34326171875, + "candidate_source_group_id": "ms-f4579acd00ff9f578098;ms-cba80792e163a5084a92;ms-dab618f516ccc10f176e;ms-3afd8959363e917591d4;ms-a2a546ebe0d1283df0f0;ms-b1b98e21cd4886f70563", + "expert_regret": 1.8220994770526886, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-07c39d2c4595d6826040", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8220994770526886, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1779005229473114, + "restore_error": 1.1920928955078125e-07, + "score": 0.1779005229473114, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7090511322021484, + "candidate_source_group_id": "ms-dc26a7037003b94b9f93;ms-df6a1fb4b1ccbb410b4c;ms-b1ea4f7f813ac0c87079;ms-4c788310cab7df5251e1;ms-141aab4472db1ecc0ea2;ms-36112cc5608a9f625764", + "expert_regret": 1.145445704460144, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-921a0cd2d5ef7e70229a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.145445704460144, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.854554295539856, + "restore_error": 1.1920928955078125e-07, + "score": 0.854554295539856, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.2799595594406128, + "candidate_source_group_id": "ms-5c8151ea6809f3c331e5;ms-d368732bc01f4100cf07;ms-0f7cd7813265e3795e0a;ms-bb742574fc7cfaea26d0;ms-fc9523f9953b1b5bfbcd;ms-bc99c1baec671e7f85a0", + "expert_regret": 1.8374791145324707, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6b2df24ea06ce2cdfb5e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8374791145324707, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1625208854675293, + "restore_error": 1.1920928955078125e-07, + "score": 0.1625208854675293, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.729581356048584, + "candidate_source_group_id": "ms-a7760c53ebe20579190e;ms-4cab45c9b21452c1b523;ms-110944a3259f0e310db9;ms-3a5cf404fd30dd8a2f76;ms-4734f618e638d42bae46;ms-42b26451056c6dd2150e", + "expert_regret": 1.8836455196142197, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-741c227f6249d1c8c9f1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8836455196142197, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11635448038578033, + "restore_error": 1.1920928955078125e-07, + "score": 0.11635448038578033, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4166158139705658, + "candidate_source_group_id": "ms-ab5acce4dba71f19d5ad;ms-20ab0b7fffdbb23e6d53;ms-180d0e0a6315a06a7021;ms-0ccc81e9a63663c50096;ms-b8492a3a812095651d75;ms-4af6806104210ccf74b0", + "expert_regret": 1.797333374619484, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-185c13ec401a35f393b7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.797333374619484, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20266662538051605, + "restore_error": 1.1920928955078125e-07, + "score": 0.20266662538051605, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9200296401977539, + "candidate_source_group_id": "ms-283f98eecc655a33d459;ms-5b26c33feed6992386b1;ms-2cc60867f3629a801fc4;ms-bf36bafb9ac562480022;ms-6c8d06bace98a28a8e4e;ms-e297545a438d902a680e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f90e4d887f4c840a0b25", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2990821897983551, + "candidate_source_group_id": "ms-852c671b0adeccfa4bf1;ms-6d7030c17759f787a361;ms-ce9505086ea115f86649;ms-bc2d3b425d9163a62dbb;ms-702c6c5000ad4d6424ea;ms-e71e880736efd3e42c02", + "expert_regret": 0.6608132421970367, + "expert_score": 0.844826340675354, + "expert_success": false, + "group_id": "ms-55e78c04643bd06fd5f8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8159869015216827, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18401309847831726, + "restore_error": 1.1920928955078125e-07, + "score": 0.18401309847831726, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7732803225517273, + "candidate_source_group_id": "ms-b75d7924ddc6f1056f17;ms-1e17eb687986f7c5bc22;ms-141aab4472db1ecc0ea2;ms-a2ee6034df65b51c4d97;ms-ff4c9c58b742da7135da;ms-a9eb9fab62fb296d2cf3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d5da9bf431cb1294c82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.14153286814689636, + "candidate_source_group_id": "ms-d648b2c7a7b42db45550;ms-be0ca7fa48a7ea391aa8;ms-7e2762eb1b21b04fe873;ms-d6b0d6d7c66509eb4543;ms-1c9cd9629e4a927ed921;ms-79b745efd36e00515fa7", + "expert_regret": 0.0, + "expert_score": 0.8197344541549683, + "expert_success": false, + "group_id": "ms-efdc07c985935d871adf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5915894508361816, + "candidate_source_group_id": "ms-8b45028168ed68ec8303;ms-9f80c93ae6940a427c83;ms-cc21e4000cabb2fad805;ms-01e08f0dcb4e2c030a79;ms-49685adafe2cb8da301f;ms-90777a893f2fff27728c", + "expert_regret": 1.794285386800766, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-19dbfb3664d48598041e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.794285386800766, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.205714613199234, + "restore_error": 1.1920928955078125e-07, + "score": 0.205714613199234, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3871150016784668, + "candidate_source_group_id": "ms-652234a929b7ed4d3b23;ms-94b9114b294d56e3f88a;ms-893e0a0d03b5e47b65dd;ms-e0e2a425cce52e820a7e;ms-8c67f938fb3d0264393c;ms-0ea6d57781e366b578c1", + "expert_regret": 1.821585327386856, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c5469e5b4af75482d89", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.821585327386856, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17841467261314392, + "restore_error": 1.1920928955078125e-07, + "score": 0.17841467261314392, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6679325699806213, + "candidate_source_group_id": "ms-01e08f0dcb4e2c030a79;ms-8b45028168ed68ec8303;ms-9f80c93ae6940a427c83;ms-49685adafe2cb8da301f;ms-074bf4470a893ac7955a;ms-cc21e4000cabb2fad805", + "expert_regret": 1.8536493480205536, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-64b4e29bb42bf0b35d4d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8536493480205536, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1463506519794464, + "restore_error": 1.1920928955078125e-07, + "score": 0.1463506519794464, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3102271258831024, + "candidate_source_group_id": "ms-ac8685beeff23e48af61;ms-c9bac4a12aa021442f03;ms-58e6bcca0d74ea38d3dc;ms-9d12ad4ebdf37419994c;ms-bc8e9fc055c591071ea3;ms-2360ac84ff893ee51c5f", + "expert_regret": 0.0, + "expert_score": 0.8432589173316956, + "expert_success": false, + "group_id": "ms-9228f8295b9891cf011c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.146773338317871, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8532266616821289, + "restore_error": 1.1920928955078125e-07, + "score": 0.8532266616821289, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2986210882663727, + "candidate_source_group_id": "ms-2e683dfff18ef7e90d7d;ms-20976520a892ae80760a;ms-584d52e4f9515f695251;ms-76774eb92b50132c54b6;ms-5909e93ba4f8ed21d193;ms-58e6bcca0d74ea38d3dc", + "expert_regret": 0.6247961223125458, + "expert_score": 0.8314920663833618, + "expert_success": false, + "group_id": "ms-72777024349c2aacd5e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.793304055929184, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20669594407081604, + "restore_error": 1.1920928955078125e-07, + "score": 0.20669594407081604, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5526995062828064, + "candidate_source_group_id": "ms-48ddae21c360b2a12b8d;ms-0841a07e9aeb84cff70f;ms-22c36189b47df8987e8e;ms-0fb946120bcbd8ed0632;ms-0d8e00d0e73f9a7b4ce8;ms-d6ed8683183759789495", + "expert_regret": 0.79910908639431, + "expert_score": 0.8524717688560486, + "expert_success": false, + "group_id": "ms-5ac1bf2d7d319955d45d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9466373175382614, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.053362682461738586, + "restore_error": 1.1920928955078125e-07, + "score": 0.053362682461738586, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6124740839004517, + "candidate_source_group_id": "ms-d8cc5ba8ab1cd4a46519;ms-df6a1fb4b1ccbb410b4c;ms-9f5d57fe2153fd267774;ms-07b479748a91a9c92b20;ms-62601bc1741cf8792326;ms-d648b2c7a7b42db45550", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dd1eec30969c12ec89af", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.2104222774505615, + "candidate_source_group_id": "ms-151e5f61c8e3c2ece4e7;ms-cdd9ca03b64c4145587b;ms-0ee3134ab4e9435f2c2c;ms-57ccc6bbce43f1c7c000;ms-de304cefeb20dcc17ede;ms-fc68c8b1bef631b6cae9", + "expert_regret": 1.971116065979004, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-230391b47c390f51bc07", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.971116065979004, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.028883934020996094, + "restore_error": 1.1920928955078125e-07, + "score": 0.028883934020996094, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.41155722737312317, + "candidate_source_group_id": "ms-7d484dd14e9d001a07b1;ms-5edf28a87bfd0731da89;ms-7e2762eb1b21b04fe873;ms-9747840abee181e3e4cf;ms-62601bc1741cf8792326;ms-578fcc1f0f27f76ff933", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-06e6e1db86d9e82e56cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0802479982376099, + "candidate_source_group_id": "ms-58e6bcca0d74ea38d3dc;ms-ac8685beeff23e48af61;ms-60f5fff0649ceb50ab60;ms-daff16c01452c735345f;ms-20976520a892ae80760a;ms-87efe56140dec7d3ffb8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13243cd92a78eba8c08b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4032277464866638, + "candidate_source_group_id": "ms-ff4c9c58b742da7135da;ms-a2ee6034df65b51c4d97;ms-63ac245579b1188935ad;ms-a4d692315fd15700e75b;ms-4c788310cab7df5251e1;ms-499d2429a00f3cc35add", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e7f710fb5e661e71fd3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.736140787601471, + "candidate_source_group_id": "ms-16850056120649fcc370;ms-983f35821c4f83c6e4bb;ms-e3bbabc7ac3950eb91a2;ms-fd2387aeed9bfc9a0d08;ms-dc4738f9c7a8af86722d;ms-ecb37ebbab21a506d8ca", + "expert_regret": 1.792683720588684, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9804ff90a86259f7149", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.792683720588684, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20731627941131592, + "restore_error": 2.384185791015625e-07, + "score": 0.20731627941131592, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8220450282096863, + "candidate_source_group_id": "ms-20ab0b7fffdbb23e6d53;ms-3278c343e1bdece2f252;ms-b8492a3a812095651d75;ms-180d0e0a6315a06a7021;ms-4dc0defd156f4c30aaf8;ms-ab5acce4dba71f19d5ad", + "expert_regret": 1.9369750320911407, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fffe17005e577cb2ac1c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9369750320911407, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06302496790885925, + "restore_error": 2.384185791015625e-07, + "score": 0.06302496790885925, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4309106469154358, + "candidate_source_group_id": "ms-c9c7a51e43dd2c33de08;ms-08077ae7bcd1d20bb2a6;ms-1b50d8927c080cd97a79;ms-e9cb92d664266091b91d;ms-88070bf04696eceac1e9;ms-829c9968f0750cd9aed6", + "expert_regret": 1.8005890250205994, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-578fc3b8cbdbe6b0542f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8005890250205994, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19941097497940063, + "restore_error": 2.384185791015625e-07, + "score": 0.19941097497940063, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.09016304463148117, + "candidate_source_group_id": "ms-5dfeb87aa77e4660d09b;ms-829c9968f0750cd9aed6;ms-54f4d544f76358c09ee9;ms-96ebb8e6e71464ac9172;ms-499d2429a00f3cc35add;ms-141aab4472db1ecc0ea2", + "expert_regret": 0.0, + "expert_score": 0.8359193205833435, + "expert_success": false, + "group_id": "ms-b33c18c58125678627a6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.09744881093502045, + "candidate_source_group_id": "ms-49685adafe2cb8da301f;ms-ba1dca497a16134eeed8;ms-cc21e4000cabb2fad805;ms-e3bbabc7ac3950eb91a2;ms-bc02d87b2ed5769ee484;ms-7dca31b0d7d6fab018f3", + "expert_regret": 0.6496871560811996, + "expert_score": 0.8450801968574524, + "expert_success": false, + "group_id": "ms-0b1dd0e538b8df15a6e4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8046069592237473, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19539304077625275, + "restore_error": 2.384185791015625e-07, + "score": 0.19539304077625275, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9589530229568481, + "candidate_source_group_id": "ms-4dd3c4d0161d01abb6d4;ms-bc96a8973358d1c20ed3;ms-728ce6cbfd4c82607908;ms-797db95b24deab760f10;ms-aa7cc7e3e5eb86e58ee9;ms-5922d6b0cb028950a6a3", + "expert_regret": 1.9486850202083588, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e95a846b4e77792e3e6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9486850202083588, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.051314979791641235, + "restore_error": 2.384185791015625e-07, + "score": 0.051314979791641235, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.28548526763916016, + "candidate_source_group_id": "ms-63ac245579b1188935ad;ms-ff4c9c58b742da7135da;ms-a2ee6034df65b51c4d97;ms-44b52b73161bb03c5a27;ms-0ec57b5bc28a71d3aac0;ms-a4d692315fd15700e75b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97343fa03fd05700c270", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.39789482951164246, + "candidate_source_group_id": "ms-0841a07e9aeb84cff70f;ms-48ddae21c360b2a12b8d;ms-0fb946120bcbd8ed0632;ms-0d8e00d0e73f9a7b4ce8;ms-22c36189b47df8987e8e;ms-57ccc6bbce43f1c7c000", + "expert_regret": 1.1504404544830322, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d46da887312a51a9f2a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1504404544830322, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8495595455169678, + "restore_error": 1.1920928955078125e-07, + "score": 0.8495595455169678, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8600123524665833, + "candidate_source_group_id": "ms-804705b564058a7ac34c;ms-a601803235735bea0610;ms-acb486cbc23907df2568;ms-62601bc1741cf8792326;ms-a9eb9fab62fb296d2cf3;ms-7d484dd14e9d001a07b1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c72d626356a30cbef93b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.49198177456855774, + "candidate_source_group_id": "ms-88d7cbdbd7c9636e456f;ms-37d6b220ad58fb776f7b;ms-be0ca7fa48a7ea391aa8;ms-88070bf04696eceac1e9;ms-d6b0d6d7c66509eb4543;ms-79b745efd36e00515fa7", + "expert_regret": 1.1855216026306152, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-00ce5c82d2af61a7d7e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1855216026306152, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8144783973693848, + "restore_error": 1.1920928955078125e-07, + "score": 0.8144783973693848, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.26939088106155396, + "candidate_source_group_id": "ms-f50f1c1b673d0c96d4ce;ms-3efaacea10b7eb4adb57;ms-1a37fdd82d982ae6dbd8;ms-20f3cfcf183c69853b1e;ms-f9148dff7961fa66a8a1;ms-e297545a438d902a680e", + "expert_regret": 0.012932777404785156, + "expert_score": 0.8352580070495605, + "expert_success": false, + "group_id": "ms-04eec0abab5f55620e4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1776747703552246, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8223252296447754, + "restore_error": 1.1920928955078125e-07, + "score": 0.8223252296447754, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9772171378135681, + "candidate_source_group_id": "ms-d776afa14e6322cadedd;ms-20f3cfcf183c69853b1e;ms-e297545a438d902a680e;ms-6c8d06bace98a28a8e4e;ms-f50f1c1b673d0c96d4ce;ms-3efaacea10b7eb4adb57", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e327fef230e956dab37c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6917557120323181, + "candidate_source_group_id": "ms-500ed73f6d891e237b30;ms-f79778f4c5ec302bbfb4;ms-2fef2f43af8009bb88f1;ms-7fba35a6c125e88b8f54;ms-79b745efd36e00515fa7;ms-ce827a7939377a151af9", + "expert_regret": 1.9306150376796722, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc1ca12b92e3561b95b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9306150376796722, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06938496232032776, + "restore_error": 1.1920928955078125e-07, + "score": 0.06938496232032776, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0956146717071533, + "candidate_source_group_id": "ms-d6b0d6d7c66509eb4543;ms-1c9cd9629e4a927ed921;ms-79b745efd36e00515fa7;ms-7e2762eb1b21b04fe873;ms-f79778f4c5ec302bbfb4;ms-2fef2f43af8009bb88f1", + "expert_regret": 1.8968683779239655, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0460b73af19ce1336bba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8968683779239655, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10313162207603455, + "restore_error": 1.1920928955078125e-07, + "score": 0.10313162207603455, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7775846123695374, + "candidate_source_group_id": "ms-9f5d57fe2153fd267774;ms-d8cc5ba8ab1cd4a46519;ms-a601803235735bea0610;ms-acb486cbc23907df2568;ms-804705b564058a7ac34c;ms-4c788310cab7df5251e1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-71c5493fbcd8ea88898b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8062154054641724, + "candidate_source_group_id": "ms-36112cc5608a9f625764;ms-22457d523f50e99d7acb;ms-bb299baa34e49eafb9fc;ms-3cdc09425d5b71524854;ms-a9eb9fab62fb296d2cf3;ms-0ec57b5bc28a71d3aac0", + "expert_regret": 1.819749265909195, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f413b168078609ed4fe4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.819749265909195, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18025073409080505, + "restore_error": 1.1920928955078125e-07, + "score": 0.18025073409080505, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6415737867355347, + "candidate_source_group_id": "ms-ab5acce4dba71f19d5ad;ms-0ccc81e9a63663c50096;ms-c8706d0aa14a930236de;ms-da2f79e022bb63a2af11;ms-baba39ca95aa09893dc0;ms-61cb49c57a8600267d61", + "expert_regret": 1.4018269181251526, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5bc4935790fb8ef7b81", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4018269181251526, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5981730818748474, + "restore_error": 1.1920928955078125e-07, + "score": 0.5981730818748474, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6065253019332886, + "candidate_source_group_id": "ms-b4f96b4975ceb839c5e3;ms-3c87c16acc91c68c522f;ms-e6e8b4cdcadec645d910;ms-d1960368ef76bbb10669;ms-68067370d3b20b9bd4e2;ms-77536801924a2a78688e", + "expert_regret": 1.8288904428482056, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6af11918833ace7c694", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8288904428482056, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17110955715179443, + "restore_error": 1.1920928955078125e-07, + "score": 0.17110955715179443, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + } + ], + "seed": 0, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 216, + "retrieval_residual_residual_near_miss": 57, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 77, + "retrieval_residual_residual_no_op": 52, + "retrieval_residual_residual_wrong_gripper": 173 + }, + "selected_residual_scale_counts": { + "0.35": 296, + "0.4": 127, + "0.45": 152 + }, + "selection_margin": 0.0, + "selection_mode": "retrieval_residual", + "split": "validation_groups" +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_type005.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_type005.json new file mode 100644 index 0000000000000000000000000000000000000000..62ce6cc45465caefa4a6b3fda039c3be067f56cb --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_type005.json @@ -0,0 +1,12263 @@ +{ + "action_mse_to_best": 0.49619024149263685, + "backbone_model": null, + "backbone_type": "native", + "candidate_oracle_rollouts": 0, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_sigma": 0.0, + "candidate_type_bonus_components": false, + "candidate_type_bonuses": {}, + "candidate_type_bonuses_by_task": { + "*": { + "retrieval_residual_policy_residual": 0.0011375938188315227, + "retrieval_residual_residual_near_miss": 0.005341129213981277, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.006486148075147869, + "retrieval_residual_residual_no_op": -0.0032005901900861444, + "retrieval_residual_residual_wrong_gripper": -0.004290875696694946 + }, + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.004149123867936172, + "retrieval_residual_residual_near_miss": -0.003334746934501648, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.02, + "retrieval_residual_residual_no_op": 0.011153495402409863, + "retrieval_residual_residual_wrong_gripper": -0.005755855033381225 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 0.001903348957129969, + "retrieval_residual_residual_near_miss": 0.015457019800278193, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": -0.0027249330730755197, + "retrieval_residual_residual_no_op": -0.02, + "retrieval_residual_residual_wrong_gripper": -0.0036104113478378553 + } + }, + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/best_transport.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "expert_success_rate": 0.7721739130434783, + "field_optim_l2_penalty": 0.0, + "field_optim_step_size": 0.0, + "field_optim_steps": 0, + "field_optim_trust_radius": 0.0, + "field_rank_biases_by_task": { + "*": [ + 0.0, + -0.0, + -0.0, + -0.0 + ], + "LiftPegUpright-v1": [ + 0.0, + -0.0, + -0.0, + -0.0 + ], + "PickCube-v1": [ + 0.0, + 0.0, + -0.0, + -0.0 + ] + }, + "group_batch_size": 8, + "lattice_exclude_type_tasks": {}, + "lattice_exclude_types": [ + "residual_random_negative", + "residual_wrong_direction", + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper" + ], + "num_candidates": 48, + "num_groups": 575, + "objective": "lattice_field", + "observation_mode": "state", + "oracle_success_rate": 0.8573913043478261, + "per_task": { + "LiftPegUpright-v1": { + "action_mse_to_best": 0.33983143654258285, + "expert_success_rate": 0.8865979381443299, + "num_groups": 97, + "oracle_success_rate": 0.9278350515463918, + "policy_expert_regret": 1.07819144181984, + "policy_oracle_regret": 1.1046069195282828, + "policy_rollout_progress": 0.5716054517890989, + "policy_rollout_success_rate": 0.2268041237113402, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "action_mse_to_best": 0.45762038852374715, + "expert_success_rate": 0.9375, + "num_groups": 208, + "oracle_success_rate": 0.9471153846153846, + "policy_expert_regret": 0.9559638767521113, + "policy_oracle_regret": 0.9627414048524, + "policy_rollout_progress": 0.6183327217854989, + "policy_rollout_success_rate": 0.35096153846153844, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "action_mse_to_best": 0.6088874204592272, + "expert_success_rate": 0.19480519480519481, + "num_groups": 77, + "oracle_success_rate": 0.36363636363636365, + "policy_expert_regret": 0.21617761320833648, + "policy_oracle_regret": 0.408203522505408, + "policy_rollout_progress": 0.3510295053847231, + "policy_rollout_success_rate": 0.24675324675324675, + "restore_max_error": 2.3096799850463867e-07 + }, + "PushCube-v1": { + "action_mse_to_best": 0.5045798055510572, + "expert_success_rate": 0.8617021276595744, + "num_groups": 94, + "oracle_success_rate": 0.9893617021276596, + "policy_expert_regret": 0.37636360209038916, + "policy_oracle_regret": 0.43492716011848853, + "policy_rollout_progress": 0.779487781385158, + "policy_rollout_success_rate": 0.7659574468085106, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "action_mse_to_best": 0.6348067232680441, + "expert_success_rate": 0.6767676767676768, + "num_groups": 99, + "oracle_success_rate": 0.8585858585858586, + "policy_expert_regret": 0.890512581274967, + "policy_oracle_regret": 1.0496274592599484, + "policy_rollout_progress": 0.5159087117874261, + "policy_rollout_success_rate": 0.2828282828282828, + "restore_max_error": 2.384185791015625e-07 + } + }, + "policy_expert_regret": 0.771495054922998, + "policy_oracle_regret": 0.8410870020075337, + "policy_rollout_progress": 0.5833652535421044, + "policy_rollout_success_rate": 0.37217391304347824, + "prepend_policy_candidate": false, + "proposal_lattice_types": [], + "proposal_types": [], + "restore_max_error": 2.384185791015625e-07, + "retrieval_metric": "raw", + "retrieval_neighbors": 6, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_anchor": "expert", + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_type_tasks": {}, + "retrieval_residual_challenger_types": [], + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_by_task": { + "*": 0.0, + "PickCube-v1": 0.01, + "StackCube-v1": 0.05 + }, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "rows": [ + { + "action_mse_to_best": 0.16403727233409882, + "candidate_source_group_id": "ms-99f263cb3f383b1f6243;ms-aa46bb6dc8e6274963b6;ms-ec4accef21246e0c9213;ms-c76aba3db8d4ce0062bc;ms-b0302a41f75a827cd4e4;ms-7272e1e33d4ecc07470c", + "expert_regret": 1.3218209743499756, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-575bd87a5da90963019d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3218209743499756, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6781790256500244, + "restore_error": 1.1920928955078125e-07, + "score": 0.6781790256500244, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.182577982544899, + "candidate_source_group_id": "ms-c76aba3db8d4ce0062bc;ms-aa46bb6dc8e6274963b6;ms-ec4accef21246e0c9213;ms-b0302a41f75a827cd4e4;ms-9a72e47e2204fa794718;ms-99f263cb3f383b1f6243", + "expert_regret": 1.3254237174987793, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28c139f34a954b692962", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3254237174987793, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6745762825012207, + "restore_error": 1.1920928955078125e-07, + "score": 0.6745762825012207, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3051590025424957, + "candidate_source_group_id": "ms-074cb86179cdd7f52737;ms-9bbea286acf66b5cfb8e;ms-3c1e7b47135487435fc1;ms-675833805d1139c2f2a0;ms-f1529c9d823325056e8d;ms-e89a3ba400f81d2795f3", + "expert_regret": 1.2905534505844116, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8bab784ae53525967763", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2905534505844116, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7094465494155884, + "restore_error": 1.1920928955078125e-07, + "score": 0.7094465494155884, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5033681988716125, + "candidate_source_group_id": "ms-1955408aeb8a8a4d0847;ms-8b15f77ad3436ac282ba;ms-917b0f051489227842f0;ms-524ae7618ed9b6a272ae;ms-85fcc6b4797417c3473f;ms-50b9f93dd246400d20c8", + "expert_regret": 1.2926936149597168, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8a9e7d69f7ade362fe40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2926936149597168, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7073063850402832, + "restore_error": 1.1920928955078125e-07, + "score": 0.7073063850402832, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1658484935760498, + "candidate_source_group_id": "ms-13d8bae55d3c3710138f;ms-ec2e4afb34b439731136;ms-9852b3671856321cecc8;ms-c2b904f450b45e2a8c9a;ms-36d1128e3bd512cffe18;ms-28835618507e7bc71227", + "expert_regret": 0.5253258347511292, + "expert_score": 0.728327751159668, + "expert_success": false, + "group_id": "ms-e1b6bcb41532a800d3cb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7969980835914612, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20300191640853882, + "restore_error": 1.1920928955078125e-07, + "score": 0.20300191640853882, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.256663978099823, + "candidate_source_group_id": "ms-6939f3ecafd5e0a4bfee;ms-2590f9fd91265598fb45;ms-5b24bcde90348f24bb19;ms-484ea653bbca2de3a4a2;ms-65e9da4468e522823587;ms-7b1a03be4a61ba27261c", + "expert_regret": 1.625543236732483, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f6e7085c865144a7408", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.625543236732483, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3744567632675171, + "restore_error": 1.1920928955078125e-07, + "score": 0.3744567632675171, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38028913736343384, + "candidate_source_group_id": "ms-c910a469460f71880556;ms-0a8109ce7ab2ddc1bb1e;ms-e12808f670338ca180c6;ms-f3211ecde366ca9f6ac7;ms-8c8cf210aa675c5db1fe;ms-44a607bf50304347ead8", + "expert_regret": 1.797069028019905, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83c0299c23fa800452c7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.797069028019905, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2029309719800949, + "restore_error": 1.1920928955078125e-07, + "score": 0.2029309719800949, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3688965439796448, + "candidate_source_group_id": "ms-6a03497f97765ffd444e;ms-c1f3359c70d068a36081;ms-043a17d678e610264bb8;ms-e6ca7414c5035e80d0ac;ms-a4420cda0b159dda82a2;ms-252706fc0657a82ba5a4", + "expert_regret": 1.7417368590831757, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-88f748134c3fd27fcf72", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7417368590831757, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25826314091682434, + "restore_error": 1.1920928955078125e-07, + "score": 0.25826314091682434, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2206980139017105, + "candidate_source_group_id": "ms-340913cb08bfca09a4e3;ms-e536e40f6902c6ba0927;ms-080e034927abe2f30d60;ms-13aa39b96923ad8c913a;ms-bdb04ada069c35d51e2e;ms-3e0dbff4309ecbd35d36", + "expert_regret": 1.746465265750885, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01ab68aa5051226638ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.746465265750885, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.253534734249115, + "restore_error": 1.1920928955078125e-07, + "score": 0.253534734249115, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.08368216454982758, + "candidate_source_group_id": "ms-83019373a06eb384c886;ms-8864796e31bbe93d7c5d;ms-f5ebbab81506fa27fc6d;ms-8e23d2d44e709420e46d;ms-938b53ef53e669518a56;ms-dbad4f4d0df3c19c7bbb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83c62951219e6599b630", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3766658902168274, + "candidate_source_group_id": "ms-e6ca7414c5035e80d0ac;ms-252706fc0657a82ba5a4;ms-08ab006a923f5fdae198;ms-c1f3359c70d068a36081;ms-9bb65f13e00984482ef8;ms-043a17d678e610264bb8", + "expert_regret": 1.7473297417163849, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d229ac64c91c9bb6ce88", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7473297417163849, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2526702582836151, + "restore_error": 1.1920928955078125e-07, + "score": 0.2526702582836151, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3637847304344177, + "candidate_source_group_id": "ms-02cacb03f445c8a460e8;ms-8bc7aa419d17368d81b5;ms-7334e620435d1f3545fd;ms-a6e4ac1995198def96a8;ms-a40dee47c502e73949af;ms-510cafd84de611de3909", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f24ad2e217963943c12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48431602120399475, + "candidate_source_group_id": "ms-c1f3359c70d068a36081;ms-dd94921779f12b249579;ms-93b076203c0c65fb22be;ms-6a03497f97765ffd444e;ms-e4090b0b0c1739070201;ms-2b59042e27453aff03a7", + "expert_regret": 1.7679226398468018, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1e41619ab39cf51b7822", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7679226398468018, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23207736015319824, + "restore_error": 1.1920928955078125e-07, + "score": 0.23207736015319824, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.26977354288101196, + "candidate_source_group_id": "ms-af25c332ad54eee6e1c3;ms-de68dbb7daad3e3a71fe;ms-fdf18cd6260d82226927;ms-074b26fed4c4a9dd3449;ms-4a845dab9503bc4eba04;ms-c146ea1c89beb683b6fd", + "expert_regret": 1.687372624874115, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a6cf775fbba580161c4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.687372624874115, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.312627375125885, + "restore_error": 1.1920928955078125e-07, + "score": 0.312627375125885, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4117461144924164, + "candidate_source_group_id": "ms-35babd5f83dcf1561f9a;ms-c7c812bb98308442d95b;ms-97c28a7584b35207bf84;ms-062addb9da32a0c2ea97;ms-a4420cda0b159dda82a2;ms-684a66885f21739d826b", + "expert_regret": 1.645468831062317, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5a56eefeb2de0abe600", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.645468831062317, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3545311689376831, + "restore_error": 1.1920928955078125e-07, + "score": 0.3545311689376831, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4817766547203064, + "candidate_source_group_id": "ms-7b1a03be4a61ba27261c;ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-8be8a38748f9fb037556;ms-484ea653bbca2de3a4a2;ms-6959fa589edc996753d7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f539c5c30da21c875657", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16072355210781097, + "candidate_source_group_id": "ms-bc56601ca069f65cd08f;ms-a4ade4de51ca437ac432;ms-4a86d570dabb0916f020;ms-1145e0f6add300eee9bd;ms-988537a36edfece3d073;ms-8fcf4d9d042de2f74d76", + "expert_regret": 1.7474114298820496, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-38758efd8620a312267d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7474114298820496, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25258857011795044, + "restore_error": 1.1920928955078125e-07, + "score": 0.25258857011795044, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3146516978740692, + "candidate_source_group_id": "ms-fe790caba27d92511f71;ms-faeff0379a053e9ea351;ms-caa0a38b7df789550f8a;ms-bdc14f3225a9c9f26513;ms-e2950dcb50ed2b955be6;ms-2436538e05fdcf8e44fc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2f1164357c9732e059d4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.056728024035692215, + "candidate_source_group_id": "ms-cce5ef6cfa69a08a1e05;ms-4e825dd3ade30a42e899;ms-0660d5f65df5fc4b6132;ms-3c550bf52d7bf91f4ca2;ms-de8d6051e6ee74b62fec;ms-715db95b13ebc6c977c8", + "expert_regret": 0.5219925045967102, + "expert_score": 0.720818042755127, + "expert_success": false, + "group_id": "ms-c2c265f2f5013746eaa1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.528826892375946, + "oracle_score": 0.7276524305343628, + "oracle_success": false, + "progress": 0.19882553815841675, + "restore_error": 1.1920928955078125e-07, + "score": 0.19882553815841675, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.20318324863910675, + "candidate_source_group_id": "ms-aee5716b3e4fc47e46ba;ms-7272e1e33d4ecc07470c;ms-20cd6d8ccbf13e36dcdb;ms-92070f417bd9d14d6fc7;ms-6e2b02ee71a4a44bc325;ms-59474486dd5cb4e5bfd5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6a4398375c43dbf887b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.44475239515304565, + "candidate_source_group_id": "ms-bc29afbe2bbf00638d25;ms-a4420cda0b159dda82a2;ms-684a66885f21739d826b;ms-076246c4c5d1ca8ccd9d;ms-aedc3dee6e275342eb8f;ms-97c28a7584b35207bf84", + "expert_regret": 1.3794038891792297, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-507199452c6d42562a38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3794038891792297, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6205961108207703, + "restore_error": 1.1920928955078125e-07, + "score": 0.6205961108207703, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41978126764297485, + "candidate_source_group_id": "ms-e536e40f6902c6ba0927;ms-340913cb08bfca09a4e3;ms-caeb4c3d358f256799a8;ms-ff3256da4e1731651937;ms-5bbc4c4b1b51e2a088db;ms-1b8e9b173562648021f6", + "expert_regret": 1.7638336420059204, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ef8de99d917753ec603c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7638336420059204, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2361663579940796, + "restore_error": 1.1920928955078125e-07, + "score": 0.2361663579940796, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6280216574668884, + "candidate_source_group_id": "ms-a5bd3a36c6fe41cd0b35;ms-0d80d6d87a27a53951fe;ms-0a57aa04002f1b843856;ms-6f03b16858c35025503e;ms-1a2d298bf9972ddc1a7e;ms-6ceb341dfa656e485a13", + "expert_regret": 0.5116468369960785, + "expert_score": 0.7269317507743835, + "expert_success": false, + "group_id": "ms-c9e0182d4090ddaa991c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5116468369960785, + "oracle_score": 0.7269317507743835, + "oracle_success": false, + "progress": 0.21528491377830505, + "restore_error": 1.1920928955078125e-07, + "score": 0.21528491377830505, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3402126133441925, + "candidate_source_group_id": "ms-3e0dbff4309ecbd35d36;ms-080e034927abe2f30d60;ms-bdb04ada069c35d51e2e;ms-a4ade4de51ca437ac432;ms-ebeb5587176e3877b98a;ms-9c33d4837de7d23232d6", + "expert_regret": 1.7471709549427032, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-835bd462e505aa659d16", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7471709549427032, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25282904505729675, + "restore_error": 1.1920928955078125e-07, + "score": 0.25282904505729675, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4367155432701111, + "candidate_source_group_id": "ms-261f6f6b578cee63be20;ms-8be46dac6fc06c6c928a;ms-48db1178206eee52434a;ms-e91b824c3841686ed053;ms-7a3daad6772d2384ea66;ms-fb131b52f94500da894b", + "expert_regret": 1.2878472805023193, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-35d84da6eb1afcf8a811", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2878472805023193, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7121527194976807, + "restore_error": 1.1920928955078125e-07, + "score": 0.7121527194976807, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3436945974826813, + "candidate_source_group_id": "ms-e6478d71ed92dae06539;ms-35c12c467fb8a54f89f0;ms-f3211ecde366ca9f6ac7;ms-a103dfbc0567d05ade6e;ms-44a607bf50304347ead8;ms-de8d6051e6ee74b62fec", + "expert_regret": 1.7995912581682205, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ba9541c7192498a1d8bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7995912581682205, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20040874183177948, + "restore_error": 1.1920928955078125e-07, + "score": 0.20040874183177948, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4052918553352356, + "candidate_source_group_id": "ms-22aaa483f5e7d381b63d;ms-c3818c2c4474a784fc6b;ms-0ef5d3238b33bdebae4d;ms-8556e974064f31ae1468;ms-e4090b0b0c1739070201;ms-3a09e411ee6c882ef7df", + "expert_regret": 1.3104048371315002, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d26dc2146eb8ae9a5434", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3104048371315002, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6895951628684998, + "restore_error": 1.1920928955078125e-07, + "score": 0.6895951628684998, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3534383773803711, + "candidate_source_group_id": "ms-1b8e9b173562648021f6;ms-5bbc4c4b1b51e2a088db;ms-502c195c0e4810814bac;ms-4906f3adfda6dace862d;ms-9f993a6e9bb26846d4f4;ms-c871c1157a16e19e6150", + "expert_regret": 1.7680997997522354, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3661d65df223386f1be9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7680997997522354, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2319002002477646, + "restore_error": 1.1920928955078125e-07, + "score": 0.2319002002477646, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2675606310367584, + "candidate_source_group_id": "ms-ebeb5587176e3877b98a;ms-cdbfe4d3b05f4ed12db3;ms-0f02ff35b7fa1234c52e;ms-9f993a6e9bb26846d4f4;ms-502c195c0e4810814bac;ms-1cb9edbe8bd7ed4106c1", + "expert_regret": 1.7073913514614105, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3db845076f92a16d1840", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7073913514614105, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2926086485385895, + "restore_error": 1.1920928955078125e-07, + "score": 0.2926086485385895, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3257105052471161, + "candidate_source_group_id": "ms-662379c2c351807b9cdf;ms-a40abdebe8a9c17de878;ms-b383acd9844466b19579;ms-5799584ed40e211c50a5;ms-80d8d8fc4a3308139975;ms-7a1b60ea1461eb460bed", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4b3a296acc66a14476c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1882317215204239, + "candidate_source_group_id": "ms-cf8c5d9c874edc9f000d;ms-b025d8068f740557d630;ms-9257b89b9b635a0fb174;ms-28fe4b5a2888189c28d9;ms-fc3c8a3572fd96442723;ms-9554f100dd5be3a4fa47", + "expert_regret": 1.6283776760101318, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3176a570b75767d1d729", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6283776760101318, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.37162232398986816, + "restore_error": 1.1920928955078125e-07, + "score": 0.37162232398986816, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.09845292568206787, + "candidate_source_group_id": "ms-067e0fe46e4e9483e2a1;ms-5003e0cda1e13bd4850a;ms-472376eba1a5e1c706bf;ms-908213fef55ccf1dfda6;ms-dfc38c43e9a87f99ef7f;ms-785fb44f1371895f7721", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-14dabc3ac1e1a339ebe4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.25713029503822327, + "candidate_source_group_id": "ms-080e034927abe2f30d60;ms-bdb04ada069c35d51e2e;ms-13aa39b96923ad8c913a;ms-7dfc3684b46df95070e2;ms-3e0dbff4309ecbd35d36;ms-a4ade4de51ca437ac432", + "expert_regret": 1.7218148410320282, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f0d2ffde521e268efc83", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7218148410320282, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2781851589679718, + "restore_error": 2.384185791015625e-07, + "score": 0.2781851589679718, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4278603196144104, + "candidate_source_group_id": "ms-8c8cf210aa675c5db1fe;ms-30e2d8b7825053276e0c;ms-efb5a07185a3a1b33226;ms-e2a037eadb166228b1dd;ms-af91167a0cf15457c6ba;ms-e7573c5d29c3a1a3f228", + "expert_regret": 1.2787054777145386, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-89520c3ac8779d9e81e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2787054777145386, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7212945222854614, + "restore_error": 2.384185791015625e-07, + "score": 0.7212945222854614, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.362408846616745, + "candidate_source_group_id": "ms-472376eba1a5e1c706bf;ms-dfc38c43e9a87f99ef7f;ms-908213fef55ccf1dfda6;ms-067e0fe46e4e9483e2a1;ms-785fb44f1371895f7721;ms-938b53ef53e669518a56", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-487d0fe2a13fb699dd7a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.312634140253067, + "candidate_source_group_id": "ms-54b1042de0891da7c07e;ms-debd7e5668e2acdf6bb0;ms-a1a99e83fb2868164e40;ms-9a72e47e2204fa794718;ms-92070f417bd9d14d6fc7;ms-7aeb0835d3396e6666b6", + "expert_regret": 1.283835768699646, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61c099575bcff2de95e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.283835768699646, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.716164231300354, + "restore_error": 2.384185791015625e-07, + "score": 0.716164231300354, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3357120156288147, + "candidate_source_group_id": "ms-865f9d670f806778ae61;ms-619d3d285d2cae3abbb9;ms-c7677b8f230103dd3c51;ms-88f7199271947fc4c7e8;ms-c090bce47703a4c4bb0b;ms-0fe90299788e1f71f98a", + "expert_regret": 0.5074718296527863, + "expert_score": 0.7231871485710144, + "expert_success": false, + "group_id": "ms-64a755437c34f39cda2a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5074718296527863, + "oracle_score": 0.7231871485710144, + "oracle_success": false, + "progress": 0.21571531891822815, + "restore_error": 2.384185791015625e-07, + "score": 0.21571531891822815, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.12310095876455307, + "candidate_source_group_id": "ms-059d7962a5f998edf668;ms-26322bd4de52dbd5743c;ms-e2950dcb50ed2b955be6;ms-e3f38594991aafbffc23;ms-908213fef55ccf1dfda6;ms-472376eba1a5e1c706bf", + "expert_regret": 0.0, + "expert_score": 0.6909128427505493, + "expert_success": false, + "group_id": "ms-9156a9a9c1b829b742ad", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34731075167655945, + "candidate_source_group_id": "ms-340913cb08bfca09a4e3;ms-e536e40f6902c6ba0927;ms-3e0dbff4309ecbd35d36;ms-bdb04ada069c35d51e2e;ms-5bbc4c4b1b51e2a088db;ms-13aa39b96923ad8c913a", + "expert_regret": 1.7465482950210571, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b4281a37b8b48a0b4c54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7465482950210571, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25345170497894287, + "restore_error": 2.384185791015625e-07, + "score": 0.25345170497894287, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.25278300046920776, + "candidate_source_group_id": "ms-3e0dbff4309ecbd35d36;ms-080e034927abe2f30d60;ms-bdb04ada069c35d51e2e;ms-5bbc4c4b1b51e2a088db;ms-9c33d4837de7d23232d6;ms-a4ade4de51ca437ac432", + "expert_regret": 1.6944690346717834, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-44e7935dbed5f3b3c739", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6944690346717834, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.30553096532821655, + "restore_error": 2.384185791015625e-07, + "score": 0.30553096532821655, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.08199330419301987, + "candidate_source_group_id": "ms-e3c96ca4b56c4a26d40d;ms-83019373a06eb384c886;ms-caa0a38b7df789550f8a;ms-9551db96b60a51ccf62a;ms-938b53ef53e669518a56;ms-8e23d2d44e709420e46d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-36f204d04ec4c4af3169", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.18974170088768005, + "candidate_source_group_id": "ms-4a86d570dabb0916f020;ms-1cb9edbe8bd7ed4106c1;ms-73259d17883355f7fa88;ms-0f02ff35b7fa1234c52e;ms-becd2ffef1c49174810a;ms-0a6bff8326e7e32702f3", + "expert_regret": 1.339151680469513, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-832f0e966173abd16c34", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.339151680469513, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6608483195304871, + "restore_error": 1.1920928955078125e-07, + "score": 0.6608483195304871, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.44810017943382263, + "candidate_source_group_id": "ms-7a3daad6772d2384ea66;ms-2f2b16367db3db120235;ms-84264ef080ec4f3631df;ms-01a86e5f5731af7002ab;ms-e91b824c3841686ed053;ms-8be46dac6fc06c6c928a", + "expert_regret": 1.4891876578330994, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e56b37f0e3881a70ef54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4891876578330994, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5108123421669006, + "restore_error": 1.1920928955078125e-07, + "score": 0.5108123421669006, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40373674035072327, + "candidate_source_group_id": "ms-c663f7e73e7e8376a05c;ms-3c3fb1d170c1a7965ac4;ms-6818a4edf6ef35dacfb0;ms-0bc111c5ce4e0052716b;ms-73e3079ce5eb7cd14ec8;ms-efbde8652e75274fbd69", + "expert_regret": 1.4050753116607666, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b37738e210bf33a45a1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4050753116607666, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5949246883392334, + "restore_error": 1.1920928955078125e-07, + "score": 0.5949246883392334, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.24720242619514465, + "candidate_source_group_id": "ms-2e7fc6c97e5ce1f024e5;ms-32943eea3e70cd02f313;ms-73e3079ce5eb7cd14ec8;ms-3c3fb1d170c1a7965ac4;ms-efbde8652e75274fbd69;ms-076246c4c5d1ca8ccd9d", + "expert_regret": 1.634339988231659, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d30b515ab0ee174afa58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.634339988231659, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.36566001176834106, + "restore_error": 1.1920928955078125e-07, + "score": 0.36566001176834106, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41043663024902344, + "candidate_source_group_id": "ms-e6ca7414c5035e80d0ac;ms-252706fc0657a82ba5a4;ms-043a17d678e610264bb8;ms-e9a43adf4bba03b65d5d;ms-c1f3359c70d068a36081;ms-6a03497f97765ffd444e", + "expert_regret": 1.7693287879228592, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5b0141f336d28927cf31", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7693287879228592, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2306712120771408, + "restore_error": 1.1920928955078125e-07, + "score": 0.2306712120771408, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38953498005867004, + "candidate_source_group_id": "ms-324a58dd51dfecb51fa8;ms-8c4a08985213114fffb7;ms-7b1a03be4a61ba27261c;ms-2590f9fd91265598fb45;ms-4c72a9ad08cbf51799fb;ms-6939f3ecafd5e0a4bfee", + "expert_regret": 1.2830954790115356, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d602b7370c5b90f8a439", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2830954790115356, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7169045209884644, + "restore_error": 1.1920928955078125e-07, + "score": 0.7169045209884644, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1937592327594757, + "candidate_source_group_id": "ms-4a86d570dabb0916f020;ms-0a6bff8326e7e32702f3;ms-becd2ffef1c49174810a;ms-1cb9edbe8bd7ed4106c1;ms-0f02ff35b7fa1234c52e;ms-73259d17883355f7fa88", + "expert_regret": 1.2763134241104126, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bbefdf03d0471be60f8f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2763134241104126, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7236865758895874, + "restore_error": 1.1920928955078125e-07, + "score": 0.7236865758895874, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2583308517932892, + "candidate_source_group_id": "ms-04cc31b72a8dc8a91911;ms-5b24bcde90348f24bb19;ms-2590f9fd91265598fb45;ms-8c4a08985213114fffb7;ms-4c72a9ad08cbf51799fb;ms-6939f3ecafd5e0a4bfee", + "expert_regret": 1.5362626910209656, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-09b2d832d7823c11fd22", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5362626910209656, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4637373089790344, + "restore_error": 2.384185791015625e-07, + "score": 0.4637373089790344, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5354069471359253, + "candidate_source_group_id": "ms-cf2603516869355b8b13;ms-c0142e4a5d15dd8d647a;ms-40392e5aeef63551f9ac;ms-49c99f285560483a85ee;ms-524ae7618ed9b6a272ae;ms-9b687dc2de14c6813d44", + "expert_regret": 1.7917144894599915, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e2f90eb6c79dfd9ce6fd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7917144894599915, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20828551054000854, + "restore_error": 2.384185791015625e-07, + "score": 0.20828551054000854, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2778758704662323, + "candidate_source_group_id": "ms-aedc3dee6e275342eb8f;ms-684a66885f21739d826b;ms-a4420cda0b159dda82a2;ms-e9a43adf4bba03b65d5d;ms-b0861c414f8690d62a82;ms-252706fc0657a82ba5a4", + "expert_regret": 1.7466300427913666, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-780ea60ea0255941e6c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7466300427913666, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2533699572086334, + "restore_error": 2.384185791015625e-07, + "score": 0.2533699572086334, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7863624691963196, + "candidate_source_group_id": "ms-a67a1ab4d96d811cec77;ms-894cd0e5dafb2d38831d;ms-0fe90299788e1f71f98a;ms-88f7199271947fc4c7e8;ms-effca6c13ef9ccfd21a0;ms-c7677b8f230103dd3c51", + "expert_regret": 0.00597207248210907, + "expert_score": 0.23429617285728455, + "expert_success": false, + "group_id": "ms-a932cbf7e2b5755db22e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.00597207248210907, + "oracle_score": 0.23429617285728455, + "oracle_success": false, + "progress": 0.22832410037517548, + "restore_error": 2.384185791015625e-07, + "score": 0.22832410037517548, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.27540335059165955, + "candidate_source_group_id": "ms-0fe90299788e1f71f98a;ms-c7677b8f230103dd3c51;ms-88f7199271947fc4c7e8;ms-4c72a9ad08cbf51799fb;ms-894cd0e5dafb2d38831d;ms-04cc31b72a8dc8a91911", + "expert_regret": 1.276581346988678, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e705fef3e4caa4c49718", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.276581346988678, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.723418653011322, + "restore_error": 2.384185791015625e-07, + "score": 0.723418653011322, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3506665825843811, + "candidate_source_group_id": "ms-a6e4ac1995198def96a8;ms-a40dee47c502e73949af;ms-510cafd84de611de3909;ms-e89a3ba400f81d2795f3;ms-bb567fcac946f012535a;ms-31fe1d98bc7adcd515db", + "expert_regret": 1.284674882888794, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-136f1ebebd0b697c3310", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.284674882888794, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.715325117111206, + "restore_error": 2.384185791015625e-07, + "score": 0.715325117111206, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.012667025439441204, + "candidate_source_group_id": "ms-4a86d570dabb0916f020;ms-0f02ff35b7fa1234c52e;ms-7334e620435d1f3545fd;ms-f6f0d14ef7c24b9e4621;ms-0a6bff8326e7e32702f3;ms-510cafd84de611de3909", + "expert_regret": 0.0, + "expert_score": 0.7196991443634033, + "expert_success": false, + "group_id": "ms-ea164b21572d39ffed58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.19189170002937317, + "candidate_source_group_id": "ms-8fabc0ac20ec87ead026;ms-cba95475cb68ea42b041;ms-52ea0261959dfacdbcac;ms-22d1b2dcc954dcdff384;ms-ee28aef4a7ee25ff7f7c;ms-0fe90299788e1f71f98a", + "expert_regret": 1.7184981405735016, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0251a326271aa1cab82b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7184981405735016, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2815018594264984, + "restore_error": 2.384185791015625e-07, + "score": 0.2815018594264984, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.29789599776268005, + "candidate_source_group_id": "ms-7a1b60ea1461eb460bed;ms-a40abdebe8a9c17de878;ms-662379c2c351807b9cdf;ms-ecb5cc61f0b736e3f06f;ms-ed30f8fbb80b2cf46fbc;ms-80d8d8fc4a3308139975", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-96e1562aaca7ef49db28", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4550604820251465, + "candidate_source_group_id": "ms-c2b904f450b45e2a8c9a;ms-9852b3671856321cecc8;ms-ec2e4afb34b439731136;ms-33a0bdb4bcee42c79a2b;ms-13d8bae55d3c3710138f;ms-c0ed69f549e56aa55f3d", + "expert_regret": 1.3230541944503784, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29a11d7bdcf49c86bd7a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3230541944503784, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6769458055496216, + "restore_error": 1.1920928955078125e-07, + "score": 0.6769458055496216, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1746968924999237, + "candidate_source_group_id": "ms-078317e23cc56a9d719d;ms-bc56601ca069f65cd08f;ms-a242f1d12ebfcd82de05;ms-8fcf4d9d042de2f74d76;ms-1145e0f6add300eee9bd;ms-f6f0d14ef7c24b9e4621", + "expert_regret": 1.3052598237991333, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-051860c228aa5160d5a6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3052598237991333, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6947401762008667, + "restore_error": 1.1920928955078125e-07, + "score": 0.6947401762008667, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.155882328748703, + "candidate_source_group_id": "ms-f6f0d14ef7c24b9e4621;ms-675833805d1139c2f2a0;ms-0a6bff8326e7e32702f3;ms-a242f1d12ebfcd82de05;ms-074cb86179cdd7f52737;ms-31fe1d98bc7adcd515db", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-690f52acc6ead9c7c078", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35907047986984253, + "candidate_source_group_id": "ms-44a607bf50304347ead8;ms-f3211ecde366ca9f6ac7;ms-35c12c467fb8a54f89f0;ms-0a8109ce7ab2ddc1bb1e;ms-a103dfbc0567d05ade6e;ms-e6478d71ed92dae06539", + "expert_regret": 1.3154233694076538, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3af721139694f7f3ec04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3154233694076538, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6845766305923462, + "restore_error": 1.1920928955078125e-07, + "score": 0.6845766305923462, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4529951512813568, + "candidate_source_group_id": "ms-a43b35c03282fe0c8464;ms-a103dfbc0567d05ade6e;ms-35c12c467fb8a54f89f0;ms-44a607bf50304347ead8;ms-0a8109ce7ab2ddc1bb1e;ms-f3211ecde366ca9f6ac7", + "expert_regret": 1.800988107919693, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68c63442972f322789b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.800988107919693, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.199011892080307, + "restore_error": 1.1920928955078125e-07, + "score": 0.199011892080307, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36040037870407104, + "candidate_source_group_id": "ms-da28f7d135db8979d5b8;ms-6ca37421eb5405e1a9a5;ms-e825996818ee6f2f7d26;ms-227f2e245df67a5ef5ed;ms-85e3feba1c0f3084cfa0;ms-e467ecc93a4793286423", + "expert_regret": 1.3329521417617798, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-577341cca32521f4045e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3329521417617798, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6670478582382202, + "restore_error": 1.1920928955078125e-07, + "score": 0.6670478582382202, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.44727060198783875, + "candidate_source_group_id": "ms-093472a082b3b61e73d6;ms-b2d1a5e132eaeb353782;ms-0a57aa04002f1b843856;ms-1a2d298bf9972ddc1a7e;ms-6ceb341dfa656e485a13;ms-0d80d6d87a27a53951fe", + "expert_regret": 1.4472208619117737, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b60078e9e6ea9c26dedc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4472208619117737, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5527791380882263, + "restore_error": 1.1920928955078125e-07, + "score": 0.5527791380882263, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3340490162372589, + "candidate_source_group_id": "ms-340913cb08bfca09a4e3;ms-e536e40f6902c6ba0927;ms-13aa39b96923ad8c913a;ms-7dfc3684b46df95070e2;ms-080e034927abe2f30d60;ms-bdb04ada069c35d51e2e", + "expert_regret": 1.4321141242980957, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fdb2637276b27c46c757", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4321141242980957, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5678858757019043, + "restore_error": 2.384185791015625e-07, + "score": 0.5678858757019043, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3310411870479584, + "candidate_source_group_id": "ms-340913cb08bfca09a4e3;ms-e536e40f6902c6ba0927;ms-bdb04ada069c35d51e2e;ms-3e0dbff4309ecbd35d36;ms-5bbc4c4b1b51e2a088db;ms-080e034927abe2f30d60", + "expert_regret": 1.746169537305832, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-457db124a2f46a06175b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.746169537305832, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2538304626941681, + "restore_error": 2.384185791015625e-07, + "score": 0.2538304626941681, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.15981507301330566, + "candidate_source_group_id": "ms-becd2ffef1c49174810a;ms-0a6bff8326e7e32702f3;ms-4a86d570dabb0916f020;ms-1cb9edbe8bd7ed4106c1;ms-bc56601ca069f65cd08f;ms-73259d17883355f7fa88", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-06cb0796d1097e6ca111", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3110937476158142, + "candidate_source_group_id": "ms-4a845dab9503bc4eba04;ms-227f2e245df67a5ef5ed;ms-c146ea1c89beb683b6fd;ms-af25c332ad54eee6e1c3;ms-074b26fed4c4a9dd3449;ms-40fb8acb1e648bf3b617", + "expert_regret": 1.2862606048583984, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2286d9cf8d88e878c4d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2862606048583984, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7137393951416016, + "restore_error": 2.384185791015625e-07, + "score": 0.7137393951416016, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3207549452781677, + "candidate_source_group_id": "ms-e2950dcb50ed2b955be6;ms-26322bd4de52dbd5743c;ms-059d7962a5f998edf668;ms-2436538e05fdcf8e44fc;ms-faeff0379a053e9ea351;ms-e3f38594991aafbffc23", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f56672eac1c00e9c2b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5321293473243713, + "candidate_source_group_id": "ms-6ceb341dfa656e485a13;ms-b2d1a5e132eaeb353782;ms-d5241a32e5c9de09f2e4;ms-0d80d6d87a27a53951fe;ms-6f03b16858c35025503e;ms-741e906eafd57d115b5d", + "expert_regret": 1.282269835472107, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-27251a7c7f13bf165e21", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.282269835472107, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7177301645278931, + "restore_error": 2.384185791015625e-07, + "score": 0.7177301645278931, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.46346133947372437, + "candidate_source_group_id": "ms-29027a8e3742362fd477;ms-4906f3adfda6dace862d;ms-03495469257613a802b4;ms-b3d9d9570bf9b64c18fe;ms-9f993a6e9bb26846d4f4;ms-1b8e9b173562648021f6", + "expert_regret": 1.7415349185466766, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-131a98e2d4a78a9645f8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7415349185466766, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25846508145332336, + "restore_error": 2.384185791015625e-07, + "score": 0.25846508145332336, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3494322597980499, + "candidate_source_group_id": "ms-d8f42ed6b0b686d819ab;ms-a195f05e99bccc48907e;ms-80e3d8a34c3cb94cad65;ms-84264ef080ec4f3631df;ms-6a9c4c704edd84c21cda;ms-8be46dac6fc06c6c928a", + "expert_regret": 1.5574810802936554, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ff012c1c8597c8db3cc7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5574810802936554, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4425189197063446, + "restore_error": 2.384185791015625e-07, + "score": 0.4425189197063446, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40837761759757996, + "candidate_source_group_id": "ms-30e2d8b7825053276e0c;ms-4b4cd12d70c0615e0930;ms-e12808f670338ca180c6;ms-8c8cf210aa675c5db1fe;ms-715db95b13ebc6c977c8;ms-c0ed69f549e56aa55f3d", + "expert_regret": 1.2810443043708801, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-251c1dfd1010906f559f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2810443043708801, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7189556956291199, + "restore_error": 2.384185791015625e-07, + "score": 0.7189556956291199, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.46498483419418335, + "candidate_source_group_id": "ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-98c8fcf4c9f098cebe8d;ms-dd0fad10ce064047d62e;ms-6959fa589edc996753d7;ms-483520829af0d733cb2a", + "expert_regret": 1.6554043292999268, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-18ab33df290e3919a468", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6554043292999268, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.34459567070007324, + "restore_error": 2.384185791015625e-07, + "score": 0.34459567070007324, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39810895919799805, + "candidate_source_group_id": "ms-324a58dd51dfecb51fa8;ms-7b1a03be4a61ba27261c;ms-4c72a9ad08cbf51799fb;ms-2590f9fd91265598fb45;ms-8c4a08985213114fffb7;ms-8be8a38748f9fb037556", + "expert_regret": 1.2841413021087646, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3996b923bb25440c29e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2841413021087646, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7158586978912354, + "restore_error": 2.384185791015625e-07, + "score": 0.7158586978912354, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.018775267526507378, + "candidate_source_group_id": "ms-cdbfe4d3b05f4ed12db3;ms-e0952f3218e0bf6fe027;ms-ebeb5587176e3877b98a;ms-0a6bff8326e7e32702f3;ms-988537a36edfece3d073;ms-1cb9edbe8bd7ed4106c1", + "expert_regret": 0.0005006194114685059, + "expert_score": 0.7242826819419861, + "expert_success": false, + "group_id": "ms-491aad3896ede89ea0dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.004117012023925781, + "oracle_score": 0.7278990745544434, + "oracle_success": false, + "progress": 0.7237820625305176, + "restore_error": 2.384185791015625e-07, + "score": 0.7237820625305176, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35127776861190796, + "candidate_source_group_id": "ms-ff3256da4e1731651937;ms-502c195c0e4810814bac;ms-1b8e9b173562648021f6;ms-5bbc4c4b1b51e2a088db;ms-9f993a6e9bb26846d4f4;ms-caeb4c3d358f256799a8", + "expert_regret": 1.736996352672577, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7cd314f076bfe5c32088", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.736996352672577, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2630036473274231, + "restore_error": 2.384185791015625e-07, + "score": 0.2630036473274231, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3906612992286682, + "candidate_source_group_id": "ms-a74a87e26362d09598fe;ms-57dc9349b8f2c9c49105;ms-40eb8d19498413d4e730;ms-c090bce47703a4c4bb0b;ms-effca6c13ef9ccfd21a0;ms-9f844e24c570295e0497", + "expert_regret": 1.309517502784729, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69785feff08dbf9a50be", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.309517502784729, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.690482497215271, + "restore_error": 2.384185791015625e-07, + "score": 0.690482497215271, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22864416241645813, + "candidate_source_group_id": "ms-9bbea286acf66b5cfb8e;ms-25195d526c9adb43ac79;ms-ad7b7d5d7fb25961859f;ms-0f02ff35b7fa1234c52e;ms-4a86d570dabb0916f020;ms-9c33d4837de7d23232d6", + "expert_regret": 0.47324836254119873, + "expert_score": 0.725988507270813, + "expert_success": false, + "group_id": "ms-8d3d849234ceb98c3dc1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.47324836254119873, + "oracle_score": 0.725988507270813, + "oracle_success": false, + "progress": 0.25274014472961426, + "restore_error": 2.384185791015625e-07, + "score": 0.25274014472961426, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37407049536705017, + "candidate_source_group_id": "ms-6a9c4c704edd84c21cda;ms-a195f05e99bccc48907e;ms-d8f42ed6b0b686d819ab;ms-84264ef080ec4f3631df;ms-e825996818ee6f2f7d26;ms-80e3d8a34c3cb94cad65", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b55ca348be8b64323714", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.49732705950737, + "candidate_source_group_id": "ms-01a86e5f5731af7002ab;ms-2f2b16367db3db120235;ms-7a3daad6772d2384ea66;ms-84264ef080ec4f3631df;ms-6a9c4c704edd84c21cda;ms-8be46dac6fc06c6c928a", + "expert_regret": 1.6930929124355316, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1d728ae415a4d3cb782e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6930929124355316, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3069070875644684, + "restore_error": 1.1920928955078125e-07, + "score": 0.3069070875644684, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3289710581302643, + "candidate_source_group_id": "ms-ff3256da4e1731651937;ms-1b8e9b173562648021f6;ms-502c195c0e4810814bac;ms-5bbc4c4b1b51e2a088db;ms-4906f3adfda6dace862d;ms-bdb04ada069c35d51e2e", + "expert_regret": 1.7295383214950562, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4dc9ab19fbe571f09699", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7295383214950562, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.27046167850494385, + "restore_error": 1.1920928955078125e-07, + "score": 0.27046167850494385, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4190102219581604, + "candidate_source_group_id": "ms-67b6e4d62036c13cc466;ms-2c6000014d31fc0bb21c;ms-f97bd60d5430c32f9494;ms-639913ac0e6b3997faae;ms-87fa87e06dc88c28a44f;ms-093472a082b3b61e73d6", + "expert_regret": 1.2874041199684143, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ace117030ae44c474db1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2874041199684143, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7125958800315857, + "restore_error": 1.1920928955078125e-07, + "score": 0.7125958800315857, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5816861391067505, + "candidate_source_group_id": "ms-059d7962a5f998edf668;ms-e3f38594991aafbffc23;ms-26322bd4de52dbd5743c;ms-e2950dcb50ed2b955be6;ms-908213fef55ccf1dfda6;ms-472376eba1a5e1c706bf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb329ccd569163c53415", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4353472888469696, + "candidate_source_group_id": "ms-30e2d8b7825053276e0c;ms-af91167a0cf15457c6ba;ms-4b4cd12d70c0615e0930;ms-ec2e4afb34b439731136;ms-e12808f670338ca180c6;ms-c0ed69f549e56aa55f3d", + "expert_regret": 1.8018748760223389, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-320d99264926ea029f95", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8018748760223389, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19812512397766113, + "restore_error": 1.1920928955078125e-07, + "score": 0.19812512397766113, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48699185252189636, + "candidate_source_group_id": "ms-4c72a9ad08cbf51799fb;ms-8c4a08985213114fffb7;ms-894cd0e5dafb2d38831d;ms-7b1a03be4a61ba27261c;ms-5b24bcde90348f24bb19;ms-2590f9fd91265598fb45", + "expert_regret": 1.5459740459918976, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-55e89d326b6531345902", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5459740459918976, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4540259540081024, + "restore_error": 1.1920928955078125e-07, + "score": 0.4540259540081024, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16978923976421356, + "candidate_source_group_id": "ms-9a72e47e2204fa794718;ms-c76aba3db8d4ce0062bc;ms-ec4accef21246e0c9213;ms-b0302a41f75a827cd4e4;ms-aa46bb6dc8e6274963b6;ms-b933fbfb7c8fa68a445f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-118ba8926eda06ffc61e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2064460664987564, + "candidate_source_group_id": "ms-baa36ee75ec2de550b9b;ms-2b59042e27453aff03a7;ms-3a09e411ee6c882ef7df;ms-93b076203c0c65fb22be;ms-e3526036a5bf85cac0bf;ms-d9ed0a9faf86ca5f5caa", + "expert_regret": 1.5979151725769043, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9fd14cc61816c2d4360e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5979151725769043, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4020848274230957, + "restore_error": 1.1920928955078125e-07, + "score": 0.4020848274230957, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34993547201156616, + "candidate_source_group_id": "ms-715db95b13ebc6c977c8;ms-648250f7c25953eab081;ms-3c550bf52d7bf91f4ca2;ms-0660d5f65df5fc4b6132;ms-c0ed69f549e56aa55f3d;ms-ec2e4afb34b439731136", + "expert_regret": 0.025553882122039795, + "expert_score": 0.7266449332237244, + "expert_success": false, + "group_id": "ms-68d9596217cc37c949c4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.025553882122039795, + "oracle_score": 0.7266449332237244, + "oracle_success": false, + "progress": 0.7010910511016846, + "restore_error": 1.1920928955078125e-07, + "score": 0.7010910511016846, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5412268042564392, + "candidate_source_group_id": "ms-851d25e7a1dde4242f33;ms-a5bd3a36c6fe41cd0b35;ms-0a57aa04002f1b843856;ms-1a2d298bf9972ddc1a7e;ms-22d006041320a4487c21;ms-d2febdb2a469fbbac4f2", + "expert_regret": 1.2784996628761292, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf44ae14778c60c36af0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2784996628761292, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7215003371238708, + "restore_error": 1.1920928955078125e-07, + "score": 0.7215003371238708, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22236786782741547, + "candidate_source_group_id": "ms-7272e1e33d4ecc07470c;ms-9ced92cccacfe4d157b0;ms-cc0b4a1deec28e53722a;ms-92070f417bd9d14d6fc7;ms-aee5716b3e4fc47e46ba;ms-9a72e47e2204fa794718", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-145f60d5fff285e7d05b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7740393877029419, + "candidate_source_group_id": "ms-ea41340182245326a218;ms-d8295b43b30ceea30907;ms-957002faf092f769aa8e;ms-ef2d84500e27679d22d9;ms-a96ff9a1d5571ec4a6f2;ms-d2839c13649000454a65", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-88fb2bebd038dc786c01", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.13083618879318237, + "candidate_source_group_id": "ms-f5ebbab81506fa27fc6d;ms-8864796e31bbe93d7c5d;ms-83019373a06eb384c886;ms-8e23d2d44e709420e46d;ms-9551db96b60a51ccf62a;ms-5b4f2522663bec742b02", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cbd6cc8b2708d5e3e4a9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4890407919883728, + "candidate_source_group_id": "ms-9f844e24c570295e0497;ms-effca6c13ef9ccfd21a0;ms-ce7b349699ed248bb67c;ms-40eb8d19498413d4e730;ms-c090bce47703a4c4bb0b;ms-a74a87e26362d09598fe", + "expert_regret": 1.5723373889923096, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8de8d619c0cf5fd633e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5723373889923096, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.42766261100769043, + "restore_error": 1.1920928955078125e-07, + "score": 0.42766261100769043, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.2187960147857666, + "candidate_source_group_id": "ms-8f3d4e1d07bb5dcc7c57;ms-a103dfbc0567d05ade6e;ms-95264bfdaa3892cf66ac;ms-33a0bdb4bcee42c79a2b;ms-efb5a07185a3a1b33226;ms-0e48a13af39db4a58bbc", + "expert_regret": 1.7546736299991608, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dfc111660c0d1c7b7e04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7546736299991608, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.24532637000083923, + "restore_error": 1.1920928955078125e-07, + "score": 0.24532637000083923, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.0334242582321167, + "candidate_source_group_id": "ms-851d25e7a1dde4242f33;ms-22d006041320a4487c21;ms-a5bd3a36c6fe41cd0b35;ms-d2febdb2a469fbbac4f2;ms-1a2d298bf9972ddc1a7e;ms-0a57aa04002f1b843856", + "expert_regret": 0.5085559487342834, + "expert_score": 0.7198216915130615, + "expert_success": false, + "group_id": "ms-b04b489f4fbad93b65ca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.788734257221222, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21126574277877808, + "restore_error": 1.1920928955078125e-07, + "score": 0.21126574277877808, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4599793255329132, + "candidate_source_group_id": "ms-a5bd3a36c6fe41cd0b35;ms-0a57aa04002f1b843856;ms-6f03b16858c35025503e;ms-1a2d298bf9972ddc1a7e;ms-851d25e7a1dde4242f33;ms-0d80d6d87a27a53951fe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9f4b47c80d59166302ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7182474136352539, + "candidate_source_group_id": "ms-45ed57caa698d87a99cf;ms-ffba357213945be5f9f7;ms-ee32e6bb3c0bb45702b9;ms-9bcf8a1e5e7b0f7ff6f5;ms-caeb59971565b08f2513;ms-28d5618562729c763eb6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4385e9c56007fdaa94b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4487960636615753, + "candidate_source_group_id": "ms-8b98e8aa8ecee10bea27;ms-cd71a93dcab09ba15592;ms-ebb616f9b291184677b3;ms-b5deb1971bf3b3484282;ms-ac79bc3a841958ce127f;ms-de0abc7a53a48164f82d", + "expert_regret": 0.5099188908934593, + "expert_score": 0.5987673401832581, + "expert_success": false, + "group_id": "ms-1b83fc0981e283975488", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.5099188908934593, + "oracle_score": 0.5987673401832581, + "oracle_success": false, + "progress": 0.08884844928979874, + "restore_error": 1.1920928955078125e-07, + "score": 0.08884844928979874, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6164261698722839, + "candidate_source_group_id": "ms-dbcc3da47d96ceeaf9f0;ms-b7800060cd4a8c3cb6b9;ms-c3f7b780f604922f4f67;ms-4681331b496c8a9cf14d;ms-ad5ad5314850df7b0853;ms-b0aa24be399d843c9d50", + "expert_regret": 1.4431589245796204, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-732819b0c220a4c06870", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4431589245796204, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5568410754203796, + "restore_error": 1.1920928955078125e-07, + "score": 0.5568410754203796, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6231967210769653, + "candidate_source_group_id": "ms-09de52dad7e40970c938;ms-61068da67676a95e5065;ms-a8864b25c00ee193d0ea;ms-ee055e1282f6302ad9e8;ms-48cdfa31865ed70997c8;ms-fb92a1e6b67121783fff", + "expert_regret": 1.4481760263442993, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-74517e19dfdee44d2f81", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4481760263442993, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5518239736557007, + "restore_error": 1.1920928955078125e-07, + "score": 0.5518239736557007, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7438225150108337, + "candidate_source_group_id": "ms-169b1786513146593ea8;ms-add4b7d277e1fc171144;ms-bcd9be34f050d97499bd;ms-f6db4e8bed63ed868487;ms-55c2bba961a327aa5260;ms-3a65e7b378a87a7eeb11", + "expert_regret": 1.8402741104364395, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-71ef8f2cdc11d83250fa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8402741104364395, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.15972588956356049, + "restore_error": 1.1920928955078125e-07, + "score": 0.15972588956356049, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.591272234916687, + "candidate_source_group_id": "ms-2458fcfffb3f96c6ca1a;ms-0019f809318a077c3910;ms-2259a78b2187e22f9f37;ms-3e971096794f04f325f2;ms-3b0ad4f07f1813ecf670;ms-cea745484a24f376d7e8", + "expert_regret": 1.8916823267936707, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e0b2e69a5ea0d0ad4fb5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8916823267936707, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10831767320632935, + "restore_error": 1.1920928955078125e-07, + "score": 0.10831767320632935, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.725892186164856, + "candidate_source_group_id": "ms-564c02492863ae749ea9;ms-dd1311efb8ab2a0a2d23;ms-bd6b2dc41ba42b44462a;ms-93e3d9968204474eff49;ms-4082ce1f04dbacd6a5b9;ms-52c6c227fd4b61609031", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6f1db8895d5164cc5ae5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.708389937877655, + "candidate_source_group_id": "ms-bc615957d9bf177dfe26;ms-eb206a3dda0ac16e1643;ms-bcfeba2af1e844c22aed;ms-3352e05afd9065cd09bf;ms-1735d1abca4a91293d78;ms-326a7b583623d136470e", + "expert_regret": 1.4927456974983215, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9044026b69850d12d05b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4927456974983215, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5072543025016785, + "restore_error": 1.1920928955078125e-07, + "score": 0.5072543025016785, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28221645951271057, + "candidate_source_group_id": "ms-a44a2c9eee8baea5d29e;ms-dd4f37e032d56b692a0e;ms-763c73c94818a090d358;ms-a6b029a958e91306966a;ms-b0aa24be399d843c9d50;ms-c7020fdb7cba871e8b3e", + "expert_regret": 1.4391935467720032, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c39b520dca0a325535f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4391935467720032, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5608064532279968, + "restore_error": 1.1920928955078125e-07, + "score": 0.5608064532279968, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5431128144264221, + "candidate_source_group_id": "ms-28d5618562729c763eb6;ms-9bcf8a1e5e7b0f7ff6f5;ms-daaac2887015a6e4f3e0;ms-ffba357213945be5f9f7;ms-45ed57caa698d87a99cf;ms-23f9cca8edfca421a4a6", + "expert_regret": 0.010110080242156982, + "expert_score": 0.5644940733909607, + "expert_success": false, + "group_id": "ms-0adce283894b0a2b7b94", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.010110080242156982, + "oracle_score": 0.5644940733909607, + "oracle_success": false, + "progress": 0.5543839931488037, + "restore_error": 1.1920928955078125e-07, + "score": 0.5543839931488037, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.436994731426239, + "candidate_source_group_id": "ms-e2ddf4681b47f39e15da;ms-2af09f91e05d19f7f181;ms-813cac6d08ed5af48b12;ms-a5a651f9e28ea52016fe;ms-3c2515d4a10082514714;ms-10af171aa279a879207d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dbb32d9fd6999e09f589", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5142117738723755, + "candidate_source_group_id": "ms-432ca73236be93cb76df;ms-fbea3b8005a30431cb52;ms-80d5c509e83845ab1bc7;ms-54f34c73458181a65e9a;ms-bfda95ffffd5d1a2683a;ms-a5775906ce2fb6556103", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5316151a88a3282436ca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4312407076358795, + "candidate_source_group_id": "ms-3d0d437ee74041fc61bb;ms-83d2b158041f4eed3646;ms-42117385b9e6e57c7e63;ms-5d430ebe6f7933dc6c8c;ms-a6060f858cb9f93c5588;ms-b6df140b235c8fe0eaad", + "expert_regret": 1.416714370250702, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a7f98a43ff113d74f009", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.416714370250702, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5832856297492981, + "restore_error": 1.1920928955078125e-07, + "score": 0.5832856297492981, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.30879417061805725, + "candidate_source_group_id": "ms-54a04864cb68a4c3caac;ms-c6beb139304a0ea6f7ae;ms-b59a7ccfb736df4c4c68;ms-b01677be2df71c474d1f;ms-d5bfdabc97e56c680680;ms-3b4b0b8c60ad41bb16b0", + "expert_regret": 1.49458247423172, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9eea613e8158816f3193", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.49458247423172, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.50541752576828, + "restore_error": 1.1920928955078125e-07, + "score": 0.50541752576828, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6136406660079956, + "candidate_source_group_id": "ms-a949424c5fa615565d72;ms-dd7f9cc9585878b84824;ms-eff5f21c51f26a85f07c;ms-0cfef0ba35d4e6097003;ms-32346c22352f72d3de3a;ms-2592e5fa970f1b474388", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8522a9364bf70311450d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4127190411090851, + "candidate_source_group_id": "ms-10f2865bef6da7b66423;ms-66ec6692758e9a7f2e01;ms-739a89fb4521bc481a9f;ms-f69d6aec4ddb12d88c5b;ms-d462cff6e1b4b201a6ce;ms-18fb80871b8e11d1ae9a", + "expert_regret": 1.474697768688202, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f947dbf28ad85666e2f1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.474697768688202, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5253022313117981, + "restore_error": 1.1920928955078125e-07, + "score": 0.5253022313117981, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28073641657829285, + "candidate_source_group_id": "ms-2e5c2f75d3f6311e0a1c;ms-307f9067d5b66f55b3a6;ms-5c8b50523e0de37d80b8;ms-44694e99af9263ad3c45;ms-9edc0261b6ca7980ff81;ms-5847c6d196024fce1770", + "expert_regret": 1.9491984844207764, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d305a11348461ae1622c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9491984844207764, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05080151557922363, + "restore_error": 1.1920928955078125e-07, + "score": 0.05080151557922363, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8404534459114075, + "candidate_source_group_id": "ms-a9ac13384fe5afc835f1;ms-edcdf99767068f94bcb4;ms-86b302005e0461f28c43;ms-4ca84594a789c9abd5d9;ms-c774aeee2c4066edd668;ms-5e85dc3760eef8a53a67", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69962cd1c448094e4fb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6676772236824036, + "candidate_source_group_id": "ms-519fb779d24a0bdf3809;ms-bb60defa0d234da9e0bc;ms-6029bab18ae94b126d79;ms-8315ae30e2cf041c8674;ms-2ee00a97b477ba241dba;ms-95320371ce6b820c85f6", + "expert_regret": 1.4581542611122131, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ee19bfbcb2f4fbf5a44d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4581542611122131, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5418457388877869, + "restore_error": 1.1920928955078125e-07, + "score": 0.5418457388877869, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.23642703890800476, + "candidate_source_group_id": "ms-eaf612349e2da547ee98;ms-5daa8575a80e98a83170;ms-f101cf5cc8575be3c201;ms-8b73e5dfa1f2a01e6017;ms-06715386190189185900;ms-c6beb139304a0ea6f7ae", + "expert_regret": 1.4470220804214478, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29653e236de96058ef6d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4470220804214478, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5529779195785522, + "restore_error": 1.1920928955078125e-07, + "score": 0.5529779195785522, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6551793813705444, + "candidate_source_group_id": "ms-c3a1cf0e424a4f065459;ms-49219cb8ed7dad70c897;ms-67f602a0e4efc9984d72;ms-4e86b87d6e5f6ab914fe;ms-6029bab18ae94b126d79;ms-10af171aa279a879207d", + "expert_regret": 1.4383516311645508, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b4af4c8b9dcd6976546c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4383516311645508, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5616483688354492, + "restore_error": 1.1920928955078125e-07, + "score": 0.5616483688354492, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6137762665748596, + "candidate_source_group_id": "ms-cd71a93dcab09ba15592;ms-7fd4a05174dcc8eaff38;ms-ac79bc3a841958ce127f;ms-578537600f7a649c2dd5;ms-cd340bca589f0cebd7da;ms-8b98e8aa8ecee10bea27", + "expert_regret": 1.8958082050085068, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2cf1227610d4602f88ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8958082050085068, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10419179499149323, + "restore_error": 1.1920928955078125e-07, + "score": 0.10419179499149323, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7045746445655823, + "candidate_source_group_id": "ms-351c397795d9af204ec6;ms-4b970be37419ce0be0ae;ms-f682952c6ecb2b833c35;ms-12ac4329c5bca5f2bb62;ms-7651a7f31eae24958ef0;ms-caed5c1b1c882141e2e9", + "expert_regret": 1.9731060974299908, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f8e2d5d25706493821d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9731060974299908, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02689390257000923, + "restore_error": 1.1920928955078125e-07, + "score": 0.02689390257000923, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5294834971427917, + "candidate_source_group_id": "ms-81085eba1dd49b17ec9c;ms-4fe7fdaf946c97803c82;ms-e093f85b121d443b61e2;ms-61068da67676a95e5065;ms-4276f24b1b5dce771bff;ms-fb92a1e6b67121783fff", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1bfca22d4af29f0e14b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7085054516792297, + "candidate_source_group_id": "ms-8b85ebf659960395db9c;ms-893159691d11a40c7537;ms-90bfce2cef85e101138e;ms-7020f1cda882b79bffa3;ms-8d1978e8c3540cb5b1f6;ms-edda00243c6d6275fc0f", + "expert_regret": 1.9359732121229172, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-02ab2e7a74d970154eb7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9359732121229172, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06402678787708282, + "restore_error": 1.1920928955078125e-07, + "score": 0.06402678787708282, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1375100463628769, + "candidate_source_group_id": "ms-42895361db5578b75c0e;ms-22412b51e61621b6025b;ms-ce992c1fa0bcc38512b7;ms-4705657703da9d791fb9;ms-869a04e41dc5cc90916b;ms-25a8e32c071be83d913b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11230e3aaabb1feec834", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.36604171991348267, + "candidate_source_group_id": "ms-0f219ce35aff264455e2;ms-1309e1770b6ca6e71c7e;ms-d5d7c690819019cb7869;ms-76b9f40367a1ee020744;ms-295de2ad6c52ab50de1a;ms-486ff31b7a04a7e9e8f9", + "expert_regret": 1.4464380741119385, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6b2d805dc063382ade2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4464380741119385, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5535619258880615, + "restore_error": 1.1920928955078125e-07, + "score": 0.5535619258880615, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5354131460189819, + "candidate_source_group_id": "ms-bcd9be34f050d97499bd;ms-e20f5d43f319248c5001;ms-add4b7d277e1fc171144;ms-bc53e550cb202b5fcdf3;ms-38ceda08bad38fbebc1c;ms-10a5b6cc3ec06dfdc5c5", + "expert_regret": 1.980337368324399, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e058c0dba52df04b8642", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.980337368324399, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.019662631675601006, + "restore_error": 1.1920928955078125e-07, + "score": 0.019662631675601006, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.36061766743659973, + "candidate_source_group_id": "ms-48d490ed21088bb5ba85;ms-57ac136bd68be6387c6f;ms-f101cf5cc8575be3c201;ms-f39bbaa063044719a98d;ms-d5bfdabc97e56c680680;ms-8fcc78fba7b3bec0fab6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-935ff204de9424ec00a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.07028709352016449, + "candidate_source_group_id": "ms-5f98f13f17e8f41f7436;ms-d19c9e3ab1d7daf06344;ms-4276f24b1b5dce771bff;ms-295de2ad6c52ab50de1a;ms-e441e4042cb7d77a4986;ms-a145b708d79b243da21f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b97cb4ec02e8234b08c5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22389984130859375, + "candidate_source_group_id": "ms-23d6e5835aa90a62b6ef;ms-f897cc2141a0a303fc6a;ms-c0bfce3c9dd10f9d3231;ms-054a02413d31389d1b7f;ms-910364d2d86091c5e0cf;ms-fbb609a3f2a334986245", + "expert_regret": 1.412960946559906, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29dd2cdbb66fe13ab877", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.412960946559906, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.587039053440094, + "restore_error": 1.1920928955078125e-07, + "score": 0.587039053440094, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2526889443397522, + "candidate_source_group_id": "ms-2e5c2f75d3f6311e0a1c;ms-307f9067d5b66f55b3a6;ms-5c8b50523e0de37d80b8;ms-8af2224cc82636ef1dd7;ms-9edc0261b6ca7980ff81;ms-90a03366976eaa1ad013", + "expert_regret": 1.981122063472867, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5415e349e8f9f2bce641", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.981122063472867, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.018877936527132988, + "restore_error": 1.1920928955078125e-07, + "score": 0.018877936527132988, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4296707510948181, + "candidate_source_group_id": "ms-2b556c4c1b55a20b14c8;ms-488a34fe7b7e84250616;ms-f8439d39ae9ed028a4cd;ms-d19573dc65181befd83d;ms-b42e0a68875b0405904b;ms-fffe378a3bad31bbed52", + "expert_regret": 1.454673171043396, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5780f9e1e9f9e740d474", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.454673171043396, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.545326828956604, + "restore_error": 2.384185791015625e-07, + "score": 0.545326828956604, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28095659613609314, + "candidate_source_group_id": "ms-ebb616f9b291184677b3;ms-8b98e8aa8ecee10bea27;ms-b5deb1971bf3b3484282;ms-cd71a93dcab09ba15592;ms-de0abc7a53a48164f82d;ms-4015c296239564108da2", + "expert_regret": 1.5025149881839752, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-adfe268e473c03b72c65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5025149881839752, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4974850118160248, + "restore_error": 2.384185791015625e-07, + "score": 0.4974850118160248, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5126510262489319, + "candidate_source_group_id": "ms-0c9c39c462522b25ef2b;ms-ee32e6bb3c0bb45702b9;ms-a166a9b750ec3446beea;ms-8fdde5008d12abb7ae6a;ms-3aa5793c449b59c77b6f;ms-60c7d1d3b5701e7f4e48", + "expert_regret": 1.4471758604049683, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b8276cb9b6cb9a9b302f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4471758604049683, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5528241395950317, + "restore_error": 2.384185791015625e-07, + "score": 0.5528241395950317, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5191081762313843, + "candidate_source_group_id": "ms-22412b51e61621b6025b;ms-c0bfce3c9dd10f9d3231;ms-869a04e41dc5cc90916b;ms-ce992c1fa0bcc38512b7;ms-f8c4e700a751537ebb16;ms-30998855587c076a2a77", + "expert_regret": 1.4282562136650085, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-55ea22014575410563a4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4282562136650085, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5717437863349915, + "restore_error": 2.384185791015625e-07, + "score": 0.5717437863349915, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5497986674308777, + "candidate_source_group_id": "ms-813cac6d08ed5af48b12;ms-ce2924d08bdd6c379777;ms-64ab703e7a82799a47dd;ms-4e86b87d6e5f6ab914fe;ms-10af171aa279a879207d;ms-67f602a0e4efc9984d72", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-70342af6b601660d7c69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.31451353430747986, + "candidate_source_group_id": "ms-1df0775c4ef08d0cf1bf;ms-561f4f913d7b4991d81a;ms-d69b907e65875420bab7;ms-8b5b5e5f9237c41e0fe9;ms-bb0d941f78d3d9c5a886;ms-2dc8e489908f72903319", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3d095a49ed03de972849", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.17418743669986725, + "candidate_source_group_id": "ms-561f4f913d7b4991d81a;ms-4ec67456479f53e605e1;ms-dd1311efb8ab2a0a2d23;ms-ed7b02bc8f37b8524a56;ms-8f0e2c9caad14bd37ecf;ms-31782020143c24b4271b", + "expert_regret": 1.4341338276863098, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-73e36360221b6732c688", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4341338276863098, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5658661723136902, + "restore_error": 2.384185791015625e-07, + "score": 0.5658661723136902, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45281070470809937, + "candidate_source_group_id": "ms-de0321d0ece4c58bc224;ms-54a7c3d32b6a267d81a2;ms-59020093d2eeaf58aa84;ms-e110d8ef3eb852a0f564;ms-dea17c1c383f54d05636;ms-382000b79932b7c68326", + "expert_regret": 1.4508819580078125, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-56ad75c28031e049a3dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4508819580078125, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5491180419921875, + "restore_error": 2.384185791015625e-07, + "score": 0.5491180419921875, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5829674601554871, + "candidate_source_group_id": "ms-a8864b25c00ee193d0ea;ms-4e395d53889980b05784;ms-42f83ea069c0558ea81b;ms-288532d255e4828bb15b;ms-225fbe08f2933f91d603;ms-b7ed399f40d2d554b16d", + "expert_regret": 1.4818578362464905, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a745e34fa5a8d527e77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4818578362464905, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5181421637535095, + "restore_error": 1.1920928955078125e-07, + "score": 0.5181421637535095, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6015873551368713, + "candidate_source_group_id": "ms-bb60defa0d234da9e0bc;ms-95320371ce6b820c85f6;ms-79c7332b2b329eaa6a13;ms-478f754a15221314d15e;ms-61b1188974f35233b883;ms-708baf01c22c75cafd22", + "expert_regret": 0.0, + "expert_score": 0.5963302850723267, + "expert_success": false, + "group_id": "ms-66cc354bbf4e8bdd1051", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.5963302850723267, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5664483904838562, + "candidate_source_group_id": "ms-fd6deac5a281d169bc75;ms-753929cfdc4aaa652b32;ms-eb16021deb5d03f15c9d;ms-561f4f913d7b4991d81a;ms-8f0e2c9caad14bd37ecf;ms-1df0775c4ef08d0cf1bf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-023e021f079a8774c741", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7682738304138184, + "candidate_source_group_id": "ms-288532d255e4828bb15b;ms-b7ed399f40d2d554b16d;ms-1abd8c7cc1c683f88d3d;ms-8af87d14945da6a910e4;ms-42f83ea069c0558ea81b;ms-b82cc8ce5d9d348ba6b4", + "expert_regret": 1.4358729124069214, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb228a036fe5973bcad1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4358729124069214, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5641270875930786, + "restore_error": 1.1920928955078125e-07, + "score": 0.5641270875930786, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42866024374961853, + "candidate_source_group_id": "ms-68970d9d9bf975e25eb5;ms-f80ae137a8d9981f8c98;ms-dc2a8fa76e1ceb0d8925;ms-25839c690d85a4f5b986;ms-45d4b692eda9ecacaa55;ms-f4d6da245d340cd16d30", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f6d30c2ade00e451dc2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.08132987469434738, + "candidate_source_group_id": "ms-88e10d1be12a407b3926;ms-79d500110f3723b57da8;ms-7e0ef0b7f94396bf0029;ms-5e3b1693ad7b75221847;ms-2a67eea0b1293de9bcf9;ms-53fdabb5d8ef20778214", + "expert_regret": 1.440644919872284, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7af1e453acf970f40546", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.440644919872284, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5593550801277161, + "restore_error": 1.1920928955078125e-07, + "score": 0.5593550801277161, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4210624396800995, + "candidate_source_group_id": "ms-0d1db6695acdf1ec3eaf;ms-c7041c6f758f8e4a3698;ms-57ac136bd68be6387c6f;ms-0cfef0ba35d4e6097003;ms-e45b5de01eafae73e492;ms-f101cf5cc8575be3c201", + "expert_regret": 1.4483854174613953, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8420ccaff5986c85063f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4483854174613953, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5516145825386047, + "restore_error": 1.1920928955078125e-07, + "score": 0.5516145825386047, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33167871832847595, + "candidate_source_group_id": "ms-c5d026dffb39f2f1d38a;ms-3aa5793c449b59c77b6f;ms-ee32e6bb3c0bb45702b9;ms-c70be4072fb4e49ac106;ms-9783ccaf76f1b20c766e;ms-30fe784e67f732ef9a3d", + "expert_regret": 1.4811084270477295, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-99ecd2226d7187416316", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4811084270477295, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5188915729522705, + "restore_error": 1.1920928955078125e-07, + "score": 0.5188915729522705, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4236549735069275, + "candidate_source_group_id": "ms-7fd4a05174dcc8eaff38;ms-578537600f7a649c2dd5;ms-cd340bca589f0cebd7da;ms-ac79bc3a841958ce127f;ms-cd71a93dcab09ba15592;ms-68e331088400739273da", + "expert_regret": 1.465423583984375, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c2bc492ab5eb87a73789", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.465423583984375, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.534576416015625, + "restore_error": 1.1920928955078125e-07, + "score": 0.534576416015625, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20128123462200165, + "candidate_source_group_id": "ms-32435d71bb817daf01d9;ms-f80ae137a8d9981f8c98;ms-dc2a8fa76e1ceb0d8925;ms-339ae3ec9482aa259eec;ms-53cfcc878e30fc078bba;ms-5ac153f97fd3c2f689c5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a10d8368c33b56390f77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5964337587356567, + "candidate_source_group_id": "ms-bb0d941f78d3d9c5a886;ms-44252df6095f31d8b26e;ms-f3e40db5e157647d463d;ms-eb16021deb5d03f15c9d;ms-fe2964cc8940ee7c24aa;ms-fd6deac5a281d169bc75", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d91cbe61314c18955b6b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.388397216796875, + "candidate_source_group_id": "ms-2dc4f12ea7e8567e3a6e;ms-90a03366976eaa1ad013;ms-add4b7d277e1fc171144;ms-3fdce65bd5c5681403a7;ms-0843bef6b0c13c3ede69;ms-307f9067d5b66f55b3a6", + "expert_regret": 1.9786759614944458, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bdd1924b44de2db5b07a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9786759614944458, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0213240385055542, + "restore_error": 1.1920928955078125e-07, + "score": 0.0213240385055542, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.31226903200149536, + "candidate_source_group_id": "ms-13557287cd450bc12c6f;ms-22325628db75967cf779;ms-5df54a8baaceb8c73c8a;ms-236601c5e076b4ee5d75;ms-f7c9f440fec3a22cd6d4;ms-f763382872d8e89017c2", + "expert_regret": 1.4594687819480896, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c425c810f7865e9564ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4594687819480896, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5405312180519104, + "restore_error": 1.1920928955078125e-07, + "score": 0.5405312180519104, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42418649792671204, + "candidate_source_group_id": "ms-763c73c94818a090d358;ms-a44a2c9eee8baea5d29e;ms-4fe47d946641f0096a85;ms-7d81f3e8b6a42695871d;ms-9b56e5007c76d9fefd1f;ms-dd4f37e032d56b692a0e", + "expert_regret": 1.4641725420951843, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-486572c62484eb4d73db", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4641725420951843, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5358274579048157, + "restore_error": 1.1920928955078125e-07, + "score": 0.5358274579048157, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5450857877731323, + "candidate_source_group_id": "ms-3ea30989082ec714e12d;ms-d849d754f346b826e052;ms-b7ed399f40d2d554b16d;ms-288532d255e4828bb15b;ms-1abd8c7cc1c683f88d3d;ms-ae5421846020d2765f82", + "expert_regret": 1.460453987121582, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a8e6435948250f5e163d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.460453987121582, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.539546012878418, + "restore_error": 1.1920928955078125e-07, + "score": 0.539546012878418, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.350025475025177, + "candidate_source_group_id": "ms-25a8e32c071be83d913b;ms-4705657703da9d791fb9;ms-813cac6d08ed5af48b12;ms-ce992c1fa0bcc38512b7;ms-d05d9bbb98f24da55981;ms-351818a836474e594d3c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7be1c6c8ef67031b1f90", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5665478110313416, + "candidate_source_group_id": "ms-859d0ea38fb5e8aa6b98;ms-ee7463f3d937dbc16f89;ms-e7f2d1f0de50c6fcccb4;ms-3deb9fa600781abb51c1;ms-a3fa10726c656e851515;ms-12a997dde50b7a7f35cb", + "expert_regret": 1.5186463296413422, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0cc80a2933abf1b4853f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5186463296413422, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.48135367035865784, + "restore_error": 1.1920928955078125e-07, + "score": 0.48135367035865784, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5294297933578491, + "candidate_source_group_id": "ms-1d5b929cb9614dc18304;ms-fcfb7dd60d966e20b98d;ms-793a98188fd57ed5291f;ms-8fa24da5c97dc1dad5c1;ms-10dbf8bb0c239a44ec0f;ms-15c083989d8277fd07ec", + "expert_regret": 1.9656741842627525, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-72cf68c15631675b063f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9656741842627525, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03432581573724747, + "restore_error": 1.1920928955078125e-07, + "score": 0.03432581573724747, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6957783102989197, + "candidate_source_group_id": "ms-4acbf69acd30d96e46a7;ms-fe650308e25459ee64c6;ms-a01e21b91a5b37a16afe;ms-706943f06888dd5bbb3a;ms-9233eae706910c204b79;ms-0915b75e9fd1468d464e", + "expert_regret": 1.461875557899475, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-aea09fb002af52e12bd8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.461875557899475, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5381244421005249, + "restore_error": 1.1920928955078125e-07, + "score": 0.5381244421005249, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.30053088068962097, + "candidate_source_group_id": "ms-46987cd8daa3091c8a85;ms-81d1d8def1fbeb3b1cc5;ms-3950f823020f08f8e8cd;ms-68970d9d9bf975e25eb5;ms-f4d6da245d340cd16d30;ms-25839c690d85a4f5b986", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f4b95f2b569e3f1bf086", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41175439953804016, + "candidate_source_group_id": "ms-50f62a61a82a96061d9a;ms-f3ddc66fde2d59666e07;ms-ca10d8b9d03f4d59806c;ms-f77305a344da6a4ccc84;ms-b606af28580a38cea636;ms-70d994c15153752d0dce", + "expert_regret": 1.4365848302841187, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4d43fb19477b7ab848bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4365848302841187, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5634151697158813, + "restore_error": 1.1920928955078125e-07, + "score": 0.5634151697158813, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.10417819768190384, + "candidate_source_group_id": "ms-68970d9d9bf975e25eb5;ms-46987cd8daa3091c8a85;ms-3950f823020f08f8e8cd;ms-81d1d8def1fbeb3b1cc5;ms-45d4b692eda9ecacaa55;ms-10621e1108a69d0b633e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-16a7ccf3c442984c2feb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6242393851280212, + "candidate_source_group_id": "ms-d8b4090565126a66d13e;ms-999a8c1454dd4597a834;ms-b0d54c14a65fb73f08ca;ms-b23839ace2fb08438144;ms-3b7c5c91ae441f282006;ms-630663751ab841a96d5a", + "expert_regret": 1.8811547011137009, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b481531ab787e3d6fb1e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8811547011137009, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11884529888629913, + "restore_error": 1.1920928955078125e-07, + "score": 0.11884529888629913, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5609027743339539, + "candidate_source_group_id": "ms-6e4cc893fcbca1b385e8;ms-47fd1407ae4e17ed4bee;ms-5a7891a58bac94796178;ms-61b1188974f35233b883;ms-0e12a6083750bfecca87;ms-1158e6997b2f1281b105", + "expert_regret": 0.11907544732093811, + "expert_score": 0.6174660325050354, + "expert_success": false, + "group_id": "ms-309c09cf5d782e9ba0a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.11907544732093811, + "oracle_score": 0.6174660325050354, + "oracle_success": false, + "progress": 0.4983905851840973, + "restore_error": 1.1920928955078125e-07, + "score": 0.4983905851840973, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3304498493671417, + "candidate_source_group_id": "ms-8315ae30e2cf041c8674;ms-7b932868f83725def2ed;ms-6029bab18ae94b126d79;ms-70d994c15153752d0dce;ms-4e86b87d6e5f6ab914fe;ms-7cab119c7b8019254ba4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d807915e233a0c74b809", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.05149386450648308, + "candidate_source_group_id": "ms-8315ae30e2cf041c8674;ms-70d994c15153752d0dce;ms-7b932868f83725def2ed;ms-6029bab18ae94b126d79;ms-2f846e9f31e2b8c4965f;ms-4e86b87d6e5f6ab914fe", + "expert_regret": 1.4364500045776367, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b40ee5a75332685d5cec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4364500045776367, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5635499954223633, + "restore_error": 1.1920928955078125e-07, + "score": 0.5635499954223633, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47404745221138, + "candidate_source_group_id": "ms-2d4547df5dccc4c4ca24;ms-fe1a5f1bc3c4ec7669f2;ms-e2ddf4681b47f39e15da;ms-0bb8964d3e6f9dd302f4;ms-88e10d1be12a407b3926;ms-a3a13ba6243be437d674", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8a74cf665984273be00d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.57984858751297, + "candidate_source_group_id": "ms-0cfef0ba35d4e6097003;ms-a949424c5fa615565d72;ms-eff5f21c51f26a85f07c;ms-c7041c6f758f8e4a3698;ms-dd7f9cc9585878b84824;ms-8d111990da24dde1403b", + "expert_regret": 1.468389868736267, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fd225482b96686f51dc8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.468389868736267, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5316101312637329, + "restore_error": 1.1920928955078125e-07, + "score": 0.5316101312637329, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7517665028572083, + "candidate_source_group_id": "ms-fa911d56cdf9bf122b5c;ms-e218d19c595e580c3e32;ms-fe650308e25459ee64c6;ms-a01e21b91a5b37a16afe;ms-630663751ab841a96d5a;ms-3b7c5c91ae441f282006", + "expert_regret": 0.5867563355714083, + "expert_score": 0.6087449193000793, + "expert_success": false, + "group_id": "ms-b9e46b7345a63ded4397", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5867563355714083, + "oracle_score": 0.6087449193000793, + "oracle_success": false, + "progress": 0.021988583728671074, + "restore_error": 1.1920928955078125e-07, + "score": 0.021988583728671074, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5388303399085999, + "candidate_source_group_id": "ms-ad058e704a159164d7c4;ms-5dfad80e83d210946447;ms-e318e13f77e75e7cd802;ms-c7156b26670838d40934;ms-076d67ac4d2de4e0c627;ms-8330999c6669ec42122a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a196fc3a729550509b18", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6620988845825195, + "candidate_source_group_id": "ms-31782020143c24b4271b;ms-93e3d9968204474eff49;ms-ae33e3afb57e61026d72;ms-bd6b2dc41ba42b44462a;ms-dd1311efb8ab2a0a2d23;ms-564c02492863ae749ea9", + "expert_regret": 1.4903653860092163, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-21155188bc35f0f021d3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4903653860092163, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5096346139907837, + "restore_error": 1.1920928955078125e-07, + "score": 0.5096346139907837, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.06565668433904648, + "candidate_source_group_id": "ms-daaac2887015a6e4f3e0;ms-23f9cca8edfca421a4a6;ms-9bcf8a1e5e7b0f7ff6f5;ms-28d5618562729c763eb6;ms-d824135bf97b907f7cc2;ms-ffba357213945be5f9f7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a460f3c1b67817c19de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5137452483177185, + "candidate_source_group_id": "ms-50d83ce148904504ec50;ms-32435d71bb817daf01d9;ms-25839c690d85a4f5b986;ms-5ac153f97fd3c2f689c5;ms-29afe3c91faef25f1343;ms-3f4967102c7b10057ab9", + "expert_regret": 1.430201768875122, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ca25b016439a98198434", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.430201768875122, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5697982311248779, + "restore_error": 2.384185791015625e-07, + "score": 0.5697982311248779, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24737799167633057, + "candidate_source_group_id": "ms-6d7b10e8b2b0a516b786;ms-f07607bc0ce1c4e202b0;ms-a2908e99b0a12a9980cc;ms-1d36e5be82aee5a8e3b8;ms-7fa85a7251186eb18d0b;ms-e793d78eaff3fb28deb6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6995d4366e7c20010126", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.717295229434967, + "candidate_source_group_id": "ms-f5fb668380b64d4f1e74;ms-d19c9e3ab1d7daf06344;ms-eb48573b3e330e44504d;ms-766b6fe7c08a3525ce94;ms-72b7d76602371f044fe3;ms-5f98f13f17e8f41f7436", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a22fbce4503f088acb1f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1952245533466339, + "candidate_source_group_id": "ms-8b85ebf659960395db9c;ms-90bfce2cef85e101138e;ms-893159691d11a40c7537;ms-5d169f059bde8e429786;ms-263556e167dc363ebc42;ms-edda00243c6d6275fc0f", + "expert_regret": 0.0, + "expert_score": 0.6177694201469421, + "expert_success": false, + "group_id": "ms-b7e7fe66a6c86898eec2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3592790961265564, + "candidate_source_group_id": "ms-c35a083df7c08225af3b;ms-c07472c627b51086ff33;ms-1a801d8b486ef19642bf;ms-03cdc738473ac1df9dfc;ms-525a7841d99bba385bc5;ms-1fec069b4a095dd0425a", + "expert_regret": 1.4587417244911194, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6b8adb335c80e03d5cd5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4587417244911194, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5412582755088806, + "restore_error": 2.384185791015625e-07, + "score": 0.5412582755088806, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.11281348764896393, + "candidate_source_group_id": "ms-1924e52af208c9f66592;ms-6f1ec735350c81ef9fca;ms-9b4483fb034248fe882d;ms-61ac2be70a9798adeda0;ms-d44f5bd2488ea182132b;ms-38d3e0274ddfa4ed7202", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c4cb99b887c88c707ba9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7089564204216003, + "candidate_source_group_id": "ms-dc5a883a3e28b90ebf1a;ms-4ec67456479f53e605e1;ms-486ff31b7a04a7e9e8f9;ms-17330235d51598ebcb4e;ms-635a384c88604ad7ba4f;ms-351844f358ea7564d27d", + "expert_regret": 1.444502055644989, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cafa65eeb953aff47f30", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.444502055644989, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.555497944355011, + "restore_error": 2.384185791015625e-07, + "score": 0.555497944355011, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44093939661979675, + "candidate_source_group_id": "ms-288532d255e4828bb15b;ms-b7ed399f40d2d554b16d;ms-1abd8c7cc1c683f88d3d;ms-8af87d14945da6a910e4;ms-b82cc8ce5d9d348ba6b4;ms-3ea30989082ec714e12d", + "expert_regret": 1.4399347305297852, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-26e09c86be9068a34acf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4399347305297852, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5600652694702148, + "restore_error": 2.384185791015625e-07, + "score": 0.5600652694702148, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.16046179831027985, + "candidate_source_group_id": "ms-f3e40db5e157647d463d;ms-fe2964cc8940ee7c24aa;ms-93e3d9968204474eff49;ms-52c6c227fd4b61609031;ms-fbb609a3f2a334986245;ms-6355260c6fa49f291729", + "expert_regret": 0.010340452194213867, + "expert_score": 0.5548074245452881, + "expert_success": false, + "group_id": "ms-29f1abb869ff206a4d52", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.014757275581359863, + "oracle_score": 0.5592242479324341, + "oracle_success": false, + "progress": 0.5444669723510742, + "restore_error": 1.1920928955078125e-07, + "score": 0.5444669723510742, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5082374215126038, + "candidate_source_group_id": "ms-86b302005e0461f28c43;ms-5e85dc3760eef8a53a67;ms-edcdf99767068f94bcb4;ms-a9ac13384fe5afc835f1;ms-c774aeee2c4066edd668;ms-4ca84594a789c9abd5d9", + "expert_regret": 1.4538370966911316, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-417cab1470cf46273b02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4538370966911316, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5461629033088684, + "restore_error": 1.1920928955078125e-07, + "score": 0.5461629033088684, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7665362358093262, + "candidate_source_group_id": "ms-3deb9fa600781abb51c1;ms-f69d6aec4ddb12d88c5b;ms-175375383979526d80b5;ms-e7f2d1f0de50c6fcccb4;ms-ee7463f3d937dbc16f89;ms-d16053a4f8b95c94dc46", + "expert_regret": 1.9490171186625957, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6558f35ae2a2871a4bfd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9490171186625957, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05098288133740425, + "restore_error": 1.1920928955078125e-07, + "score": 0.05098288133740425, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4315245449542999, + "candidate_source_group_id": "ms-48d490ed21088bb5ba85;ms-57ac136bd68be6387c6f;ms-b671fa9fcef84dbf2a13;ms-910d27b58a0585327a27;ms-e45b5de01eafae73e492;ms-c7041c6f758f8e4a3698", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2ae57bab6d2ea11f6638", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5600346922874451, + "candidate_source_group_id": "ms-a5775906ce2fb6556103;ms-9b15f9c696a2661346cf;ms-bc53e550cb202b5fcdf3;ms-91ad1a5f945470b4346e;ms-5071d49489e1900dfa91;ms-80d5c509e83845ab1bc7", + "expert_regret": 1.4879427552223206, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-578e24198ed828a74485", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4879427552223206, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5120572447776794, + "restore_error": 1.1920928955078125e-07, + "score": 0.5120572447776794, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4107026159763336, + "candidate_source_group_id": "ms-da46296bd4e9032570df;ms-36e8cb2e7f34f8dceb05;ms-0d1db6695acdf1ec3eaf;ms-28b1f1e4380d434605de;ms-e45b5de01eafae73e492;ms-a927d1bd67068f1d9302", + "expert_regret": 1.4320718050003052, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e589f7d40c12eff1712e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4320718050003052, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5679281949996948, + "restore_error": 1.1920928955078125e-07, + "score": 0.5679281949996948, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5030257105827332, + "candidate_source_group_id": "ms-c78721d9c4196a9e8ec5;ms-0ca11ec8f7fbf0c1d66e;ms-17e8d6ba42404c7b7d07;ms-10f4c68dcad8285f4acd;ms-cda24997adbad130b09d;ms-1cea800b74c1ea2f6338", + "expert_regret": 1.4368053078651428, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9e1f3c14116ebca6164d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4368053078651428, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5631946921348572, + "restore_error": 1.1920928955078125e-07, + "score": 0.5631946921348572, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29352766275405884, + "candidate_source_group_id": "ms-90464666adfd66056785;ms-57a213acdc6a7231f799;ms-4dcb031152807390c6dd;ms-32b9c353a4890631f1bd;ms-a01f0549a18d924d31c0;ms-84b677a48d338212ceb7", + "expert_regret": 1.4312098026275635, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-30ad687dc1bc8318fa45", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4312098026275635, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5687901973724365, + "restore_error": 1.1920928955078125e-07, + "score": 0.5687901973724365, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5420692563056946, + "candidate_source_group_id": "ms-2df0b9d5fa91156e430a;ms-b0fd98bae1ed5d543f35;ms-81c855f8645b35f0856d;ms-e07f80b44faf328c5e58;ms-cb16b458af723bf7cd0a;ms-ae5421846020d2765f82", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6305829d7ca1c68a3ce", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7574557662010193, + "candidate_source_group_id": "ms-5e6d18ccfcf923f52f8e;ms-8c6e41e7542bc6924a1f;ms-3417f5f2f1470c61d0a8;ms-61781d30cb05657c5f5d;ms-3cfb09df08ad7279ef02;ms-912718b1f2ef92066799", + "expert_regret": 1.437152922153473, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f39e1d7a2d636e39a02f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.437152922153473, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5628470778465271, + "restore_error": 1.1920928955078125e-07, + "score": 0.5628470778465271, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4864576756954193, + "candidate_source_group_id": "ms-32435d71bb817daf01d9;ms-50d83ce148904504ec50;ms-dc2a8fa76e1ceb0d8925;ms-f80ae137a8d9981f8c98;ms-10621e1108a69d0b633e;ms-c7020fdb7cba871e8b3e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a45ed89f5b95d1e7ab07", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48478269577026367, + "candidate_source_group_id": "ms-9320da73e81045277fae;ms-9e87481ce12fa45b2554;ms-02acbd591a961c0dbd46;ms-1781d9c562b4425df7c8;ms-3b4b0b8c60ad41bb16b0;ms-8b68d8b4d22e6ff0451d", + "expert_regret": 1.4873601794242859, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9a2d8f0085e6740cf5b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4873601794242859, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5126398205757141, + "restore_error": 1.1920928955078125e-07, + "score": 0.5126398205757141, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5161551237106323, + "candidate_source_group_id": "ms-47662cfa5e75ac8250e7;ms-0e9908c8405f241086ac;ms-11930c353a2b4fefab82;ms-4aa0c1a37cdb70ba8877;ms-62ece8fe2f85092ca96f;ms-3c12da28c8edab3fa554", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2b56888f10733707f14b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33227667212486267, + "candidate_source_group_id": "ms-66ec6692758e9a7f2e01;ms-10f2865bef6da7b66423;ms-f69d6aec4ddb12d88c5b;ms-739a89fb4521bc481a9f;ms-1cdd36810a138190ce3c;ms-d988976b029886d18476", + "expert_regret": 1.472398817539215, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08c39d9cc9eb7578e6e9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.472398817539215, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5276011824607849, + "restore_error": 1.1920928955078125e-07, + "score": 0.5276011824607849, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6058573722839355, + "candidate_source_group_id": "ms-bc53e550cb202b5fcdf3;ms-b1c9975d1a007dd03dc4;ms-982922e263d07c54c136;ms-91ad1a5f945470b4346e;ms-10a5b6cc3ec06dfdc5c5;ms-de709118c78966c5aff7", + "expert_regret": 0.07462817430496216, + "expert_score": 0.5934287309646606, + "expert_success": false, + "group_id": "ms-9a1de6130828dc946a51", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.07462817430496216, + "oracle_score": 0.5934287309646606, + "oracle_success": false, + "progress": 0.5188005566596985, + "restore_error": 1.1920928955078125e-07, + "score": 0.5188005566596985, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4154447019100189, + "candidate_source_group_id": "ms-6029bab18ae94b126d79;ms-8315ae30e2cf041c8674;ms-7b932868f83725def2ed;ms-746436cac05100783ad7;ms-c3a1cf0e424a4f065459;ms-4e86b87d6e5f6ab914fe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d4bde31fd7e7cee76b09", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.17777156829833984, + "candidate_source_group_id": "ms-7fa68a6085e0b973ce6b;ms-5f98f13f17e8f41f7436;ms-d19c9e3ab1d7daf06344;ms-81085eba1dd49b17ec9c;ms-f6591d52d6824c6d2909;ms-4fe7fdaf946c97803c82", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-943b5187cbe128b9b563", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45067644119262695, + "candidate_source_group_id": "ms-f39bbaa063044719a98d;ms-759ba8b7be233ca47c30;ms-ee0986397bc7267882d8;ms-9c8a90334c3b933c8976;ms-8b68d8b4d22e6ff0451d;ms-cca07eb504a242633931", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-166b7f66bf9f4eec432b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4380374550819397, + "candidate_source_group_id": "ms-759ba8b7be233ca47c30;ms-f39bbaa063044719a98d;ms-ee0986397bc7267882d8;ms-9c8a90334c3b933c8976;ms-8b68d8b4d22e6ff0451d;ms-cca07eb504a242633931", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bcc70292f404cd1c7f75", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.25329941511154175, + "candidate_source_group_id": "ms-0ca11ec8f7fbf0c1d66e;ms-f1d1776b7a5bd0a7b02c;ms-d824135bf97b907f7cc2;ms-0e55645c0c701caac48a;ms-cd25efec908bd600e45e;ms-5f5bf12b5ebb67eeb361", + "expert_regret": 1.5022796988487244, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5ad75923125806db5404", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.5022796988487244, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49772030115127563, + "restore_error": 1.1920928955078125e-07, + "score": 0.49772030115127563, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.664857029914856, + "candidate_source_group_id": "ms-10cb98b0a1ca5429dd28;ms-14c40aa19f7b9307511d;ms-7d18f6f16879d2933bcd;ms-7e6493bb6b1ff650d6de;ms-8bb2d8cb7c0d33fa0c1d;ms-f653a3ac16eba9fba5dd", + "expert_regret": 1.8948925361037254, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2d995e39f2b95fed1a67", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8948925361037254, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10510746389627457, + "restore_error": 1.1920928955078125e-07, + "score": 0.10510746389627457, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.36242470145225525, + "candidate_source_group_id": "ms-d5bfdabc97e56c680680;ms-b59a7ccfb736df4c4c68;ms-d1aac7be45644e12a976;ms-54a04864cb68a4c3caac;ms-c6beb139304a0ea6f7ae;ms-f3d9efbde383ef5f742f", + "expert_regret": 1.441674530506134, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-127908707208e993527d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.441674530506134, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.558325469493866, + "restore_error": 1.1920928955078125e-07, + "score": 0.558325469493866, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.04115062206983566, + "candidate_source_group_id": "ms-813cac6d08ed5af48b12;ms-e2ddf4681b47f39e15da;ms-10af171aa279a879207d;ms-4705657703da9d791fb9;ms-64ab703e7a82799a47dd;ms-ce992c1fa0bcc38512b7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-99b15d50660b77fe2fcb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.79758220911026, + "candidate_source_group_id": "ms-1d1969094d91fe52667d;ms-b6fd2931116c15db0f0a;ms-c684df0b998b593db723;ms-cb16b458af723bf7cd0a;ms-0a48fbd111be17b50be5;ms-326a7b583623d136470e", + "expert_regret": 1.4482174515724182, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1add4cf84fdadf5703d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4482174515724182, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5517825484275818, + "restore_error": 1.1920928955078125e-07, + "score": 0.5517825484275818, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22749784588813782, + "candidate_source_group_id": "ms-81729abe5d83a1ca280d;ms-2073841ae01f224365a1;ms-8d94c7c692c91a962f25;ms-5922c28e4a71a88c6d21;ms-59cc3cdf6918248d7f78;ms-fd9f10f7df6a11ec2cef", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97598e118c5cc8c254a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4201344847679138, + "candidate_source_group_id": "ms-9af03b651b5e36ac2ae3;ms-2592e5fa970f1b474388;ms-51f2c34d5f8f132af1ed;ms-f625d521be1e85b1c49d;ms-cda24997adbad130b09d;ms-caeb59971565b08f2513", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9eb40f856528204bbcfd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5802620649337769, + "candidate_source_group_id": "ms-95320371ce6b820c85f6;ms-bb60defa0d234da9e0bc;ms-79c7332b2b329eaa6a13;ms-7a17ceb004979b99a586;ms-61b1188974f35233b883;ms-1158e6997b2f1281b105", + "expert_regret": 1.4366613030433655, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3aa864ead19c9cb9fb49", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4366613030433655, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5633386969566345, + "restore_error": 1.1920928955078125e-07, + "score": 0.5633386969566345, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.21429242193698883, + "candidate_source_group_id": "ms-4d6099258a3a6e037aff;ms-d686ae387b1a0ce2f2f3;ms-0b4ac5b183639ac19191;ms-4746e04d636d13cfbe6c;ms-193063285cdb9faff39b;ms-6c081eee5edb633d6caf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d75a00b1388f50bf8919", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1167844608426094, + "candidate_source_group_id": "ms-8c6e41e7542bc6924a1f;ms-61781d30cb05657c5f5d;ms-3cfb09df08ad7279ef02;ms-912718b1f2ef92066799;ms-85eef30b36b044b33f60;ms-3417f5f2f1470c61d0a8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13af3f2f8e0b8444fe68", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5110610723495483, + "candidate_source_group_id": "ms-0541a144afe57b5a7ae6;ms-3eeaca32feb66f450a0b;ms-5e23219a8e2aadd039c7;ms-2470946f31fee328ad6c;ms-8c8198e44eea32f98ca7;ms-16cd0a94ad2cb78b1ada", + "expert_regret": 0.5099796876311302, + "expert_score": 0.6058399081230164, + "expert_success": false, + "group_id": "ms-c2e07545267c612a022c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5099796876311302, + "oracle_score": 0.6058399081230164, + "oracle_success": false, + "progress": 0.09586022049188614, + "restore_error": 1.1920928955078125e-07, + "score": 0.09586022049188614, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5091508626937866, + "candidate_source_group_id": "ms-5c8b50523e0de37d80b8;ms-8af2224cc82636ef1dd7;ms-7e94769c30229d5cc7b8;ms-2e5c2f75d3f6311e0a1c;ms-3737178a1f85502652ea;ms-ddc0b3adf8506c30f503", + "expert_regret": 1.5232220590114594, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a1d69e0b112064914357", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5232220590114594, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.47677794098854065, + "restore_error": 1.1920928955078125e-07, + "score": 0.47677794098854065, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44705185294151306, + "candidate_source_group_id": "ms-f3e40db5e157647d463d;ms-fe2964cc8940ee7c24aa;ms-93e3d9968204474eff49;ms-fbb609a3f2a334986245;ms-52c6c227fd4b61609031;ms-6355260c6fa49f291729", + "expert_regret": 0.010322153568267822, + "expert_score": 0.5545835494995117, + "expert_success": false, + "group_id": "ms-3c4ff3dae26217f22a8b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.010322153568267822, + "oracle_score": 0.5545835494995117, + "oracle_success": false, + "progress": 0.5442613959312439, + "restore_error": 1.1920928955078125e-07, + "score": 0.5442613959312439, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7063695788383484, + "candidate_source_group_id": "ms-b6df140b235c8fe0eaad;ms-66540aefd55a84b5088f;ms-38d3e0274ddfa4ed7202;ms-a6060f858cb9f93c5588;ms-61ac2be70a9798adeda0;ms-61781d30cb05657c5f5d", + "expert_regret": 1.430912971496582, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-76c78750d7abc6570487", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.430912971496582, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.569087028503418, + "restore_error": 1.1920928955078125e-07, + "score": 0.569087028503418, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.0938357338309288, + "candidate_source_group_id": "ms-c9c1649478107785e9d2;ms-5e6d18ccfcf923f52f8e;ms-8c6e41e7542bc6924a1f;ms-3cfb09df08ad7279ef02;ms-912718b1f2ef92066799;ms-3417f5f2f1470c61d0a8", + "expert_regret": 0.03951340913772583, + "expert_score": 0.5946909785270691, + "expert_success": false, + "group_id": "ms-309d2258d275ae304857", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4448224306106567, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5551775693893433, + "restore_error": 1.1920928955078125e-07, + "score": 0.5551775693893433, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6074506044387817, + "candidate_source_group_id": "ms-1735d1abca4a91293d78;ms-0bf5f9b5ab423eb0a7c3;ms-0de368e8d16fd01f4e67;ms-8beca0622be320b282c1;ms-4b94e0333251263012ec;ms-b33f1d4ddb6a531d2a71", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ce8d2ef7d19bed381822", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.521450400352478, + "candidate_source_group_id": "ms-766b6fe7c08a3525ce94;ms-f5fb668380b64d4f1e74;ms-72b7d76602371f044fe3;ms-7d962acc9cfbc27c599c;ms-7241a1c25af41f4c0b5a;ms-f34c69fb0bf1b1055163", + "expert_regret": 1.4526532292366028, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11bb3387454624de8143", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4526532292366028, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5473467707633972, + "restore_error": 1.1920928955078125e-07, + "score": 0.5473467707633972, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3098950982093811, + "candidate_source_group_id": "ms-2e5c2f75d3f6311e0a1c;ms-307f9067d5b66f55b3a6;ms-8af2224cc82636ef1dd7;ms-5c8b50523e0de37d80b8;ms-4015c296239564108da2;ms-90a03366976eaa1ad013", + "expert_regret": 1.9312996119260788, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1c0e2bb3a811fac6d567", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9312996119260788, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0687003880739212, + "restore_error": 1.1920928955078125e-07, + "score": 0.0687003880739212, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6015204191207886, + "candidate_source_group_id": "ms-23a355317920e192147f;ms-22675530f3a401b3fd6d;ms-618c9e3c06f4879ba788;ms-7d32f6b32c14e33b1eb1;ms-7cbbc5e7dc896a803efa;ms-ff96d76fba5b6ceb1289", + "expert_regret": 1.919272042810917, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4f833710c2706ee077af", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.919272042810917, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0807279571890831, + "restore_error": 1.1920928955078125e-07, + "score": 0.0807279571890831, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5665464997291565, + "candidate_source_group_id": "ms-813cac6d08ed5af48b12;ms-64ab703e7a82799a47dd;ms-10af171aa279a879207d;ms-67f602a0e4efc9984d72;ms-ce2924d08bdd6c379777;ms-32b9c353a4890631f1bd", + "expert_regret": 1.4494405388832092, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d88107eff1e361cdcc4c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4494405388832092, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5505594611167908, + "restore_error": 1.1920928955078125e-07, + "score": 0.5505594611167908, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5902133584022522, + "candidate_source_group_id": "ms-fb92a1e6b67121783fff;ms-81085eba1dd49b17ec9c;ms-635a384c88604ad7ba4f;ms-4fe7fdaf946c97803c82;ms-1abf5e6d483e2788b086;ms-ee055e1282f6302ad9e8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-07e0726dedce0a0e4419", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.611986517906189, + "candidate_source_group_id": "ms-cea745484a24f376d7e8;ms-a1846ef1f00eb54e2d60;ms-3e971096794f04f325f2;ms-0843bef6b0c13c3ede69;ms-3b0ad4f07f1813ecf670;ms-950df0830b2e57010248", + "expert_regret": 1.5102460384368896, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6af227c07aaf7c0f0aea", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5102460384368896, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.48975396156311035, + "restore_error": 2.2910535335540771e-07, + "score": 0.48975396156311035, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5360666513442993, + "candidate_source_group_id": "ms-978bbf0a6fc563f745ab;ms-c6d4f51c1adffc449778;ms-5b122bd43e749623ebe0;ms-4d9cef437c77474dc62d;ms-5e3b1693ad7b75221847;ms-53fdabb5d8ef20778214", + "expert_regret": 1.4320629239082336, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-27b0553a5c49108e6a98", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4320629239082336, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5679370760917664, + "restore_error": 2.2910535335540771e-07, + "score": 0.5679370760917664, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5251818895339966, + "candidate_source_group_id": "ms-b59a7ccfb736df4c4c68;ms-d1aac7be45644e12a976;ms-b01677be2df71c474d1f;ms-c6beb139304a0ea6f7ae;ms-57ac136bd68be6387c6f;ms-d5bfdabc97e56c680680", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dfc737e32df79e1fc429", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.2910535335540771e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28955915570259094, + "candidate_source_group_id": "ms-45ed57caa698d87a99cf;ms-28d5618562729c763eb6;ms-9bcf8a1e5e7b0f7ff6f5;ms-ffba357213945be5f9f7;ms-ee32e6bb3c0bb45702b9;ms-30fe784e67f732ef9a3d", + "expert_regret": 1.4331609010696411, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c1ac63fb3644e3a2ae06", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4331609010696411, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5668390989303589, + "restore_error": 2.2910535335540771e-07, + "score": 0.5668390989303589, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48990970849990845, + "candidate_source_group_id": "ms-acd4bde23cf4608facc2;ms-7849511ad9b8262adae7;ms-d8583c895a59df2871d2;ms-4b970be37419ce0be0ae;ms-4cd1ceea2dda2732110a;ms-06935a084a7af6d7596c", + "expert_regret": 1.4771255254745483, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-34495bfe34440ac63cf6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4771255254745483, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5228744745254517, + "restore_error": 2.2910535335540771e-07, + "score": 0.5228744745254517, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6543890833854675, + "candidate_source_group_id": "ms-54a7c3d32b6a267d81a2;ms-d67409d8ecfd5d97336d;ms-a509a572b3871e591d26;ms-59020093d2eeaf58aa84;ms-de0321d0ece4c58bc224;ms-382000b79932b7c68326", + "expert_regret": 1.8693376928567886, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0b7f8ba789c00b37caa0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8693376928567886, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.13066230714321136, + "restore_error": 2.2910535335540771e-07, + "score": 0.13066230714321136, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5563293099403381, + "candidate_source_group_id": "ms-20e5ffa93544d6d8b313;ms-28817fe297f38fd9550a;ms-4f405775dcbb88f7d8b0;ms-f682952c6ecb2b833c35;ms-fe9347448b7f810d1353;ms-c3cdd70e2bc10bba1930", + "expert_regret": 1.4748098254203796, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4fad1f976cc64cc06826", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4748098254203796, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5251901745796204, + "restore_error": 2.2910535335540771e-07, + "score": 0.5251901745796204, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3705131411552429, + "candidate_source_group_id": "ms-7de8743758ec505a3294;ms-7a17ceb004979b99a586;ms-0e12a6083750bfecca87;ms-61b1188974f35233b883;ms-79c7332b2b329eaa6a13;ms-f71c7cf8ca320b8eb7a4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-842e179244eddac303a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.2910535335540771e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18958832323551178, + "candidate_source_group_id": "ms-4082ce1f04dbacd6a5b9;ms-564c02492863ae749ea9;ms-93e3d9968204474eff49;ms-bd6b2dc41ba42b44462a;ms-dd1311efb8ab2a0a2d23;ms-ae33e3afb57e61026d72", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87f8bbc8d9e7f4dcaacf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41587209701538086, + "candidate_source_group_id": "ms-12ac4329c5bca5f2bb62;ms-59cc3cdf6918248d7f78;ms-8e4755f1627d85c12bd8;ms-3b0ad4f07f1813ecf670;ms-81729abe5d83a1ca280d;ms-2dc4f12ea7e8567e3a6e", + "expert_regret": 1.9761655200272799, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-844b753810c45699d501", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9761655200272799, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.023834479972720146, + "restore_error": 1.1920928955078125e-07, + "score": 0.023834479972720146, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.07905705273151398, + "candidate_source_group_id": "ms-5e1e38c86ef8f564ec77;ms-5e6d18ccfcf923f52f8e;ms-a7179e4e4e2a0d5335b3;ms-3417f5f2f1470c61d0a8;ms-39af5447d3c90872c25f;ms-dd4e13e425fbe9bd9140", + "expert_regret": 1.4306102395057678, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ed419c64a6693cb8998b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4306102395057678, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5693897604942322, + "restore_error": 1.1920928955078125e-07, + "score": 0.5693897604942322, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42913976311683655, + "candidate_source_group_id": "ms-519fb779d24a0bdf3809;ms-bb60defa0d234da9e0bc;ms-ea72196e20393870bcbb;ms-af16712eadcaebf175ff;ms-708baf01c22c75cafd22;ms-79c7332b2b329eaa6a13", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c104c2ebba7bf9b34680", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5341709852218628, + "candidate_source_group_id": "ms-564c02492863ae749ea9;ms-dd1311efb8ab2a0a2d23;ms-486ff31b7a04a7e9e8f9;ms-0f219ce35aff264455e2;ms-4ec67456479f53e605e1;ms-d5d7c690819019cb7869", + "expert_regret": 1.4376118779182434, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-39450dbba738dbd8a764", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4376118779182434, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5623881220817566, + "restore_error": 1.1920928955078125e-07, + "score": 0.5623881220817566, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7666489481925964, + "candidate_source_group_id": "ms-999a8c1454dd4597a834;ms-f5483f0819e0e8bc352e;ms-8ccc51fb09484026ebbb;ms-7670f25745871759e69e;ms-b0d54c14a65fb73f08ca;ms-547f4204888aee978bf0", + "expert_regret": 1.4429883360862732, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a76ae18568c88af1da6b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4429883360862732, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5570116639137268, + "restore_error": 1.1920928955078125e-07, + "score": 0.5570116639137268, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.31990912556648254, + "candidate_source_group_id": "ms-88e10d1be12a407b3926;ms-2d4547df5dccc4c4ca24;ms-8fdde5008d12abb7ae6a;ms-c9e31a19a776a861f9d7;ms-7e0ef0b7f94396bf0029;ms-53fdabb5d8ef20778214", + "expert_regret": 1.429645836353302, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a3c53708416dbfb9fbc5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.429645836353302, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.570354163646698, + "restore_error": 1.1920928955078125e-07, + "score": 0.570354163646698, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5246077179908752, + "candidate_source_group_id": "ms-97a18aeeea0b34f7c606;ms-f28fbb82a51d4de7811b;ms-f4fd59b4d1bce2d6b6a4;ms-6edb3f8fe977a81f8979;ms-fffe378a3bad31bbed52;ms-0a48fbd111be17b50be5", + "expert_regret": 1.4791504740715027, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f3f6a1b34fdf35290a6c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4791504740715027, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5208495259284973, + "restore_error": 1.1920928955078125e-07, + "score": 0.5208495259284973, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3745659291744232, + "candidate_source_group_id": "ms-b01677be2df71c474d1f;ms-d44f5bd2488ea182132b;ms-61ac2be70a9798adeda0;ms-8b68d8b4d22e6ff0451d;ms-38d3e0274ddfa4ed7202;ms-66540aefd55a84b5088f", + "expert_regret": 1.453370749950409, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c83412fa0aa5180ad89", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.453370749950409, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5466292500495911, + "restore_error": 1.1920928955078125e-07, + "score": 0.5466292500495911, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.368693083524704, + "candidate_source_group_id": "ms-e2ddf4681b47f39e15da;ms-10af171aa279a879207d;ms-64ab703e7a82799a47dd;ms-42895361db5578b75c0e;ms-813cac6d08ed5af48b12;ms-25a8e32c071be83d913b", + "expert_regret": 1.4867588877677917, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e275939f12a9dcee0a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4867588877677917, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5132411122322083, + "restore_error": 1.1920928955078125e-07, + "score": 0.5132411122322083, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3454369902610779, + "candidate_source_group_id": "ms-cb99eeafec52800f3b77;ms-bcfeba2af1e844c22aed;ms-97140da7cf409922f6ce;ms-3352e05afd9065cd09bf;ms-a26c2ffdac089c72ade5;ms-0de368e8d16fd01f4e67", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-478b7b8b729f9212a522", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3868001103401184, + "candidate_source_group_id": "ms-f101cf5cc8575be3c201;ms-0d1db6695acdf1ec3eaf;ms-57ac136bd68be6387c6f;ms-8fcc78fba7b3bec0fab6;ms-48d490ed21088bb5ba85;ms-c7041c6f758f8e4a3698", + "expert_regret": 1.4307696223258972, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d73a2a984d5829e884f9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4307696223258972, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5692303776741028, + "restore_error": 1.1920928955078125e-07, + "score": 0.5692303776741028, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4715028405189514, + "candidate_source_group_id": "ms-2af09f91e05d19f7f181;ms-88e10d1be12a407b3926;ms-5e3b1693ad7b75221847;ms-7e0ef0b7f94396bf0029;ms-a5a651f9e28ea52016fe;ms-c6d4f51c1adffc449778", + "expert_regret": 1.4615989923477173, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13b3c492538e5b3c7bdd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4615989923477173, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5384010076522827, + "restore_error": 1.1920928955078125e-07, + "score": 0.5384010076522827, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.16921813786029816, + "candidate_source_group_id": "ms-6a7e80154a9a4e5e9c08;ms-41b0258c4e329a734da7;ms-c7041c6f758f8e4a3698;ms-d4aab6f9b6717dd5712e;ms-8fcc78fba7b3bec0fab6;ms-910d27b58a0585327a27", + "expert_regret": 1.4314491152763367, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1a4ecfbe9c97214d5c78", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4314491152763367, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5685508847236633, + "restore_error": 1.1920928955078125e-07, + "score": 0.5685508847236633, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5360503196716309, + "candidate_source_group_id": "ms-bcd9be34f050d97499bd;ms-55c2bba961a327aa5260;ms-e20f5d43f319248c5001;ms-add4b7d277e1fc171144;ms-f6db4e8bed63ed868487;ms-fd1c44c6d5d8f7f11451", + "expert_regret": 1.9430760256946087, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-782893a3eb2e3dcfd15e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9430760256946087, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05692397430539131, + "restore_error": 1.1920928955078125e-07, + "score": 0.05692397430539131, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43227696418762207, + "candidate_source_group_id": "ms-08858c7ba8d4a3357e05;ms-b35643e98e1b846e27cf;ms-488a34fe7b7e84250616;ms-6edb3f8fe977a81f8979;ms-d19573dc65181befd83d;ms-2b556c4c1b55a20b14c8", + "expert_regret": 1.446914255619049, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f241450069e74460a40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.446914255619049, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5530857443809509, + "restore_error": 1.1920928955078125e-07, + "score": 0.5530857443809509, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.11481288820505142, + "candidate_source_group_id": "ms-054a02413d31389d1b7f;ms-1518756d5da0b8d3c190;ms-f897cc2141a0a303fc6a;ms-fbb609a3f2a334986245;ms-ff23e4fce42c637ed617;ms-090e18187bb6ae4a9120", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3a07c49566decfea04de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5109859704971313, + "candidate_source_group_id": "ms-c5d026dffb39f2f1d38a;ms-3aa5793c449b59c77b6f;ms-9783ccaf76f1b20c766e;ms-c70be4072fb4e49ac106;ms-0c9c39c462522b25ef2b;ms-ee32e6bb3c0bb45702b9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-88bdd8987f890af7e9ea", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.715061366558075, + "candidate_source_group_id": "ms-197fee321caebfd320f5;ms-a68740208f81c5d6c97b;ms-0ac53e56b4852c85ca2e;ms-c7156b26670838d40934;ms-0ec98183be760ea25a45;ms-f5483f0819e0e8bc352e", + "expert_regret": 1.9692460764199495, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b786173f210fcaa65a6e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9692460764199495, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03075392358005047, + "restore_error": 1.1920928955078125e-07, + "score": 0.03075392358005047, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3905788064002991, + "candidate_source_group_id": "ms-3fdce65bd5c5681403a7;ms-3b0639bfe64ecfd35594;ms-2dc4f12ea7e8567e3a6e;ms-90a03366976eaa1ad013;ms-3a65e7b378a87a7eeb11;ms-add4b7d277e1fc171144", + "expert_regret": 1.961555253714323, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ac281cce8f6e42586359", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.961555253714323, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.038444746285676956, + "restore_error": 1.1920928955078125e-07, + "score": 0.038444746285676956, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6917992234230042, + "candidate_source_group_id": "ms-a509a572b3871e591d26;ms-d67409d8ecfd5d97336d;ms-54a7c3d32b6a267d81a2;ms-ee7463f3d937dbc16f89;ms-de0321d0ece4c58bc224;ms-4bc023d8d1f7748b0e12", + "expert_regret": 1.503154069185257, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-91d86cba2602d1fa780d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.503154069185257, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49684593081474304, + "restore_error": 1.1920928955078125e-07, + "score": 0.49684593081474304, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6628471612930298, + "candidate_source_group_id": "ms-d44f5bd2488ea182132b;ms-6c081eee5edb633d6caf;ms-68ab6033433b360464f8;ms-cca07eb504a242633931;ms-239a07967247700a8ed1;ms-4d6099258a3a6e037aff", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5fc884c238818acdde08", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5983284711837769, + "candidate_source_group_id": "ms-09de52dad7e40970c938;ms-ee055e1282f6302ad9e8;ms-61068da67676a95e5065;ms-a8864b25c00ee193d0ea;ms-48cdfa31865ed70997c8;ms-fb92a1e6b67121783fff", + "expert_regret": 1.433107316493988, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-283da8c8dae2e161c439", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.433107316493988, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.566892683506012, + "restore_error": 1.1920928955078125e-07, + "score": 0.566892683506012, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.04373586177825928, + "candidate_source_group_id": "ms-13192a27f5fcf4fd24d7;ms-7d962acc9cfbc27c599c;ms-766b6fe7c08a3525ce94;ms-7241a1c25af41f4c0b5a;ms-4742d169606f3ec2b474;ms-225fbe08f2933f91d603", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a6273302894af3505ca8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7665945887565613, + "candidate_source_group_id": "ms-67f602a0e4efc9984d72;ms-c3a1cf0e424a4f065459;ms-813cac6d08ed5af48b12;ms-32b9c353a4890631f1bd;ms-6029bab18ae94b126d79;ms-10af171aa279a879207d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-16d5b122db1824caf92b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5875269770622253, + "candidate_source_group_id": "ms-22325628db75967cf779;ms-236601c5e076b4ee5d75;ms-f7c9f440fec3a22cd6d4;ms-5df54a8baaceb8c73c8a;ms-d6e14cec49894dd329f0;ms-13557287cd450bc12c6f", + "expert_regret": 1.9676730260252953, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c76158673d20b18c2622", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9676730260252953, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03232697397470474, + "restore_error": 1.1920928955078125e-07, + "score": 0.03232697397470474, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47946372628211975, + "candidate_source_group_id": "ms-54a04864cb68a4c3caac;ms-68ab6033433b360464f8;ms-eaf612349e2da547ee98;ms-42117385b9e6e57c7e63;ms-6c081eee5edb633d6caf;ms-c6beb139304a0ea6f7ae", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4bf0620f8d1294466596", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5438095927238464, + "candidate_source_group_id": "ms-28d5618562729c763eb6;ms-9bcf8a1e5e7b0f7ff6f5;ms-daaac2887015a6e4f3e0;ms-45ed57caa698d87a99cf;ms-ffba357213945be5f9f7;ms-1cea800b74c1ea2f6338", + "expert_regret": 1.4467957615852356, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc30ca6b7675f4de5041", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4467957615852356, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5532042384147644, + "restore_error": 1.1920928955078125e-07, + "score": 0.5532042384147644, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4771974980831146, + "candidate_source_group_id": "ms-91ad1a5f945470b4346e;ms-7fe236a99d555408d474;ms-b1c9975d1a007dd03dc4;ms-bfda95ffffd5d1a2683a;ms-bc53e550cb202b5fcdf3;ms-de709118c78966c5aff7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0a4c4442237909d5f7b7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5264493227005005, + "candidate_source_group_id": "ms-3737178a1f85502652ea;ms-5c8b50523e0de37d80b8;ms-7c76bb3c93411136f11a;ms-7e94769c30229d5cc7b8;ms-3aaa0d68ca26b1fe6626;ms-8af2224cc82636ef1dd7", + "expert_regret": 1.458557367324829, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-62b597990a3d637e5a8a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.458557367324829, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5414426326751709, + "restore_error": 1.1920928955078125e-07, + "score": 0.5414426326751709, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6269025206565857, + "candidate_source_group_id": "ms-31782020143c24b4271b;ms-6355260c6fa49f291729;ms-ae33e3afb57e61026d72;ms-bd6b2dc41ba42b44462a;ms-93e3d9968204474eff49;ms-ff23e4fce42c637ed617", + "expert_regret": 1.4752809405326843, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbcc714230de2c097d0d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4752809405326843, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5247190594673157, + "restore_error": 1.1920928955078125e-07, + "score": 0.5247190594673157, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3824610114097595, + "candidate_source_group_id": "ms-7670f25745871759e69e;ms-999a8c1454dd4597a834;ms-f5483f0819e0e8bc352e;ms-fa911d56cdf9bf122b5c;ms-b0d54c14a65fb73f08ca;ms-8ccc51fb09484026ebbb", + "expert_regret": 1.5329926013946533, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ed9addab41f3298db7bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5329926013946533, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4670073986053467, + "restore_error": 1.1920928955078125e-07, + "score": 0.4670073986053467, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12460243701934814, + "candidate_source_group_id": "ms-17e8d6ba42404c7b7d07;ms-802e63c9d42228a69c22;ms-da46296bd4e9032570df;ms-d33444117889b5aa9cfb;ms-a927d1bd67068f1d9302;ms-cda24997adbad130b09d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ece7b8c91d9d82f244b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7403615117073059, + "candidate_source_group_id": "ms-4ca84594a789c9abd5d9;ms-9cdebdcdad56bd8d87cc;ms-edcdf99767068f94bcb4;ms-a9ac13384fe5afc835f1;ms-86b302005e0461f28c43;ms-c774aeee2c4066edd668", + "expert_regret": 0.03538203239440918, + "expert_score": 0.582298219203949, + "expert_success": false, + "group_id": "ms-eac0d7dd54b1e797fdbd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.03538203239440918, + "oracle_score": 0.582298219203949, + "oracle_success": false, + "progress": 0.5469161868095398, + "restore_error": 2.384185791015625e-07, + "score": 0.5469161868095398, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.652205765247345, + "candidate_source_group_id": "ms-3c8ba3016f7269bfe44f;ms-ee055e1282f6302ad9e8;ms-1abf5e6d483e2788b086;ms-fb92a1e6b67121783fff;ms-09de52dad7e40970c938;ms-128c7c43e30023e6b1a3", + "expert_regret": 1.483424186706543, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bee62a6ef02134938aae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.483424186706543, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.516575813293457, + "restore_error": 2.384185791015625e-07, + "score": 0.516575813293457, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8436082005500793, + "candidate_source_group_id": "ms-5df54a8baaceb8c73c8a;ms-f763382872d8e89017c2;ms-22325628db75967cf779;ms-13557287cd450bc12c6f;ms-236601c5e076b4ee5d75;ms-d16053a4f8b95c94dc46", + "expert_regret": 0.5471844300627708, + "expert_score": 0.5785713195800781, + "expert_success": false, + "group_id": "ms-42edbdb8ff281fc33a99", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5471844300627708, + "oracle_score": 0.5785713195800781, + "oracle_success": false, + "progress": 0.03138688951730728, + "restore_error": 2.384185791015625e-07, + "score": 0.03138688951730728, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5589243173599243, + "candidate_source_group_id": "ms-cb70b56d6ad32b11c3cf;ms-61ac2be70a9798adeda0;ms-a6060f858cb9f93c5588;ms-b6df140b235c8fe0eaad;ms-66540aefd55a84b5088f;ms-38d3e0274ddfa4ed7202", + "expert_regret": 1.4352908730506897, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11a2794efa24f4d93d83", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4352908730506897, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5647091269493103, + "restore_error": 2.384185791015625e-07, + "score": 0.5647091269493103, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5041157603263855, + "candidate_source_group_id": "ms-a73f46824bdbdfb96238;ms-6edb3f8fe977a81f8979;ms-d19573dc65181befd83d;ms-478f754a15221314d15e;ms-fffe378a3bad31bbed52;ms-b6827e38768a63212d73", + "expert_regret": 1.4650242924690247, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9ff81e54049443a0f3d3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4650242924690247, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5349757075309753, + "restore_error": 2.384185791015625e-07, + "score": 0.5349757075309753, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6968103051185608, + "candidate_source_group_id": "ms-c9c1649478107785e9d2;ms-8f219d526891ae3c2dea;ms-8c6e41e7542bc6924a1f;ms-3cfb09df08ad7279ef02;ms-912718b1f2ef92066799;ms-85eef30b36b044b33f60", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61d4dd4acc03b8d30f19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.06397441774606705, + "candidate_source_group_id": "ms-570c074dbf28b5faae58;ms-5d430ebe6f7933dc6c8c;ms-81951a4920488e6c62e9;ms-3731f1c5af3c4a133633;ms-e0c2c1fbe39cd1d652b3;ms-193063285cdb9faff39b", + "expert_regret": 1.3995562195777893, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5425964a186feaf6fd99", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3995562195777893, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6004437804222107, + "restore_error": 2.384185791015625e-07, + "score": 0.6004437804222107, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1327148824930191, + "candidate_source_group_id": "ms-4d9cef437c77474dc62d;ms-c6d4f51c1adffc449778;ms-978bbf0a6fc563f745ab;ms-5e3b1693ad7b75221847;ms-25a8e32c071be83d913b;ms-53fdabb5d8ef20778214", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-774e954ffdc5da041261", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43418726325035095, + "candidate_source_group_id": "ms-7c76bb3c93411136f11a;ms-3737178a1f85502652ea;ms-3aaa0d68ca26b1fe6626;ms-7e94769c30229d5cc7b8;ms-f682952c6ecb2b833c35;ms-20e5ffa93544d6d8b313", + "expert_regret": 1.9838889483362436, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf274fbe4c657d04d7c4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9838889483362436, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.01611105166375637, + "restore_error": 1.1920928955078125e-07, + "score": 0.01611105166375637, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5575429201126099, + "candidate_source_group_id": "ms-28817fe297f38fd9550a;ms-3c458f671129e1ebe7b4;ms-fe9347448b7f810d1353;ms-17a17b212837b7f1309f;ms-2259a78b2187e22f9f37;ms-4f405775dcbb88f7d8b0", + "expert_regret": 1.8995819315314293, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0377c81a67d9819ab96b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8995819315314293, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10041806846857071, + "restore_error": 1.1920928955078125e-07, + "score": 0.10041806846857071, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6511504054069519, + "candidate_source_group_id": "ms-9bc153354c4dd2e5c1a5;ms-c91cae30acaa8dc7a12b;ms-51873059990aa55691a2;ms-7241a1c25af41f4c0b5a;ms-d4c3c235768529c33843;ms-72b7d76602371f044fe3", + "expert_regret": 1.435030996799469, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a934ef3c442100d9cc58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.435030996799469, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.564969003200531, + "restore_error": 1.1920928955078125e-07, + "score": 0.564969003200531, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5489664077758789, + "candidate_source_group_id": "ms-525a7841d99bba385bc5;ms-c07472c627b51086ff33;ms-9320da73e81045277fae;ms-03cdc738473ac1df9dfc;ms-1fec069b4a095dd0425a;ms-9e87481ce12fa45b2554", + "expert_regret": 1.497317135334015, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c8666cbd7e5a9d0fd036", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.497317135334015, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5026828646659851, + "restore_error": 1.1920928955078125e-07, + "score": 0.5026828646659851, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5836424827575684, + "candidate_source_group_id": "ms-13557287cd450bc12c6f;ms-d16053a4f8b95c94dc46;ms-8e741ca11a7fbe85ba1d;ms-d988976b029886d18476;ms-d462cff6e1b4b201a6ce;ms-5df54a8baaceb8c73c8a", + "expert_regret": 1.9088144749403, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1fb2f4c1e17e99767558", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9088144749403, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09118552505970001, + "restore_error": 1.1920928955078125e-07, + "score": 0.09118552505970001, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12954320013523102, + "candidate_source_group_id": "ms-fb92a1e6b67121783fff;ms-81085eba1dd49b17ec9c;ms-4fe7fdaf946c97803c82;ms-635a384c88604ad7ba4f;ms-09de52dad7e40970c938;ms-61068da67676a95e5065", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87b44e6219279322a723", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6019412279129028, + "candidate_source_group_id": "ms-a7179e4e4e2a0d5335b3;ms-39af5447d3c90872c25f;ms-3417f5f2f1470c61d0a8;ms-a6060f858cb9f93c5588;ms-b6df140b235c8fe0eaad;ms-66540aefd55a84b5088f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2f57eadf546710065684", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5826963186264038, + "candidate_source_group_id": "ms-d19c9e3ab1d7daf06344;ms-5f98f13f17e8f41f7436;ms-cddf387bbcd6aed98fca;ms-225fbe08f2933f91d603;ms-4276f24b1b5dce771bff;ms-dc68e92d0571b68f51b9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-625b5d55ca76cc565049", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.54255610704422, + "candidate_source_group_id": "ms-c3a3764fb110503bd651;ms-52c6c227fd4b61609031;ms-4cd9eae753bf9e48f520;ms-2be3bf4f348678c0cc6c;ms-f5aa7ce332ee9702812a;ms-8f0e2c9caad14bd37ecf", + "expert_regret": 1.4440749287605286, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1136e4a92618d203f415", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4440749287605286, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5559250712394714, + "restore_error": 1.1920928955078125e-07, + "score": 0.5559250712394714, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7523747682571411, + "candidate_source_group_id": "ms-b1bf2ab59a5385d22e54;ms-7fa85a7251186eb18d0b;ms-525a7841d99bba385bc5;ms-1fec069b4a095dd0425a;ms-c07472c627b51086ff33;ms-9e87481ce12fa45b2554", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9e53ca6bc5ddb9133ffa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8213658928871155, + "candidate_source_group_id": "ms-a01e21b91a5b37a16afe;ms-fe650308e25459ee64c6;ms-630663751ab841a96d5a;ms-0915b75e9fd1468d464e;ms-e218d19c595e580c3e32;ms-706943f06888dd5bbb3a", + "expert_regret": 1.9690040946006775, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-319a6c0cef0ac1a872d5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9690040946006775, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03099590539932251, + "restore_error": 1.1920928955078125e-07, + "score": 0.03099590539932251, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2228090763092041, + "candidate_source_group_id": "ms-fcbac5ac63b87452c719;ms-7361bfba9d2ab4f1913e;ms-fef1cf4879be83a77574;ms-01067b8ff16f74652382;ms-175375383979526d80b5;ms-5e23219a8e2aadd039c7", + "expert_regret": 1.958231806755066, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8adf1cf09ddabdc5fe5f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.958231806755066, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04176819324493408, + "restore_error": 1.1920928955078125e-07, + "score": 0.04176819324493408, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8962258696556091, + "candidate_source_group_id": "ms-8c0b600aef5393f929cd;ms-49641ecf3e1326621609;ms-17a04b4ac2d938261bff;ms-7982e5af0d533320432f;ms-4895312f7ef7a8e0109c;ms-f5e621c9ae7bcca8e596", + "expert_regret": 1.9656642191112041, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7f427f37d47501932e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9656642191112041, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03433578088879585, + "restore_error": 1.1920928955078125e-07, + "score": 0.03433578088879585, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5363895297050476, + "candidate_source_group_id": "ms-2af09f91e05d19f7f181;ms-70d994c15153752d0dce;ms-e2ddf4681b47f39e15da;ms-f77305a344da6a4ccc84;ms-f3ddc66fde2d59666e07;ms-4e86b87d6e5f6ab914fe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f5255815f8b70b48734", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.37112823128700256, + "candidate_source_group_id": "ms-1df0775c4ef08d0cf1bf;ms-4cd9eae753bf9e48f520;ms-2dc8e489908f72903319;ms-81951a4920488e6c62e9;ms-561f4f913d7b4991d81a;ms-3731f1c5af3c4a133633", + "expert_regret": 1.490362823009491, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8fbdbddd9200f5091d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.490362823009491, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.509637176990509, + "restore_error": 1.1920928955078125e-07, + "score": 0.509637176990509, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.348163902759552, + "candidate_source_group_id": "ms-0915b75e9fd1468d464e;ms-fed4628b22c7e42e32d9;ms-9233eae706910c204b79;ms-98427ae2d94c1f85811a;ms-706943f06888dd5bbb3a;ms-19c0b893fda0e6bb05f7", + "expert_regret": 1.9837065692991018, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b972386cfdf0158a0a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9837065692991018, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.01629343070089817, + "restore_error": 1.1920928955078125e-07, + "score": 0.01629343070089817, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12676607072353363, + "candidate_source_group_id": "ms-90464666adfd66056785;ms-1518756d5da0b8d3c190;ms-57a213acdc6a7231f799;ms-4705657703da9d791fb9;ms-642670f4bb658d32970b;ms-a01f0549a18d924d31c0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4b1561bd0029228fdbbe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.35425567626953125, + "candidate_source_group_id": "ms-0e4af96af7d344ec47a0;ms-fbcca760f5e16aa5c776;ms-0e12a6083750bfecca87;ms-47fd1407ae4e17ed4bee;ms-f5e621c9ae7bcca8e596;ms-8a22f0da78e59cd1eb5f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d9b2a5ccd43461f827e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20843683183193207, + "candidate_source_group_id": "ms-4746e04d636d13cfbe6c;ms-193063285cdb9faff39b;ms-570c074dbf28b5faae58;ms-3731f1c5af3c4a133633;ms-81951a4920488e6c62e9;ms-f5aa7ce332ee9702812a", + "expert_regret": 1.4360369443893433, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-12050326f623a94ae9e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4360369443893433, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5639630556106567, + "restore_error": 1.1920928955078125e-07, + "score": 0.5639630556106567, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8007098436355591, + "candidate_source_group_id": "ms-578537600f7a649c2dd5;ms-9c7e6b057c74f3014fd5;ms-86b0447349029dfaa6ab;ms-c86956f3f1333e136186;ms-ac79bc3a841958ce127f;ms-7651a7f31eae24958ef0", + "expert_regret": 1.8684044629335403, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f9c00ba41392adec3fd1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8684044629335403, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.13159553706645966, + "restore_error": 1.1920928955078125e-07, + "score": 0.13159553706645966, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.32410112023353577, + "candidate_source_group_id": "ms-fbcca760f5e16aa5c776;ms-ad058e704a159164d7c4;ms-0e4af96af7d344ec47a0;ms-5dfad80e83d210946447;ms-e318e13f77e75e7cd802;ms-8330999c6669ec42122a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-41279eb586ca5e587474", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8051166534423828, + "candidate_source_group_id": "ms-5df54a8baaceb8c73c8a;ms-13557287cd450bc12c6f;ms-22325628db75967cf779;ms-236601c5e076b4ee5d75;ms-f763382872d8e89017c2;ms-d988976b029886d18476", + "expert_regret": 1.9008250012993813, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-81f48d29d0404300ea93", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9008250012993813, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09917499870061874, + "restore_error": 1.1920928955078125e-07, + "score": 0.09917499870061874, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7103907465934753, + "candidate_source_group_id": "ms-f69d6aec4ddb12d88c5b;ms-66ec6692758e9a7f2e01;ms-10f2865bef6da7b66423;ms-a323150b5305fc2a329d;ms-a699ee643e76a610b444;ms-175375383979526d80b5", + "expert_regret": 1.978057872503996, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbda7bc51ca269d1cda4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.978057872503996, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.021942127496004105, + "restore_error": 1.1920928955078125e-07, + "score": 0.021942127496004105, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22956980764865875, + "candidate_source_group_id": "ms-53fdabb5d8ef20778214;ms-41c5500153912a1743de;ms-f1eb908e172570b07cae;ms-88e10d1be12a407b3926;ms-5e3b1693ad7b75221847;ms-2a67eea0b1293de9bcf9", + "expert_regret": 1.4298805594444275, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2b3e081263ed25d45dc8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4298805594444275, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5701194405555725, + "restore_error": 1.1920928955078125e-07, + "score": 0.5701194405555725, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4329002797603607, + "candidate_source_group_id": "ms-9c8a90334c3b933c8976;ms-759ba8b7be233ca47c30;ms-f39bbaa063044719a98d;ms-ee0986397bc7267882d8;ms-4a0ae3deadb8560fd315;ms-97aebe1dd42939e3b340", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e1972ebf2c5587a6fdf9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4448542594909668, + "candidate_source_group_id": "ms-d19573dc65181befd83d;ms-b42e0a68875b0405904b;ms-fffe378a3bad31bbed52;ms-2b556c4c1b55a20b14c8;ms-6edb3f8fe977a81f8979;ms-488a34fe7b7e84250616", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7057de70d36f5cc31472", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43198832869529724, + "candidate_source_group_id": "ms-519fb779d24a0bdf3809;ms-bb60defa0d234da9e0bc;ms-ea72196e20393870bcbb;ms-af16712eadcaebf175ff;ms-493f7fe7164e2c3e7616;ms-708baf01c22c75cafd22", + "expert_regret": 1.4279742240905762, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4bc32bd893d0cff76423", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4279742240905762, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5720257759094238, + "restore_error": 1.1920928955078125e-07, + "score": 0.5720257759094238, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12491361796855927, + "candidate_source_group_id": "ms-a01f0549a18d924d31c0;ms-50f29e19c798fee5422f;ms-c81880a77c4d978a0b7a;ms-1451f536f2ac0df844f6;ms-4dcb031152807390c6dd;ms-a01e21b91a5b37a16afe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bef9b88ae40ca98647aa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4174652695655823, + "candidate_source_group_id": "ms-3d0d437ee74041fc61bb;ms-1a801d8b486ef19642bf;ms-a7179e4e4e2a0d5335b3;ms-a6060f858cb9f93c5588;ms-cb70b56d6ad32b11c3cf;ms-39af5447d3c90872c25f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01db5970aec167a8ee1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7229833006858826, + "candidate_source_group_id": "ms-f763382872d8e89017c2;ms-5df54a8baaceb8c73c8a;ms-22325628db75967cf779;ms-13557287cd450bc12c6f;ms-d16053a4f8b95c94dc46;ms-8e741ca11a7fbe85ba1d", + "expert_regret": 1.921281911432743, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de066fc4200163ebd06b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.921281911432743, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07871808856725693, + "restore_error": 1.1920928955078125e-07, + "score": 0.07871808856725693, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.30212587118148804, + "candidate_source_group_id": "ms-5847c6d196024fce1770;ms-9edc0261b6ca7980ff81;ms-44694e99af9263ad3c45;ms-307f9067d5b66f55b3a6;ms-4d03463bb4536a28d67a;ms-ddc0b3adf8506c30f503", + "expert_regret": 1.4810639023780823, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-52cdfff790d71133c5a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4810639023780823, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5189360976219177, + "restore_error": 1.1920928955078125e-07, + "score": 0.5189360976219177, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.13028128445148468, + "candidate_source_group_id": "ms-7ea16036a1dd971fc4e0;ms-663aa9934c0f923cc125;ms-350b797a531f87ad2c0f;ms-a6b029a958e91306966a;ms-a44a2c9eee8baea5d29e;ms-4fe47d946641f0096a85", + "expert_regret": 1.4482032656669617, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-704fee4c9fb9941a26e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4482032656669617, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5517967343330383, + "restore_error": 1.1920928955078125e-07, + "score": 0.5517967343330383, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.10286815464496613, + "candidate_source_group_id": "ms-47a55ae1d3a858eed51c;ms-b606af28580a38cea636;ms-ca10d8b9d03f4d59806c;ms-c151229bc1dd03ed2feb;ms-2b64c720290c6dad7e35;ms-6a6a41baedceb27ad888", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ffef7730418c831245b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4975949823856354, + "candidate_source_group_id": "ms-4b94e0333251263012ec;ms-03acca095918dea64872;ms-a073398629e6943ad1fb;ms-8beca0622be320b282c1;ms-751daa0137578c486f3d;ms-0bf5f9b5ab423eb0a7c3", + "expert_regret": 1.4367590546607971, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e15eeda61ed4064a5c9f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4367590546607971, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5632409453392029, + "restore_error": 1.1920928955078125e-07, + "score": 0.5632409453392029, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3973820209503174, + "candidate_source_group_id": "ms-6be8614a1bd50b974b95;ms-4d9cef437c77474dc62d;ms-22412b51e61621b6025b;ms-43ce9f798efb923a120c;ms-5b122bd43e749623ebe0;ms-f1eb908e172570b07cae", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ff3f17774184180998f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43074655532836914, + "candidate_source_group_id": "ms-fd99b14bf152ebc0ef8e;ms-6c0ef0ef8b493232246c;ms-74868f62709b91077e27;ms-a2c5c9fd35d9fda5ce9e;ms-59cc3cdf6918248d7f78;ms-5922c28e4a71a88c6d21", + "expert_regret": 1.4491477012634277, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-227fe0347d2ea57a66a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4491477012634277, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5508522987365723, + "restore_error": 1.1920928955078125e-07, + "score": 0.5508522987365723, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3535260856151581, + "candidate_source_group_id": "ms-88e10d1be12a407b3926;ms-5e3b1693ad7b75221847;ms-41c5500153912a1743de;ms-53fdabb5d8ef20778214;ms-8fdde5008d12abb7ae6a;ms-7e0ef0b7f94396bf0029", + "expert_regret": 1.4429116249084473, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb98254adaa23dc128df", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4429116249084473, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5570883750915527, + "restore_error": 1.1920928955078125e-07, + "score": 0.5570883750915527, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41544824838638306, + "candidate_source_group_id": "ms-2259a78b2187e22f9f37;ms-732d0515ed28df031b8e;ms-3c458f671129e1ebe7b4;ms-2458fcfffb3f96c6ca1a;ms-1f458832fc85f00873cc;ms-17a17b212837b7f1309f", + "expert_regret": 1.9082990139722824, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87fd37bcc6b666e220ef", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9082990139722824, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09170098602771759, + "restore_error": 1.1920928955078125e-07, + "score": 0.09170098602771759, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3402498662471771, + "candidate_source_group_id": "ms-4aa0c1a37cdb70ba8877;ms-e14bfc5549c2a71bc7c6;ms-8f219d526891ae3c2dea;ms-4a0ae3deadb8560fd315;ms-759ba8b7be233ca47c30;ms-0e9908c8405f241086ac", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2c68b2b895bdbedbaa08", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3472101390361786, + "candidate_source_group_id": "ms-62f8c18a15c566ec4b00;ms-dc26b448cce4164a23e6;ms-1f19fd22562f87bdb776;ms-57be9ae181c077e7821f;ms-070184c0f6831eb39bc1;ms-4143ca4fca04091084e4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-91ad1e8602f14dada73c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3484681248664856, + "candidate_source_group_id": "ms-a96bca1ef0b74f686018;ms-dc5563c9b0dcd84e393b;ms-9fd23a06ae1659cef27b;ms-e6b654653119682cf01e;ms-35a50d2822c2c3cc4516;ms-b94dfc54c3bf844d5146", + "expert_regret": 0.0, + "expert_score": 0.017857711762189865, + "expert_success": false, + "group_id": "ms-3a4e2d080c9c4b279895", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.118787981569767, + "oracle_score": 0.19097411632537842, + "oracle_success": false, + "progress": 0.07218613475561142, + "restore_error": 2.3096799850463867e-07, + "score": 0.07218613475561142, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7906211018562317, + "candidate_source_group_id": "ms-db2c4015a0690cc80d24;ms-28bcbcc6e675708de340;ms-50e54f9608e1420ba11a;ms-efa875b7aef4c7b2092c;ms-cf4b63d109a88a4c42bf;ms-fc3d80c6ea6b9a4878ab", + "expert_regret": 0.15195772051811218, + "expert_score": 0.28376850485801697, + "expert_success": false, + "group_id": "ms-141d17d2b48dd9e008ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.15195772051811218, + "oracle_score": 0.28376850485801697, + "oracle_success": false, + "progress": 0.13181078433990479, + "restore_error": 2.3096799850463867e-07, + "score": 0.13181078433990479, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4803672432899475, + "candidate_source_group_id": "ms-d5da60ea045af7f677a8;ms-15459afe7e32ce62fc1b;ms-52b4f33b924e82688187;ms-aefa917c6b1659d6edd2;ms-4de1f6d71208bf1d182d;ms-bce8c4ec2bf882ca0b2e", + "expert_regret": 0.0, + "expert_score": 0.10191375017166138, + "expert_success": false, + "group_id": "ms-47460f61b9edd000c05d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.044195592403411865, + "oracle_score": 0.16129642724990845, + "oracle_success": false, + "progress": 0.11710083484649658, + "restore_error": 2.3096799850463867e-07, + "score": 0.11710083484649658, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.36985233426094055, + "candidate_source_group_id": "ms-fc87ea5245c2743bdb2d;ms-082cb0ac119a83c42c2d;ms-6b789356d65b3312fbae;ms-cb8cbd90038493c30888;ms-372f2ecb6685d8cae8d5;ms-d271e7de6bc331371e9c", + "expert_regret": 0.0, + "expert_score": 0.13208997249603271, + "expert_success": false, + "group_id": "ms-c673132197ce77ae8c9b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.06335794925689697, + "oracle_score": 0.20713643729686737, + "oracle_success": false, + "progress": 0.1437784880399704, + "restore_error": 2.3096799850463867e-07, + "score": 0.1437784880399704, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5612149238586426, + "candidate_source_group_id": "ms-344d81289be624d70b0e;ms-19cb10d10516bd0216a6;ms-ee4ddb148e138fce841c;ms-6661b157c41ad4d6ab85;ms-6ad14a70593958c00a63;ms-1faf779e909ec0415be0", + "expert_regret": 1.9415667243301868, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e2fe413566da0516273d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9415667243301868, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.058433275669813156, + "restore_error": 2.3096799850463867e-07, + "score": 0.058433275669813156, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.51779705286026, + "candidate_source_group_id": "ms-6e27d292a9cbea108fc9;ms-f4f9dd2ff38f992d4fb9;ms-cad33aa1136af34af6ec;ms-2eabcf580547d2c133ce;ms-e30fd80adc089e9f697a;ms-d6cc29ec9fbbc53d0f68", + "expert_regret": 0.0, + "expert_score": 0.12572264671325684, + "expert_success": false, + "group_id": "ms-9c6eae5aaafcbc2e7b1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.15684467554092407, + "oracle_success": false, + "progress": 0.1850443333387375, + "restore_error": 2.3096799850463867e-07, + "score": 0.1850443333387375, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2700751721858978, + "candidate_source_group_id": "ms-8c07fff2c7a5131a141b;ms-0228f3312b428eaf7e9d;ms-a6a6de64c39abad45f86;ms-620cd9e02d46b021f112;ms-3ed611d029d2ae0b12d8;ms-3c223e8c7f870c807541", + "expert_regret": 0.0, + "expert_score": 0.18430539965629578, + "expert_success": false, + "group_id": "ms-3f8284543efb724e8845", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.012908786535263062, + "oracle_score": 0.22120842337608337, + "oracle_success": false, + "progress": 0.2082996368408203, + "restore_error": 2.3096799850463867e-07, + "score": 0.2082996368408203, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.46599164605140686, + "candidate_source_group_id": "ms-1faf779e909ec0415be0;ms-6661b157c41ad4d6ab85;ms-c31b98b3d3702c6f9c8c;ms-bccd7bbe1b1b98254147;ms-394edcd961226f337ce1;ms-fc87ea5245c2743bdb2d", + "expert_regret": 0.0, + "expert_score": 0.08069789409637451, + "expert_success": false, + "group_id": "ms-223b0a8319beb051a1ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.1593424528837204, + "oracle_success": false, + "progress": 0.21881139278411865, + "restore_error": 1.1920928955078125e-07, + "score": 0.21881139278411865, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6149843335151672, + "candidate_source_group_id": "ms-4143ca4fca04091084e4;ms-070184c0f6831eb39bc1;ms-7eaea428dfdef7255a66;ms-57be9ae181c077e7821f;ms-dc26b448cce4164a23e6;ms-340e4b5de99447fbcd5e", + "expert_regret": 0.0, + "expert_score": 0.27674734592437744, + "expert_success": false, + "group_id": "ms-067cac2e4dbeddb12239", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4169948399066925, + "candidate_source_group_id": "ms-f497cc22967badd9f8b0;ms-a6a6de64c39abad45f86;ms-babaeb20129c46551281;ms-3ed611d029d2ae0b12d8;ms-1a4d443c5b80e0dac794;ms-620cd9e02d46b021f112", + "expert_regret": 0.06693574041128159, + "expert_score": 0.11277659982442856, + "expert_success": false, + "group_id": "ms-7f57045c114ddad153b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.18178153038024902, + "oracle_score": 0.227622389793396, + "oracle_success": false, + "progress": 0.04584085941314697, + "restore_error": 1.1920928955078125e-07, + "score": 0.04584085941314697, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3542344272136688, + "candidate_source_group_id": "ms-0093b06390890d181104;ms-20b11e3e581c2a865096;ms-34726202b475d29cdf38;ms-2eabcf580547d2c133ce;ms-d6cc29ec9fbbc53d0f68;ms-4dc6f09c1beeb5314d11", + "expert_regret": 0.0, + "expert_score": 0.013159613125026226, + "expert_success": false, + "group_id": "ms-ccc79c981e3a67ebeaf2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.023448124527931213, + "oracle_score": 0.1627672165632248, + "oracle_success": false, + "progress": 0.13931909203529358, + "restore_error": 1.1920928955078125e-07, + "score": 0.13931909203529358, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3184930682182312, + "candidate_source_group_id": "ms-d81f9c2974c2d599f151;ms-9fd23a06ae1659cef27b;ms-4920f51977e482b3a66c;ms-9919d2d2a89c5d491093;ms-61bde0225d6f4175b7cb;ms-6939bfeb878a54849131", + "expert_regret": 0.0, + "expert_score": 0.18328528106212616, + "expert_success": false, + "group_id": "ms-c0e3ab57fcf0d12ea4d8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.20295384526252747, + "oracle_success": false, + "progress": 0.27070218324661255, + "restore_error": 1.1920928955078125e-07, + "score": 0.27070218324661255, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.325725257396698, + "candidate_source_group_id": "ms-28bcbcc6e675708de340;ms-20ca52baa214c31b3186;ms-e6b654653119682cf01e;ms-dc5563c9b0dcd84e393b;ms-efa875b7aef4c7b2092c;ms-a96bca1ef0b74f686018", + "expert_regret": 0.11948532611131668, + "expert_score": 0.1586810052394867, + "expert_success": false, + "group_id": "ms-85f911fca087fed2caff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.1369408592581749, + "oracle_score": 0.1761365383863449, + "oracle_success": false, + "progress": 0.03919567912817001, + "restore_error": 1.1920928955078125e-07, + "score": 0.03919567912817001, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5407652854919434, + "candidate_source_group_id": "ms-eab38ab23e5fd0218632;ms-e9d7fc13264ff1c06637;ms-57e91ed3c8bd0299534f;ms-26c3a975205dfd16f076;ms-b28f44671fe871a8bea8;ms-e8afd0ad85d7e219a1ec", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9fbd54f73e56e3231631", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.2912523746490479, + "candidate_source_group_id": "ms-26c3a975205dfd16f076;ms-abf8880f672677acc931;ms-e8afd0ad85d7e219a1ec;ms-57e91ed3c8bd0299534f;ms-eab38ab23e5fd0218632;ms-4d400b68d540cebcc9e0", + "expert_regret": 1.8450060784816742, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8551c2634431d2ade8a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8450060784816742, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1549939215183258, + "restore_error": 1.1920928955078125e-07, + "score": 0.1549939215183258, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5641147494316101, + "candidate_source_group_id": "ms-cf4b63d109a88a4c42bf;ms-52b4f33b924e82688187;ms-fc3d80c6ea6b9a4878ab;ms-1ca019318ddec8ce5e8a;ms-50e54f9608e1420ba11a;ms-db2c4015a0690cc80d24", + "expert_regret": 0.011880218982696533, + "expert_score": 0.14895068109035492, + "expert_success": false, + "group_id": "ms-8a87ddbfc0fce8bb13d5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.10306942462921143, + "oracle_score": 0.2401398867368698, + "oracle_success": false, + "progress": 0.1370704621076584, + "restore_error": 1.1920928955078125e-07, + "score": 0.1370704621076584, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5350193977355957, + "candidate_source_group_id": "ms-a04e804d3aad7b40f1ac;ms-89c4edc5d083202b2443;ms-9a50730a0ff65eb93ea5;ms-3d31ef4f467b204b8477;ms-f9740a08a98cb251b761;ms-ec2eec3ab528878445cd", + "expert_regret": 1.8874801993370056, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-45131c0aa974fa9602ad", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8874801993370056, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11251980066299438, + "restore_error": 1.1920928955078125e-07, + "score": 0.11251980066299438, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5497828125953674, + "candidate_source_group_id": "ms-423347f93e1045f6bdd0;ms-5e422b9487b4a1efd7af;ms-d92cec7cfd1915a30824;ms-109ea940d18ab80efabc;ms-6a43c1f6dd61d4df80ec;ms-80801b0de8334bd2bcc8", + "expert_regret": 0.060485005378723145, + "expert_score": 0.1001773476600647, + "expert_success": false, + "group_id": "ms-8a58b518ca9ac275d8d5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.08883363008499146, + "oracle_score": 0.128525972366333, + "oracle_success": false, + "progress": 0.03969234228134155, + "restore_error": 1.1920928955078125e-07, + "score": 0.03969234228134155, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.31047219038009644, + "candidate_source_group_id": "ms-aefa917c6b1659d6edd2;ms-bce8c4ec2bf882ca0b2e;ms-3f2aed5964eed6c4936a;ms-b8fc1568ce66c45c8d8b;ms-d0158d7b3df11d64095c;ms-29f47a1dc1d9c3ec3365", + "expert_regret": 0.0, + "expert_score": 0.19225573539733887, + "expert_success": false, + "group_id": "ms-267832544376e3727efb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.28689613938331604, + "oracle_success": false, + "progress": 0.30374741554260254, + "restore_error": 1.1920928955078125e-07, + "score": 0.30374741554260254, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3238678276538849, + "candidate_source_group_id": "ms-4cc40587ec490257b1d2;ms-ac4fb33f3ab4db853995;ms-ac94b48febe523da15a5;ms-68b43d83b97196e0d27f;ms-29f47a1dc1d9c3ec3365;ms-b8fc1568ce66c45c8d8b", + "expert_regret": 0.140425905585289, + "expert_score": 0.22809019684791565, + "expert_success": false, + "group_id": "ms-37384bede4d1c03f3b80", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9123357087373734, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08766429126262665, + "restore_error": 1.1920928955078125e-07, + "score": 0.08766429126262665, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.76860511302948, + "candidate_source_group_id": "ms-e50ef9df7287938b501c;ms-f40162c64827e8c44a1a;ms-8a72b73ac452bc190aeb;ms-dd7527ab9ed49f79d2ba;ms-89538d844f6299774906;ms-728b865677134d3788e3", + "expert_regret": 0.0, + "expert_score": 0.02689284086227417, + "expert_success": false, + "group_id": "ms-8a375db7db980fd133a9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.2017425298690796, + "oracle_score": 0.24813735485076904, + "oracle_success": false, + "progress": 0.04639482498168945, + "restore_error": 1.1920928955078125e-07, + "score": 0.04639482498168945, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.648529589176178, + "candidate_source_group_id": "ms-aab59ee607a5ba7e3bfa;ms-4db7b82d22bfbf9258b5;ms-60f0d45b604940db0058;ms-1e30e297540582d59926;ms-8a72b73ac452bc190aeb;ms-9dbf65115872ab5360e4", + "expert_regret": 0.0036203069612383842, + "expert_score": 0.018661757931113243, + "expert_success": false, + "group_id": "ms-3798cbeab8a36b08c295", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.25127281714230776, + "oracle_score": 0.2663142681121826, + "oracle_success": false, + "progress": 0.015041450969874859, + "restore_error": 1.1920928955078125e-07, + "score": 0.015041450969874859, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0919121503829956, + "candidate_source_group_id": "ms-9df6734b8268172ea7e5;ms-59d4cdcd401477b5adfc;ms-02311c7783bc67e188b4;ms-b784fe769f0fb1d315e5;ms-1a4d443c5b80e0dac794;ms-0f5ffa7a4448b22b7951", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ccd3b342e4da3980c688", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7367820739746094, + "candidate_source_group_id": "ms-0b63f107b0ced8009668;ms-80801b0de8334bd2bcc8;ms-3d090ac2459c4b891dd1;ms-fad04ef94fd664ff89ae;ms-0285f5815c210ac00bec;ms-1150c257eb77fdf40f55", + "expert_regret": 1.964781641960144, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a54d67e82a4dc1380e7b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.964781641960144, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03521835803985596, + "restore_error": 1.1920928955078125e-07, + "score": 0.03521835803985596, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.31398704648017883, + "candidate_source_group_id": "ms-344d81289be624d70b0e;ms-f126e1cf5b3ee52a8476;ms-6ad14a70593958c00a63;ms-6661b157c41ad4d6ab85;ms-1faf779e909ec0415be0;ms-19cb10d10516bd0216a6", + "expert_regret": 0.0, + "expert_score": 0.15715323388576508, + "expert_success": false, + "group_id": "ms-c083dba0e5dcc8ca1004", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1859475076198578, + "oracle_success": false, + "progress": 0.2070106714963913, + "restore_error": 1.1920928955078125e-07, + "score": 0.2070106714963913, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.696792483329773, + "candidate_source_group_id": "ms-344d81289be624d70b0e;ms-6ad14a70593958c00a63;ms-6661b157c41ad4d6ab85;ms-f126e1cf5b3ee52a8476;ms-1faf779e909ec0415be0;ms-19cb10d10516bd0216a6", + "expert_regret": 0.014661014080047607, + "expert_score": 0.26739317178726196, + "expert_success": false, + "group_id": "ms-53344c3bc69a3b0fe303", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.014661014080047607, + "oracle_score": 0.26739317178726196, + "oracle_success": false, + "progress": 0.25273215770721436, + "restore_error": 1.1920928955078125e-07, + "score": 0.25273215770721436, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.26962319016456604, + "candidate_source_group_id": "ms-714913716f5f0a287401;ms-615d4a98352149e15ff1;ms-e2f8f0ef073900703441;ms-b8fc1568ce66c45c8d8b;ms-29f47a1dc1d9c3ec3365;ms-3f2aed5964eed6c4936a", + "expert_regret": 0.0, + "expert_score": 0.15440061688423157, + "expert_success": false, + "group_id": "ms-5ecde7b64c80d2abbe1f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3174113631248474, + "candidate_source_group_id": "ms-f4a2d61f02d4224bad4f;ms-e6b654653119682cf01e;ms-20ca52baa214c31b3186;ms-a2518826fa0a816cc46f;ms-28bcbcc6e675708de340;ms-a96bca1ef0b74f686018", + "expert_regret": 0.0, + "expert_score": 0.01361372135579586, + "expert_success": false, + "group_id": "ms-81f4e8858b2ba90aea2e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.09626209735870361, + "oracle_score": 0.1631626933813095, + "oracle_success": false, + "progress": 0.0669005960226059, + "restore_error": 1.1920928955078125e-07, + "score": 0.0669005960226059, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.688199758529663, + "candidate_source_group_id": "ms-615d4a98352149e15ff1;ms-29f47a1dc1d9c3ec3365;ms-ac94b48febe523da15a5;ms-714913716f5f0a287401;ms-b8fc1568ce66c45c8d8b;ms-3f2aed5964eed6c4936a", + "expert_regret": 1.9631666131317616, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bd90866faa10e62fce2c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9631666131317616, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03683338686823845, + "restore_error": 1.1920928955078125e-07, + "score": 0.03683338686823845, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4596509337425232, + "candidate_source_group_id": "ms-4920f51977e482b3a66c;ms-d81f9c2974c2d599f151;ms-9919d2d2a89c5d491093;ms-9fd23a06ae1659cef27b;ms-6939bfeb878a54849131;ms-482c5c8d208b5907a2c2", + "expert_regret": 0.0, + "expert_score": 0.028925320133566856, + "expert_success": false, + "group_id": "ms-638d2ba1917eff4d09e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.11176212877035141, + "oracle_success": false, + "progress": 0.16716167330741882, + "restore_error": 1.1920928955078125e-07, + "score": 0.16716167330741882, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3503929078578949, + "candidate_source_group_id": "ms-482c5c8d208b5907a2c2;ms-ba11d52e628b2efe32ea;ms-6939bfeb878a54849131;ms-4920f51977e482b3a66c;ms-a8731059713697ce5e2a;ms-d8e18d4d22b4cc73b803", + "expert_regret": 0.00038405507802963257, + "expert_score": 0.12288884818553925, + "expert_success": false, + "group_id": "ms-1c2768099019b86daca7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.10088718682527542, + "oracle_score": 0.22339197993278503, + "oracle_success": false, + "progress": 0.12250479310750961, + "restore_error": 1.1920928955078125e-07, + "score": 0.12250479310750961, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4972439408302307, + "candidate_source_group_id": "ms-2eabcf580547d2c133ce;ms-e30fd80adc089e9f697a;ms-cad33aa1136af34af6ec;ms-f4f9dd2ff38f992d4fb9;ms-4aed2a49597da545e551;ms-d402ca600d53b2db9dbe", + "expert_regret": 0.0, + "expert_score": 0.0808674544095993, + "expert_success": false, + "group_id": "ms-c832439976a37f52d094", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.11478939652442932, + "oracle_score": 0.2594742774963379, + "oracle_success": false, + "progress": 0.14468488097190857, + "restore_error": 2.3096799850463867e-07, + "score": 0.14468488097190857, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.34052419662475586, + "candidate_source_group_id": "ms-c8fa3c12dd48ffd82fcf;ms-e6b654653119682cf01e;ms-a96bca1ef0b74f686018;ms-dc5563c9b0dcd84e393b;ms-7e88428497a6b13936c4;ms-9fd23a06ae1659cef27b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6f425f086690b71d778", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8149509429931641, + "candidate_source_group_id": "ms-778efc20fc2ee8a3dd02;ms-3c62736c7767014960e0;ms-271889c9e921f7716135;ms-3c223e8c7f870c807541;ms-633308d7f0e52c013505;ms-4f0a59b7bc897c0d5e5e", + "expert_regret": 0.0, + "expert_score": 0.07535885274410248, + "expert_success": false, + "group_id": "ms-2e40499cb146da6f89e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.21672499179840088, + "oracle_success": false, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5017176270484924, + "candidate_source_group_id": "ms-1772611570ffaf72c98c;ms-c1620854ba52f09e24d5;ms-14352bb1538a8e9f86b0;ms-f1e36651e3572ab8b97b;ms-20e1efbb745fd02abc95;ms-1cba84e4c11e030aeb3e", + "expert_regret": 0.0, + "expert_score": 0.1711789071559906, + "expert_success": false, + "group_id": "ms-0e592951fa32139b6dc9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.24661025404930115, + "oracle_success": false, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3383164405822754, + "candidate_source_group_id": "ms-372f2ecb6685d8cae8d5;ms-cb8cbd90038493c30888;ms-45309d0bdc5e3babc17b;ms-6b789356d65b3312fbae;ms-0dee962a5901fb8b5bbb;ms-7a044cb6c7bb03f3ea10", + "expert_regret": 0.0, + "expert_score": 0.2534019351005554, + "expert_success": false, + "group_id": "ms-45672e1bf3b083eb3fc3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.2607541084289551, + "oracle_success": false, + "progress": 0.26828300952911377, + "restore_error": 2.3096799850463867e-07, + "score": 0.26828300952911377, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7145858407020569, + "candidate_source_group_id": "ms-f4a2d61f02d4224bad4f;ms-20ca52baa214c31b3186;ms-e6b654653119682cf01e;ms-a2518826fa0a816cc46f;ms-28bcbcc6e675708de340;ms-60f0d45b604940db0058", + "expert_regret": 0.002057887613773346, + "expert_score": 0.12084104865789413, + "expert_success": false, + "group_id": "ms-49b9e0f9ceaf91314919", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8812168389558792, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11878316104412079, + "restore_error": 2.3096799850463867e-07, + "score": 0.11878316104412079, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.759924054145813, + "candidate_source_group_id": "ms-2b7ca4255af28e33db96;ms-7df455efd413d77e6ce3;ms-38f7298184a2c5005e94;ms-387e6771a55be98f1a59;ms-728b865677134d3788e3;ms-397e502908d16b7804b0", + "expert_regret": 0.0341072678565979, + "expert_score": 0.24371962249279022, + "expert_success": false, + "group_id": "ms-757b3e9ecfc21efc80a7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0341072678565979, + "oracle_score": 0.24371962249279022, + "oracle_success": false, + "progress": 0.20961235463619232, + "restore_error": 2.3096799850463867e-07, + "score": 0.20961235463619232, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.321493923664093, + "candidate_source_group_id": "ms-394edcd961226f337ce1;ms-bccd7bbe1b1b98254147;ms-2dc5138251afd26a040d;ms-c31b98b3d3702c6f9c8c;ms-5b513b00260d517c02d9;ms-fbd73493bcf73542f735", + "expert_regret": 0.0, + "expert_score": 0.21231906116008759, + "expert_success": false, + "group_id": "ms-7c749541fc4ad37e461c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5182257294654846, + "candidate_source_group_id": "ms-f5dd1c43ebc4c0cfc3f1;ms-8b603da9f857de028798;ms-99357c610a8ebf4f5613;ms-0dee962a5901fb8b5bbb;ms-b7d7021b782f73816083;ms-c2398cb80b194084dbfc", + "expert_regret": 0.0, + "expert_score": 0.18241576850414276, + "expert_success": false, + "group_id": "ms-a4d2c89304817ce28313", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.2059803009033203, + "oracle_success": false, + "progress": 0.2501676678657532, + "restore_error": 1.1920928955078125e-07, + "score": 0.2501676678657532, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.9318700432777405, + "candidate_source_group_id": "ms-0f5ffa7a4448b22b7951;ms-59d4cdcd401477b5adfc;ms-8577816da2917a2bb63d;ms-02311c7783bc67e188b4;ms-84388e63928e1a30ffc4;ms-1d3f30fae746c0b9cefc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61c3c0e99a653d2a7fe2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3834650218486786, + "candidate_source_group_id": "ms-b7d7021b782f73816083;ms-45309d0bdc5e3babc17b;ms-0dee962a5901fb8b5bbb;ms-7a044cb6c7bb03f3ea10;ms-9681d9cb43cc26adb0fe;ms-4bda8533405961380322", + "expert_regret": 0.0, + "expert_score": 0.11683736741542816, + "expert_success": false, + "group_id": "ms-e87c704dfdbf7ee7f51f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.09636077284812927, + "oracle_score": 0.2421749234199524, + "oracle_success": false, + "progress": 0.14581415057182312, + "restore_error": 1.1920928955078125e-07, + "score": 0.14581415057182312, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.27826493978500366, + "candidate_source_group_id": "ms-b92ca6f216624d6305c2;ms-b794f77d280289ce22a4;ms-7923b8196b397863cf4f;ms-fd4b2d974e51fed9536e;ms-109ea940d18ab80efabc;ms-5dbfefbfb832855ef80a", + "expert_regret": 0.0, + "expert_score": 0.20465779304504395, + "expert_success": false, + "group_id": "ms-ebacae0135af2832dfbb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3812790513038635, + "candidate_source_group_id": "ms-59d4cdcd401477b5adfc;ms-0f5ffa7a4448b22b7951;ms-9df6734b8268172ea7e5;ms-02311c7783bc67e188b4;ms-8577816da2917a2bb63d;ms-b784fe769f0fb1d315e5", + "expert_regret": 0.0, + "expert_score": 0.11729311943054199, + "expert_success": false, + "group_id": "ms-f2b2b2a1aa2863c3676f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1847240924835205, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.606471598148346, + "candidate_source_group_id": "ms-4143ca4fca04091084e4;ms-070184c0f6831eb39bc1;ms-7eaea428dfdef7255a66;ms-57be9ae181c077e7821f;ms-dc26b448cce4164a23e6;ms-62f8c18a15c566ec4b00", + "expert_regret": 0.0, + "expert_score": 0.23635749518871307, + "expert_success": false, + "group_id": "ms-16661b2fd2c85f57a66c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.36507219076156616, + "candidate_source_group_id": "ms-fa8b4ba41ecac8030271;ms-554727d05aa9a2b32904;ms-f85a653af630821f2572;ms-e84163d9ef2e7014daca;ms-7b2cb5c6abcc36a362d1;ms-02d160e1d5db6e544363", + "expert_regret": 0.20703228190541267, + "expert_score": 0.2422785758972168, + "expert_success": false, + "group_id": "ms-972c5be72d0b24be7cd5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.9647537060081959, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03524629399180412, + "restore_error": 1.1920928955078125e-07, + "score": 0.03524629399180412, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.42368799448013306, + "candidate_source_group_id": "ms-8577816da2917a2bb63d;ms-0f5ffa7a4448b22b7951;ms-84388e63928e1a30ffc4;ms-1d3f30fae746c0b9cefc;ms-59d4cdcd401477b5adfc;ms-7e295b5859c07c90487f", + "expert_regret": 0.0, + "expert_score": 0.12672781944274902, + "expert_success": false, + "group_id": "ms-f7a54f4783da1d4129a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.30690255761146545, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.28351008892059326, + "candidate_source_group_id": "ms-70549468e433100cfaa6;ms-db2c4015a0690cc80d24;ms-7b90f35aa521ef45ea27;ms-50e54f9608e1420ba11a;ms-7e88428497a6b13936c4;ms-cf4b63d109a88a4c42bf", + "expert_regret": 0.0, + "expert_score": 0.13041290640830994, + "expert_success": false, + "group_id": "ms-a1b57fcae964d7b531da", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.15699544548988342, + "oracle_success": false, + "progress": 0.28398820757865906, + "restore_error": 1.1920928955078125e-07, + "score": 0.28398820757865906, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.461877703666687, + "candidate_source_group_id": "ms-e6b654653119682cf01e;ms-20ca52baa214c31b3186;ms-28bcbcc6e675708de340;ms-efa875b7aef4c7b2092c;ms-35a50d2822c2c3cc4516;ms-a96bca1ef0b74f686018", + "expert_regret": 0.06007345765829086, + "expert_score": 0.15479056537151337, + "expert_success": false, + "group_id": "ms-35940a55db9e3f7e6ad0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.06007345765829086, + "oracle_score": 0.15479056537151337, + "oracle_success": false, + "progress": 0.0947171077132225, + "restore_error": 1.1920928955078125e-07, + "score": 0.0947171077132225, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5014495253562927, + "candidate_source_group_id": "ms-cad6645f8175e38ad155;ms-4cc40587ec490257b1d2;ms-29f47a1dc1d9c3ec3365;ms-714913716f5f0a287401;ms-e2f8f0ef073900703441;ms-3f2aed5964eed6c4936a", + "expert_regret": 0.0, + "expert_score": 0.14633941650390625, + "expert_success": false, + "group_id": "ms-465d531b9cec5bc77ed7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.491880178451538, + "candidate_source_group_id": "ms-b8c3ec3ea915c5d35b3e;ms-d21367899e99e3048dbe;ms-8c07fff2c7a5131a141b;ms-62bd92bfcbc50801e008;ms-9681d9cb43cc26adb0fe;ms-b7d7021b782f73816083", + "expert_regret": 0.0, + "expert_score": 0.08654259145259857, + "expert_success": false, + "group_id": "ms-257c70d0b302f96fc23f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.08654259145259857, + "oracle_success": false, + "progress": 0.14071428775787354, + "restore_error": 1.1920928955078125e-07, + "score": 0.14071428775787354, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2777966558933258, + "candidate_source_group_id": "ms-f4a2d61f02d4224bad4f;ms-a2518826fa0a816cc46f;ms-e6b654653119682cf01e;ms-20ca52baa214c31b3186;ms-28bcbcc6e675708de340;ms-efa875b7aef4c7b2092c", + "expert_regret": 0.0734216570854187, + "expert_score": 0.14901995658874512, + "expert_success": false, + "group_id": "ms-ebfb82df795e73599373", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.18022483587265015, + "oracle_score": 0.25582313537597656, + "oracle_success": false, + "progress": 0.07559829950332642, + "restore_error": 1.1920928955078125e-07, + "score": 0.07559829950332642, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.353408545255661, + "candidate_source_group_id": "ms-4bda8533405961380322;ms-728b865677134d3788e3;ms-3bfe7e8a312d53f966d0;ms-9681d9cb43cc26adb0fe;ms-b7d7021b782f73816083;ms-ba11d52e628b2efe32ea", + "expert_regret": 0.0, + "expert_score": 0.03362294286489487, + "expert_success": false, + "group_id": "ms-6754ed0131c952830729", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.09807375073432922, + "oracle_score": 0.28973090648651123, + "oracle_success": false, + "progress": 0.191657155752182, + "restore_error": 1.1920928955078125e-07, + "score": 0.191657155752182, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.43112045526504517, + "candidate_source_group_id": "ms-ac94b48febe523da15a5;ms-29f47a1dc1d9c3ec3365;ms-b8fc1568ce66c45c8d8b;ms-615d4a98352149e15ff1;ms-714913716f5f0a287401;ms-3f2aed5964eed6c4936a", + "expert_regret": 0.0, + "expert_score": 0.22621813416481018, + "expert_success": false, + "group_id": "ms-e9ed5d488afdfd6449d1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.6912482678890228, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3087517321109772, + "restore_error": 1.1920928955078125e-07, + "score": 0.3087517321109772, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7748209238052368, + "candidate_source_group_id": "ms-dd7527ab9ed49f79d2ba;ms-9826b7a6fdcc0fd3eb69;ms-1e30e297540582d59926;ms-89538d844f6299774906;ms-98eb81debb5186ebbe38;ms-7ea98b8f4d2220347ee0", + "expert_regret": 0.017639338970184326, + "expert_score": 0.18361739814281464, + "expert_success": false, + "group_id": "ms-c79a79c1cbd7a472da65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.017639338970184326, + "oracle_score": 0.18361739814281464, + "oracle_success": false, + "progress": 0.1659780591726303, + "restore_error": 1.1920928955078125e-07, + "score": 0.1659780591726303, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.5604044198989868, + "candidate_source_group_id": "ms-35a50d2822c2c3cc4516;ms-d81f9c2974c2d599f151;ms-dc5563c9b0dcd84e393b;ms-206099bab6bfe7c84fce;ms-9fd23a06ae1659cef27b;ms-bce8c4ec2bf882ca0b2e", + "expert_regret": 0.01199255883693695, + "expert_score": 0.164321169257164, + "expert_success": false, + "group_id": "ms-8e56b0eaa2604db6749e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13344866037368774, + "oracle_score": 0.2857772707939148, + "oracle_success": false, + "progress": 0.15232861042022705, + "restore_error": 2.3096799850463867e-07, + "score": 0.15232861042022705, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.256323903799057, + "candidate_source_group_id": "ms-1ca019318ddec8ce5e8a;ms-50e54f9608e1420ba11a;ms-d6da14bffe59c0265db7;ms-db2c4015a0690cc80d24;ms-7b90f35aa521ef45ea27;ms-cf4b63d109a88a4c42bf", + "expert_regret": 0.0, + "expert_score": 0.15946325659751892, + "expert_success": false, + "group_id": "ms-c96b415f083f60857334", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.031110167503356934, + "oracle_score": 0.26426148414611816, + "oracle_success": false, + "progress": 0.23315131664276123, + "restore_error": 2.3096799850463867e-07, + "score": 0.23315131664276123, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6952919363975525, + "candidate_source_group_id": "ms-2b7ca4255af28e33db96;ms-38f7298184a2c5005e94;ms-7df455efd413d77e6ce3;ms-397e502908d16b7804b0;ms-4f0a41c8fb3caaeb9540;ms-387e6771a55be98f1a59", + "expert_regret": 0.044721685349941254, + "expert_score": 0.11666401475667953, + "expert_success": false, + "group_id": "ms-9229ce141dd41a11fac1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.1157570332288742, + "oracle_score": 0.1876993626356125, + "oracle_success": false, + "progress": 0.07194232940673828, + "restore_error": 2.3096799850463867e-07, + "score": 0.07194232940673828, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.36335626244544983, + "candidate_source_group_id": "ms-cd16fb1ce2fc83c6eafb;ms-1772611570ffaf72c98c;ms-61bde0225d6f4175b7cb;ms-14352bb1538a8e9f86b0;ms-d0158d7b3df11d64095c;ms-68b43d83b97196e0d27f", + "expert_regret": 0.03835634887218475, + "expert_score": 0.21240054070949554, + "expert_success": false, + "group_id": "ms-c9bf7588a0bb8232c909", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.07079511880874634, + "oracle_score": 0.24483931064605713, + "oracle_success": false, + "progress": 0.1740441918373108, + "restore_error": 2.3096799850463867e-07, + "score": 0.1740441918373108, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7759523391723633, + "candidate_source_group_id": "ms-109ea940d18ab80efabc;ms-ee30ebaf98622759d888;ms-5e422b9487b4a1efd7af;ms-d92cec7cfd1915a30824;ms-6758deb06644a14aa722;ms-fd4b2d974e51fed9536e", + "expert_regret": 0.0, + "expert_score": 0.0937957763671875, + "expert_success": false, + "group_id": "ms-be219977a9db8dbb1e58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.23859378695487976, + "oracle_success": false, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.42588990926742554, + "candidate_source_group_id": "ms-50e54f9608e1420ba11a;ms-1ca019318ddec8ce5e8a;ms-cf4b63d109a88a4c42bf;ms-fc3d80c6ea6b9a4878ab;ms-db2c4015a0690cc80d24;ms-7b90f35aa521ef45ea27", + "expert_regret": 0.0, + "expert_score": 0.029628556221723557, + "expert_success": false, + "group_id": "ms-e3e9c08ff116ef32db75", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.06523827463388443, + "oracle_score": 0.17530643939971924, + "oracle_success": false, + "progress": 0.11006816476583481, + "restore_error": 2.3096799850463867e-07, + "score": 0.11006816476583481, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.1394777297973633, + "candidate_source_group_id": "ms-ac4fb33f3ab4db853995;ms-c09bd18e1017cc532aee;ms-b6b7052345036de1448d;ms-b6dae6677869af5f7f52;ms-575c7eef4563e02ec689;ms-ff129e39095c2861b522", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97832747def371d6de99", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6046186685562134, + "candidate_source_group_id": "ms-340e4b5de99447fbcd5e;ms-7eaea428dfdef7255a66;ms-02d160e1d5db6e544363;ms-554727d05aa9a2b32904;ms-070184c0f6831eb39bc1;ms-7b2cb5c6abcc36a362d1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-906dbd4dc79cb6be1e2c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0817124843597412, + "candidate_source_group_id": "ms-babaeb20129c46551281;ms-a6a6de64c39abad45f86;ms-3ed611d029d2ae0b12d8;ms-620cd9e02d46b021f112;ms-3c223e8c7f870c807541;ms-151566379dfd7af6fe63", + "expert_regret": 1.9020228758454323, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b0c64b4a1c04972e47a1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9020228758454323, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09797712415456772, + "restore_error": 2.3096799850463867e-07, + "score": 0.09797712415456772, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4247415363788605, + "candidate_source_group_id": "ms-14352bb1538a8e9f86b0;ms-f1e36651e3572ab8b97b;ms-c1620854ba52f09e24d5;ms-1772611570ffaf72c98c;ms-1cba84e4c11e030aeb3e;ms-20e1efbb745fd02abc95", + "expert_regret": 0.0, + "expert_score": 0.14843207597732544, + "expert_success": false, + "group_id": "ms-da142025733b53fcf7eb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.2643269896507263, + "oracle_success": false, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6893054246902466, + "candidate_source_group_id": "ms-b6b7052345036de1448d;ms-575c7eef4563e02ec689;ms-ac4fb33f3ab4db853995;ms-b6dae6677869af5f7f52;ms-8e12f7ad446482627dd3;ms-ac94b48febe523da15a5", + "expert_regret": 0.0, + "expert_score": 0.08186312764883041, + "expert_success": false, + "group_id": "ms-6388b5d2356c556c3e55", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.91774582862854, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08225417137145996, + "restore_error": 2.3096799850463867e-07, + "score": 0.08225417137145996, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7649450302124023, + "candidate_source_group_id": "ms-7b2cb5c6abcc36a362d1;ms-554727d05aa9a2b32904;ms-e84163d9ef2e7014daca;ms-02d160e1d5db6e544363;ms-f85a653af630821f2572;ms-340e4b5de99447fbcd5e", + "expert_regret": 0.0, + "expert_score": 0.16841016709804535, + "expert_success": false, + "group_id": "ms-26751f54c657b24b4da2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0276917964220047, + "oracle_score": 0.25515007972717285, + "oracle_success": false, + "progress": 0.22745828330516815, + "restore_error": 2.3096799850463867e-07, + "score": 0.22745828330516815, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5490906238555908, + "candidate_source_group_id": "ms-070184c0f6831eb39bc1;ms-dc26b448cce4164a23e6;ms-7eaea428dfdef7255a66;ms-340e4b5de99447fbcd5e;ms-57be9ae181c077e7821f;ms-62f8c18a15c566ec4b00", + "expert_regret": 1.936880961060524, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dce346f7f90e29664890", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.936880961060524, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06311903893947601, + "restore_error": 2.3096799850463867e-07, + "score": 0.06311903893947601, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5590795278549194, + "candidate_source_group_id": "ms-d5da60ea045af7f677a8;ms-15459afe7e32ce62fc1b;ms-e2bad6e99e8a281207cc;ms-ee4ddb148e138fce841c;ms-19cb10d10516bd0216a6;ms-4de1f6d71208bf1d182d", + "expert_regret": 0.0, + "expert_score": 0.07638250291347504, + "expert_success": false, + "group_id": "ms-0819eb89e627595e7e1b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0115337073802948, + "oracle_score": 0.14572584629058838, + "oracle_success": false, + "progress": 0.13419213891029358, + "restore_error": 2.3096799850463867e-07, + "score": 0.13419213891029358, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.5897496938705444, + "candidate_source_group_id": "ms-6661b157c41ad4d6ab85;ms-e7c50fae013f9728539a;ms-1faf779e909ec0415be0;ms-45fbd749d5ed3fe37c13;ms-397e502908d16b7804b0;ms-8b603da9f857de028798", + "expert_regret": 0.0, + "expert_score": 0.1521211564540863, + "expert_success": false, + "group_id": "ms-cc07f96f3454a4643b9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.002748727798461914, + "oracle_score": 0.191031813621521, + "oracle_success": false, + "progress": 0.18828308582305908, + "restore_error": 2.3096799850463867e-07, + "score": 0.18828308582305908, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7056189179420471, + "candidate_source_group_id": "ms-652ad552ba98d2736620;ms-6d5f6a187b61ea26c2e2;ms-07215d42deb9f67c65fd;ms-a9747843e0fddd993263;ms-7e295b5859c07c90487f;ms-f7f4e41613e39d53b7c1", + "expert_regret": 0.13251996040344238, + "expert_score": 0.18896210193634033, + "expert_success": false, + "group_id": "ms-aa45731e1b9734a493fd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.13251996040344238, + "oracle_score": 0.18896210193634033, + "oracle_success": false, + "progress": 0.05644214153289795, + "restore_error": 2.3096799850463867e-07, + "score": 0.05644214153289795, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.23349067568778992, + "candidate_source_group_id": "ms-b92ca6f216624d6305c2;ms-7dedf60ad41ea2d92ee5;ms-d73fd5fce55fb58ef8e9;ms-29ae8ff2b706fed904df;ms-36ce7b44f44c615347ab;ms-d024c00b780e0df06b55", + "expert_regret": 0.0, + "expert_score": 0.18145142495632172, + "expert_success": false, + "group_id": "ms-003a2225c0892dcda683", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8105911016464233, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18940889835357666, + "restore_error": 1.1920928955078125e-07, + "score": 0.18940889835357666, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8109539151191711, + "candidate_source_group_id": "ms-dc5563c9b0dcd84e393b;ms-a96bca1ef0b74f686018;ms-c8fa3c12dd48ffd82fcf;ms-9fd23a06ae1659cef27b;ms-e6b654653119682cf01e;ms-9919d2d2a89c5d491093", + "expert_regret": 0.06176315248012543, + "expert_score": 0.13852080702781677, + "expert_success": false, + "group_id": "ms-25aa923fccf402a7639c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.9232423454523087, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07675765454769135, + "restore_error": 1.1920928955078125e-07, + "score": 0.07675765454769135, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2546347975730896, + "candidate_source_group_id": "ms-883bd3738bfe11cfc192;ms-1577a0922a9e53528571;ms-714913716f5f0a287401;ms-070184c0f6831eb39bc1;ms-52f9c8427a88de8dfa6b;ms-615d4a98352149e15ff1", + "expert_regret": 0.0368025079369545, + "expert_score": 0.12250044196844101, + "expert_success": false, + "group_id": "ms-deaf653f7a97ed4a22b7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.14689074456691742, + "oracle_score": 0.23258867859840393, + "oracle_success": false, + "progress": 0.08569793403148651, + "restore_error": 1.1920928955078125e-07, + "score": 0.08569793403148651, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.45075565576553345, + "candidate_source_group_id": "ms-2eabcf580547d2c133ce;ms-f4f9dd2ff38f992d4fb9;ms-cad33aa1136af34af6ec;ms-4dc6f09c1beeb5314d11;ms-e30fd80adc089e9f697a;ms-0093b06390890d181104", + "expert_regret": 0.0, + "expert_score": 0.1136304959654808, + "expert_success": false, + "group_id": "ms-6f26118aa94bacd82250", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.046074360609054565, + "oracle_score": 0.19666370749473572, + "oracle_success": false, + "progress": 0.15058934688568115, + "restore_error": 1.1920928955078125e-07, + "score": 0.15058934688568115, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.5567893981933594, + "candidate_source_group_id": "ms-0345d8ac530f88cefd61;ms-d45766ebe3a1d7f8876c;ms-a96bca1ef0b74f686018;ms-7df455efd413d77e6ce3;ms-0228f3312b428eaf7e9d;ms-1577a0922a9e53528571", + "expert_regret": 1.9144477248191833, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fce6752dcf61a2b52d15", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9144477248191833, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08555227518081665, + "restore_error": 1.1920928955078125e-07, + "score": 0.08555227518081665, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5963354110717773, + "candidate_source_group_id": "ms-9915a1632fdf65172a02;ms-3d208c1e04bb84341859;ms-88de0a1035cb8f8ef16a;ms-db2cfd3c0ce8ece8a112;ms-d593c823d7fa1cd02635;ms-33e036c8224f052e6279", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a39c5eb6453fab13bb3f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7814355492591858, + "candidate_source_group_id": "ms-7dd90f1575d9612c456c;ms-5884cb0ce8ef0e034fec;ms-70e24231e9bb560abb3e;ms-2a4611f1099507f9babf;ms-fbfbee34b928dbb775da;ms-c109289291b46fd832b3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fa637544793129258022", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4902976155281067, + "candidate_source_group_id": "ms-0b13513f98f2d3def73a;ms-bfe867e8d518b9f8333a;ms-33e036c8224f052e6279;ms-cece69f5a160c40d613a;ms-f2f594b2492898e947f0;ms-d130baa9773a108ae1b1", + "expert_regret": 1.914405643939972, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2a7f05987ae1fd0fa33d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.914405643939972, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08559435606002808, + "restore_error": 1.1920928955078125e-07, + "score": 0.08559435606002808, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5839609503746033, + "candidate_source_group_id": "ms-c16b5cbd61b51f0b66e7;ms-22f6ac0312682d5358b5;ms-22f153f0d4fa656018e6;ms-4c74a17f4d3e6237c0e5;ms-9345a7952bca93b2be95;ms-dc6ca032f5df915c7945", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-40c0e775426e28c3afd9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.48538920283317566, + "candidate_source_group_id": "ms-64f98d163b6bff29332b;ms-1fe4b5c84ee5c0e6fcdb;ms-8d4ee30bf4815d04c391;ms-551020d425c370126f59;ms-8278abbc47a6efcb5b68;ms-c1f8e861c7c4485c361a", + "expert_regret": 1.9343324452638626, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-027592312fc833e8768d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9343324452638626, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06566755473613739, + "restore_error": 1.1920928955078125e-07, + "score": 0.06566755473613739, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5496498942375183, + "candidate_source_group_id": "ms-2413d1155c87f0442485;ms-876805da5863dc637246;ms-575e151c0d1622c7ccd1;ms-d5f6186b51268063515e;ms-1405ab4a382fd1a07e63;ms-4aa2c82355bdbbb93f9d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4866796139a8dac6d73b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5399356484413147, + "candidate_source_group_id": "ms-cffdaeae3b980aaeb8f7;ms-e95a64701812302bd039;ms-adf081811af7bca643a1;ms-c4a78f303c7f2b1a437b;ms-b2c71dc14945b7bd8a60;ms-74f12c8d99a319a9d020", + "expert_regret": 1.974699079990387, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-16619fc9e4f3627b8dd1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.974699079990387, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.025300920009613037, + "restore_error": 1.1920928955078125e-07, + "score": 0.025300920009613037, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5623153448104858, + "candidate_source_group_id": "ms-dae29d741eb65a2fc4b3;ms-5dab866561f657e9aa8d;ms-9b50c72d20e7510258b8;ms-f492405ef825467ddcba;ms-c3191d9c08e5756e90e7;ms-f52fe666ef7c9b997778", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10a1077a32c1abd486f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.385033518075943, + "candidate_source_group_id": "ms-4e67cfd30a257b4bad0c;ms-f848ee8748cea24fc8a0;ms-1e3b1d1f26baebcdb86a;ms-cf1db8d3ccb39453a3fd;ms-3c326d05fec66e1d6bea;ms-8a8484751c0ce80cd2f6", + "expert_regret": 0.10885299742221832, + "expert_score": 0.1630544364452362, + "expert_success": false, + "group_id": "ms-fe38b164397dd669f391", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9457985609769821, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05420143902301788, + "restore_error": 1.1920928955078125e-07, + "score": 0.05420143902301788, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.32057419419288635, + "candidate_source_group_id": "ms-6d48ff55845b6759a8c4;ms-66d3cc0e17bcbfb5f36e;ms-351f07141fc0a8885759;ms-60a0de44d30044ef60ff;ms-bb9f2f5b67bbb7e0f516;ms-1f195ac1f3ae4b397c71", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-234ce02cf98f85bda72c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.41639137268066406, + "candidate_source_group_id": "ms-84404222b954c48c48d8;ms-f97fbc8f36f0af9ce18c;ms-8d23082fdeffba7cba51;ms-e9bb31726937713db23a;ms-c8902580575f6effb241;ms-8efd9238ae8d6ca1cd1a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d0005f84908a87243dd6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.36595553159713745, + "candidate_source_group_id": "ms-ff08c0b84d984d3d8620;ms-b5f45644a5e3ed45c86d;ms-ec5ac79449116b0a30c1;ms-85a4fc6e131dacc9d839;ms-aca9b69b504ede73bcac;ms-365d8c6de6de16f66744", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cbdc087c47e35d3d93d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6736586689949036, + "candidate_source_group_id": "ms-4d96769e78d7391e43f7;ms-048c14d42c3f3b352f53;ms-8293ae7689b30820278f;ms-f7db0d0ad0967af1d0c5;ms-3b99101d58e538cfbd6d;ms-653181f057aeaeeadfe2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a0863466a999b4680737", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.46888217329978943, + "candidate_source_group_id": "ms-8d4ee30bf4815d04c391;ms-c1f8e861c7c4485c361a;ms-64f98d163b6bff29332b;ms-72da580865509f75d6eb;ms-1fe4b5c84ee5c0e6fcdb;ms-551020d425c370126f59", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0942bb0cc1143a2058f9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5339882969856262, + "candidate_source_group_id": "ms-22f153f0d4fa656018e6;ms-ae5eaf676ba740f3dc07;ms-2baa5b5b99121cff72c2;ms-ba0ee0c9c181cdc7de9d;ms-c16b5cbd61b51f0b66e7;ms-ec5819de002710aa5d97", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b0d0004818ae853d5bc5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1527465134859085, + "candidate_source_group_id": "ms-e411015630dcff33d0f7;ms-608a539637578968beb3;ms-183174ef761d19fb85d9;ms-949bca60825f84d7b5b9;ms-7f5fe657331466b2e262;ms-383c0d1f90c5a0b55e07", + "expert_regret": 0.0, + "expert_score": 0.1350320279598236, + "expert_success": false, + "group_id": "ms-1979b899f11945b46b51", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.394660085439682, + "candidate_source_group_id": "ms-674d9e270ff9ba879886;ms-c4a78f303c7f2b1a437b;ms-adf081811af7bca643a1;ms-e95a64701812302bd039;ms-9d943a2732771576e41d;ms-cffdaeae3b980aaeb8f7", + "expert_regret": 1.9827189445495605, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb7c4ead34050a60dbdd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9827189445495605, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.017281055450439453, + "restore_error": 2.384185791015625e-07, + "score": 0.017281055450439453, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5634130239486694, + "candidate_source_group_id": "ms-f2f594b2492898e947f0;ms-e31553038464afab4ec1;ms-cece69f5a160c40d613a;ms-29788f80c9da2d2d8b4e;ms-33e036c8224f052e6279;ms-9915a1632fdf65172a02", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a83154b77975bca93e5e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.47030800580978394, + "candidate_source_group_id": "ms-06c528eb38baee4e31b8;ms-5816c255ea56bc8a63c3;ms-80269804728c7aaaf9a7;ms-d5d38df1f2dbae367af0;ms-fd66d311a01f9c4fc825;ms-c8ffa7d45ed61e2b94d6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cefef59d2909a69dd709", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5469375252723694, + "candidate_source_group_id": "ms-c3191d9c08e5756e90e7;ms-4711dffcd73048a3656c;ms-9b50c72d20e7510258b8;ms-5dab866561f657e9aa8d;ms-f52fe666ef7c9b997778;ms-7530a944fb0979ba91e3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5ae7b4d324285dfe6e80", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.42871004343032837, + "candidate_source_group_id": "ms-383c0d1f90c5a0b55e07;ms-7f5fe657331466b2e262;ms-e411015630dcff33d0f7;ms-183174ef761d19fb85d9;ms-4015b8ac7c0a1397c076;ms-608a539637578968beb3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c10cf873dd3f68d97755", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5798802971839905, + "candidate_source_group_id": "ms-9df99aca252d63f555b2;ms-d2aed645029072f5c82f;ms-64142b18744de985eb63;ms-9448b2a52a4a475af1f9;ms-8a2ada13f7fd1a5aeb2f;ms-81eff749adbf328a93e1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8dd1387678e0e62a1298", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.18416118621826172, + "candidate_source_group_id": "ms-ae5eaf676ba740f3dc07;ms-22f153f0d4fa656018e6;ms-ba0ee0c9c181cdc7de9d;ms-2baa5b5b99121cff72c2;ms-c16b5cbd61b51f0b66e7;ms-ec5819de002710aa5d97", + "expert_regret": 0.0, + "expert_score": 3.814697265625e-06, + "expert_success": false, + "group_id": "ms-6825a9112cb71ea137c9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4678089916706085, + "candidate_source_group_id": "ms-c1513a6417b0ba250dee;ms-6ed65c65b566e21474a8;ms-d7cbc8db5f1b69fcd9f9;ms-97ccdc4668a995776663;ms-2b27b1ecc0284ec3a993;ms-edeb8cb36d3d06244421", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e2a1bc3e5cd509eb08c2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6102389693260193, + "candidate_source_group_id": "ms-9d82d1927529dc675bc5;ms-fae97eb60014b2866413;ms-4dbdc6ed61dccebbfe92;ms-9d1d3a7b2dcafeda3bf3;ms-f261341a4a394ae06c69;ms-aec40fad850827331244", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3a5eaa0095953c9d6241", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.9573173522949219, + "candidate_source_group_id": "ms-4e67cfd30a257b4bad0c;ms-cf1db8d3ccb39453a3fd;ms-8a8484751c0ce80cd2f6;ms-1e3b1d1f26baebcdb86a;ms-51fc0cc7406cb59b5c24;ms-f848ee8748cea24fc8a0", + "expert_regret": 1.9459884315729141, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5f750a2e67b4e9597b2c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9459884315729141, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.054011568427085876, + "restore_error": 1.1920928955078125e-07, + "score": 0.054011568427085876, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2666466236114502, + "candidate_source_group_id": "ms-8efd9238ae8d6ca1cd1a;ms-f97fbc8f36f0af9ce18c;ms-8d23082fdeffba7cba51;ms-e9bb31726937713db23a;ms-c8902580575f6effb241;ms-84404222b954c48c48d8", + "expert_regret": 1.9274527430534363, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a18cc16207970cd8f84d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9274527430534363, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07254725694656372, + "restore_error": 1.1920928955078125e-07, + "score": 0.07254725694656372, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4473486542701721, + "candidate_source_group_id": "ms-ae5eaf676ba740f3dc07;ms-05f34a90fa7355262b8e;ms-ec5819de002710aa5d97;ms-7f22550a9f6707a45cd4;ms-7f0fb9edfc18e6b83b41;ms-338d0d83a8a30b40ee75", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-864a932d1281c7e316af", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5205754041671753, + "candidate_source_group_id": "ms-316e11b816e8a3495dd9;ms-90a840c7cbbfe35e8a67;ms-33e036c8224f052e6279;ms-44e2ba085128234ef9eb;ms-db2cfd3c0ce8ece8a112;ms-783ceec205863d92ef8a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e333fb7b8697ebeb474e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6798768043518066, + "candidate_source_group_id": "ms-7c72cdc319220ea76854;ms-c109289291b46fd832b3;ms-49731d5e69272f3bd959;ms-7dd90f1575d9612c456c;ms-ca9a06f00b861bf34c4d;ms-5884cb0ce8ef0e034fec", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68682a8a5d31b10fcadb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.48735374212265015, + "candidate_source_group_id": "ms-316e11b816e8a3495dd9;ms-27eb5fd79735a667570a;ms-783ceec205863d92ef8a;ms-e7fcbe2b61632a79fe6a;ms-90a840c7cbbfe35e8a67;ms-88de0a1035cb8f8ef16a", + "expert_regret": 1.9688911885023117, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-82d6fc374e1f1808654b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9688911885023117, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.031108811497688293, + "restore_error": 1.1920928955078125e-07, + "score": 0.031108811497688293, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6351538300514221, + "candidate_source_group_id": "ms-01fe80a36517a246929d;ms-60c02d02de5f1e91124f;ms-87f2f63d694d8ccca7f8;ms-b187043687d88d509fc7;ms-81eff749adbf328a93e1;ms-d2aed645029072f5c82f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cbdf12e174c323015f38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5393973588943481, + "candidate_source_group_id": "ms-f2f594b2492898e947f0;ms-29788f80c9da2d2d8b4e;ms-b559638a0a726e441847;ms-cece69f5a160c40d613a;ms-34ea26afcb2c6fe1a1fe;ms-33e036c8224f052e6279", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1188a1b8e0ac31187b3b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5613733530044556, + "candidate_source_group_id": "ms-25119a8a2d03c8e71300;ms-eccd5c34e1762a33f643;ms-2ba02dcefa15a9371706;ms-05f34a90fa7355262b8e;ms-8a38529670b19d605663;ms-fa27eb61283e52488bdb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a012d1677923703d5a0c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4348800480365753, + "candidate_source_group_id": "ms-c4a78f303c7f2b1a437b;ms-adf081811af7bca643a1;ms-674d9e270ff9ba879886;ms-e95a64701812302bd039;ms-74f12c8d99a319a9d020;ms-cffdaeae3b980aaeb8f7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5d39d1a6fdb17aeb8116", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4074484407901764, + "candidate_source_group_id": "ms-75dce23f7afca1f3e5b5;ms-f6755a487459505d598f;ms-2baa5b5b99121cff72c2;ms-f261341a4a394ae06c69;ms-eea4df1b36e8a31b40a3;ms-fae97eb60014b2866413", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-05139cc8ec8867b8ea3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5028883218765259, + "candidate_source_group_id": "ms-ba0d059f1c55c5737e17;ms-9d190663aa55bb434720;ms-70dd7025d2b038824c72;ms-4c8a03e5d6e3b7a13c29;ms-f39cb13a5942ca3317d0;ms-ce6cbc6d7664766f1285", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-238b0d92a2c0a61289b7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.43953412771224976, + "candidate_source_group_id": "ms-2e237a4b84b582828c37;ms-e4656ad3c67bd430c1a6;ms-8b813b6035f0425892bd;ms-b25b49e16e98af4a554c;ms-65d0541a2ba23a8478fa;ms-6ffe441e29681c8f116e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-130f96b49e1bdb7c0e7c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5183249711990356, + "candidate_source_group_id": "ms-7f5fe657331466b2e262;ms-383c0d1f90c5a0b55e07;ms-e411015630dcff33d0f7;ms-183174ef761d19fb85d9;ms-608a539637578968beb3;ms-0952da757675889102ec", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9f33c55b8e06fcb5e21e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.727508544921875, + "candidate_source_group_id": "ms-23a02f5f0c3f979684ff;ms-51fc0cc7406cb59b5c24;ms-8a8484751c0ce80cd2f6;ms-cf1db8d3ccb39453a3fd;ms-2d9efcce135f0c9d2203;ms-2423891634e7b469eed8", + "expert_regret": 1.9538522511720657, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f40f6fe1910a94971980", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9538522511720657, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.046147748827934265, + "restore_error": 1.1920928955078125e-07, + "score": 0.046147748827934265, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.07072790712118149, + "candidate_source_group_id": "ms-ea67d3a4697351095f09;ms-6ed65c65b566e21474a8;ms-1405ab4a382fd1a07e63;ms-d7cbc8db5f1b69fcd9f9;ms-627eaad017d31a933984;ms-c1513a6417b0ba250dee", + "expert_regret": 0.0, + "expert_score": 9.402632713317871e-06, + "expert_success": false, + "group_id": "ms-c2ae2b78ab7891e74c80", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.8207356333732605e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5491761565208435, + "candidate_source_group_id": "ms-2867deaca7e98582620b;ms-ff08c0b84d984d3d8620;ms-ec5ac79449116b0a30c1;ms-771e632c1b0f3181ff36;ms-f492405ef825467ddcba;ms-aca9b69b504ede73bcac", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9fd5ccb16c4e5d0c4579", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.8207356333732605e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6599943041801453, + "candidate_source_group_id": "ms-87f2f63d694d8ccca7f8;ms-c9a00cd02aa3ea31af1c;ms-c257731ddcf5cf149393;ms-b4293fc495a608f8063c;ms-ca9a06f00b861bf34c4d;ms-c109289291b46fd832b3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f14cda80db7270dd0f86", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.8207356333732605e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.40126726031303406, + "candidate_source_group_id": "ms-4a4de470c6c7cb5a3c34;ms-68054c6c805197b033a7;ms-876805da5863dc637246;ms-9d1d3a7b2dcafeda3bf3;ms-98d8d5d728ee4cff6776;ms-4aa2c82355bdbbb93f9d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2a4f1cbd3f416f9084dc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.8207356333732605e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5745968222618103, + "candidate_source_group_id": "ms-9df99aca252d63f555b2;ms-d2aed645029072f5c82f;ms-81eff749adbf328a93e1;ms-9448b2a52a4a475af1f9;ms-60c02d02de5f1e91124f;ms-f6635cbacd4195f7f4ab", + "expert_regret": 1.909422591328621, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1be8db140ae74d18596f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.909422591328621, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09057740867137909, + "restore_error": 1.8207356333732605e-07, + "score": 0.09057740867137909, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7180745005607605, + "candidate_source_group_id": "ms-80269804728c7aaaf9a7;ms-06c528eb38baee4e31b8;ms-d5d38df1f2dbae367af0;ms-c8ffa7d45ed61e2b94d6;ms-e6b0ee06238145e2a517;ms-5816c255ea56bc8a63c3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-63b9ac9cfd0a96150eb1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.8207356333732605e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.38426199555397034, + "candidate_source_group_id": "ms-e7fcbe2b61632a79fe6a;ms-44e2ba085128234ef9eb;ms-316e11b816e8a3495dd9;ms-f848ee8748cea24fc8a0;ms-27eb5fd79735a667570a;ms-783ceec205863d92ef8a", + "expert_regret": 0.10104028880596161, + "expert_score": 0.1547313630580902, + "expert_success": false, + "group_id": "ms-3f6cd47af5e9e6781b73", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9463089257478714, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0536910742521286, + "restore_error": 1.8207356333732605e-07, + "score": 0.0536910742521286, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.623443067073822, + "candidate_source_group_id": "ms-f6755a487459505d598f;ms-75dce23f7afca1f3e5b5;ms-5383e9b606cc63b724ab;ms-f261341a4a394ae06c69;ms-3cb727b6501f5c1a5a16;ms-2baa5b5b99121cff72c2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5df972e5e36afb67a009", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.8207356333732605e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.338472843170166, + "candidate_source_group_id": "ms-f492405ef825467ddcba;ms-dae29d741eb65a2fc4b3;ms-2867deaca7e98582620b;ms-aca9b69b504ede73bcac;ms-ff08c0b84d984d3d8620;ms-365d8c6de6de16f66744", + "expert_regret": 0.0, + "expert_score": 0.15766333043575287, + "expert_success": false, + "group_id": "ms-28a10bea0cf3f917e067", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5828019380569458, + "candidate_source_group_id": "ms-7c72cdc319220ea76854;ms-ca9a06f00b861bf34c4d;ms-c257731ddcf5cf149393;ms-c9a00cd02aa3ea31af1c;ms-49731d5e69272f3bd959;ms-c109289291b46fd832b3", + "expert_regret": 1.9999813586473465, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-45b8b3cec97878df0d19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9999813586473465, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.8641352653503418e-05, + "restore_error": 1.1920928955078125e-07, + "score": 1.8641352653503418e-05, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3583429753780365, + "candidate_source_group_id": "ms-ec5ac79449116b0a30c1;ms-ff08c0b84d984d3d8620;ms-a649d9cf4fba45822ad9;ms-64f98d163b6bff29332b;ms-72da580865509f75d6eb;ms-771e632c1b0f3181ff36", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-31880fb2dfed92c021ef", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8795352578163147, + "candidate_source_group_id": "ms-4e67cfd30a257b4bad0c;ms-cf1db8d3ccb39453a3fd;ms-8a8484751c0ce80cd2f6;ms-e7fcbe2b61632a79fe6a;ms-3c326d05fec66e1d6bea;ms-f848ee8748cea24fc8a0", + "expert_regret": 1.9551713317632675, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b265e13a79d2147718c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9551713317632675, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04482866823673248, + "restore_error": 1.1920928955078125e-07, + "score": 0.04482866823673248, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.47165992856025696, + "candidate_source_group_id": "ms-98d738638749a1c0999d;ms-b559638a0a726e441847;ms-33e036c8224f052e6279;ms-0b13513f98f2d3def73a;ms-90a840c7cbbfe35e8a67;ms-d593c823d7fa1cd02635", + "expert_regret": 1.937470942735672, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e4a99e5ef340bcc181c9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.937470942735672, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.062529057264328, + "restore_error": 1.1920928955078125e-07, + "score": 0.062529057264328, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 1.0101100206375122, + "candidate_source_group_id": "ms-be8665e211c9b1cc13b4;ms-3b99101d58e538cfbd6d;ms-a5f722aaecb894444ac4;ms-1003d1fe41aba4c8af84;ms-918efaf9527826841090;ms-eb0a75800f4ab451b92e", + "expert_regret": 1.9317032992839813, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f3b9739bcb72c30a5535", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9317032992839813, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06829670071601868, + "restore_error": 1.1920928955078125e-07, + "score": 0.06829670071601868, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3302142322063446, + "candidate_source_group_id": "ms-51fc0cc7406cb59b5c24;ms-23a02f5f0c3f979684ff;ms-8a8484751c0ce80cd2f6;ms-cf1db8d3ccb39453a3fd;ms-4e67cfd30a257b4bad0c;ms-1f6006a647438280a273", + "expert_regret": 0.122815802693367, + "expert_score": 0.18460628390312195, + "expert_success": false, + "group_id": "ms-543339410c02ce2269d1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.938209518790245, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.061790481209754944, + "restore_error": 1.1920928955078125e-07, + "score": 0.061790481209754944, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.19395115971565247, + "candidate_source_group_id": "ms-3e17d03f9d640185853b;ms-7a102c1d0334bab9656e;ms-20bc116cad15b072a2ea;ms-2b309050ebafdd5a3482;ms-579eb7a700037d011e3f;ms-0818eb8cc217c9b3040a", + "expert_regret": 0.0, + "expert_score": 0.14907020330429077, + "expert_success": false, + "group_id": "ms-ccccd221a821803e36c5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3202340602874756, + "candidate_source_group_id": "ms-3589c30bbad90d19f2c4;ms-0350672b45f92c437c22;ms-edeb8cb36d3d06244421;ms-5c7ab237037e9344a2ed;ms-167bd325bc0845dcaba3;ms-d7cbc8db5f1b69fcd9f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-da66340af8ac9f3852c4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5052973031997681, + "candidate_source_group_id": "ms-109d9131cce2e94f40c1;ms-147e4106b5d337cefcb2;ms-670a696bd472769ac513;ms-b5ca4a8c438aadab9ec5;ms-998ac1af1755510c9229;ms-4c9ed894520169849bc6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7fac99962876b33e8d0b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6378278732299805, + "candidate_source_group_id": "ms-733b04f5bd4720d79e99;ms-c333dcd8ec59f2ae8a3d;ms-3333e935277a2e1f4e05;ms-64b6e9f72ae5e2999f56;ms-1e15448c374f47bee884;ms-3ee8f778784665ea6ee0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-33dcfa4725ad078cc898", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4705886244773865, + "candidate_source_group_id": "ms-82a203dfa8631639ba7e;ms-cf8cc7e3c4481783d5f5;ms-5d4b83a1d21ee90ef69f;ms-1044e227d00afb01a5dd;ms-c8593eabfdb5a6bca7bb;ms-5a0da896925f50a1d2ee", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f813ff3f9ae188b0259c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3622974455356598, + "candidate_source_group_id": "ms-64142b18744de985eb63;ms-9df99aca252d63f555b2;ms-f6635cbacd4195f7f4ab;ms-9448b2a52a4a475af1f9;ms-0952da757675889102ec;ms-4015b8ac7c0a1397c076", + "expert_regret": 0.0, + "expert_score": 0.17416667938232422, + "expert_success": false, + "group_id": "ms-1c4df81cce643ca4fb3e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1929382085800171, + "candidate_source_group_id": "ms-f83aacaa71f0151421c7;ms-338d0d83a8a30b40ee75;ms-be7166dbee42ee877e29;ms-eb0a75800f4ab451b92e;ms-316e11b816e8a3495dd9;ms-0b13513f98f2d3def73a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fa20766f8a3e706a8ea1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.16500650346279144, + "candidate_source_group_id": "ms-f1b05f75f6ad032a0cd1;ms-3579b51b91daa627d195;ms-d65e80424e917743d9a4;ms-933425ede670e8efc04e;ms-74704688fb63757619e1;ms-4401ec9ab8c89fb39f58", + "expert_regret": 0.0, + "expert_score": 0.20227843523025513, + "expert_success": false, + "group_id": "ms-54346a8f79bd9dca1dfe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4854171574115753, + "candidate_source_group_id": "ms-ea67d3a4697351095f09;ms-d7cbc8db5f1b69fcd9f9;ms-edeb8cb36d3d06244421;ms-627eaad017d31a933984;ms-0350672b45f92c437c22;ms-5c7ab237037e9344a2ed", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bb6a2f2ae3014b135b40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5536621809005737, + "candidate_source_group_id": "ms-f39cb13a5942ca3317d0;ms-9d190663aa55bb434720;ms-70dd7025d2b038824c72;ms-fbfbee34b928dbb775da;ms-ba0d059f1c55c5737e17;ms-4c8a03e5d6e3b7a13c29", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f9a8bf8a8c0882b4039", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.38990408182144165, + "candidate_source_group_id": "ms-630c7d4c0ef39da64304;ms-4096e2d9cf2e9d4943c7;ms-a5885ec43a0aa166a0e7;ms-8b813b6035f0425892bd;ms-9feb7d8fdc15e384b8b7;ms-2e237a4b84b582828c37", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2a738f03ee216527dfa6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.348292738199234, + "candidate_source_group_id": "ms-0350672b45f92c437c22;ms-3589c30bbad90d19f2c4;ms-167bd325bc0845dcaba3;ms-edeb8cb36d3d06244421;ms-5c7ab237037e9344a2ed;ms-d7cbc8db5f1b69fcd9f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2b4b951e47485c8be41", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4914661943912506, + "candidate_source_group_id": "ms-1f6006a647438280a273;ms-d130baa9773a108ae1b1;ms-a5f722aaecb894444ac4;ms-98d738638749a1c0999d;ms-e7fcbe2b61632a79fe6a;ms-0b13513f98f2d3def73a", + "expert_regret": 1.9663528800010681, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-25942684dfc6d81c449a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9663528800010681, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.033647119998931885, + "restore_error": 1.1920928955078125e-07, + "score": 0.033647119998931885, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 1.0517890453338623, + "candidate_source_group_id": "ms-783ceec205863d92ef8a;ms-e7fcbe2b61632a79fe6a;ms-c57abcef044f324c2f1d;ms-44e2ba085128234ef9eb;ms-90a840c7cbbfe35e8a67;ms-4e67cfd30a257b4bad0c", + "expert_regret": 1.9417406916618347, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-269731d0630cffc1a216", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9417406916618347, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05825930833816528, + "restore_error": 1.1920928955078125e-07, + "score": 0.05825930833816528, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2635951638221741, + "candidate_source_group_id": "ms-a5f722aaecb894444ac4;ms-be8665e211c9b1cc13b4;ms-1f6006a647438280a273;ms-98d738638749a1c0999d;ms-130188b25b236b6c13fc;ms-1003d1fe41aba4c8af84", + "expert_regret": 0.07071307301521301, + "expert_score": 0.1476379632949829, + "expert_success": false, + "group_id": "ms-5d646fb3dbdcd5443729", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.07807961106300354, + "oracle_score": 0.15500450134277344, + "oracle_success": false, + "progress": 0.0769248902797699, + "restore_error": 1.1920928955078125e-07, + "score": 0.0769248902797699, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8876304626464844, + "candidate_source_group_id": "ms-8a8484751c0ce80cd2f6;ms-a5f722aaecb894444ac4;ms-1f6006a647438280a273;ms-4e67cfd30a257b4bad0c;ms-eb0a75800f4ab451b92e;ms-98d738638749a1c0999d", + "expert_regret": 1.939664676785469, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-47d33f56890889e86355", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.939664676785469, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.060335323214530945, + "restore_error": 1.1920928955078125e-07, + "score": 0.060335323214530945, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7958014607429504, + "candidate_source_group_id": "ms-dab80e1bb7987577e33d;ms-b559638a0a726e441847;ms-e31553038464afab4ec1;ms-9915a1632fdf65172a02;ms-cece69f5a160c40d613a;ms-f2f594b2492898e947f0", + "expert_regret": 1.8580889999866486, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-db41eac14b49855e7e58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8580889999866486, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.14191100001335144, + "restore_error": 1.1920928955078125e-07, + "score": 0.14191100001335144, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5320432782173157, + "candidate_source_group_id": "ms-2baa5b5b99121cff72c2;ms-22f153f0d4fa656018e6;ms-ba0ee0c9c181cdc7de9d;ms-eea4df1b36e8a31b40a3;ms-ae5eaf676ba740f3dc07;ms-fae97eb60014b2866413", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ecf6837325ac3bc3b66d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.36580660939216614, + "candidate_source_group_id": "ms-74f12c8d99a319a9d020;ms-cffdaeae3b980aaeb8f7;ms-adf081811af7bca643a1;ms-c4a78f303c7f2b1a437b;ms-e95a64701812302bd039;ms-674d9e270ff9ba879886", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9ac0a7f45996f7326682", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6167503595352173, + "candidate_source_group_id": "ms-20bc116cad15b072a2ea;ms-998ac1af1755510c9229;ms-109d9131cce2e94f40c1;ms-147e4106b5d337cefcb2;ms-670a696bd472769ac513;ms-2b309050ebafdd5a3482", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-93cbf45c02a304a2f6dc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7965822219848633, + "candidate_source_group_id": "ms-29788f80c9da2d2d8b4e;ms-f2f594b2492898e947f0;ms-beb40d1c9533f7508aa5;ms-34ea26afcb2c6fe1a1fe;ms-b559638a0a726e441847;ms-e31553038464afab4ec1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1371e0e5fe7f126bbea2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3647167980670929, + "candidate_source_group_id": "ms-80269804728c7aaaf9a7;ms-06c528eb38baee4e31b8;ms-c8ffa7d45ed61e2b94d6;ms-5816c255ea56bc8a63c3;ms-d5d38df1f2dbae367af0;ms-fd66d311a01f9c4fc825", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2962fafa0fcd14e516bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5947961807250977, + "candidate_source_group_id": "ms-3ee8f778784665ea6ee0;ms-733b04f5bd4720d79e99;ms-7c72cdc319220ea76854;ms-49731d5e69272f3bd959;ms-933425ede670e8efc04e;ms-7dd90f1575d9612c456c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cfed5c82c6f4d1c1c3f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.15988729894161224, + "candidate_source_group_id": "ms-b6ed7cdf9226aa0b0d1e;ms-121bc2e6676c1ac10911;ms-14c6516a0f22d20ef6b0;ms-9c49860c264bb0bec403;ms-2c4224657fa8115b2b8b;ms-68054c6c805197b033a7", + "expert_regret": 0.0, + "expert_score": 0.1821424663066864, + "expert_success": false, + "group_id": "ms-398ddbf730ed8830b08b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.35524556040763855, + "candidate_source_group_id": "ms-e9bb31726937713db23a;ms-8d23082fdeffba7cba51;ms-84404222b954c48c48d8;ms-f97fbc8f36f0af9ce18c;ms-8efd9238ae8d6ca1cd1a;ms-c8902580575f6effb241", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-698e09998c5dbfa6b7e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.158731147646904, + "candidate_source_group_id": "ms-966895e247be1f41daee;ms-c1f8e861c7c4485c361a;ms-72da580865509f75d6eb;ms-64f98d163b6bff29332b;ms-8d4ee30bf4815d04c391;ms-c9568dec28405d273943", + "expert_regret": 0.0, + "expert_score": 0.19493231177330017, + "expert_success": false, + "group_id": "ms-9fad82fd288e4296e354", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5500129461288452, + "candidate_source_group_id": "ms-0818eb8cc217c9b3040a;ms-3e17d03f9d640185853b;ms-7a102c1d0334bab9656e;ms-579eb7a700037d011e3f;ms-5383e9b606cc63b724ab;ms-7a699e157f311f764b46", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-847200a83b8ce5835fd9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5552700757980347, + "candidate_source_group_id": "ms-cdca8a6fff0640ab7f16;ms-fe5a68745bbc6b4256cf;ms-111355c28fcb5ef51167;ms-b5dee7bdaf34270e6515;ms-f49fbce5bf7a0a169f1e;ms-d99360c1e4bb4bed6d50", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4f291cdf6a62b9af9e5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6071560978889465, + "candidate_source_group_id": "ms-d2aed645029072f5c82f;ms-9df99aca252d63f555b2;ms-60c02d02de5f1e91124f;ms-81eff749adbf328a93e1;ms-64142b18744de985eb63;ms-9448b2a52a4a475af1f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c2312d2a272dbcbae71", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7752695083618164, + "candidate_source_group_id": "ms-c9a00cd02aa3ea31af1c;ms-31372cdadd8d9da23b8d;ms-c257731ddcf5cf149393;ms-87f2f63d694d8ccca7f8;ms-ca9a06f00b861bf34c4d;ms-01fe80a36517a246929d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-44a69da62321224c1df9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.9309391975402832, + "candidate_source_group_id": "ms-a5f722aaecb894444ac4;ms-1f6006a647438280a273;ms-98d738638749a1c0999d;ms-be8665e211c9b1cc13b4;ms-8a8484751c0ce80cd2f6;ms-edb1d483ba0ada6fa703", + "expert_regret": 1.9328189343214035, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e132f1526b2090e440e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9328189343214035, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0671810656785965, + "restore_error": 1.1920928955078125e-07, + "score": 0.0671810656785965, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5580233931541443, + "candidate_source_group_id": "ms-9d1d3a7b2dcafeda3bf3;ms-9d82d1927529dc675bc5;ms-f261341a4a394ae06c69;ms-4dbdc6ed61dccebbfe92;ms-3cb727b6501f5c1a5a16;ms-fae97eb60014b2866413", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69b8e0564f16c652d900", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6183470487594604, + "candidate_source_group_id": "ms-9915a1632fdf65172a02;ms-db2cfd3c0ce8ece8a112;ms-88de0a1035cb8f8ef16a;ms-0b13513f98f2d3def73a;ms-bfe867e8d518b9f8333a;ms-d593c823d7fa1cd02635", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e2058192b3065ce7dc60", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5026769638061523, + "candidate_source_group_id": "ms-de96f1dcca4527c03814;ms-170a9228df2273649f1c;ms-82a5b63ed41420747fb9;ms-0a001f1bda12891b219f;ms-b8f5ebd4732c0274945b;ms-88c39906a4e9c32ec286", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7aaa46eaa657a3179a70", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3199872374534607, + "candidate_source_group_id": "ms-8efd9238ae8d6ca1cd1a;ms-c8902580575f6effb241;ms-f97fbc8f36f0af9ce18c;ms-8d23082fdeffba7cba51;ms-e9bb31726937713db23a;ms-84404222b954c48c48d8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-680b80c5d2872be1e66a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4088141918182373, + "candidate_source_group_id": "ms-33885f2999b6dbe71f42;ms-949bca60825f84d7b5b9;ms-8278abbc47a6efcb5b68;ms-551020d425c370126f59;ms-2e368b0323bc5ae1cfed;ms-608a539637578968beb3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-686b6de62b641e0dba0d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.49830499291419983, + "candidate_source_group_id": "ms-8682e5b9068871041b74;ms-ea6878cc654f7f255811;ms-30caf93619a0e2f94eae;ms-170a9228df2273649f1c;ms-217aa98e4a691e43cf68;ms-b8f5ebd4732c0274945b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d867fd6ed17aeaa97c2b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.47616666555404663, + "candidate_source_group_id": "ms-383c0d1f90c5a0b55e07;ms-4015b8ac7c0a1397c076;ms-7f5fe657331466b2e262;ms-9d8348ba3054f969ad8e;ms-0952da757675889102ec;ms-f6635cbacd4195f7f4ab", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3028df2c22f4c029b533", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3382994830608368, + "candidate_source_group_id": "ms-c4a78f303c7f2b1a437b;ms-adf081811af7bca643a1;ms-674d9e270ff9ba879886;ms-e95a64701812302bd039;ms-74f12c8d99a319a9d020;ms-cffdaeae3b980aaeb8f7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-07321628f307d0c91b44", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.20846936106681824, + "candidate_source_group_id": "ms-88d7cbdbd7c9636e456f;ms-5909e93ba4f8ed21d193;ms-584d52e4f9515f695251;ms-5a32c809ed679663dcb1;ms-571d878853654c42a521;ms-8f84a0371a7ac44c1b1a", + "expert_regret": 0.6594777852296829, + "expert_score": 0.8558006286621094, + "expert_success": false, + "group_id": "ms-4048f8f6e047422e3c79", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8036771565675735, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19632284343242645, + "restore_error": 1.1920928955078125e-07, + "score": 0.19632284343242645, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.38824060559272766, + "candidate_source_group_id": "ms-020ab0b7cfa5045f3fc7;ms-8ccec039b839e612969b;ms-daff16c01452c735345f;ms-a054eb19f228304d37aa;ms-ae1b8592cb57dbf2fe98;ms-97cdb4c400ad4ae36518", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a77b8d61c09ed6ea23a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8578664660453796, + "candidate_source_group_id": "ms-e1bce061511b584c5381;ms-99bc7344d022af875494;ms-c164dd3b3b89c546a184;ms-d368732bc01f4100cf07;ms-5c8151ea6809f3c331e5;ms-711cecdbf06d02f7ca2e", + "expert_regret": 1.3975104093551636, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fd81a55becc2666437aa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.3975104093551636, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6024895906448364, + "restore_error": 1.1920928955078125e-07, + "score": 0.6024895906448364, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3583182692527771, + "candidate_source_group_id": "ms-dc4738f9c7a8af86722d;ms-fd2387aeed9bfc9a0d08;ms-a40882954ff51b61c49c;ms-16850056120649fcc370;ms-ecb37ebbab21a506d8ca;ms-ba1dca497a16134eeed8", + "expert_regret": 0.6502515226602554, + "expert_score": 0.8334652185440063, + "expert_success": false, + "group_id": "ms-d50a82b8770f333f1947", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.816786304116249, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18321369588375092, + "restore_error": 1.1920928955078125e-07, + "score": 0.18321369588375092, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1856382042169571, + "candidate_source_group_id": "ms-19b9e8a1108ac25f3476;ms-dd8ebc7d7211ece74e03;ms-325cd8b08e89bb498c82;ms-aa1da4bf5f94c6a74839;ms-01094af881b751ef29aa;ms-7dca31b0d7d6fab018f3", + "expert_regret": 0.7130676805973053, + "expert_score": 0.8273264169692993, + "expert_success": false, + "group_id": "ms-68f53650da9a9354b58f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.7394121587276459, + "oracle_score": 0.8536708950996399, + "oracle_success": false, + "progress": 0.11425873637199402, + "restore_error": 1.1920928955078125e-07, + "score": 0.11425873637199402, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.04924618452787399, + "candidate_source_group_id": "ms-5edf28a87bfd0731da89;ms-804705b564058a7ac34c;ms-62601bc1741cf8792326;ms-d648b2c7a7b42db45550;ms-aa7cc7e3e5eb86e58ee9;ms-bc96a8973358d1c20ed3", + "expert_regret": 0.0, + "expert_score": 0.84140944480896, + "expert_success": false, + "group_id": "ms-923e9fb031870b12d9b4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.847260594367981, + "oracle_success": false, + "progress": 0.8566837310791016, + "restore_error": 1.1920928955078125e-07, + "score": 0.8566837310791016, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0403996706008911, + "candidate_source_group_id": "ms-54f7cae3bd3cb84062d3;ms-cba80792e163a5084a92;ms-c52ffa349a79397da8c3;ms-626991ad29d003c808f8;ms-76c9576538106cb9d5db;ms-dab618f516ccc10f176e", + "expert_regret": 0.6308336853981018, + "expert_score": 0.8314990997314453, + "expert_success": false, + "group_id": "ms-5973a2df030fcd05cd24", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.6308336853981018, + "oracle_score": 0.8314990997314453, + "oracle_success": false, + "progress": 0.2006654143333435, + "restore_error": 1.1920928955078125e-07, + "score": 0.2006654143333435, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.311972439289093, + "candidate_source_group_id": "ms-75ddae05fd4d968ebac7;ms-19a3669e096e98232ec8;ms-f2509e6c3c468c4e30f0;ms-52a2ef2f862cee509ce1;ms-6bd5870eb5ff0dd76919;ms-7e2762eb1b21b04fe873", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-552acc881ce2bbff59f8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.553926408290863, + "candidate_source_group_id": "ms-7e2762eb1b21b04fe873;ms-2fef2f43af8009bb88f1;ms-ebf15fd96b4a62e0b393;ms-7fba35a6c125e88b8f54;ms-cc52efdf7f7b9efb1f9e;ms-500ed73f6d891e237b30", + "expert_regret": 1.1484599709510803, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1d025a89862bf212d621", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1484599709510803, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8515400290489197, + "restore_error": 2.3469328880310059e-07, + "score": 0.8515400290489197, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3618415892124176, + "candidate_source_group_id": "ms-7ee2d50e0788ccf0cdec;ms-5909e93ba4f8ed21d193;ms-8f84a0371a7ac44c1b1a;ms-584d52e4f9515f695251;ms-571d878853654c42a521;ms-f9148dff7961fa66a8a1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9edb3f445256b0d5341", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3469328880310059e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.1020721197128296, + "candidate_source_group_id": "ms-f4579acd00ff9f578098;ms-54f7cae3bd3cb84062d3;ms-fdf4af00031d452221d9;ms-b1b98e21cd4886f70563;ms-7bc1b098e6c696f6d4de;ms-dab618f516ccc10f176e", + "expert_regret": 1.4228788018226624, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10405f0fac390b29a04b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4228788018226624, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5771211981773376, + "restore_error": 2.3469328880310059e-07, + "score": 0.5771211981773376, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8854374289512634, + "candidate_source_group_id": "ms-4cab292bc65fa59274ef;ms-52a2ef2f862cee509ce1;ms-5a456ddf97d294548cf1;ms-6bd5870eb5ff0dd76919;ms-19a3669e096e98232ec8;ms-f2509e6c3c468c4e30f0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f0033d0b5f4f2e160859", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3469328880310059e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6743847727775574, + "candidate_source_group_id": "ms-242302c2a1e59588b319;ms-0547201761e8e1873482;ms-b651d43182be35524aad;ms-7c300541f4986f403b47;ms-b04a4cfe76d719518dae;ms-60f5fff0649ceb50ab60", + "expert_regret": 1.7851764261722565, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2b93411a16dbb5d4202", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7851764261722565, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21482357382774353, + "restore_error": 2.3469328880310059e-07, + "score": 0.21482357382774353, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8820180892944336, + "candidate_source_group_id": "ms-da2f79e022bb63a2af11;ms-42b26451056c6dd2150e;ms-0ccc81e9a63663c50096;ms-4cab45c9b21452c1b523;ms-a7760c53ebe20579190e;ms-8d02415bb9af319f215a", + "expert_regret": 1.9420073926448822, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65a8786e4fb1527342f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9420073926448822, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0579926073551178, + "restore_error": 2.3469328880310059e-07, + "score": 0.0579926073551178, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.26657238602638245, + "candidate_source_group_id": "ms-82b267d663e8400d19ca;ms-783f5e7f8c889bef010e;ms-3ec29a5b20bd65943255;ms-e1f9403543e48fbdde9d;ms-12ea343fddf9f6e6b9e8;ms-61852da845126d62ff5b", + "expert_regret": 0.6550534963607788, + "expert_score": 0.8367745876312256, + "expert_success": false, + "group_id": "ms-01e6eaaaf40875e0ef5a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8182789087295532, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18172109127044678, + "restore_error": 2.3469328880310059e-07, + "score": 0.18172109127044678, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0965300798416138, + "candidate_source_group_id": "ms-b651d43182be35524aad;ms-7c300541f4986f403b47;ms-dfcbf1a7d2e3b33eb3e9;ms-9a14552b7db695dee92c;ms-242302c2a1e59588b319;ms-0c2f2dc98424b6704c79", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5e19aac5dcd26c992bfd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3469328880310059e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7984063029289246, + "candidate_source_group_id": "ms-8f84a0371a7ac44c1b1a;ms-12ea343fddf9f6e6b9e8;ms-76774eb92b50132c54b6;ms-5a32c809ed679663dcb1;ms-f3f100caf89a2487faaf;ms-bf36bafb9ac562480022", + "expert_regret": 0.0, + "expert_score": 0.19744239747524261, + "expert_success": false, + "group_id": "ms-eaccbf417256e38345aa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.19744239747524261, + "oracle_success": false, + "progress": 0.5971182584762573, + "restore_error": 1.9371509552001953e-07, + "score": 0.5971182584762573, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0618736743927002, + "candidate_source_group_id": "ms-41847ae4ccfbee4666d8;ms-242302c2a1e59588b319;ms-fee86da43c17dbf07059;ms-58e6bcca0d74ea38d3dc;ms-33ac0623919ea05d354a;ms-0547201761e8e1873482", + "expert_regret": 0.26822102069854736, + "expert_score": 0.8587179183959961, + "expert_success": false, + "group_id": "ms-ff0d7559bf7f39d82ded", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.26822102069854736, + "oracle_score": 0.8587179183959961, + "oracle_success": false, + "progress": 0.5904968976974487, + "restore_error": 1.9371509552001953e-07, + "score": 0.5904968976974487, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.0440666563808918, + "candidate_source_group_id": "ms-a9eb9fab62fb296d2cf3;ms-797db95b24deab760f10;ms-0ec57b5bc28a71d3aac0;ms-0b226017db7f07c5307e;ms-b75d7924ddc6f1056f17;ms-4dd3c4d0161d01abb6d4", + "expert_regret": 0.0, + "expert_score": 0.8303894400596619, + "expert_success": false, + "group_id": "ms-e7959111ef1429bcf699", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9371509552001953e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8386640548706055, + "candidate_source_group_id": "ms-88070bf04696eceac1e9;ms-3945306c3b05b122fa9b;ms-265435476b51eb83fb9b;ms-9747840abee181e3e4cf;ms-829c9968f0750cd9aed6;ms-49e1584a68d8f465e8e3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-554f2960f25ff627b596", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9371509552001953e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.49430951476097107, + "candidate_source_group_id": "ms-caa5773983c25018c3f8;ms-19a3669e096e98232ec8;ms-32a86ecc263b3d79db00;ms-a13e71cca2a60d77aed4;ms-52a2ef2f862cee509ce1;ms-6bd5870eb5ff0dd76919", + "expert_regret": 1.7845114320516586, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d9e7096b437e7ce7cda8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.7845114320516586, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21548856794834137, + "restore_error": 1.9371509552001953e-07, + "score": 0.21548856794834137, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.438952088356018, + "candidate_source_group_id": "ms-bf36bafb9ac562480022;ms-5a32c809ed679663dcb1;ms-8f84a0371a7ac44c1b1a;ms-584d52e4f9515f695251;ms-2cc60867f3629a801fc4;ms-76774eb92b50132c54b6", + "expert_regret": 1.809349998831749, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6ab6c8a66fc509e2113e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.809349998831749, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19065000116825104, + "restore_error": 1.9371509552001953e-07, + "score": 0.19065000116825104, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5611944198608398, + "candidate_source_group_id": "ms-03df3e12e1d61aa9ebbf;ms-76c9576538106cb9d5db;ms-0982ec8847911627c519;ms-54f7cae3bd3cb84062d3;ms-fdf4af00031d452221d9;ms-ceb81989361d018a9e67", + "expert_regret": 1.1800888776779175, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-720c704eeac615b41763", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.1800888776779175, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8199111223220825, + "restore_error": 1.9371509552001953e-07, + "score": 0.8199111223220825, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.775628387928009, + "candidate_source_group_id": "ms-7f58527819036c01daa4;ms-e2a5f29a9c0d835f3cd8;ms-fdf4af00031d452221d9;ms-c5945ca04bebc81e72a8;ms-03df3e12e1d61aa9ebbf;ms-ceb81989361d018a9e67", + "expert_regret": 1.8441091775894165, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-253682457d6db5d265bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8441091775894165, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1558908224105835, + "restore_error": 1.9371509552001953e-07, + "score": 0.1558908224105835, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2592608332633972, + "candidate_source_group_id": "ms-60f5fff0649ceb50ab60;ms-242302c2a1e59588b319;ms-97cdb4c400ad4ae36518;ms-daff16c01452c735345f;ms-64ff9614d692fd9dc48b;ms-b04a4cfe76d719518dae", + "expert_regret": 0.0, + "expert_score": 0.1309145987033844, + "expert_success": false, + "group_id": "ms-5902e6c4037ecda77a5f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.619186520576477, + "oracle_score": 0.784722626209259, + "oracle_success": false, + "progress": 0.16553610563278198, + "restore_error": 1.1920928955078125e-07, + "score": 0.16553610563278198, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.080472931265831, + "candidate_source_group_id": "ms-4cab45c9b21452c1b523;ms-a7760c53ebe20579190e;ms-110944a3259f0e310db9;ms-3a5cf404fd30dd8a2f76;ms-893e0a0d03b5e47b65dd;ms-42b26451056c6dd2150e", + "expert_regret": 0.6471035480499268, + "expert_score": 0.8325278759002686, + "expert_success": false, + "group_id": "ms-15fc8cc6f74cf589056f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8145756721496582, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1854243278503418, + "restore_error": 1.1920928955078125e-07, + "score": 0.1854243278503418, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7394660115242004, + "candidate_source_group_id": "ms-0ee3134ab4e9435f2c2c;ms-f774646335321f6c5980;ms-44940e96c327541acf19;ms-4d687a60b9ce1f0f1ddd;ms-01094af881b751ef29aa;ms-48ddae21c360b2a12b8d", + "expert_regret": 1.9229668527841568, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bfb169ce850eae1c3995", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9229668527841568, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0770331472158432, + "restore_error": 1.1920928955078125e-07, + "score": 0.0770331472158432, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0443350076675415, + "candidate_source_group_id": "ms-f50f1c1b673d0c96d4ce;ms-1a37fdd82d982ae6dbd8;ms-801727be95e46ae5da07;ms-e297545a438d902a680e;ms-3efaacea10b7eb4adb57;ms-f9148dff7961fa66a8a1", + "expert_regret": 1.4077457189559937, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dc2e360a4876f6edce82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4077457189559937, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5922542810440063, + "restore_error": 1.1920928955078125e-07, + "score": 0.5922542810440063, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8867186903953552, + "candidate_source_group_id": "ms-7c300541f4986f403b47;ms-b651d43182be35524aad;ms-579af9eb582ab20522a9;ms-0c2f2dc98424b6704c79;ms-350716d0809bd7ef12df;ms-420280f15a522ce21c72", + "expert_regret": 1.8067529499530792, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9e96728c711ffe98fe69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8067529499530792, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19324705004692078, + "restore_error": 1.1920928955078125e-07, + "score": 0.19324705004692078, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7981629967689514, + "candidate_source_group_id": "ms-77c4a01dcf26dcd8f0f3;ms-733f43f6aaed1e84c020;ms-bf2b9cc05ccb6bce0d30;ms-6c8d06bace98a28a8e4e;ms-68067370d3b20b9bd4e2;ms-3c87c16acc91c68c522f", + "expert_regret": 1.4055313467979431, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-39cea5dde6dc1718d478", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4055313467979431, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5944686532020569, + "restore_error": 1.1920928955078125e-07, + "score": 0.5944686532020569, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6808744072914124, + "candidate_source_group_id": "ms-8b45028168ed68ec8303;ms-744cdc2b2570c3c26326;ms-01e08f0dcb4e2c030a79;ms-56a0e8e80e2e1e5645d7;ms-462c1284ee1a148a7e1d;ms-9f80c93ae6940a427c83", + "expert_regret": 1.8636407107114792, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-666f00775d4c54be1282", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8636407107114792, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1363592892885208, + "restore_error": 1.1920928955078125e-07, + "score": 0.1363592892885208, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.777806282043457, + "candidate_source_group_id": "ms-0fb946120bcbd8ed0632;ms-48ddae21c360b2a12b8d;ms-0ee3134ab4e9435f2c2c;ms-151e5f61c8e3c2ece4e7;ms-cdd9ca03b64c4145587b;ms-63979e5d869bff8d3515", + "expert_regret": 0.26661092042922974, + "expert_score": 0.840457022190094, + "expert_success": false, + "group_id": "ms-0ce4aecc96a50498e2f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.26661092042922974, + "oracle_score": 0.840457022190094, + "oracle_success": false, + "progress": 0.5738461017608643, + "restore_error": 1.1920928955078125e-07, + "score": 0.5738461017608643, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5587782859802246, + "candidate_source_group_id": "ms-d1960368ef76bbb10669;ms-c5d2ddd0416072b20d5d;ms-68067370d3b20b9bd4e2;ms-8c2dade5b58489e26a4b;ms-3c87c16acc91c68c522f;ms-9e99b7303fbd7ecbb17d", + "expert_regret": 0.0, + "expert_score": 0.8367365002632141, + "expert_success": false, + "group_id": "ms-5dfbb16e173e1a3e2bd6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5089045763015747, + "candidate_source_group_id": "ms-9ad3b276d9ccaf668d30;ms-180d0e0a6315a06a7021;ms-0ccc81e9a63663c50096;ms-495b33a30a68ee055eef;ms-0ea6d57781e366b578c1;ms-1cb54e3347c49dcdf28e", + "expert_regret": 1.7736347317695618, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9c7464444eaec0fa07c0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.7736347317695618, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22636526823043823, + "restore_error": 1.1920928955078125e-07, + "score": 0.22636526823043823, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.32448408007621765, + "candidate_source_group_id": "ms-2cc60867f3629a801fc4;ms-875a4668671c02054a3c;ms-283f98eecc655a33d459;ms-274ef8c6420a669dd5b4;ms-1cc18d88615939309d51;ms-4b6cf86fc2450321163a", + "expert_regret": 0.0, + "expert_score": 0.18662652373313904, + "expert_success": false, + "group_id": "ms-a31b52cc38a95273af77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.02054506540298462, + "oracle_score": 0.5935691595077515, + "oracle_success": false, + "progress": 0.5730240941047668, + "restore_error": 1.1920928955078125e-07, + "score": 0.5730240941047668, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6360163688659668, + "candidate_source_group_id": "ms-875a4668671c02054a3c;ms-2cc60867f3629a801fc4;ms-5a32c809ed679663dcb1;ms-0949097d19e597fc7f63;ms-0cdb564903c69734321f;ms-283f98eecc655a33d459", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-220e8ddf7349fcbaf64d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5940096974372864, + "candidate_source_group_id": "ms-58e6bcca0d74ea38d3dc;ms-242302c2a1e59588b319;ms-60f5fff0649ceb50ab60;ms-20976520a892ae80760a;ms-b04a4cfe76d719518dae;ms-2e683dfff18ef7e90d7d", + "expert_regret": 1.4137922525405884, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01f463a409e2ec0c6c3e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4137922525405884, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5862077474594116, + "restore_error": 1.1920928955078125e-07, + "score": 0.5862077474594116, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0761356353759766, + "candidate_source_group_id": "ms-2360ac84ff893ee51c5f;ms-852c671b0adeccfa4bf1;ms-bc2d3b425d9163a62dbb;ms-9d4cfe1888484d9da1ee;ms-9d12ad4ebdf37419994c;ms-9e7e3b675db86ea3e212", + "expert_regret": 1.8180560171604156, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-05ab68d4cd79b74a45ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8180560171604156, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18194398283958435, + "restore_error": 1.1920928955078125e-07, + "score": 0.18194398283958435, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3122592270374298, + "candidate_source_group_id": "ms-27d723ae87abc93a95f0;ms-bc2d3b425d9163a62dbb;ms-9e7e3b675db86ea3e212;ms-9d12ad4ebdf37419994c;ms-852c671b0adeccfa4bf1;ms-9d4cfe1888484d9da1ee", + "expert_regret": 0.24202752113342285, + "expert_score": 0.8267612457275391, + "expert_success": false, + "group_id": "ms-748baf7aee43c63797e1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.2632497549057007, + "oracle_score": 0.8479834794998169, + "oracle_success": false, + "progress": 0.5847337245941162, + "restore_error": 1.1920928955078125e-07, + "score": 0.5847337245941162, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5811511278152466, + "candidate_source_group_id": "ms-88d7cbdbd7c9636e456f;ms-5909e93ba4f8ed21d193;ms-0cdb564903c69734321f;ms-875a4668671c02054a3c;ms-5a32c809ed679663dcb1;ms-0949097d19e597fc7f63", + "expert_regret": 1.405631959438324, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c83fb7e9f1a7a8ad58f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.405631959438324, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.594368040561676, + "restore_error": 1.1920928955078125e-07, + "score": 0.594368040561676, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8037970662117004, + "candidate_source_group_id": "ms-dd9b840c99c305ac1977;ms-0a4d4909900fb0bc4a9a;ms-f2a349cfaa6f7422237b;ms-da5f2c1dbafa907d725b;ms-3cdc09425d5b71524854;ms-71e32140ee4d77f3b275", + "expert_regret": 1.7814643383026123, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a50b6ab3c59b1c953197", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.7814643383026123, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2185356616973877, + "restore_error": 1.1920928955078125e-07, + "score": 0.2185356616973877, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5233011841773987, + "candidate_source_group_id": "ms-626991ad29d003c808f8;ms-c52ffa349a79397da8c3;ms-e1f9403543e48fbdde9d;ms-3afd8959363e917591d4;ms-cba80792e163a5084a92;ms-76c9576538106cb9d5db", + "expert_regret": 1.1831169128417969, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-49516a81fe99935ef15e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1831169128417969, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8168830871582031, + "restore_error": 1.1920928955078125e-07, + "score": 0.8168830871582031, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.08130843192338943, + "candidate_source_group_id": "ms-b86c44375ba5328a1608;ms-a601803235735bea0610;ms-119db4f7ab55afe5b9f6;ms-804705b564058a7ac34c;ms-b1ea4f7f813ac0c87079;ms-acb486cbc23907df2568", + "expert_regret": 0.0, + "expert_score": 0.8631211519241333, + "expert_success": false, + "group_id": "ms-c80e71e55d51d8595499", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9900966286659241, + "candidate_source_group_id": "ms-a601803235735bea0610;ms-b1ea4f7f813ac0c87079;ms-acb486cbc23907df2568;ms-36112cc5608a9f625764;ms-bb299baa34e49eafb9fc;ms-dc26a7037003b94b9f93", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3451f857ec88eeb49c38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.6346276998519897, + "candidate_source_group_id": "ms-42b26451056c6dd2150e;ms-3a5cf404fd30dd8a2f76;ms-ba396eb71806ac992acd;ms-a134953a8d3e6be63757;ms-1cb54e3347c49dcdf28e;ms-97e2c618a3045e0a759e", + "expert_regret": 1.7942206263542175, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0fa473b2c94d12bc3945", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7942206263542175, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20577937364578247, + "restore_error": 1.1920928955078125e-07, + "score": 0.20577937364578247, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9530676603317261, + "candidate_source_group_id": "ms-88070bf04696eceac1e9;ms-5dfeb87aa77e4660d09b;ms-829c9968f0750cd9aed6;ms-265435476b51eb83fb9b;ms-49e1584a68d8f465e8e3;ms-141aab4472db1ecc0ea2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5eb6b813b57d14f6573", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8645098805427551, + "candidate_source_group_id": "ms-0c2f2dc98424b6704c79;ms-86b55250e01b9b6fba7e;ms-7c300541f4986f403b47;ms-0b6ba12f99b3554c0e88;ms-573ab0ef1d4166be9b54;ms-b651d43182be35524aad", + "expert_regret": 1.4127869606018066, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4118fc55a3d3e6bee8c0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4127869606018066, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5872130393981934, + "restore_error": 1.1920928955078125e-07, + "score": 0.5872130393981934, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.38451337814331055, + "candidate_source_group_id": "ms-71e32140ee4d77f3b275;ms-07b479748a91a9c92b20;ms-f2a349cfaa6f7422237b;ms-3cdc09425d5b71524854;ms-cc52efdf7f7b9efb1f9e;ms-dd9b840c99c305ac1977", + "expert_regret": 0.7434499561786652, + "expert_score": 0.8516564965248108, + "expert_success": false, + "group_id": "ms-9dd1ff4c297a81b13071", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8917934596538544, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10820654034614563, + "restore_error": 1.1920928955078125e-07, + "score": 0.10820654034614563, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5557944178581238, + "candidate_source_group_id": "ms-8e69308e5c86a307b08a;ms-c9c7a51e43dd2c33de08;ms-edf898278a0dd01a5b37;ms-bdc0e2b6d589c1d90d69;ms-546f8817db5b76b563f0;ms-bf2b9cc05ccb6bce0d30", + "expert_regret": 1.7638387084007263, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87d132d28bc30b07002b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.7638387084007263, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23616129159927368, + "restore_error": 1.1920928955078125e-07, + "score": 0.23616129159927368, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0946834087371826, + "candidate_source_group_id": "ms-14064e79c1a1abcf10e3;ms-95950ddf57046910494b;ms-783f5e7f8c889bef010e;ms-82b267d663e8400d19ca;ms-036f329c4a881ff59e5f;ms-61852da845126d62ff5b", + "expert_regret": 1.8186079412698746, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-207e9a9f9123d6c3eeb6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8186079412698746, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18139205873012543, + "restore_error": 1.1920928955078125e-07, + "score": 0.18139205873012543, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5384587049484253, + "candidate_source_group_id": "ms-48ddae21c360b2a12b8d;ms-0841a07e9aeb84cff70f;ms-0fb946120bcbd8ed0632;ms-22c36189b47df8987e8e;ms-0d8e00d0e73f9a7b4ce8;ms-0ac85b1b15125006eb50", + "expert_regret": 0.8135382235050201, + "expert_score": 0.83223956823349, + "expert_success": false, + "group_id": "ms-2da5f229550b61852483", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.8380716145038605, + "oracle_score": 0.8567729592323303, + "oracle_success": false, + "progress": 0.01870134472846985, + "restore_error": 1.1920928955078125e-07, + "score": 0.01870134472846985, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5677810311317444, + "candidate_source_group_id": "ms-141aab4472db1ecc0ea2;ms-a2ee6034df65b51c4d97;ms-eff3caf3c103c5232495;ms-ff4c9c58b742da7135da;ms-035231abc135f925e1cc;ms-499d2429a00f3cc35add", + "expert_regret": 0.0, + "expert_score": 0.8559293746948242, + "expert_success": false, + "group_id": "ms-cbc1fadecdd913c44ce5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.8559293746948242, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.37677159905433655, + "candidate_source_group_id": "ms-37d6b220ad58fb776f7b;ms-be0ca7fa48a7ea391aa8;ms-7e2762eb1b21b04fe873;ms-d6b0d6d7c66509eb4543;ms-d648b2c7a7b42db45550;ms-728ce6cbfd4c82607908", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1ed36d926d5d640b4a04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8186483383178711, + "candidate_source_group_id": "ms-ceb81989361d018a9e67;ms-fdf4af00031d452221d9;ms-f0fdcc26c648ce089746;ms-03df3e12e1d61aa9ebbf;ms-b1b98e21cd4886f70563;ms-76c9576538106cb9d5db", + "expert_regret": 1.820292979478836, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5d6aa86eb739a9ef05cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.820292979478836, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17970702052116394, + "restore_error": 1.1920928955078125e-07, + "score": 0.17970702052116394, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7935320734977722, + "candidate_source_group_id": "ms-716586cf73f853a45bfd;ms-ecc526493f8048cf4c56;ms-38ed02dacc133a888d3a;ms-0c490961b934978e5b1c;ms-02aa62c077c9d4f86e61;ms-b6ce87522fcc35b563c7", + "expert_regret": 0.605079710483551, + "expert_score": 0.8367664813995361, + "expert_success": false, + "group_id": "ms-f72b64534388e443b220", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.605079710483551, + "oracle_score": 0.8367664813995361, + "oracle_success": false, + "progress": 0.2316867709159851, + "restore_error": 1.1920928955078125e-07, + "score": 0.2316867709159851, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1446835994720459, + "candidate_source_group_id": "ms-5922d6b0cb028950a6a3;ms-bc96a8973358d1c20ed3;ms-aa7cc7e3e5eb86e58ee9;ms-728ce6cbfd4c82607908;ms-7ac4c9b07c994cd878f9;ms-4dd3c4d0161d01abb6d4", + "expert_regret": 0.742235004901886, + "expert_score": 0.8517612218856812, + "expert_success": false, + "group_id": "ms-36bc1364d2439099e9ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8904737830162048, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10952621698379517, + "restore_error": 1.1920928955078125e-07, + "score": 0.10952621698379517, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.34398725628852844, + "candidate_source_group_id": "ms-48b2c358243f84013a0c;ms-e71e880736efd3e42c02;ms-702c6c5000ad4d6424ea;ms-6d7030c17759f787a361;ms-15248c64e70b0dafcb33;ms-1c4ef17cdeed30bb2548", + "expert_regret": 0.654291570186615, + "expert_score": 0.8351176977157593, + "expert_success": false, + "group_id": "ms-e887dbfa0133af46829d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8191738724708557, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1808261275291443, + "restore_error": 1.1920928955078125e-07, + "score": 0.1808261275291443, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4765801727771759, + "candidate_source_group_id": "ms-3945306c3b05b122fa9b;ms-035231abc135f925e1cc;ms-eff3caf3c103c5232495;ms-88070bf04696eceac1e9;ms-141aab4472db1ecc0ea2;ms-63f384579c130870fde3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c4a4c6a275c817d8b03f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5336299538612366, + "candidate_source_group_id": "ms-0a4d4909900fb0bc4a9a;ms-dd9b840c99c305ac1977;ms-f2a349cfaa6f7422237b;ms-0ac85b1b15125006eb50;ms-da5f2c1dbafa907d725b;ms-584219be39de32d776d4", + "expert_regret": 0.024045929312705994, + "expert_score": 0.23011930286884308, + "expert_success": false, + "group_id": "ms-e2f303a0d1e6017e1fc4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.024045929312705994, + "oracle_score": 0.23011930286884308, + "oracle_success": false, + "progress": 0.20607337355613708, + "restore_error": 1.1920928955078125e-07, + "score": 0.20607337355613708, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.46117058396339417, + "candidate_source_group_id": "ms-03beb7dddeba28c64afa;ms-b6ce87522fcc35b563c7;ms-673f96236583a1925836;ms-ecc526493f8048cf4c56;ms-38ed02dacc133a888d3a;ms-016c5de39ed3c111889a", + "expert_regret": 1.8009988069534302, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b5f0f2ae74766beae291", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8009988069534302, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19900119304656982, + "restore_error": 1.1920928955078125e-07, + "score": 0.19900119304656982, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.26215052604675293, + "candidate_source_group_id": "ms-7ee2d50e0788ccf0cdec;ms-12ea343fddf9f6e6b9e8;ms-3ec29a5b20bd65943255;ms-578073df4f8fe9b936d2;ms-61852da845126d62ff5b;ms-f9148dff7961fa66a8a1", + "expert_regret": 0.0, + "expert_score": 0.8328490257263184, + "expert_success": false, + "group_id": "ms-ed6314fb8f69f956daf6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.8351536393165588, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.34326171875, + "candidate_source_group_id": "ms-f4579acd00ff9f578098;ms-cba80792e163a5084a92;ms-dab618f516ccc10f176e;ms-3afd8959363e917591d4;ms-a2a546ebe0d1283df0f0;ms-b1b98e21cd4886f70563", + "expert_regret": 1.8220994770526886, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-07c39d2c4595d6826040", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8220994770526886, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1779005229473114, + "restore_error": 1.1920928955078125e-07, + "score": 0.1779005229473114, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7090511322021484, + "candidate_source_group_id": "ms-dc26a7037003b94b9f93;ms-df6a1fb4b1ccbb410b4c;ms-b1ea4f7f813ac0c87079;ms-4c788310cab7df5251e1;ms-141aab4472db1ecc0ea2;ms-36112cc5608a9f625764", + "expert_regret": 1.145445704460144, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-921a0cd2d5ef7e70229a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.145445704460144, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.854554295539856, + "restore_error": 1.1920928955078125e-07, + "score": 0.854554295539856, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.2799595594406128, + "candidate_source_group_id": "ms-5c8151ea6809f3c331e5;ms-d368732bc01f4100cf07;ms-0f7cd7813265e3795e0a;ms-bb742574fc7cfaea26d0;ms-fc9523f9953b1b5bfbcd;ms-bc99c1baec671e7f85a0", + "expert_regret": 1.8374791145324707, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6b2df24ea06ce2cdfb5e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8374791145324707, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1625208854675293, + "restore_error": 1.1920928955078125e-07, + "score": 0.1625208854675293, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.729581356048584, + "candidate_source_group_id": "ms-a7760c53ebe20579190e;ms-4cab45c9b21452c1b523;ms-110944a3259f0e310db9;ms-3a5cf404fd30dd8a2f76;ms-4734f618e638d42bae46;ms-42b26451056c6dd2150e", + "expert_regret": 1.8836455196142197, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-741c227f6249d1c8c9f1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8836455196142197, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11635448038578033, + "restore_error": 1.1920928955078125e-07, + "score": 0.11635448038578033, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4166158139705658, + "candidate_source_group_id": "ms-ab5acce4dba71f19d5ad;ms-20ab0b7fffdbb23e6d53;ms-180d0e0a6315a06a7021;ms-0ccc81e9a63663c50096;ms-b8492a3a812095651d75;ms-4af6806104210ccf74b0", + "expert_regret": 1.797333374619484, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-185c13ec401a35f393b7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.797333374619484, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20266662538051605, + "restore_error": 1.1920928955078125e-07, + "score": 0.20266662538051605, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9200296401977539, + "candidate_source_group_id": "ms-283f98eecc655a33d459;ms-5b26c33feed6992386b1;ms-2cc60867f3629a801fc4;ms-bf36bafb9ac562480022;ms-6c8d06bace98a28a8e4e;ms-e297545a438d902a680e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f90e4d887f4c840a0b25", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2990821897983551, + "candidate_source_group_id": "ms-852c671b0adeccfa4bf1;ms-6d7030c17759f787a361;ms-ce9505086ea115f86649;ms-bc2d3b425d9163a62dbb;ms-702c6c5000ad4d6424ea;ms-e71e880736efd3e42c02", + "expert_regret": 0.6608132421970367, + "expert_score": 0.844826340675354, + "expert_success": false, + "group_id": "ms-55e78c04643bd06fd5f8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8159869015216827, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18401309847831726, + "restore_error": 1.1920928955078125e-07, + "score": 0.18401309847831726, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7732803225517273, + "candidate_source_group_id": "ms-b75d7924ddc6f1056f17;ms-1e17eb687986f7c5bc22;ms-141aab4472db1ecc0ea2;ms-a2ee6034df65b51c4d97;ms-ff4c9c58b742da7135da;ms-a9eb9fab62fb296d2cf3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d5da9bf431cb1294c82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.14153286814689636, + "candidate_source_group_id": "ms-d648b2c7a7b42db45550;ms-be0ca7fa48a7ea391aa8;ms-7e2762eb1b21b04fe873;ms-d6b0d6d7c66509eb4543;ms-1c9cd9629e4a927ed921;ms-79b745efd36e00515fa7", + "expert_regret": 0.0, + "expert_score": 0.8197344541549683, + "expert_success": false, + "group_id": "ms-efdc07c985935d871adf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5915894508361816, + "candidate_source_group_id": "ms-8b45028168ed68ec8303;ms-9f80c93ae6940a427c83;ms-cc21e4000cabb2fad805;ms-01e08f0dcb4e2c030a79;ms-49685adafe2cb8da301f;ms-90777a893f2fff27728c", + "expert_regret": 1.794285386800766, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-19dbfb3664d48598041e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.794285386800766, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.205714613199234, + "restore_error": 1.1920928955078125e-07, + "score": 0.205714613199234, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3871150016784668, + "candidate_source_group_id": "ms-652234a929b7ed4d3b23;ms-94b9114b294d56e3f88a;ms-893e0a0d03b5e47b65dd;ms-e0e2a425cce52e820a7e;ms-8c67f938fb3d0264393c;ms-0ea6d57781e366b578c1", + "expert_regret": 1.821585327386856, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c5469e5b4af75482d89", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.821585327386856, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17841467261314392, + "restore_error": 1.1920928955078125e-07, + "score": 0.17841467261314392, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6679325699806213, + "candidate_source_group_id": "ms-01e08f0dcb4e2c030a79;ms-8b45028168ed68ec8303;ms-9f80c93ae6940a427c83;ms-49685adafe2cb8da301f;ms-074bf4470a893ac7955a;ms-cc21e4000cabb2fad805", + "expert_regret": 1.8536493480205536, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-64b4e29bb42bf0b35d4d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8536493480205536, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1463506519794464, + "restore_error": 1.1920928955078125e-07, + "score": 0.1463506519794464, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3102271258831024, + "candidate_source_group_id": "ms-ac8685beeff23e48af61;ms-c9bac4a12aa021442f03;ms-58e6bcca0d74ea38d3dc;ms-9d12ad4ebdf37419994c;ms-bc8e9fc055c591071ea3;ms-2360ac84ff893ee51c5f", + "expert_regret": 0.0, + "expert_score": 0.8432589173316956, + "expert_success": false, + "group_id": "ms-9228f8295b9891cf011c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.146773338317871, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8532266616821289, + "restore_error": 1.1920928955078125e-07, + "score": 0.8532266616821289, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2986210882663727, + "candidate_source_group_id": "ms-2e683dfff18ef7e90d7d;ms-20976520a892ae80760a;ms-584d52e4f9515f695251;ms-76774eb92b50132c54b6;ms-5909e93ba4f8ed21d193;ms-58e6bcca0d74ea38d3dc", + "expert_regret": 0.6247961223125458, + "expert_score": 0.8314920663833618, + "expert_success": false, + "group_id": "ms-72777024349c2aacd5e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.793304055929184, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20669594407081604, + "restore_error": 1.1920928955078125e-07, + "score": 0.20669594407081604, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5526995062828064, + "candidate_source_group_id": "ms-48ddae21c360b2a12b8d;ms-0841a07e9aeb84cff70f;ms-22c36189b47df8987e8e;ms-0fb946120bcbd8ed0632;ms-0d8e00d0e73f9a7b4ce8;ms-d6ed8683183759789495", + "expert_regret": 0.79910908639431, + "expert_score": 0.8524717688560486, + "expert_success": false, + "group_id": "ms-5ac1bf2d7d319955d45d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9466373175382614, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.053362682461738586, + "restore_error": 1.1920928955078125e-07, + "score": 0.053362682461738586, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6124740839004517, + "candidate_source_group_id": "ms-d8cc5ba8ab1cd4a46519;ms-df6a1fb4b1ccbb410b4c;ms-9f5d57fe2153fd267774;ms-07b479748a91a9c92b20;ms-62601bc1741cf8792326;ms-d648b2c7a7b42db45550", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dd1eec30969c12ec89af", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.2104222774505615, + "candidate_source_group_id": "ms-151e5f61c8e3c2ece4e7;ms-cdd9ca03b64c4145587b;ms-0ee3134ab4e9435f2c2c;ms-57ccc6bbce43f1c7c000;ms-de304cefeb20dcc17ede;ms-fc68c8b1bef631b6cae9", + "expert_regret": 1.971116065979004, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-230391b47c390f51bc07", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.971116065979004, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.028883934020996094, + "restore_error": 1.1920928955078125e-07, + "score": 0.028883934020996094, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.41155722737312317, + "candidate_source_group_id": "ms-7d484dd14e9d001a07b1;ms-5edf28a87bfd0731da89;ms-7e2762eb1b21b04fe873;ms-9747840abee181e3e4cf;ms-62601bc1741cf8792326;ms-578fcc1f0f27f76ff933", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-06e6e1db86d9e82e56cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0802479982376099, + "candidate_source_group_id": "ms-58e6bcca0d74ea38d3dc;ms-ac8685beeff23e48af61;ms-60f5fff0649ceb50ab60;ms-daff16c01452c735345f;ms-20976520a892ae80760a;ms-87efe56140dec7d3ffb8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13243cd92a78eba8c08b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4032277464866638, + "candidate_source_group_id": "ms-ff4c9c58b742da7135da;ms-a2ee6034df65b51c4d97;ms-63ac245579b1188935ad;ms-a4d692315fd15700e75b;ms-4c788310cab7df5251e1;ms-499d2429a00f3cc35add", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e7f710fb5e661e71fd3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.736140787601471, + "candidate_source_group_id": "ms-16850056120649fcc370;ms-983f35821c4f83c6e4bb;ms-e3bbabc7ac3950eb91a2;ms-fd2387aeed9bfc9a0d08;ms-dc4738f9c7a8af86722d;ms-ecb37ebbab21a506d8ca", + "expert_regret": 1.792683720588684, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9804ff90a86259f7149", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.792683720588684, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20731627941131592, + "restore_error": 2.384185791015625e-07, + "score": 0.20731627941131592, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8220450282096863, + "candidate_source_group_id": "ms-20ab0b7fffdbb23e6d53;ms-3278c343e1bdece2f252;ms-b8492a3a812095651d75;ms-180d0e0a6315a06a7021;ms-4dc0defd156f4c30aaf8;ms-ab5acce4dba71f19d5ad", + "expert_regret": 1.9369750320911407, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fffe17005e577cb2ac1c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9369750320911407, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06302496790885925, + "restore_error": 2.384185791015625e-07, + "score": 0.06302496790885925, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4309106469154358, + "candidate_source_group_id": "ms-c9c7a51e43dd2c33de08;ms-08077ae7bcd1d20bb2a6;ms-1b50d8927c080cd97a79;ms-e9cb92d664266091b91d;ms-88070bf04696eceac1e9;ms-829c9968f0750cd9aed6", + "expert_regret": 1.8005890250205994, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-578fc3b8cbdbe6b0542f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8005890250205994, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19941097497940063, + "restore_error": 2.384185791015625e-07, + "score": 0.19941097497940063, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.09016304463148117, + "candidate_source_group_id": "ms-5dfeb87aa77e4660d09b;ms-829c9968f0750cd9aed6;ms-54f4d544f76358c09ee9;ms-96ebb8e6e71464ac9172;ms-499d2429a00f3cc35add;ms-141aab4472db1ecc0ea2", + "expert_regret": 0.0, + "expert_score": 0.8359193205833435, + "expert_success": false, + "group_id": "ms-b33c18c58125678627a6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.09744881093502045, + "candidate_source_group_id": "ms-49685adafe2cb8da301f;ms-ba1dca497a16134eeed8;ms-cc21e4000cabb2fad805;ms-e3bbabc7ac3950eb91a2;ms-bc02d87b2ed5769ee484;ms-7dca31b0d7d6fab018f3", + "expert_regret": 0.6496871560811996, + "expert_score": 0.8450801968574524, + "expert_success": false, + "group_id": "ms-0b1dd0e538b8df15a6e4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8046069592237473, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19539304077625275, + "restore_error": 2.384185791015625e-07, + "score": 0.19539304077625275, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0894298553466797, + "candidate_source_group_id": "ms-4dd3c4d0161d01abb6d4;ms-bc96a8973358d1c20ed3;ms-728ce6cbfd4c82607908;ms-797db95b24deab760f10;ms-aa7cc7e3e5eb86e58ee9;ms-5922d6b0cb028950a6a3", + "expert_regret": 1.9476832300424576, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e95a846b4e77792e3e6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.9476832300424576, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05231676995754242, + "restore_error": 2.384185791015625e-07, + "score": 0.05231676995754242, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.28548526763916016, + "candidate_source_group_id": "ms-63ac245579b1188935ad;ms-ff4c9c58b742da7135da;ms-a2ee6034df65b51c4d97;ms-44b52b73161bb03c5a27;ms-0ec57b5bc28a71d3aac0;ms-a4d692315fd15700e75b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97343fa03fd05700c270", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.39789482951164246, + "candidate_source_group_id": "ms-0841a07e9aeb84cff70f;ms-48ddae21c360b2a12b8d;ms-0fb946120bcbd8ed0632;ms-0d8e00d0e73f9a7b4ce8;ms-22c36189b47df8987e8e;ms-57ccc6bbce43f1c7c000", + "expert_regret": 1.1504404544830322, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d46da887312a51a9f2a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1504404544830322, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8495595455169678, + "restore_error": 1.1920928955078125e-07, + "score": 0.8495595455169678, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8600123524665833, + "candidate_source_group_id": "ms-804705b564058a7ac34c;ms-a601803235735bea0610;ms-acb486cbc23907df2568;ms-62601bc1741cf8792326;ms-a9eb9fab62fb296d2cf3;ms-7d484dd14e9d001a07b1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c72d626356a30cbef93b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.49198177456855774, + "candidate_source_group_id": "ms-88d7cbdbd7c9636e456f;ms-37d6b220ad58fb776f7b;ms-be0ca7fa48a7ea391aa8;ms-88070bf04696eceac1e9;ms-d6b0d6d7c66509eb4543;ms-79b745efd36e00515fa7", + "expert_regret": 1.1855216026306152, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-00ce5c82d2af61a7d7e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1855216026306152, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8144783973693848, + "restore_error": 1.1920928955078125e-07, + "score": 0.8144783973693848, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.26939088106155396, + "candidate_source_group_id": "ms-f50f1c1b673d0c96d4ce;ms-3efaacea10b7eb4adb57;ms-1a37fdd82d982ae6dbd8;ms-20f3cfcf183c69853b1e;ms-f9148dff7961fa66a8a1;ms-e297545a438d902a680e", + "expert_regret": 0.012932777404785156, + "expert_score": 0.8352580070495605, + "expert_success": false, + "group_id": "ms-04eec0abab5f55620e4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1776747703552246, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8223252296447754, + "restore_error": 1.1920928955078125e-07, + "score": 0.8223252296447754, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9772171378135681, + "candidate_source_group_id": "ms-d776afa14e6322cadedd;ms-20f3cfcf183c69853b1e;ms-e297545a438d902a680e;ms-6c8d06bace98a28a8e4e;ms-f50f1c1b673d0c96d4ce;ms-3efaacea10b7eb4adb57", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e327fef230e956dab37c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6917557120323181, + "candidate_source_group_id": "ms-500ed73f6d891e237b30;ms-f79778f4c5ec302bbfb4;ms-2fef2f43af8009bb88f1;ms-7fba35a6c125e88b8f54;ms-79b745efd36e00515fa7;ms-ce827a7939377a151af9", + "expert_regret": 1.9306150376796722, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc1ca12b92e3561b95b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9306150376796722, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06938496232032776, + "restore_error": 1.1920928955078125e-07, + "score": 0.06938496232032776, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.3376227617263794, + "candidate_source_group_id": "ms-d6b0d6d7c66509eb4543;ms-1c9cd9629e4a927ed921;ms-79b745efd36e00515fa7;ms-7e2762eb1b21b04fe873;ms-f79778f4c5ec302bbfb4;ms-2fef2f43af8009bb88f1", + "expert_regret": 1.8693332374095917, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0460b73af19ce1336bba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8693332374095917, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.13066676259040833, + "restore_error": 1.1920928955078125e-07, + "score": 0.13066676259040833, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7775846123695374, + "candidate_source_group_id": "ms-9f5d57fe2153fd267774;ms-d8cc5ba8ab1cd4a46519;ms-a601803235735bea0610;ms-acb486cbc23907df2568;ms-804705b564058a7ac34c;ms-4c788310cab7df5251e1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-71c5493fbcd8ea88898b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8062154054641724, + "candidate_source_group_id": "ms-36112cc5608a9f625764;ms-22457d523f50e99d7acb;ms-bb299baa34e49eafb9fc;ms-3cdc09425d5b71524854;ms-a9eb9fab62fb296d2cf3;ms-0ec57b5bc28a71d3aac0", + "expert_regret": 1.819749265909195, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f413b168078609ed4fe4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.819749265909195, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18025073409080505, + "restore_error": 1.1920928955078125e-07, + "score": 0.18025073409080505, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6415737867355347, + "candidate_source_group_id": "ms-ab5acce4dba71f19d5ad;ms-0ccc81e9a63663c50096;ms-c8706d0aa14a930236de;ms-da2f79e022bb63a2af11;ms-baba39ca95aa09893dc0;ms-61cb49c57a8600267d61", + "expert_regret": 1.4018269181251526, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5bc4935790fb8ef7b81", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4018269181251526, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5981730818748474, + "restore_error": 1.1920928955078125e-07, + "score": 0.5981730818748474, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6065253019332886, + "candidate_source_group_id": "ms-b4f96b4975ceb839c5e3;ms-3c87c16acc91c68c522f;ms-e6e8b4cdcadec645d910;ms-d1960368ef76bbb10669;ms-68067370d3b20b9bd4e2;ms-77536801924a2a78688e", + "expert_regret": 1.8288904428482056, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6af11918833ace7c694", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8288904428482056, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17110955715179443, + "restore_error": 1.1920928955078125e-07, + "score": 0.17110955715179443, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + } + ], + "seed": 0, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 210, + "retrieval_residual_residual_near_miss": 79, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 77, + "retrieval_residual_residual_no_op": 49, + "retrieval_residual_residual_wrong_gripper": 160 + }, + "selected_residual_scale_counts": { + "0.35": 339, + "0.4": 84, + "0.45": 152 + }, + "selection_margin": 0.0, + "selection_mode": "retrieval_residual", + "split": "validation_groups" +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_trainsplit800_oraclek4.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_trainsplit800_oraclek4.json new file mode 100644 index 0000000000000000000000000000000000000000..767b9e3f062e01ea1fc1ab02f4bb12da9462e9cc --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_trainsplit800_oraclek4.json @@ -0,0 +1,74658 @@ +{ + "action_mse_to_best": 0.41949988981999925, + "backbone_model": null, + "backbone_type": "native", + "candidate_oracle_best_branch_rank": 1.6575, + "candidate_oracle_best_branch_rank_counts": { + "1": 520, + "2": 110, + "3": 94, + "4": 76 + }, + "candidate_oracle_branch_progress": [ + 0.6325451424196364, + 0.5938228893466294, + 0.5836961420884472, + 0.5642562369937004 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.057472253337036816, + -0.07259900007164105, + -0.09453890558517741 + ], + "candidate_oracle_branch_scores": [ + 0.9475451424196365, + 0.8900728893466294, + 0.8749461420884472, + 0.8530062369937005 + ], + "candidate_oracle_branch_success_rates": [ + 0.315, + 0.29625, + 0.29125, + 0.28875 + ], + "candidate_oracle_improvement_rate": 0.35, + "candidate_oracle_progress": 0.6703991069295444, + "candidate_oracle_regret": 0.9010071606724523, + "candidate_oracle_restore_max_error": 4.76837158203125e-07, + "candidate_oracle_rollouts": 4, + "candidate_oracle_score": 1.0441491069295443, + "candidate_oracle_score_gain_over_selected": 0.0966039634635672, + "candidate_oracle_selected_branch_progress": 0.6325451424196364, + "candidate_oracle_selected_branch_success_rate": 0.315, + "candidate_oracle_success_rate": 0.37375, + "candidate_oracle_type_counts": { + "retrieval_residual_policy_residual": 327, + "retrieval_residual_residual_near_miss": 84, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 67, + "retrieval_residual_residual_no_op": 61, + "retrieval_residual_residual_wrong_gripper": 261 + }, + "candidate_oracle_unique_count": 4.0, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_sigma": 0.0, + "candidate_type_bonus_components": false, + "candidate_type_bonuses": {}, + "candidate_type_bonuses_by_task": {}, + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_0/best_transport.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "expert_success_rate": 0.89125, + "field_optim_l2_penalty": 0.0, + "field_optim_step_size": 0.0, + "field_optim_steps": 0, + "field_optim_trust_radius": 0.0, + "field_rank_biases_by_task": {}, + "group_batch_size": 8, + "lattice_exclude_type_tasks": {}, + "lattice_exclude_types": [ + "residual_random_negative", + "residual_wrong_direction", + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper" + ], + "num_candidates": 48, + "num_groups": 800, + "objective": "lattice_field", + "observation_mode": "state", + "oracle_success_rate": 0.945, + "per_task": { + "LiftPegUpright-v1": { + "action_mse_to_best": 0.35840489213971916, + "candidate_oracle_best_branch_rank": 1.5930521091811414, + "candidate_oracle_best_branch_rank_counts": { + "1": 272, + "2": 60, + "3": 34, + "4": 37 + }, + "candidate_oracle_branch_progress": [ + 0.6168948611239937, + 0.5420485835882926, + 0.5237520326012122, + 0.5007844024127529 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.11454851089724832, + -0.14277061919864295, + -0.160775471266091 + ], + "candidate_oracle_branch_scores": [ + 0.8451827023150608, + 0.7306341915287392, + 0.7024120822290038, + 0.6844072311968721 + ], + "candidate_oracle_branch_success_rates": [ + 0.228287841191067, + 0.18858560794044665, + 0.17866004962779156, + 0.18362282878411912 + ], + "candidate_oracle_improvement_rate": 0.3250620347394541, + "candidate_oracle_progress": 0.6594713013757842, + "candidate_oracle_regret": 0.9728019961870042, + "candidate_oracle_restore_max_error": 4.76837158203125e-07, + "candidate_oracle_score": 0.9646822194899282, + "candidate_oracle_score_gain_over_selected": 0.11949951569584404, + "candidate_oracle_selected_branch_progress": 0.6168948611239937, + "candidate_oracle_selected_branch_success_rate": 0.228287841191067, + "candidate_oracle_success_rate": 0.3052109181141439, + "candidate_oracle_type_counts": { + "retrieval_residual_policy_residual": 251, + "retrieval_residual_residual_near_miss": 44, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 7, + "retrieval_residual_residual_no_op": 49, + "retrieval_residual_residual_wrong_gripper": 52 + }, + "candidate_oracle_unique_count": 4.0, + "expert_success_rate": 0.8387096774193549, + "num_groups": 403, + "oracle_success_rate": 0.9280397022332506, + "policy_expert_regret": 0.9945661361992507, + "policy_oracle_regret": 1.0802590866242685, + "policy_rollout_progress": 0.6176222640808403, + "policy_rollout_success_rate": 0.23325062034739455, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "action_mse_to_best": 0.48151823759116513, + "candidate_oracle_best_branch_rank": 1.7229219143576826, + "candidate_oracle_best_branch_rank_counts": { + "1": 248, + "2": 50, + "3": 60, + "4": 39 + }, + "candidate_oracle_branch_progress": [ + 0.6484319518960698, + 0.6463796783154196, + 0.6445462078903509, + 0.6286873436338059 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0004666176875607493, + -0.0013668526958683575, + -0.027301283495988045 + ], + "candidate_oracle_branch_scores": [ + 1.0514546219212586, + 1.051921240028266, + 1.0500877696031972, + 1.0241533385960224 + ], + "candidate_oracle_branch_success_rates": [ + 0.40302267002518893, + 0.40554156171284633, + 0.40554156171284633, + 0.3954659949622166 + ], + "candidate_oracle_improvement_rate": 0.37531486146095716, + "candidate_oracle_progress": 0.6814920682347466, + "candidate_oracle_regret": 0.8281272646715344, + "candidate_oracle_restore_max_error": 4.76837158203125e-07, + "candidate_oracle_score": 1.1248170052624544, + "candidate_oracle_score_gain_over_selected": 0.07336238273407711, + "candidate_oracle_selected_branch_progress": 0.6484319518960698, + "candidate_oracle_selected_branch_success_rate": 0.40302267002518893, + "candidate_oracle_success_rate": 0.4433249370277078, + "candidate_oracle_type_counts": { + "retrieval_residual_policy_residual": 76, + "retrieval_residual_residual_near_miss": 40, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 60, + "retrieval_residual_residual_no_op": 12, + "retrieval_residual_residual_wrong_gripper": 209 + }, + "candidate_oracle_unique_count": 4.0, + "expert_success_rate": 0.9445843828715366, + "num_groups": 397, + "oracle_success_rate": 0.9622166246851386, + "policy_expert_regret": 0.8839382542480226, + "policy_oracle_regret": 0.90509452410793, + "policy_rollout_progress": 0.6462954507882632, + "policy_rollout_success_rate": 0.3979848866498741, + "restore_max_error": 2.384185791015625e-07 + } + }, + "policy_expert_regret": 0.9396670497809538, + "policy_oracle_regret": 0.9933336724755355, + "policy_rollout_progress": 0.6318513329843989, + "policy_rollout_success_rate": 0.315, + "prepend_policy_candidate": false, + "proposal_lattice_types": [], + "proposal_types": [], + "restore_max_error": 2.384185791015625e-07, + "retrieval_metric": "raw", + "retrieval_neighbors": 6, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_anchor": "expert", + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_type_tasks": {}, + "retrieval_residual_challenger_types": [], + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_by_task": { + "*": 0.0, + "PickCube-v1": 0.01, + "StackCube-v1": 0.05 + }, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "rows": [ + { + "action_mse_to_best": 0.41805320978164673, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.2064604014158249, + 0.21216726303100586, + 0.2122144103050232, + 0.2121446430683136 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.005706861615180969, + 0.005754008889198303, + 0.0056842416524887085 + ], + "candidate_oracle_branch_scores": [ + 0.2064604014158249, + 0.21216726303100586, + 0.2122144103050232, + 0.2121446430683136 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.7725287675857544, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.5745186805725098, + -1.713266372680664, + -1.7725287675857544, + -1.8258209228515625 + ], + "candidate_oracle_progress": 0.2122144103050232, + "candidate_oracle_regret": 1.7877855896949768, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 3.762543201446533e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2122144103050232, + "candidate_oracle_score_gain_over_selected": 0.005754008889198303, + "candidate_oracle_selected_branch_progress": 0.2064604014158249, + "candidate_oracle_selected_branch_score": 0.2064604014158249, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-83c0299c23fa800452c7;ms-3af721139694f7f3ec04;ms-ba9541c7192498a1d8bd;ms-68c63442972f322789b5;ms-89520c3ac8779d9e81e7;ms-251c1dfd1010906f559f", + "expert_regret": 1.793539047241211, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0a8109ce7ab2ddc1bb1e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.793539047241211, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20646095275878906, + "restore_error": 2.384185791015625e-07, + "score": 0.20646095275878906, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2989463210105896, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.610381007194519, + 0.46098577976226807, + 0.35081660747528076, + 0.29913759231567383 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.14939522743225098, + -0.2595643997192383, + -0.3112434148788452 + ], + "candidate_oracle_branch_scores": [ + 0.610381007194519, + 0.46098577976226807, + 0.35081660747528076, + 0.29913759231567383 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9947866201400757, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9947866201400757, + -1.2925238609313965, + -1.3452389240264893, + -1.4019603729248047 + ], + "candidate_oracle_progress": 0.610381007194519, + "candidate_oracle_regret": 1.389618992805481, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.762543201446533e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.610381007194519, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.610381007194519, + "candidate_oracle_selected_branch_score": 0.610381007194519, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0251a326271aa1cab82b;ms-55e89d326b6531345902;ms-09b2d832d7823c11fd22;ms-d602b7370c5b90f8a439;ms-3176a570b75767d1d729;ms-e705fef3e4caa4c49718", + "expert_regret": 1.3850482106208801, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-52ea0261959dfacdbcac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3850482106208801, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6149517893791199, + "restore_error": 2.384185791015625e-07, + "score": 0.6149517893791199, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.09905349463224411, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7258145213127136, + 0.7257663607597351, + 0.7242164611816406 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2741854190826416, + -1.2742335796356201, + -1.2757835388183594 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7258145213127136, + 0.7257663607597351, + 0.7242164611816406 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.1359732449054718, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.1359732449054718, + -0.8023008108139038, + -0.9492783546447754, + -0.96555495262146 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 3.762543201446533e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cbd6cc8b2708d5e3e4a9;ms-83c62951219e6599b630;ms-a6cf775fbba580161c4e;ms-2286d9cf8d88e878c4d7;ms-577341cca32521f4045e;ms-487d0fe2a13fb699dd7a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b8956f04f70d6eeecb07", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.43059009313583374, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7239843606948853, + 0.5764297842979431, + 0.38397645950317383, + 0.2992090582847595 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.14755457639694214, + -0.3400079011917114, + -0.42477530241012573 + ], + "candidate_oracle_branch_scores": [ + 0.7239843606948853, + 0.5764297842979431, + 0.38397645950317383, + 0.2992090582847595 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4733782112598419, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4733782112598419, + -0.909410834312439, + -0.9954737424850464, + -1.0730398893356323 + ], + "candidate_oracle_progress": 0.7239843606948853, + "candidate_oracle_regret": 1.2760156393051147, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.762543201446533e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7239843606948853, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7239843606948853, + "candidate_oracle_selected_branch_score": 0.7239843606948853, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-131a98e2d4a78a9645f8;ms-3661d65df223386f1be9;ms-136f1ebebd0b697c3310;ms-8bab784ae53525967763;ms-ea164b21572d39ffed58;ms-3db845076f92a16d1840", + "expert_regret": 1.2868061065673828, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29027a8e3742362fd477", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2868061065673828, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7131938934326172, + "restore_error": 2.384185791015625e-07, + "score": 0.7131938934326172, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.14709486067295074, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7220973968505859, + 0.723236083984375, + 0.7204513549804688, + 0.7211260795593262 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0011386871337890625, + -0.0016460418701171875, + -0.0009713172912597656 + ], + "candidate_oracle_branch_scores": [ + 0.7220973968505859, + 0.723236083984375, + 0.7204513549804688, + 0.7211260795593262 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6270697116851807, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.31792667508125305, + -0.6270697116851807, + -0.6383116245269775, + -0.6412650346755981 + ], + "candidate_oracle_progress": 0.723236083984375, + "candidate_oracle_regret": 1.276763916015625, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.762543201446533e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.723236083984375, + "candidate_oracle_score_gain_over_selected": 0.0011386871337890625, + "candidate_oracle_selected_branch_progress": 0.7220973968505859, + "candidate_oracle_selected_branch_score": 0.7220973968505859, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-118ba8926eda06ffc61e;ms-28c139f34a954b692962;ms-832f0e966173abd16c34;ms-ea164b21572d39ffed58;ms-8d3d849234ceb98c3dc1;ms-bbefdf03d0471be60f8f", + "expert_regret": 1.2786067128181458, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b0302a41f75a827cd4e4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2786067128181458, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7213932871818542, + "restore_error": 2.384185791015625e-07, + "score": 0.7213932871818542, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35933414101600647, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.23379254341125488, + 0.25300484895706177, + 0.2532590925693512, + 0.2540021538734436 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.019212305545806885, + 0.019466549158096313, + 0.02020961046218872 + ], + "candidate_oracle_branch_scores": [ + 0.23379254341125488, + 0.25300484895706177, + 0.2532590925693512, + 0.2540021538734436 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.1761291027069092, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 3, + 19, + 33 + ], + "candidate_oracle_potentials": [ + -0.8424005508422852, + -1.1360747814178467, + -1.1606063842773438, + -1.1761291027069092 + ], + "candidate_oracle_progress": 0.2540021538734436, + "candidate_oracle_regret": 1.7459978461265564, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.762543201446533e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2540021538734436, + "candidate_oracle_score_gain_over_selected": 0.02020961046218872, + "candidate_oracle_selected_branch_progress": 0.23379254341125488, + "candidate_oracle_selected_branch_score": 0.23379254341125488, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-88f748134c3fd27fcf72;ms-5b0141f336d28927cf31;ms-1e41619ab39cf51b7822;ms-ef8de99d917753ec603c;ms-3661d65df223386f1be9;ms-131a98e2d4a78a9645f8", + "expert_regret": 1.7661888748407364, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-043a17d678e610264bb8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7661888748407364, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2338111251592636, + "restore_error": 2.384185791015625e-07, + "score": 0.2338111251592636, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.06125321611762047, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6438268423080444, + 0.2003478854894638, + 0.20028945803642273, + 0.20022283494472504 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.44347894191741943, + -0.4435373842716217, + -0.4436039924621582 + ], + "candidate_oracle_branch_scores": [ + 0.6438268423080444, + 0.2003478854894638, + 0.20028945803642273, + 0.20022283494472504 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.793043851852417, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.793043851852417, + -2.0557873249053955, + -2.078425884246826, + -2.098266363143921 + ], + "candidate_oracle_progress": 0.6438268423080444, + "candidate_oracle_regret": 0.07824403047561646, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.762543201446533e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6438268423080444, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6438268423080444, + "candidate_oracle_selected_branch_score": 0.6438268423080444, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c2c265f2f5013746eaa1;ms-251c1dfd1010906f559f;ms-83c0299c23fa800452c7;ms-68d9596217cc37c949c4;ms-ba9541c7192498a1d8bd;ms-68c63442972f322789b5", + "expert_regret": 0.08459758758544922, + "expert_score": 0.7199013233184814, + "expert_success": false, + "group_id": "ms-cce5ef6cfa69a08a1e05", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.08676713705062866, + "oracle_score": 0.7220708727836609, + "oracle_success": false, + "progress": 0.6353037357330322, + "restore_error": 2.384185791015625e-07, + "score": 0.6353037357330322, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.21948562562465668, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.4675625264644623, + 0.6168810129165649, + 0.5013836622238159, + 0.42613399028778076 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.14931848645210266, + 0.03382113575935364, + -0.04142853617668152 + ], + "candidate_oracle_branch_scores": [ + 0.4675625264644623, + 0.6168810129165649, + 0.5013836622238159, + 0.42613399028778076 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.214674472808838, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.0675113201141357, + -1.214674472808838, + -1.2613526582717896, + -1.2750818729400635 + ], + "candidate_oracle_progress": 0.6168810129165649, + "candidate_oracle_regret": 1.383118987083435, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 3.762543201446533e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6168810129165649, + "candidate_oracle_score_gain_over_selected": 0.14931848645210266, + "candidate_oracle_selected_branch_progress": 0.4675625264644623, + "candidate_oracle_selected_branch_score": 0.4675625264644623, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0251a326271aa1cab82b;ms-64a755437c34f39cda2a;ms-e705fef3e4caa4c49718;ms-09b2d832d7823c11fd22;ms-55e89d326b6531345902;ms-3f6e7085c865144a7408", + "expert_regret": 1.5324411392211914, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eeeff97e2c39be877cb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5324411392211914, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4675588607788086, + "restore_error": 2.384185791015625e-07, + "score": 0.4675588607788086, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.02803284116089344, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.34228307008743286, + 0.2644968628883362, + 0.25716927647590637, + 0.2547082304954529 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.07778620719909668, + -0.08511379361152649, + -0.08757483959197998 + ], + "candidate_oracle_branch_scores": [ + 0.34228307008743286, + 0.2644968628883362, + 0.25716927647590637, + 0.2547082304954529 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.71278977394104, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.71278977394104, + -1.065551996231079, + -1.1254119873046875, + -1.1946442127227783 + ], + "candidate_oracle_progress": 0.34228307008743286, + "candidate_oracle_regret": 1.6577169299125671, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.34228307008743286, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.34228307008743286, + "candidate_oracle_selected_branch_score": 0.34228307008743286, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b37738e210bf33a45a1d;ms-d30b515ab0ee174afa58;ms-507199452c6d42562a38;ms-780ea60ea0255941e6c8;ms-01ab68aa5051226638ee;ms-fdb2637276b27c46c757", + "expert_regret": 0.38530734181404114, + "expert_score": 0.7233090400695801, + "expert_success": false, + "group_id": "ms-c663f7e73e7e8376a05c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.661998301744461, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.33800169825553894, + "restore_error": 1.1920928955078125e-07, + "score": 0.33800169825553894, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5318336486816406, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7155927419662476, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2844072580337524, + 1.2844072580337524, + 1.2844072580337524 + ], + "candidate_oracle_branch_scores": [ + 0.7155927419662476, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.859221339225769, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.739835262298584, + -0.859221339225769, + -0.9203811883926392, + -0.998508095741272 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2844072580337524, + "candidate_oracle_selected_branch_progress": 0.7155927419662476, + "candidate_oracle_selected_branch_score": 0.7155927419662476, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-18ab33df290e3919a468;ms-ace117030ae44c474db1;ms-f539c5c30da21c875657;ms-27251a7c7f13bf165e21;ms-b60078e9e6ea9c26dedc;ms-3996b923bb25440c29e3", + "expert_regret": 1.283903956413269, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f1eb6805ec9b483bba41", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.283903956413269, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.716096043586731, + "restore_error": 1.1920928955078125e-07, + "score": 0.716096043586731, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3242022395133972, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3359914720058441, + 0.2993508577346802, + 0.2950688600540161, + 0.2914755940437317 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.03664061427116394, + -0.040922611951828, + -0.04451587796211243 + ], + "candidate_oracle_branch_scores": [ + 0.3359914720058441, + 0.2993508577346802, + 0.2950688600540161, + 0.2914755940437317 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.779180645942688, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.779180645942688, + -1.1522560119628906, + -1.2595040798187256, + -1.3833162784576416 + ], + "candidate_oracle_progress": 0.3359914720058441, + "candidate_oracle_regret": 1.6640085279941559, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3359914720058441, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3359914720058441, + "candidate_oracle_selected_branch_score": 0.3359914720058441, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3176a570b75767d1d729;ms-b55ca348be8b64323714;ms-ff012c1c8597c8db3cc7;ms-577341cca32521f4045e;ms-e56b37f0e3881a70ef54;ms-d602b7370c5b90f8a439", + "expert_regret": 1.6639968752861023, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fc9b4c94b51f8b2a521b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6639968752861023, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3360031247138977, + "restore_error": 1.1920928955078125e-07, + "score": 0.3360031247138977, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.018759440630674362, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.7494332790374756, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + 0.7494332790374756, + 0.6476067304611206, + 0.6269069910049438, + 0.6197919845581055 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-83c62951219e6599b630;ms-cbd6cc8b2708d5e3e4a9;ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-36f204d04ec4c4af3169;ms-3af721139694f7f3ec04", + "expert_regret": 0.0, + "expert_score": 0.728268027305603, + "expert_success": false, + "group_id": "ms-8864796e31bbe93d7c5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.02323986403644085, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.25341498851776123, + 0.23184534907341003, + 0.2530673146247864, + 0.23124971985816956 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.021569639444351196, + -0.0003476738929748535, + -0.022165268659591675 + ], + "candidate_oracle_branch_scores": [ + 0.25341498851776123, + 0.23184534907341003, + 0.2530673146247864, + 0.23124971985816956 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.604948878288269, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.604948878288269, + -1.1312077045440674, + -1.201606273651123, + -1.2079441547393799 + ], + "candidate_oracle_progress": 0.25341498851776123, + "candidate_oracle_regret": 0.47165560722351074, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.25341498851776123, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.25341498851776123, + "candidate_oracle_selected_branch_score": 0.25341498851776123, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-44e7935dbed5f3b3c739;ms-3db845076f92a16d1840;ms-f0d2ffde521e268efc83;ms-835bd462e505aa659d16;ms-3661d65df223386f1be9;ms-ea164b21572d39ffed58", + "expert_regret": 0.46671542525291443, + "expert_score": 0.7201105356216431, + "expert_success": false, + "group_id": "ms-3e0dbff4309ecbd35d36", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.47167548537254333, + "oracle_score": 0.725070595741272, + "oracle_success": false, + "progress": 0.25339511036872864, + "restore_error": 1.1920928955078125e-07, + "score": 0.25339511036872864, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.49196380376815796, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7063056826591492, + 0.5300403833389282, + 0.5419174432754517, + 0.5333551168441772 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.17626529932022095, + -0.1643882393836975, + -0.17295056581497192 + ], + "candidate_oracle_branch_scores": [ + 0.7063056826591492, + 0.5300403833389282, + 0.5419174432754517, + 0.5333551168441772 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0026261806488037, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0026261806488037, + -1.2440468072891235, + -1.3217192888259888, + -1.4193192720413208 + ], + "candidate_oracle_progress": 0.7063056826591492, + "candidate_oracle_regret": 1.2936943173408508, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7063056826591492, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7063056826591492, + "candidate_oracle_selected_branch_score": 0.7063056826591492, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e8de8d619c0cf5fd633e;ms-69785feff08dbf9a50be;ms-8a9e7d69f7ade362fe40;ms-18ab33df290e3919a468;ms-f539c5c30da21c875657;ms-55e89d326b6531345902", + "expert_regret": 1.2936943173408508, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-effca6c13ef9ccfd21a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2936943173408508, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7063056826591492, + "restore_error": 1.1920928955078125e-07, + "score": 0.7063056826591492, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.46714118123054504, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6835387945175171, + 0.3404284417629242, + 0.2602236568927765, + 0.2583502233028412 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.3431103527545929, + -0.4233151376247406, + -0.4251885712146759 + ], + "candidate_oracle_branch_scores": [ + 0.6835387945175171, + 0.3404284417629242, + 0.2602236568927765, + 0.2583502233028412 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8711602687835693, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.8711602687835693, + -1.679038643836975, + -1.7262449264526367, + -1.8124271631240845 + ], + "candidate_oracle_progress": 0.6835387945175171, + "candidate_oracle_regret": 1.316461205482483, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6835387945175171, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6835387945175171, + "candidate_oracle_selected_branch_score": 0.6835387945175171, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e56b37f0e3881a70ef54;ms-b55ca348be8b64323714;ms-1d728ae415a4d3cb782e;ms-ff012c1c8597c8db3cc7;ms-35d84da6eb1afcf8a811;ms-577341cca32521f4045e", + "expert_regret": 1.3072953820228577, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2f2b16367db3db120235", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3072953820228577, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6927046179771423, + "restore_error": 1.1920928955078125e-07, + "score": 0.6927046179771423, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6736279726028442, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.20212653279304504, + 0.21161918342113495, + 0.21071413159370422, + 0.20318388938903809 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.009492650628089905, + 0.00858759880065918, + 0.001057356595993042 + ], + "candidate_oracle_branch_scores": [ + 0.20212653279304504, + 0.21161918342113495, + 0.21071413159370422, + 0.20318388938903809 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.8195359706878662, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 33 + ], + "candidate_oracle_potentials": [ + -1.6055306196212769, + -1.8195359706878662, + -1.8442109823226929, + -1.8633999824523926 + ], + "candidate_oracle_progress": 0.21161918342113495, + "candidate_oracle_regret": 1.788380816578865, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21161918342113495, + "candidate_oracle_score_gain_over_selected": 0.009492650628089905, + "candidate_oracle_selected_branch_progress": 0.20212653279304504, + "candidate_oracle_selected_branch_score": 0.20212653279304504, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e2f90eb6c79dfd9ce6fd;ms-8a9e7d69f7ade362fe40;ms-ace117030ae44c474db1;ms-27251a7c7f13bf165e21;ms-69785feff08dbf9a50be;ms-b60078e9e6ea9c26dedc", + "expert_regret": 1.7978732883930206, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf2603516869355b8b13", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7978732883930206, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20212671160697937, + "restore_error": 1.1920928955078125e-07, + "score": 0.20212671160697937, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3880667984485626, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7155578136444092, + 0.22849208116531372, + 0.22965404391288757, + 0.22995537519454956 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.48706573247909546, + -0.4859037697315216, + -0.4856024384498596 + ], + "candidate_oracle_branch_scores": [ + 0.7155578136444092, + 0.22849208116531372, + 0.22965404391288757, + 0.22995537519454956 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5533167123794556, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5533167123794556, + -0.8178583383560181, + -0.8494020700454712, + -0.8771146535873413 + ], + "candidate_oracle_progress": 0.7155578136444092, + "candidate_oracle_regret": 1.2844421863555908, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.862645149230957e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7155578136444092, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7155578136444092, + "candidate_oracle_selected_branch_score": 0.7155578136444092, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d26dc2146eb8ae9a5434;ms-9fd14cc61816c2d4360e;ms-690f52acc6ead9c7c078;ms-8bab784ae53525967763;ms-051860c228aa5160d5a6;ms-131a98e2d4a78a9645f8", + "expert_regret": 1.289931058883667, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a20322ed13a2be7a99c6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.289931058883667, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.710068941116333, + "restore_error": 1.1920928955078125e-07, + "score": 0.710068941116333, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.276460736989975, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.027120620012283325, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 40, + 24, + 8 + ], + "candidate_oracle_potentials": [ + -0.027120620012283325, + -0.1719161868095398, + -0.25408869981765747, + -0.33487221598625183 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.862645149230957e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-118ba8926eda06ffc61e;ms-61c099575bcff2de95e3;ms-28c139f34a954b692962;ms-8f24ad2e217963943c12;ms-136f1ebebd0b697c3310;ms-145f60d5fff285e7d05b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a1a99e83fb2868164e40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6190986633300781, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.7262934446334839 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.2737065553665161 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.7262934446334839 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.4233759641647339, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 40 + ], + "candidate_oracle_potentials": [ + 0.4233759641647339, + 0.3938484191894531, + 0.31201475858688354, + 0.24993127584457397 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.862645149230957e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-487d0fe2a13fb699dd7a;ms-83c62951219e6599b630;ms-89520c3ac8779d9e81e7;ms-3af721139694f7f3ec04;ms-251c1dfd1010906f559f;ms-ba9541c7192498a1d8bd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-938b53ef53e669518a56", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4266532361507416, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.3850972354412079, + 0.4722965657711029, + 0.45030802488327026, + 0.37079495191574097 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.08719933032989502, + 0.06521078944206238, + -0.014302283525466919 + ], + "candidate_oracle_branch_scores": [ + 0.3850972354412079, + 0.4722965657711029, + 0.45030802488327026, + 0.37079495191574097 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8863413333892822, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7752569913864136, + -0.8863413333892822, + -0.9293900728225708, + -0.9893167018890381 + ], + "candidate_oracle_progress": 0.4722965657711029, + "candidate_oracle_regret": 1.527703434228897, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.862645149230957e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4722965657711029, + "candidate_oracle_score_gain_over_selected": 0.08719933032989502, + "candidate_oracle_selected_branch_progress": 0.3850972354412079, + "candidate_oracle_selected_branch_score": 0.3850972354412079, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-18ab33df290e3919a468;ms-f539c5c30da21c875657;ms-3f6e7085c865144a7408;ms-3996b923bb25440c29e3;ms-d602b7370c5b90f8a439;ms-69785feff08dbf9a50be", + "expert_regret": 1.6148417592048645, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6d6456c45f9f3ae74b50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6148417592048645, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3851582407951355, + "restore_error": 1.1920928955078125e-07, + "score": 0.3851582407951355, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2315671443939209, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.0739859789609909, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 19, + 35, + 3 + ], + "candidate_oracle_potentials": [ + -0.0739859789609909, + -0.3468177616596222, + -0.38021978735923767, + -0.40945735573768616 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.862645149230957e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cbd6cc8b2708d5e3e4a9;ms-83c62951219e6599b630;ms-36f204d04ec4c4af3169;ms-14dabc3ac1e1a339ebe4;ms-89520c3ac8779d9e81e7;ms-3af721139694f7f3ec04", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-73906fdb1ffcfbe4aaf4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.26840952038764954, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.725502610206604, + 0.7272415161132812, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.001738905906677246, + 1.274497389793396, + 1.274497389793396 + ], + "candidate_oracle_branch_scores": [ + 0.725502610206604, + 0.7272415161132812, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2028017044067383, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.0465648174285889, + -1.1739059686660767, + -1.2028017044067383, + -1.2137088775634766 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.862645149230957e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.274497389793396, + "candidate_oracle_selected_branch_progress": 0.725502610206604, + "candidate_oracle_selected_branch_score": 0.725502610206604, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0251a326271aa1cab82b;ms-09b2d832d7823c11fd22;ms-3176a570b75767d1d729;ms-e705fef3e4caa4c49718;ms-55e89d326b6531345902;ms-3f6e7085c865144a7408", + "expert_regret": 1.274497389793396, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cba95475cb68ea42b041", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.274497389793396, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.725502610206604, + "restore_error": 1.1920928955078125e-07, + "score": 0.725502610206604, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4480810761451721, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.6952217817306519, + 0.7013153433799744, + 0.3241536617279053, + 0.3170281946659088 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00609356164932251, + -0.3710681200027466, + -0.37819358706474304 + ], + "candidate_oracle_branch_scores": [ + 0.6952217817306519, + 0.7013153433799744, + 0.3241536617279053, + 0.3170281946659088 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.8996186256408691, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.349753499031067, + -1.8996186256408691, + -1.921492338180542, + -1.9626085758209229 + ], + "candidate_oracle_progress": 0.7013153433799744, + "candidate_oracle_regret": 1.2986846566200256, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.862645149230957e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7013153433799744, + "candidate_oracle_score_gain_over_selected": 0.00609356164932251, + "candidate_oracle_selected_branch_progress": 0.6952217817306519, + "candidate_oracle_selected_branch_score": 0.6952217817306519, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8a9e7d69f7ade362fe40;ms-69785feff08dbf9a50be;ms-e2f90eb6c79dfd9ce6fd;ms-e8de8d619c0cf5fd633e;ms-ace117030ae44c474db1;ms-18ab33df290e3919a468", + "expert_regret": 1.3045265674591064, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1955408aeb8a8a4d0847", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3045265674591064, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6954734325408936, + "restore_error": 1.1920928955078125e-07, + "score": 0.6954734325408936, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3125140368938446, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.7291830778121948, + 0.688208281993866 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.2708169221878052, + -1.3117916584014893 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.7291830778121948, + 0.688208281993866 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.09920980036258698, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.09920980036258698, + -0.29445013403892517, + -0.3487813174724579, + -0.40864935517311096 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.862645149230957e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bbefdf03d0471be60f8f;ms-ea164b21572d39ffed58;ms-06cb0796d1097e6ca111;ms-136f1ebebd0b697c3310;ms-131a98e2d4a78a9645f8;ms-051860c228aa5160d5a6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-31fe1d98bc7adcd515db", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4039357602596283, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7290477752685547, + 0.6920719146728516, + 0.203868567943573, + 0.20451679825782776 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.036975860595703125, + -0.5251792073249817, + -0.5245310068130493 + ], + "candidate_oracle_branch_scores": [ + 0.7290477752685547, + 0.6920719146728516, + 0.203868567943573, + 0.20451679825782776 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3131293058395386, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.3131293058395386, + -1.6676218509674072, + -1.7030785083770752, + -1.7353227138519287 + ], + "candidate_oracle_progress": 0.7290477752685547, + "candidate_oracle_regret": 1.2709522247314453, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7290477752685547, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7290477752685547, + "candidate_oracle_selected_branch_score": 0.7290477752685547, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-251c1dfd1010906f559f;ms-320d99264926ea029f95;ms-89520c3ac8779d9e81e7;ms-83c0299c23fa800452c7;ms-68d9596217cc37c949c4;ms-29a11d7bdcf49c86bd7a", + "expert_regret": 1.2709187269210815, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-30e2d8b7825053276e0c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2709187269210815, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7290812730789185, + "restore_error": 1.1920928955078125e-07, + "score": 0.7290812730789185, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2812767028808594, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7138053774833679, + 0.7119772434234619, + 0.5983313322067261, + 0.5009680986404419 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0018281340599060059, + -0.11547404527664185, + -0.21283727884292603 + ], + "candidate_oracle_branch_scores": [ + 0.7138053774833679, + 0.7119772434234619, + 0.5983313322067261, + 0.5009680986404419 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7675343751907349, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7675343751907349, + -0.9478609561920166, + -0.9913320541381836, + -1.050513505935669 + ], + "candidate_oracle_progress": 0.7138053774833679, + "candidate_oracle_regret": 1.286194622516632, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7138053774833679, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7138053774833679, + "candidate_oracle_selected_branch_score": 0.7138053774833679, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3176a570b75767d1d729;ms-09b2d832d7823c11fd22;ms-d602b7370c5b90f8a439;ms-ff012c1c8597c8db3cc7;ms-55e89d326b6531345902;ms-b55ca348be8b64323714", + "expert_regret": 1.286403238773346, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b025d8068f740557d630", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.286403238773346, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.713596761226654, + "restore_error": 1.1920928955078125e-07, + "score": 0.713596761226654, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4247751832008362, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3850058913230896, + 0.3533015251159668, + 0.37606239318847656, + 0.3390572965145111 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0317043662071228, + -0.008943498134613037, + -0.04594859480857849 + ], + "candidate_oracle_branch_scores": [ + 0.3850058913230896, + 0.3533015251159668, + 0.37606239318847656, + 0.3390572965145111 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5143322944641113, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5143322944641113, + -0.9173620939254761, + -0.9924638271331787, + -1.058185338973999 + ], + "candidate_oracle_progress": 0.3850058913230896, + "candidate_oracle_regret": 1.6149941086769104, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3850058913230896, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3850058913230896, + "candidate_oracle_selected_branch_score": 0.3850058913230896, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3661d65df223386f1be9;ms-131a98e2d4a78a9645f8;ms-4dc9ab19fbe571f09699;ms-3db845076f92a16d1840;ms-ef8de99d917753ec603c;ms-7cd314f076bfe5c32088", + "expert_regret": 1.5881787836551666, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c638b9bb924547f69cb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5881787836551666, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4118212163448334, + "restore_error": 1.1920928955078125e-07, + "score": 0.4118212163448334, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.46558502316474915, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7125949263572693, + 0.6769487261772156, + 0.7109682559967041, + 0.5423060655593872 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.03564620018005371, + -0.0016266703605651855, + -0.17028886079788208 + ], + "candidate_oracle_branch_scores": [ + 0.7125949263572693, + 0.6769487261772156, + 0.7109682559967041, + 0.5423060655593872 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3811419010162354, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -1.3811419010162354, + -1.7767618894577026, + -1.8059372901916504, + -1.8143165111541748 + ], + "candidate_oracle_progress": 0.7125949263572693, + "candidate_oracle_regret": 1.2874050736427307, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7125949263572693, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7125949263572693, + "candidate_oracle_selected_branch_score": 0.7125949263572693, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-29a11d7bdcf49c86bd7a;ms-320d99264926ea029f95;ms-e1b6bcb41532a800d3cb;ms-251c1dfd1010906f559f;ms-68d9596217cc37c949c4;ms-83c0299c23fa800452c7", + "expert_regret": 1.2873796224594116, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c2b904f450b45e2a8c9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2873796224594116, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7126203775405884, + "restore_error": 1.1920928955078125e-07, + "score": 0.7126203775405884, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3642561733722687, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7124029994010925, + 0.37706300616264343, + 0.23223137855529785, + 0.22671400010585785 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.3353399932384491, + -0.4801716208457947, + -0.4856889843940735 + ], + "candidate_oracle_branch_scores": [ + 0.7124029994010925, + 0.37706300616264343, + 0.23223137855529785, + 0.22671400010585785 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5344263315200806, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5344263315200806, + -0.8044201135635376, + -0.8407852649688721, + -0.8720474243164062 + ], + "candidate_oracle_progress": 0.7124029994010925, + "candidate_oracle_regret": 1.2875970005989075, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7124029994010925, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7124029994010925, + "candidate_oracle_selected_branch_score": 0.7124029994010925, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d26dc2146eb8ae9a5434;ms-9fd14cc61816c2d4360e;ms-8bab784ae53525967763;ms-051860c228aa5160d5a6;ms-491aad3896ede89ea0dd;ms-690f52acc6ead9c7c078", + "expert_regret": 1.2928531169891357, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ef5d3238b33bdebae4d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2928531169891357, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7071468830108643, + "restore_error": 1.1920928955078125e-07, + "score": 0.7071468830108643, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.284624308347702, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7292767763137817, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2707232236862183, + 1.2707232236862183, + 1.2707232236862183 + ], + "candidate_oracle_branch_scores": [ + 0.7292767763137817, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.4829653203487396, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 4 + ], + "candidate_oracle_potentials": [ + -0.09729839861392975, + -0.4829653203487396, + -0.5283323526382446, + -0.5356665849685669 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2707232236862183, + "candidate_oracle_selected_branch_progress": 0.7292767763137817, + "candidate_oracle_selected_branch_score": 0.7292767763137817, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a4398375c43dbf887b1;ms-145f60d5fff285e7d05b;ms-118ba8926eda06ffc61e;ms-28c139f34a954b692962;ms-575bd87a5da90963019d;ms-8f24ad2e217963943c12", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-aee5716b3e4fc47e46ba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2710959017276764, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.3277301788330078, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + 0.3277301788330078, + 0.30899178981781006, + 0.26719439029693604, + 0.22530582547187805 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6cf775fbba580161c4e;ms-cbd6cc8b2708d5e3e4a9;ms-2286d9cf8d88e878c4d7;ms-83c62951219e6599b630;ms-577341cca32521f4045e;ms-487d0fe2a13fb699dd7a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4abb3dced67d5a70fa38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.04660525545477867, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5249770879745483, + 0.4632537364959717, + 0.4433966279029846, + 0.4289606213569641 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.06172335147857666, + -0.08158046007156372, + -0.09601646661758423 + ], + "candidate_oracle_branch_scores": [ + 0.5249770879745483, + 0.4632537364959717, + 0.4433966279029846, + 0.4289606213569641 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8674957752227783, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8674957752227783, + -1.1123814582824707, + -1.1852571964263916, + -1.2709991931915283 + ], + "candidate_oracle_progress": 0.5249770879745483, + "candidate_oracle_regret": 1.4750229120254517, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5249770879745483, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5249770879745483, + "candidate_oracle_selected_branch_score": 0.5249770879745483, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3f6e7085c865144a7408;ms-f539c5c30da21c875657;ms-18ab33df290e3919a468;ms-09b2d832d7823c11fd22;ms-3996b923bb25440c29e3;ms-d602b7370c5b90f8a439", + "expert_regret": 0.19931620359420776, + "expert_score": 0.7242962718009949, + "expert_success": false, + "group_id": "ms-484ea653bbca2de3a4a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.475019931793213, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5249800682067871, + "restore_error": 1.1920928955078125e-07, + "score": 0.5249800682067871, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39728742837905884, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.2020539492368698, + 0.20345477759838104, + 0.2035840004682541, + 0.20207467675209045 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0014008283615112305, + 0.0015300512313842773, + 2.072751522064209e-05 + ], + "candidate_oracle_branch_scores": [ + 0.2020539492368698, + 0.20345477759838104, + 0.2035840004682541, + 0.20207467675209045 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.55973219871521, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 4 + ], + "candidate_oracle_potentials": [ + -1.1220237016677856, + -1.5308338403701782, + -1.55973219871521, + -1.5673692226409912 + ], + "candidate_oracle_progress": 0.2035840004682541, + "candidate_oracle_regret": 0.5251754075288773, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2035840004682541, + "candidate_oracle_score_gain_over_selected": 0.0015300512313842773, + "candidate_oracle_selected_branch_progress": 0.2020539492368698, + "candidate_oracle_selected_branch_score": 0.2020539492368698, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-69785feff08dbf9a50be;ms-e8de8d619c0cf5fd633e;ms-8a9e7d69f7ade362fe40;ms-ace117030ae44c474db1;ms-18ab33df290e3919a468;ms-f539c5c30da21c875657", + "expert_regret": 0.5267056226730347, + "expert_score": 0.7287594079971313, + "expert_success": false, + "group_id": "ms-01926c30568d417edd91", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5267056226730347, + "oracle_score": 0.7287594079971313, + "oracle_success": false, + "progress": 0.20205378532409668, + "restore_error": 1.1920928955078125e-07, + "score": 0.20205378532409668, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.335590124130249, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.575285792350769, + 0.72432941198349, + 0.7238285541534424, + 0.20482347905635834 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.14904361963272095, + 0.14854276180267334, + -0.3704622983932495 + ], + "candidate_oracle_branch_scores": [ + 0.575285792350769, + 0.72432941198349, + 0.7238285541534424, + 0.20482347905635834 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2430131435394287, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0303815603256226, + -1.2430131435394287, + -1.3059089183807373, + -1.3814880847930908 + ], + "candidate_oracle_progress": 0.72432941198349, + "candidate_oracle_regret": 1.27567058801651, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.72432941198349, + "candidate_oracle_score_gain_over_selected": 0.14904361963272095, + "candidate_oracle_selected_branch_progress": 0.575285792350769, + "candidate_oracle_selected_branch_score": 0.575285792350769, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e705fef3e4caa4c49718;ms-69785feff08dbf9a50be;ms-64a755437c34f39cda2a;ms-55e89d326b6531345902;ms-09b2d832d7823c11fd22;ms-e8de8d619c0cf5fd633e", + "expert_regret": 1.4251569509506226, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-88f7199271947fc4c7e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4251569509506226, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5748430490493774, + "restore_error": 1.1920928955078125e-07, + "score": 0.5748430490493774, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5859612226486206, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5746570825576782, + 0.6940116286277771, + 0.6809584498405457, + 0.5281658172607422 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.11935454607009888, + 0.10630136728286743, + -0.046491265296936035 + ], + "candidate_oracle_branch_scores": [ + 0.5746570825576782, + 0.6940116286277771, + 0.6809584498405457, + 0.5281658172607422 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0958714485168457, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8722877502441406, + -1.0958714485168457, + -1.1827423572540283, + -1.2761270999908447 + ], + "candidate_oracle_progress": 0.6940116286277771, + "candidate_oracle_regret": 1.305988371372223, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6940116286277771, + "candidate_oracle_score_gain_over_selected": 0.11935454607009888, + "candidate_oracle_selected_branch_progress": 0.5746570825576782, + "candidate_oracle_selected_branch_score": 0.5746570825576782, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ace117030ae44c474db1;ms-18ab33df290e3919a468;ms-27251a7c7f13bf165e21;ms-f539c5c30da21c875657;ms-b60078e9e6ea9c26dedc;ms-69785feff08dbf9a50be", + "expert_regret": 1.5191587507724762, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-639913ac0e6b3997faae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5191587507724762, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4808412492275238, + "restore_error": 1.1920928955078125e-07, + "score": 0.4808412492275238, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5272186994552612, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.2087165117263794, + 0.2189650535583496, + 0.21831819415092468, + 0.21201840043067932 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.010248541831970215, + 0.009601682424545288, + 0.0033018887042999268 + ], + "candidate_oracle_branch_scores": [ + 0.2087165117263794, + 0.2189650535583496, + 0.21831819415092468, + 0.21201840043067932 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.6649073362350464, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 1 + ], + "candidate_oracle_potentials": [ + -1.4036763906478882, + -1.6649073362350464, + -1.7026190757751465, + -1.7331047058105469 + ], + "candidate_oracle_progress": 0.2189650535583496, + "candidate_oracle_regret": 1.7810349464416504, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2189650535583496, + "candidate_oracle_score_gain_over_selected": 0.010248541831970215, + "candidate_oracle_selected_branch_progress": 0.2087165117263794, + "candidate_oracle_selected_branch_score": 0.2087165117263794, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cf44ae14778c60c36af0;ms-9f4b47c80d59166302ab;ms-b60078e9e6ea9c26dedc;ms-27251a7c7f13bf165e21;ms-c9e0182d4090ddaa991c;ms-b04b489f4fbad93b65ca", + "expert_regret": 1.791283518075943, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1a2d298bf9972ddc1a7e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.791283518075943, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.208716481924057, + "restore_error": 1.1920928955078125e-07, + "score": 0.208716481924057, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4326254725456238, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.39663633704185486, + 0.2015993297100067, + 0.33539721369743347, + 0.3289969861507416 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.19503700733184814, + -0.06123912334442139, + -0.06763935089111328 + ], + "candidate_oracle_branch_scores": [ + 0.39663633704185486, + 0.2015993297100067, + 0.33539721369743347, + 0.3289969861507416 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2747430801391602, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.2747430801391602, + -1.845887303352356, + -1.8514466285705566, + -1.8898656368255615 + ], + "candidate_oracle_progress": 0.39663633704185486, + "candidate_oracle_regret": 1.6033636629581451, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.39663633704185486, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.39663633704185486, + "candidate_oracle_selected_branch_score": 0.39663633704185486, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8a9e7d69f7ade362fe40;ms-69785feff08dbf9a50be;ms-e2f90eb6c79dfd9ce6fd;ms-ace117030ae44c474db1;ms-e8de8d619c0cf5fd633e;ms-18ab33df290e3919a468", + "expert_regret": 1.603367269039154, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b687dc2de14c6813d44", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.603367269039154, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.39663273096084595, + "restore_error": 1.1920928955078125e-07, + "score": 0.39663273096084595, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.036196738481521606, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5891156196594238, + 0.22520431876182556, + 0.22312095761299133, + 0.22447806596755981 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.36391130089759827, + -0.3659946620464325, + -0.364637553691864 + ], + "candidate_oracle_branch_scores": [ + 0.5891156196594238, + 0.22520431876182556, + 0.22312095761299133, + 0.22447806596755981 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0185374021530151, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0185374021530151, + -1.1786783933639526, + -1.2337429523468018, + -1.3003472089767456 + ], + "candidate_oracle_progress": 0.5891156196594238, + "candidate_oracle_regret": 1.4108843803405762, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5891156196594238, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5891156196594238, + "candidate_oracle_selected_branch_score": 0.5891156196594238, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f539c5c30da21c875657;ms-18ab33df290e3919a468;ms-3f6e7085c865144a7408;ms-3996b923bb25440c29e3;ms-09b2d832d7823c11fd22;ms-d602b7370c5b90f8a439", + "expert_regret": 0.13856899738311768, + "expert_score": 0.7276846170425415, + "expert_success": false, + "group_id": "ms-df961fe24a43e56d1716", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4108843803405762, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5891156196594238, + "restore_error": 1.1920928955078125e-07, + "score": 0.5891156196594238, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.23304159939289093, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.436967134475708, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 36, + 0 + ], + "candidate_oracle_potentials": [ + 0.436967134475708, + 0.4324483275413513, + 0.4230130612850189, + 0.3561198115348816 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cbd6cc8b2708d5e3e4a9;ms-83c62951219e6599b630;ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-89520c3ac8779d9e81e7;ms-3af721139694f7f3ec04", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a323215fb409ab3e9287", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.05088656395673752, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.20871210098266602, + 0.21056592464447021, + 0.21069517731666565, + 0.21069221198558807 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0018538236618041992, + 0.001983076333999634, + 0.001980111002922058 + ], + "candidate_oracle_branch_scores": [ + 0.20871210098266602, + 0.21056592464447021, + 0.21069517731666565, + 0.21069221198558807 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.68697190284729, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.5762841701507568, + -1.6219289302825928, + -1.68697190284729, + -1.747816562652588 + ], + "candidate_oracle_progress": 0.21069517731666565, + "candidate_oracle_regret": 0.514548271894455, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21069517731666565, + "candidate_oracle_score_gain_over_selected": 0.001983076333999634, + "candidate_oracle_selected_branch_progress": 0.20871210098266602, + "candidate_oracle_selected_branch_score": 0.20871210098266602, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-89520c3ac8779d9e81e7;ms-ba9541c7192498a1d8bd;ms-3af721139694f7f3ec04;ms-251c1dfd1010906f559f;ms-83c0299c23fa800452c7;ms-68c63442972f322789b5", + "expert_regret": 0.5127232819795609, + "expert_score": 0.7214354276657104, + "expert_success": false, + "group_id": "ms-e2a037eadb166228b1dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.516531303524971, + "oracle_score": 0.7252434492111206, + "oracle_success": false, + "progress": 0.2087121456861496, + "restore_error": 1.1920928955078125e-07, + "score": 0.2087121456861496, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.8879280090332031, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.10257865488529205, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 0, + 3 + ], + "candidate_oracle_potentials": [ + 0.10257865488529205, + -0.019537463784217834, + -0.023708999156951904, + -0.15075626969337463 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-4b3a296acc66a14476c3;ms-88fb2bebd038dc786c01;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-61c099575bcff2de95e3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ef2d84500e27679d22d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2965409457683563, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.06616370379924774, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 33 + ], + "candidate_oracle_potentials": [ + 0.06616370379924774, + -0.2241133153438568, + -0.3001132309436798, + -0.3590896725654602 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-4b3a296acc66a14476c3;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-61c099575bcff2de95e3;ms-88fb2bebd038dc786c01", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a1b60ea1461eb460bed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38442617654800415, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7220496535301208, + 0.7184336185455322, + 0.7192244529724121, + 0.5810126662254333 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.003616034984588623, + -0.0028252005577087402, + -0.1410369873046875 + ], + "candidate_oracle_branch_scores": [ + 0.7220496535301208, + 0.7184336185455322, + 0.7192244529724121, + 0.5810126662254333 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8656994104385376, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8656994104385376, + -1.0422518253326416, + -1.0976370573043823, + -1.1642019748687744 + ], + "candidate_oracle_progress": 0.7220496535301208, + "candidate_oracle_regret": 1.2779503464698792, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7220496535301208, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7220496535301208, + "candidate_oracle_selected_branch_score": 0.7220496535301208, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-55e89d326b6531345902;ms-3996b923bb25440c29e3;ms-e705fef3e4caa4c49718;ms-d602b7370c5b90f8a439;ms-f539c5c30da21c875657;ms-18ab33df290e3919a468", + "expert_regret": 1.2769967317581177, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-894cd0e5dafb2d38831d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2769967317581177, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7230032682418823, + "restore_error": 1.1920928955078125e-07, + "score": 0.7230032682418823, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4001289904117584, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7203450202941895, + 1.0, + 0.717449426651001, + 0.5627619028091431 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2796549797058105, + -0.0028955936431884766, + -0.1575831174850464 + ], + "candidate_oracle_branch_scores": [ + 0.7203450202941895, + 2.0, + 0.717449426651001, + 0.5627619028091431 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3372318744659424, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.7445247173309326, + -1.3372318744659424, + -1.5179660320281982, + -1.5696401596069336 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2796549797058105, + "candidate_oracle_selected_branch_progress": 0.7203450202941895, + "candidate_oracle_selected_branch_score": 0.7203450202941895, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-35d84da6eb1afcf8a811;ms-e56b37f0e3881a70ef54;ms-ff012c1c8597c8db3cc7;ms-b55ca348be8b64323714;ms-1d728ae415a4d3cb782e;ms-3176a570b75767d1d729", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8be46dac6fc06c6c928a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.25974351167678833, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.19799739122390747, + 0.19843022525310516, + 0.19839739799499512, + 0.19281849265098572 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00043283402919769287, + 0.0004000067710876465, + -0.005178898572921753 + ], + "candidate_oracle_branch_scores": [ + 0.19799739122390747, + 0.19843022525310516, + 0.19839739799499512, + 0.19281849265098572 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2013503313064575, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.0613971948623657, + -1.2013503313064575, + -1.241236686706543, + -1.258150577545166 + ], + "candidate_oracle_progress": 0.19843022525310516, + "candidate_oracle_regret": 1.8015697747468948, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.19843022525310516, + "candidate_oracle_score_gain_over_selected": 0.00043283402919769287, + "candidate_oracle_selected_branch_progress": 0.19799739122390747, + "candidate_oracle_selected_branch_score": 0.19799739122390747, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0251a326271aa1cab82b;ms-e705fef3e4caa4c49718;ms-09b2d832d7823c11fd22;ms-64a755437c34f39cda2a;ms-55e89d326b6531345902;ms-3176a570b75767d1d729", + "expert_regret": 1.8018930703401566, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8fabc0ac20ec87ead026", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8018930703401566, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19810692965984344, + "restore_error": 1.1920928955078125e-07, + "score": 0.19810692965984344, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22265443205833435, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.6756040453910828, + 0.703971266746521, + 0.6927058696746826 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.3243958950042725, + -1.296028733253479, + -1.3072941303253174 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.6756040453910828, + 0.703971266746521, + 0.6927058696746826 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.11146745085716248, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 40 + ], + "candidate_oracle_potentials": [ + 0.11146745085716248, + 0.06552345305681229, + -0.05322979390621185, + -0.12477388978004456 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-3f56672eac1c00e9c2b0;ms-89520c3ac8779d9e81e7;ms-3af721139694f7f3ec04;ms-251c1dfd1010906f559f", + "expert_regret": 0.0, + "expert_score": 0.6740819811820984, + "expert_success": false, + "group_id": "ms-dfc38c43e9a87f99ef7f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.307667315006256, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6923326849937439, + "restore_error": 1.1920928955078125e-07, + "score": 0.6923326849937439, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2917480766773224, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.2601195275783539, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.2601195275783539, + -0.6419061422348022, + -0.7034260034561157, + -0.760154128074646 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ea164b21572d39ffed58;ms-8f24ad2e217963943c12;ms-832f0e966173abd16c34;ms-bbefdf03d0471be60f8f;ms-136f1ebebd0b697c3310;ms-06cb0796d1097e6ca111", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7334e620435d1f3545fd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31957122683525085, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7148876190185547, + 0.7077636122703552, + 0.7043129205703735, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.007124006748199463, + -0.010574698448181152, + 1.2851123809814453 + ], + "candidate_oracle_branch_scores": [ + 0.7148876190185547, + 0.7077636122703552, + 0.7043129205703735, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.5927180051803589, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 3, + 19, + 1 + ], + "candidate_oracle_potentials": [ + -0.17792746424674988, + -0.5599679946899414, + -0.5733892917633057, + -0.5927180051803589 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2851123809814453, + "candidate_oracle_selected_branch_progress": 0.7148876190185547, + "candidate_oracle_selected_branch_score": 0.7148876190185547, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a4398375c43dbf887b1;ms-145f60d5fff285e7d05b;ms-61c099575bcff2de95e3;ms-118ba8926eda06ffc61e;ms-96e1562aaca7ef49db28;ms-136f1ebebd0b697c3310", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d3377ca0da444ae9b40a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22115661203861237, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.25336840748786926, + 0.2537359893321991, + 0.25376611948013306, + 0.25374138355255127 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.000367581844329834, + 0.00039771199226379395, + 0.00037297606468200684 + ], + "candidate_oracle_branch_scores": [ + 0.25336840748786926, + 0.2537359893321991, + 0.25376611948013306, + 0.25374138355255127 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.0728611946105957, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 33, + 17 + ], + "candidate_oracle_potentials": [ + -0.9040074348449707, + -1.0722973346710205, + -1.0728611946105957, + -1.073179006576538 + ], + "candidate_oracle_progress": 0.25376611948013306, + "candidate_oracle_regret": 1.746233880519867, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.25376611948013306, + "candidate_oracle_score_gain_over_selected": 0.00039771199226379395, + "candidate_oracle_selected_branch_progress": 0.25336840748786926, + "candidate_oracle_selected_branch_score": 0.25336840748786926, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9fd14cc61816c2d4360e;ms-491aad3896ede89ea0dd;ms-d26dc2146eb8ae9a5434;ms-38758efd8620a312267d;ms-8bab784ae53525967763;ms-051860c228aa5160d5a6", + "expert_regret": 1.7464151084423065, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-760c73ea34418ce7a006", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7464151084423065, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2535848915576935, + "restore_error": 1.1920928955078125e-07, + "score": 0.2535848915576935, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2730896770954132, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.601097583770752, + 0.46533435583114624, + 0.44641613960266113, + 0.2525872588157654 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1357632279396057, + -0.15468144416809082, + -0.3485103249549866 + ], + "candidate_oracle_branch_scores": [ + 0.601097583770752, + 0.46533435583114624, + 0.44641613960266113, + 0.2525872588157654 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0031839609146118, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.0031839609146118, + -1.6891998052597046, + -1.7984898090362549, + -1.879086971282959 + ], + "candidate_oracle_progress": 0.601097583770752, + "candidate_oracle_regret": 1.398902416229248, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.601097583770752, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.601097583770752, + "candidate_oracle_selected_branch_score": 0.601097583770752, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ff012c1c8597c8db3cc7;ms-b55ca348be8b64323714;ms-577341cca32521f4045e;ms-3176a570b75767d1d729;ms-2286d9cf8d88e878c4d7;ms-e56b37f0e3881a70ef54", + "expert_regret": 1.4024970531463623, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3a97ee208c6be9ed8b74", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4024970531463623, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5975029468536377, + "restore_error": 1.1920928955078125e-07, + "score": 0.5975029468536377, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2737804353237152, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.19810234010219574, + 0.19835272431373596, + 0.19965282082557678, + 0.1986132264137268 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00025038421154022217, + 0.0015504807233810425, + 0.0005108863115310669 + ], + "candidate_oracle_branch_scores": [ + 0.19810234010219574, + 0.19835272431373596, + 0.19965282082557678, + 0.1986132264137268 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.5210342407226562, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.26404869556427, + -1.4819189310073853, + -1.5210342407226562, + -1.5572941303253174 + ], + "candidate_oracle_progress": 0.19965282082557678, + "candidate_oracle_regret": 1.8003471791744232, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.19965282082557678, + "candidate_oracle_score_gain_over_selected": 0.0015504807233810425, + "candidate_oracle_selected_branch_progress": 0.19810234010219574, + "candidate_oracle_selected_branch_score": 0.19810234010219574, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3176a570b75767d1d729;ms-b55ca348be8b64323714;ms-e56b37f0e3881a70ef54;ms-ff012c1c8597c8db3cc7;ms-1d728ae415a4d3cb782e;ms-577341cca32521f4045e", + "expert_regret": 1.8018953800201416, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28fe4b5a2888189c28d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8018953800201416, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1981046199798584, + "restore_error": 1.1920928955078125e-07, + "score": 0.1981046199798584, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.19656787812709808, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2857329249382019, + 0.25260281562805176, + 0.25265324115753174, + 0.2527773082256317 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.033130109310150146, + -0.033079683780670166, + -0.03295561671257019 + ], + "candidate_oracle_branch_scores": [ + 0.2857329249382019, + 0.25260281562805176, + 0.25265324115753174, + 0.2527773082256317 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2082452774047852, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.2082452774047852, + -1.5539209842681885, + -1.6041314601898193, + -1.6528303623199463 + ], + "candidate_oracle_progress": 0.2857329249382019, + "candidate_oracle_regret": 1.714267075061798, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2857329249382019, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2857329249382019, + "candidate_oracle_selected_branch_score": 0.2857329249382019, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d30b515ab0ee174afa58;ms-fdb2637276b27c46c757;ms-507199452c6d42562a38;ms-01ab68aa5051226638ee;ms-f0d2ffde521e268efc83;ms-a5a56eefeb2de0abe600", + "expert_regret": 1.7145032286643982, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-32943eea3e70cd02f313", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7145032286643982, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2854967713356018, + "restore_error": 1.1920928955078125e-07, + "score": 0.2854967713356018, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.041599392890930176, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7123931646347046, + 0.23668210208415985, + 0.7058714628219604, + 0.2379157394170761 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.47571104764938354, + -0.006521701812744141, + -0.4744774103164673 + ], + "candidate_oracle_branch_scores": [ + 0.7123931646347046, + 0.23668210208415985, + 0.7058714628219604, + 0.2379157394170761 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.40653494000434875, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + 0.40653494000434875, + 0.3146113455295563, + 0.3122000992298126, + 0.2664720416069031 + ], + "candidate_oracle_progress": 0.7123931646347046, + "candidate_oracle_regret": 1.2876068353652954, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7123931646347046, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7123931646347046, + "candidate_oracle_selected_branch_score": 0.7123931646347046, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cbd6cc8b2708d5e3e4a9;ms-83c62951219e6599b630;ms-a6cf775fbba580161c4e;ms-2286d9cf8d88e878c4d7;ms-487d0fe2a13fb699dd7a;ms-577341cca32521f4045e", + "expert_regret": 0.01617974042892456, + "expert_score": 0.7292043566703796, + "expert_success": false, + "group_id": "ms-dd32ce9859c365c535b4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.286975383758545, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7130246162414551, + "restore_error": 1.1920928955078125e-07, + "score": 0.7130246162414551, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32486361265182495, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.536866307258606, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 19, + 20 + ], + "candidate_oracle_potentials": [ + -0.536866307258606, + -0.8036996126174927, + -0.8368247747421265, + -0.8412483930587769 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3f56672eac1c00e9c2b0;ms-fb329ccd569163c53415;ms-9156a9a9c1b829b742ad;ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-3af721139694f7f3ec04", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-26322bd4de52dbd5743c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4235227406024933, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.25936925411224365, + 0.2525760531425476, + 0.2528564929962158, + 0.24288684129714966 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.006793200969696045, + -0.006512761116027832, + -0.016482412815093994 + ], + "candidate_oracle_branch_scores": [ + 0.25936925411224365, + 0.2525760531425476, + 0.2528564929962158, + 0.24288684129714966 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5321680307388306, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5321680307388306, + -0.8325402736663818, + -0.8760988712310791, + -0.9142298698425293 + ], + "candidate_oracle_progress": 0.25936925411224365, + "candidate_oracle_regret": 1.7406307458877563, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.25936925411224365, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.25936925411224365, + "candidate_oracle_selected_branch_score": 0.25936925411224365, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d26dc2146eb8ae9a5434;ms-9fd14cc61816c2d4360e;ms-8bab784ae53525967763;ms-1e41619ab39cf51b7822;ms-131a98e2d4a78a9645f8;ms-051860c228aa5160d5a6", + "expert_regret": 1.7411084175109863, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8556e974064f31ae1468", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7411084175109863, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25889158248901367, + "restore_error": 1.1920928955078125e-07, + "score": 0.25889158248901367, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.678618848323822, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.4249047636985779, + 0.45349836349487305, + 0.20875179767608643, + 0.4982505440711975 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.028593599796295166, + -0.21615296602249146, + 0.07334578037261963 + ], + "candidate_oracle_branch_scores": [ + 0.4249047636985779, + 0.45349836349487305, + 0.20875179767608643, + 0.4982505440711975 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.4457054138183594, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9135156869888306, + -1.2635529041290283, + -1.356582760810852, + -1.4457054138183594 + ], + "candidate_oracle_progress": 0.4982505440711975, + "candidate_oracle_regret": 1.5017494559288025, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4982505440711975, + "candidate_oracle_score_gain_over_selected": 0.07334578037261963, + "candidate_oracle_selected_branch_progress": 0.4249047636985779, + "candidate_oracle_selected_branch_score": 0.4249047636985779, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ace117030ae44c474db1;ms-18ab33df290e3919a468;ms-27251a7c7f13bf165e21;ms-f539c5c30da21c875657;ms-69785feff08dbf9a50be;ms-8a9e7d69f7ade362fe40", + "expert_regret": 1.6092738211154938, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b00933d2f628bc51d80a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6092738211154938, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3907261788845062, + "restore_error": 1.1920928955078125e-07, + "score": 0.3907261788845062, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.04413415864109993, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.7067800760269165, + 0.7058223485946655, + 0.712878406047821, + 0.7058888673782349 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0009577274322509766, + 0.006098330020904541, + -0.0008912086486816406 + ], + "candidate_oracle_branch_scores": [ + 0.7067800760269165, + 0.7058223485946655, + 0.712878406047821, + 0.7058888673782349 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.24386125802993774, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 0, + 3 + ], + "candidate_oracle_potentials": [ + -0.007058203220367432, + -0.16914024949073792, + -0.24386125802993774, + -0.33593037724494934 + ], + "candidate_oracle_progress": 0.712878406047821, + "candidate_oracle_regret": 0.009840905666351318, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.712878406047821, + "candidate_oracle_score_gain_over_selected": 0.006098330020904541, + "candidate_oracle_selected_branch_progress": 0.7067800760269165, + "candidate_oracle_selected_branch_score": 0.7067800760269165, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-4b3a296acc66a14476c3;ms-575bd87a5da90963019d;ms-61c099575bcff2de95e3", + "expert_regret": 0.01507258415222168, + "expert_score": 0.72175133228302, + "expert_success": false, + "group_id": "ms-f2c8835e8a162283a646", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.016040563583374023, + "oracle_score": 0.7227193117141724, + "oracle_success": false, + "progress": 0.7066787481307983, + "restore_error": 2.384185791015625e-07, + "score": 0.7066787481307983, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.10741371661424637, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.374977707862854, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + 0.374977707862854, + 0.20984499156475067, + 0.1557074785232544, + 0.11702794581651688 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cbd6cc8b2708d5e3e4a9;ms-83c62951219e6599b630;ms-14dabc3ac1e1a339ebe4;ms-487d0fe2a13fb699dd7a;ms-3af721139694f7f3ec04;ms-89520c3ac8779d9e81e7", + "expert_regret": 1.2724669575691223, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7614105b40956cc606ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2724669575691223, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7275330424308777, + "restore_error": 2.384185791015625e-07, + "score": 0.7275330424308777, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3051106035709381, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.2525880038738251, + 0.25257861614227295, + 0.25257858633995056, + 0.2526407837867737 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -9.387731552124023e-06, + -9.417533874511719e-06, + 5.27799129486084e-05 + ], + "candidate_oracle_branch_scores": [ + 0.2525880038738251, + 0.25257861614227295, + 0.25257858633995056, + 0.2526407837867737 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.214069128036499, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.0007742643356323, + -1.1933308839797974, + -1.2030149698257446, + -1.214069128036499 + ], + "candidate_oracle_progress": 0.2526407837867737, + "candidate_oracle_regret": 1.7473592162132263, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2526407837867737, + "candidate_oracle_score_gain_over_selected": 5.27799129486084e-05, + "candidate_oracle_selected_branch_progress": 0.2525880038738251, + "candidate_oracle_selected_branch_score": 0.2525880038738251, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-491aad3896ede89ea0dd;ms-38758efd8620a312267d;ms-051860c228aa5160d5a6;ms-8bab784ae53525967763;ms-3db845076f92a16d1840;ms-9fd14cc61816c2d4360e", + "expert_regret": 1.7474121749401093, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a2c1429e7b81479b52db", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7474121749401093, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25258782505989075, + "restore_error": 2.384185791015625e-07, + "score": 0.25258782505989075, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2741934359073639, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2911471724510193, + 0.2551261782646179, + 0.25354698300361633, + 0.2526090741157532 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.03602099418640137, + -0.037600189447402954, + -0.03853809833526611 + ], + "candidate_oracle_branch_scores": [ + 0.2911471724510193, + 0.2551261782646179, + 0.25354698300361633, + 0.2526090741157532 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8689898252487183, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8689898252487183, + -1.1894075870513916, + -1.2527587413787842, + -1.3232311010360718 + ], + "candidate_oracle_progress": 0.2911471724510193, + "candidate_oracle_regret": 1.7088528275489807, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2911471724510193, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2911471724510193, + "candidate_oracle_selected_branch_score": 0.2911471724510193, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d30b515ab0ee174afa58;ms-507199452c6d42562a38;ms-780ea60ea0255941e6c8;ms-fdb2637276b27c46c757;ms-01ab68aa5051226638ee;ms-a5a56eefeb2de0abe600", + "expert_regret": 1.7128193378448486, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c3fb1d170c1a7965ac4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7128193378448486, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.28718066215515137, + "restore_error": 2.384185791015625e-07, + "score": 0.28718066215515137, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5842058062553406, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.45294806361198425, + 0.42921602725982666, + 0.4212283790111542, + 0.39411482214927673 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.023732036352157593, + -0.03171968460083008, + -0.05883324146270752 + ], + "candidate_oracle_branch_scores": [ + 0.45294806361198425, + 0.42921602725982666, + 0.4212283790111542, + 0.39411482214927673 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7740910053253174, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7740910053253174, + -1.0799283981323242, + -1.1730949878692627, + -1.2761324644088745 + ], + "candidate_oracle_progress": 0.45294806361198425, + "candidate_oracle_regret": 1.5470519363880157, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.45294806361198425, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.45294806361198425, + "candidate_oracle_selected_branch_score": 0.45294806361198425, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f539c5c30da21c875657;ms-35d84da6eb1afcf8a811;ms-18ab33df290e3919a468;ms-3996b923bb25440c29e3;ms-d602b7370c5b90f8a439;ms-3f6e7085c865144a7408", + "expert_regret": 1.546649694442749, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-acbb7db5601f93bef99d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.546649694442749, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.453350305557251, + "restore_error": 2.384185791015625e-07, + "score": 0.453350305557251, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2261292040348053, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.05729737877845764, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 40, + 24, + 8 + ], + "candidate_oracle_potentials": [ + -0.05729737877845764, + -0.23867571353912354, + -0.3048289716243744, + -0.3691003918647766 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-118ba8926eda06ffc61e;ms-28c139f34a954b692962;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-8f24ad2e217963943c12;ms-61c099575bcff2de95e3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9a72e47e2204fa794718", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2513027787208557, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5300197005271912, + 0.2627612054347992, + 0.25268134474754333, + 0.26278620958328247 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.26725849509239197, + -0.2773383557796478, + -0.2672334909439087 + ], + "candidate_oracle_branch_scores": [ + 0.5300197005271912, + 0.2627612054347992, + 0.25268134474754333, + 0.26278620958328247 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3240099847316742, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.3240099847316742, + -0.7775895595550537, + -0.8650684356689453, + -0.8941519260406494 + ], + "candidate_oracle_progress": 0.5300197005271912, + "candidate_oracle_regret": 1.4699802994728088, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5300197005271912, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5300197005271912, + "candidate_oracle_selected_branch_score": 0.5300197005271912, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-832f0e966173abd16c34;ms-bbefdf03d0471be60f8f;ms-ea164b21572d39ffed58;ms-3db845076f92a16d1840;ms-06cb0796d1097e6ca111;ms-8d3d849234ceb98c3dc1", + "expert_regret": 1.4601685404777527, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0f02ff35b7fa1234c52e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4601685404777527, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5398314595222473, + "restore_error": 2.384185791015625e-07, + "score": 0.5398314595222473, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6678490042686462, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.722263753414154, + 0.7239905595779419, + 1.0, + 0.7252016067504883 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0017268061637878418, + 1.2777361869812012, + 0.0029378533363342285 + ], + "candidate_oracle_branch_scores": [ + 0.722263753414154, + 0.7239905595779419, + 2.0, + 0.7252016067504883 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.36093854904174805, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 36, + 33, + 20 + ], + "candidate_oracle_potentials": [ + 0.3665505647659302, + 0.3632824718952179, + 0.36093854904174805, + 0.35763365030288696 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2777361869812012, + "candidate_oracle_selected_branch_progress": 0.722263753414154, + "candidate_oracle_selected_branch_score": 0.722263753414154, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-83c62951219e6599b630;ms-cbd6cc8b2708d5e3e4a9;ms-487d0fe2a13fb699dd7a;ms-3af721139694f7f3ec04;ms-ba9541c7192498a1d8bd;ms-89520c3ac8779d9e81e7", + "expert_regret": 1.2781594395637512, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10c475db809a353fa815", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.2781594395637512, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7218405604362488, + "restore_error": 2.384185791015625e-07, + "score": 0.7218405604362488, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.29611778259277344, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7071937918663025, + 0.7081835269927979, + 0.7168151140213013, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0009897351264953613, + 0.00962132215499878, + 1.2928061485290527 + ], + "candidate_oracle_branch_scores": [ + 0.7071937918663025, + 0.7081835269927979, + 0.7168151140213013, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6147328615188599, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 40 + ], + "candidate_oracle_potentials": [ + -0.14748185873031616, + -0.5971870422363281, + -0.5988315343856812, + -0.6147328615188599 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2928061485290527, + "candidate_oracle_selected_branch_progress": 0.7071937918663025, + "candidate_oracle_selected_branch_score": 0.7071937918663025, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-136f1ebebd0b697c3310;ms-118ba8926eda06ffc61e;ms-8f24ad2e217963943c12;ms-ea164b21572d39ffed58;ms-6a4398375c43dbf887b1;ms-832f0e966173abd16c34", + "expert_regret": 1.292168140411377, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bb567fcac946f012535a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.292168140411377, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.707831859588623, + "restore_error": 1.1920928955078125e-07, + "score": 0.707831859588623, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36394158005714417, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7287079691886902, + 0.7202414870262146, + 0.7225326895713806, + 0.6972920894622803 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.008466482162475586, + -0.00617527961730957, + -0.03141587972640991 + ], + "candidate_oracle_branch_scores": [ + 0.7287079691886902, + 0.7202414870262146, + 0.7225326895713806, + 0.6972920894622803 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.782068133354187, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.782068133354187, + -0.8921202421188354, + -0.9232131242752075, + -0.9619852304458618 + ], + "candidate_oracle_progress": 0.7287079691886902, + "candidate_oracle_regret": 1.2712920308113098, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7287079691886902, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7287079691886902, + "candidate_oracle_selected_branch_score": 0.7287079691886902, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-55e89d326b6531345902;ms-d602b7370c5b90f8a439;ms-09b2d832d7823c11fd22;ms-3996b923bb25440c29e3;ms-3f6e7085c865144a7408;ms-f539c5c30da21c875657", + "expert_regret": 1.2713111639022827, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c72a9ad08cbf51799fb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2713111639022827, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7286888360977173, + "restore_error": 1.1920928955078125e-07, + "score": 0.7286888360977173, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.287211149930954, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7283105850219727, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2716894149780273, + 1.2716894149780273, + 1.2716894149780273 + ], + "candidate_oracle_branch_scores": [ + 0.7283105850219727, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.18380340933799744, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 33, + 17 + ], + "candidate_oracle_potentials": [ + 0.04750245064496994, + -0.18380340933799744, + -0.18950292468070984, + -0.19262459874153137 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2716894149780273, + "candidate_oracle_selected_branch_progress": 0.7283105850219727, + "candidate_oracle_selected_branch_score": 0.7283105850219727, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a4398375c43dbf887b1;ms-118ba8926eda06ffc61e;ms-145f60d5fff285e7d05b;ms-136f1ebebd0b697c3310;ms-61c099575bcff2de95e3;ms-8f24ad2e217963943c12", + "expert_regret": 1.2714649438858032, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-59474486dd5cb4e5bfd5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2714649438858032, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7285350561141968, + "restore_error": 1.1920928955078125e-07, + "score": 0.7285350561141968, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.33530062437057495, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2525976300239563, + 0.23365947604179382, + 0.231631338596344, + 0.23118263483047485 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.018938153982162476, + -0.020966291427612305, + -0.021414995193481445 + ], + "candidate_oracle_branch_scores": [ + 0.2525976300239563, + 0.23365947604179382, + 0.231631338596344, + 0.23118263483047485 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5027015209197998, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5027015209197998, + -1.0450563430786133, + -1.1352989673614502, + -1.2159218788146973 + ], + "candidate_oracle_progress": 0.2525976300239563, + "candidate_oracle_regret": 1.7474023699760437, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2525976300239563, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2525976300239563, + "candidate_oracle_selected_branch_score": 0.2525976300239563, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f0d2ffde521e268efc83;ms-3661d65df223386f1be9;ms-44e7935dbed5f3b3c739;ms-ea164b21572d39ffed58;ms-3db845076f92a16d1840;ms-4dc9ab19fbe571f09699", + "expert_regret": 1.7473992705345154, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bdb04ada069c35d51e2e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7473992705345154, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2526007294654846, + "restore_error": 1.1920928955078125e-07, + "score": 0.2526007294654846, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1419157236814499, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7190198302268982, + 0.7264227867126465, + 0.7191600203514099, + 0.7251629829406738 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.007402956485748291, + 0.00014019012451171875, + 0.006143152713775635 + ], + "candidate_oracle_branch_scores": [ + 0.7190198302268982, + 0.7264227867126465, + 0.7191600203514099, + 0.7251629829406738 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.2489863783121109, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 19, + 24, + 35 + ], + "candidate_oracle_potentials": [ + 0.34161654114723206, + 0.2489863783121109, + 0.24660871922969818, + 0.22649478912353516 + ], + "candidate_oracle_progress": 0.7264227867126465, + "candidate_oracle_regret": 1.2735772132873535, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7264227867126465, + "candidate_oracle_score_gain_over_selected": 0.007402956485748291, + "candidate_oracle_selected_branch_progress": 0.7190198302268982, + "candidate_oracle_selected_branch_score": 0.7190198302268982, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fb329ccd569163c53415;ms-9156a9a9c1b829b742ad;ms-3f56672eac1c00e9c2b0;ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-3af721139694f7f3ec04", + "expert_regret": 0.0, + "expert_score": 0.7083660364151001, + "expert_success": false, + "group_id": "ms-d80d4dc70953915f21e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.2812557816505432, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7187442183494568, + "restore_error": 1.1920928955078125e-07, + "score": 0.7187442183494568, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.356469064950943, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.16367802023887634, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + -0.16367802023887634, + -0.4641335904598236, + -0.4854879677295685, + -0.4889936149120331 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-61c099575bcff2de95e3;ms-4b3a296acc66a14476c3;ms-118ba8926eda06ffc61e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d1cc32a5c52e78aa5e39", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.026270372793078423, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5463106632232666, + 0.2393472045660019, + 0.24024727940559387, + 0.4929678440093994 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.3069634437561035, + -0.30606338381767273, + -0.05334281921386719 + ], + "candidate_oracle_branch_scores": [ + 0.5463106632232666, + 0.2393472045660019, + 0.24024727940559387, + 0.4929678440093994 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.119227647781372, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.119227647781372, + -1.6176717281341553, + -1.681391716003418, + -1.706918478012085 + ], + "candidate_oracle_progress": 0.5463106632232666, + "candidate_oracle_regret": 1.4536893367767334, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5463106632232666, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5463106632232666, + "candidate_oracle_selected_branch_score": 0.5463106632232666, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cbd6cc8b2708d5e3e4a9;ms-83c62951219e6599b630;ms-a6cf775fbba580161c4e;ms-68c63442972f322789b5;ms-c2c265f2f5013746eaa1;ms-83c0299c23fa800452c7", + "expert_regret": 0.1850033402442932, + "expert_score": 0.7288640737533569, + "expert_success": false, + "group_id": "ms-3352cd51af5ae6aac4c0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4561392664909363, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5438607335090637, + "restore_error": 1.1920928955078125e-07, + "score": 0.5438607335090637, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37297406792640686, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.23115591704845428, + 0.23100575804710388, + 0.23201999068260193, + 0.25288665294647217 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00015015900135040283, + 0.000864073634147644, + 0.021730735898017883 + ], + "candidate_oracle_branch_scores": [ + 0.23115591704845428, + 0.23100575804710388, + 0.23201999068260193, + 0.25288665294647217 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.1030762195587158, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 3 + ], + "candidate_oracle_potentials": [ + -0.7043168544769287, + -1.040590524673462, + -1.0748467445373535, + -1.1030762195587158 + ], + "candidate_oracle_progress": 0.25288665294647217, + "candidate_oracle_regret": 1.7471133470535278, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.25288665294647217, + "candidate_oracle_score_gain_over_selected": 0.021730735898017883, + "candidate_oracle_selected_branch_progress": 0.23115591704845428, + "candidate_oracle_selected_branch_score": 0.23115591704845428, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-88f748134c3fd27fcf72;ms-1e41619ab39cf51b7822;ms-3661d65df223386f1be9;ms-131a98e2d4a78a9645f8;ms-051860c228aa5160d5a6;ms-a5a56eefeb2de0abe600", + "expert_regret": 1.7689193040132523, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6a03497f97765ffd444e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7689193040132523, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23108069598674774, + "restore_error": 1.1920928955078125e-07, + "score": 0.23108069598674774, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5768076777458191, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7175366282463074, + 0.7259404063224792, + 0.388415664434433, + 0.20904338359832764 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.008403778076171875, + -0.3291209638118744, + -0.5084932446479797 + ], + "candidate_oracle_branch_scores": [ + 0.7175366282463074, + 0.7259404063224792, + 0.388415664434433, + 0.20904338359832764 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.509718894958496, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.7451472282409668, + -1.509718894958496, + -1.6667670011520386, + -1.7136181592941284 + ], + "candidate_oracle_progress": 0.7259404063224792, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7259404063224792, + "candidate_oracle_score_gain_over_selected": 0.008403778076171875, + "candidate_oracle_selected_branch_progress": 0.7175366282463074, + "candidate_oracle_selected_branch_score": 0.7175366282463074, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-577341cca32521f4045e;ms-b55ca348be8b64323714;ms-2286d9cf8d88e878c4d7;ms-ff012c1c8597c8db3cc7;ms-1d728ae415a4d3cb782e;ms-e56b37f0e3881a70ef54", + "expert_regret": 0.0006805658340454102, + "expert_score": 0.7186483144760132, + "expert_success": false, + "group_id": "ms-85e3feba1c0f3084cfa0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0006805658340454102, + "oracle_score": 0.7186483144760132, + "oracle_success": false, + "progress": 0.7179677486419678, + "restore_error": 1.1920928955078125e-07, + "score": 0.7179677486419678, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.24592694640159607, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4257963299751282, + 0.3156365752220154, + 0.2903349697589874, + 0.25454965233802795 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.11015975475311279, + -0.13546136021614075, + -0.17124667763710022 + ], + "candidate_oracle_branch_scores": [ + 0.4257963299751282, + 0.3156365752220154, + 0.2903349697589874, + 0.25454965233802795 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7261526584625244, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7261526584625244, + -0.9571425914764404, + -0.9786674976348877, + -1.0016425848007202 + ], + "candidate_oracle_progress": 0.4257963299751282, + "candidate_oracle_regret": 1.5742036700248718, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4257963299751282, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4257963299751282, + "candidate_oracle_selected_branch_score": 0.4257963299751282, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9fd14cc61816c2d4360e;ms-051860c228aa5160d5a6;ms-d26dc2146eb8ae9a5434;ms-38758efd8620a312267d;ms-1e41619ab39cf51b7822;ms-491aad3896ede89ea0dd", + "expert_regret": 1.5804062485694885, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-93b076203c0c65fb22be", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5804062485694885, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4195937514305115, + "restore_error": 1.1920928955078125e-07, + "score": 0.4195937514305115, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3552408218383789, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.32897162437438965, + 0.25452113151550293, + 0.25277459621429443, + 0.23977641761302948 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.07445049285888672, + -0.07619702816009521, + -0.08919520676136017 + ], + "candidate_oracle_branch_scores": [ + 0.32897162437438965, + 0.25452113151550293, + 0.25277459621429443, + 0.23977641761302948 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5187606811523438, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5187606811523438, + -1.041724443435669, + -1.1323492527008057, + -1.21364426612854 + ], + "candidate_oracle_progress": 0.32897162437438965, + "candidate_oracle_regret": 1.6710283756256104, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.32897162437438965, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.32897162437438965, + "candidate_oracle_selected_branch_score": 0.32897162437438965, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3661d65df223386f1be9;ms-131a98e2d4a78a9645f8;ms-491aad3896ede89ea0dd;ms-3db845076f92a16d1840;ms-8bab784ae53525967763;ms-d26dc2146eb8ae9a5434", + "expert_regret": 1.6480925679206848, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b3d9d9570bf9b64c18fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6480925679206848, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3519074320793152, + "restore_error": 1.1920928955078125e-07, + "score": 0.3519074320793152, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3240508437156677, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.6740096807479858, + 0.6866289973258972, + 0.7118903994560242, + 0.6849260330200195 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.012619316577911377, + 0.03788071870803833, + 0.010916352272033691 + ], + "candidate_oracle_branch_scores": [ + 0.6740096807479858, + 0.6866289973258972, + 0.7118903994560242, + 0.6849260330200195 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0742970705032349, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8121615648269653, + -1.01576828956604, + -1.0742970705032349, + -1.1436445713043213 + ], + "candidate_oracle_progress": 0.7118903994560242, + "candidate_oracle_regret": 1.2881096005439758, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7118903994560242, + "candidate_oracle_score_gain_over_selected": 0.03788071870803833, + "candidate_oracle_selected_branch_progress": 0.6740096807479858, + "candidate_oracle_selected_branch_score": 0.6740096807479858, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3f6e7085c865144a7408;ms-d602b7370c5b90f8a439;ms-3176a570b75767d1d729;ms-3996b923bb25440c29e3;ms-09b2d832d7823c11fd22;ms-f539c5c30da21c875657", + "expert_regret": 1.329746127128601, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69cb3fa758f707a58076", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.329746127128601, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6702538728713989, + "restore_error": 1.1920928955078125e-07, + "score": 0.6702538728713989, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.271867960691452, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.1369764506816864, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.1369764506816864, + -0.48808303475379944, + -0.5183819532394409, + -0.5398796796798706 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-118ba8926eda06ffc61e;ms-28c139f34a954b692962;ms-8f24ad2e217963943c12;ms-136f1ebebd0b697c3310;ms-832f0e966173abd16c34;ms-ea164b21572d39ffed58", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ec4accef21246e0c9213", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4016069769859314, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.704784631729126, + 0.22212354838848114, + 0.22463393211364746, + 0.23227708041667938 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.48266106843948364, + -0.4801506996154785, + -0.4725075364112854 + ], + "candidate_oracle_branch_scores": [ + 0.704784631729126, + 0.22212354838848114, + 0.22463393211364746, + 0.23227708041667938 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7431950569152832, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7431950569152832, + -0.9682438373565674, + -0.9980796575546265, + -1.0304861068725586 + ], + "candidate_oracle_progress": 0.704784631729126, + "candidate_oracle_regret": 1.295215368270874, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.704784631729126, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.704784631729126, + "candidate_oracle_selected_branch_score": 0.704784631729126, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3661d65df223386f1be9;ms-131a98e2d4a78a9645f8;ms-051860c228aa5160d5a6;ms-06cb0796d1097e6ca111;ms-3db845076f92a16d1840;ms-bbefdf03d0471be60f8f", + "expert_regret": 1.2943204641342163, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b319cc2760d8d48f4617", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2943204641342163, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7056795358657837, + "restore_error": 1.1920928955078125e-07, + "score": 0.7056795358657837, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2703215181827545, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7182376384735107, + 0.1983683705329895, + 0.19843332469463348, + 0.7212227582931519 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.5198692679405212, + -0.5198042988777161, + 0.0029851198196411133 + ], + "candidate_oracle_branch_scores": [ + 0.7182376384735107, + 0.1983683705329895, + 0.19843332469463348, + 0.7212227582931519 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.205246090888977, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.0490758419036865, + -1.1747076511383057, + -1.204568862915039, + -1.205246090888977 + ], + "candidate_oracle_progress": 0.7212227582931519, + "candidate_oracle_regret": 1.2787772417068481, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7212227582931519, + "candidate_oracle_score_gain_over_selected": 0.0029851198196411133, + "candidate_oracle_selected_branch_progress": 0.7182376384735107, + "candidate_oracle_selected_branch_score": 0.7182376384735107, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-09b2d832d7823c11fd22;ms-3176a570b75767d1d729;ms-0251a326271aa1cab82b;ms-3f6e7085c865144a7408;ms-55e89d326b6531345902;ms-e705fef3e4caa4c49718", + "expert_regret": 1.2817553281784058, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ee28aef4a7ee25ff7f7c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2817553281784058, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7182446718215942, + "restore_error": 1.1920928955078125e-07, + "score": 0.7182446718215942, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5564485192298889, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6469483971595764, + 0.21201996505260468, + 0.2126871943473816, + 0.21267050504684448 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.43492841720581055, + -0.4342612028121948, + -0.43427789211273193 + ], + "candidate_oracle_branch_scores": [ + 0.6469483971595764, + 0.21201996505260468, + 0.2126871943473816, + 0.21267050504684448 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0926055908203125, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0926055908203125, + -1.479707956314087, + -1.5766263008117676, + -1.6660243272781372 + ], + "candidate_oracle_progress": 0.6469483971595764, + "candidate_oracle_regret": 1.3530516028404236, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6469483971595764, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6469483971595764, + "candidate_oracle_selected_branch_score": 0.6469483971595764, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-27251a7c7f13bf165e21;ms-c9e0182d4090ddaa991c;ms-9f4b47c80d59166302ab;ms-b60078e9e6ea9c26dedc;ms-cf44ae14778c60c36af0;ms-ace117030ae44c474db1", + "expert_regret": 1.3537676930427551, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0d80d6d87a27a53951fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3537676930427551, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6462323069572449, + "restore_error": 1.1920928955078125e-07, + "score": 0.6462323069572449, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5271548628807068, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.19713883101940155, + 0.19695726037025452, + 0.19729691743850708, + 0.19698403775691986 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0001815706491470337, + 0.00015808641910552979, + -0.00015479326248168945 + ], + "candidate_oracle_branch_scores": [ + 0.19713883101940155, + 0.19695726037025452, + 0.19729691743850708, + 0.19698403775691986 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.4302468299865723, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.0671231746673584, + -1.3802515268325806, + -1.4302468299865723, + -1.4597396850585938 + ], + "candidate_oracle_progress": 0.19729691743850708, + "candidate_oracle_regret": 1.802703082561493, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.19729691743850708, + "candidate_oracle_score_gain_over_selected": 0.00015808641910552979, + "candidate_oracle_selected_branch_progress": 0.19713883101940155, + "candidate_oracle_selected_branch_score": 0.19713883101940155, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-64a755437c34f39cda2a;ms-69785feff08dbf9a50be;ms-e8de8d619c0cf5fd633e;ms-e705fef3e4caa4c49718;ms-09b2d832d7823c11fd22;ms-55e89d326b6531345902", + "expert_regret": 1.80286106467247, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-619d3d285d2cae3abbb9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.80286106467247, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1971389353275299, + "restore_error": 2.384185791015625e-07, + "score": 0.1971389353275299, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6726301908493042, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.1531914919614792, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + 0.1531914919614792, + 0.1435776799917221, + 0.11888746917247772, + 0.11175289005041122 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4b3a296acc66a14476c3;ms-88fb2bebd038dc786c01;ms-96e1562aaca7ef49db28;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-61c099575bcff2de95e3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d2839c13649000454a65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.17090509831905365, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.30597469210624695, + 0.25294777750968933, + 0.2530536353588104, + 0.25303640961647034 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.05302691459655762, + -0.05292105674743652, + -0.05293828248977661 + ], + "candidate_oracle_branch_scores": [ + 0.30597469210624695, + 0.25294777750968933, + 0.2530536353588104, + 0.25303640961647034 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7824681997299194, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.7824681997299194, + -1.068547010421753, + -1.0895144939422607, + -1.1086628437042236 + ], + "candidate_oracle_progress": 0.30597469210624695, + "candidate_oracle_regret": 1.694025307893753, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.30597469210624695, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.30597469210624695, + "candidate_oracle_selected_branch_score": 0.30597469210624695, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9fd14cc61816c2d4360e;ms-d26dc2146eb8ae9a5434;ms-8bab784ae53525967763;ms-491aad3896ede89ea0dd;ms-690f52acc6ead9c7c078;ms-051860c228aa5160d5a6", + "expert_regret": 1.6927425265312195, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3efca8ee8623914a4faf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6927425265312195, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3072574734687805, + "restore_error": 2.384185791015625e-07, + "score": 0.3072574734687805, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3304460644721985, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7033962607383728, + 0.6976436376571655, + 0.7024987936019897, + 0.4393012523651123 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.005752623081207275, + -0.0008974671363830566, + -0.2640950083732605 + ], + "candidate_oracle_branch_scores": [ + 0.7033962607383728, + 0.6976436376571655, + 0.7024987936019897, + 0.4393012523651123 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7603578567504883, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7603578567504883, + -0.8957889080047607, + -0.9233559370040894, + -0.9550561904907227 + ], + "candidate_oracle_progress": 0.7033962607383728, + "candidate_oracle_regret": 1.2966037392616272, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7033962607383728, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7033962607383728, + "candidate_oracle_selected_branch_score": 0.7033962607383728, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d602b7370c5b90f8a439;ms-09b2d832d7823c11fd22;ms-55e89d326b6531345902;ms-3f6e7085c865144a7408;ms-3996b923bb25440c29e3;ms-3176a570b75767d1d729", + "expert_regret": 1.2949048280715942, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c4a08985213114fffb7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2949048280715942, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7050951719284058, + "restore_error": 2.384185791015625e-07, + "score": 0.7050951719284058, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.26540178060531616, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7286390662193298, + 0.7285937666893005, + 0.7277747988700867, + 0.7284044623374939 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -4.5299530029296875e-05, + -0.0008642673492431641, + -0.0002346038818359375 + ], + "candidate_oracle_branch_scores": [ + 0.7286390662193298, + 0.7285937666893005, + 0.7277747988700867, + 0.7284044623374939 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.23282814025878906, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 36, + 4, + 0 + ], + "candidate_oracle_potentials": [ + 0.23282814025878906, + 0.23172660171985626, + 0.2311406433582306, + 0.17048166692256927 + ], + "candidate_oracle_progress": 0.7286390662193298, + "candidate_oracle_regret": 1.2713609337806702, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7286390662193298, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7286390662193298, + "candidate_oracle_selected_branch_score": 0.7286390662193298, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cbd6cc8b2708d5e3e4a9;ms-83c62951219e6599b630;ms-36f204d04ec4c4af3169;ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-3af721139694f7f3ec04", + "expert_regret": 1.2708752155303955, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8e23d2d44e709420e46d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.2708752155303955, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7291247844696045, + "restore_error": 2.384185791015625e-07, + "score": 0.7291247844696045, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39976581931114197, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.45222043991088867, + 0.2902136445045471, + 0.23411589860916138, + 0.2262202948331833 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.16200679540634155, + -0.2181045413017273, + -0.22600014507770538 + ], + "candidate_oracle_branch_scores": [ + 0.45222043991088867, + 0.2902136445045471, + 0.23411589860916138, + 0.2262202948331833 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5453397035598755, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5453397035598755, + -0.8676512241363525, + -0.9155137538909912, + -0.958270788192749 + ], + "candidate_oracle_progress": 0.45222043991088867, + "candidate_oracle_regret": 1.5477795600891113, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.45222043991088867, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.45222043991088867, + "candidate_oracle_selected_branch_score": 0.45222043991088867, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d26dc2146eb8ae9a5434;ms-9fd14cc61816c2d4360e;ms-8bab784ae53525967763;ms-131a98e2d4a78a9645f8;ms-690f52acc6ead9c7c078;ms-491aad3896ede89ea0dd", + "expert_regret": 1.5714474320411682, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c3818c2c4474a784fc6b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5714474320411682, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4285525679588318, + "restore_error": 2.384185791015625e-07, + "score": 0.4285525679588318, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3307912349700928, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7016141414642334, + 0.7281851768493652, + 0.708217978477478 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2983858585357666, + -1.2718148231506348, + -1.291782021522522 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7016141414642334, + 0.7281851768493652, + 0.708217978477478 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4179933965206146, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4179933965206146, + -0.7203105688095093, + -0.7700960636138916, + -0.8172285556793213 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d26dc2146eb8ae9a5434;ms-9fd14cc61816c2d4360e;ms-8bab784ae53525967763;ms-690f52acc6ead9c7c078;ms-491aad3896ede89ea0dd;ms-051860c228aa5160d5a6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9867545cf31b7f92b81f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4495737850666046, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.2072688788175583, + 0.21997176110744476, + 0.2078559249639511, + 0.21973222494125366 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.012702882289886475, + 0.0005870461463928223, + 0.012463346123695374 + ], + "candidate_oracle_branch_scores": [ + 0.2072688788175583, + 0.21997176110744476, + 0.2078559249639511, + 0.21973222494125366 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.58176851272583, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 1, + 19 + ], + "candidate_oracle_potentials": [ + -1.3449938297271729, + -1.58176851272583, + -1.6265002489089966, + -1.6281473636627197 + ], + "candidate_oracle_progress": 0.21997176110744476, + "candidate_oracle_regret": 1.7800282388925552, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21997176110744476, + "candidate_oracle_score_gain_over_selected": 0.012702882289886475, + "candidate_oracle_selected_branch_progress": 0.2072688788175583, + "candidate_oracle_selected_branch_score": 0.2072688788175583, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-83c0299c23fa800452c7;ms-251c1dfd1010906f559f;ms-89520c3ac8779d9e81e7;ms-320d99264926ea029f95;ms-3af721139694f7f3ec04;ms-68c63442972f322789b5", + "expert_regret": 1.79273122549057, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c910a469460f71880556", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.79273122549057, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20726877450942993, + "restore_error": 2.384185791015625e-07, + "score": 0.20726877450942993, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39238712191581726, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5828022956848145, + 0.3347024619579315, + 0.2565501630306244, + 0.2702695429325104 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.24809983372688293, + -0.32625213265419006, + -0.3125327527523041 + ], + "candidate_oracle_branch_scores": [ + 0.5828022956848145, + 0.3347024619579315, + 0.2565501630306244, + 0.2702695429325104 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7229087352752686, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.7229087352752686, + -1.4501330852508545, + -1.612459659576416, + -1.6628344058990479 + ], + "candidate_oracle_progress": 0.5828022956848145, + "candidate_oracle_regret": 1.4171977043151855, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.675239324569702e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5828022956848145, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5828022956848145, + "candidate_oracle_selected_branch_score": 0.5828022956848145, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b55ca348be8b64323714;ms-577341cca32521f4045e;ms-ff012c1c8597c8db3cc7;ms-2286d9cf8d88e878c4d7;ms-e56b37f0e3881a70ef54;ms-1d728ae415a4d3cb782e", + "expert_regret": 1.4166277050971985, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e825996818ee6f2f7d26", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4166277050971985, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5833722949028015, + "restore_error": 2.384185791015625e-07, + "score": 0.5833722949028015, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.49240854382514954, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2840685248374939, + 0.2760358452796936, + 0.2753254771232605, + 0.27325135469436646 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.008032679557800293, + -0.008743047714233398, + -0.010817170143127441 + ], + "candidate_oracle_branch_scores": [ + 0.2840685248374939, + 0.2760358452796936, + 0.2753254771232605, + 0.27325135469436646 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6539502143859863, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6539502143859863, + -0.8505641222000122, + -0.8908321857452393, + -0.9358699321746826 + ], + "candidate_oracle_progress": 0.2840685248374939, + "candidate_oracle_regret": 1.715931475162506, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.675239324569702e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2840685248374939, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2840685248374939, + "candidate_oracle_selected_branch_score": 0.2840685248374939, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b37738e210bf33a45a1d;ms-d30b515ab0ee174afa58;ms-a932cbf7e2b5755db22e;ms-780ea60ea0255941e6c8;ms-577341cca32521f4045e;ms-b55ca348be8b64323714", + "expert_regret": 1.716947853565216, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0bc111c5ce4e0052716b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.716947853565216, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.28305214643478394, + "restore_error": 2.384185791015625e-07, + "score": 0.28305214643478394, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3491089642047882, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.1722375750541687, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.1722375750541687, + -0.5103615522384644, + -0.5828136205673218, + -0.6545156240463257 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.675239324569702e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-136f1ebebd0b697c3310;ms-8bab784ae53525967763;ms-131a98e2d4a78a9645f8;ms-ea164b21572d39ffed58;ms-8f24ad2e217963943c12;ms-bbefdf03d0471be60f8f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e89a3ba400f81d2795f3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.02814922295510769, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.718299388885498, + 0.7170286178588867, + 0.7176634669303894 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.281700611114502, + -1.2829713821411133, + -1.2823364734649658 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.718299388885498, + 0.7170286178588867, + 0.7176634669303894 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.0383436381816864, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 19, + 35, + 3 + ], + "candidate_oracle_potentials": [ + -0.0383436381816864, + -0.39078596234321594, + -0.3959622085094452, + -0.41942813992500305 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.675239324569702e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-61c099575bcff2de95e3;ms-118ba8926eda06ffc61e;ms-96e1562aaca7ef49db28;ms-8f24ad2e217963943c12", + "expert_regret": 0.0, + "expert_score": 0.7257392406463623, + "expert_success": false, + "group_id": "ms-6e268d1e2915740816a1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6142188310623169, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4642959237098694, + 0.21766728162765503, + 0.21392080187797546, + 0.21812376379966736 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.24662864208221436, + -0.2503751218318939, + -0.24617215991020203 + ], + "candidate_oracle_branch_scores": [ + 0.4642959237098694, + 0.21766728162765503, + 0.21392080187797546, + 0.21812376379966736 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2066760063171387, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.2066760063171387, + -1.6495327949523926, + -1.7198666334152222, + -1.7225849628448486 + ], + "candidate_oracle_progress": 0.4642959237098694, + "candidate_oracle_regret": 1.5357040762901306, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.675239324569702e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4642959237098694, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4642959237098694, + "candidate_oracle_selected_branch_score": 0.4642959237098694, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-27251a7c7f13bf165e21;ms-ace117030ae44c474db1;ms-b60078e9e6ea9c26dedc;ms-c9e0182d4090ddaa991c;ms-9f4b47c80d59166302ab;ms-cf44ae14778c60c36af0", + "expert_regret": 1.5357895195484161, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d5241a32e5c9de09f2e4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5357895195484161, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.46421048045158386, + "restore_error": 2.384185791015625e-07, + "score": 0.46421048045158386, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.43222305178642273, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7142770290374756, + 0.7223857641220093, + 0.7153578996658325 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2857229709625244, + -1.2776142358779907, + -1.2846421003341675 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7142770290374756, + 0.7223857641220093, + 0.7153578996658325 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8606727123260498, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8606727123260498, + -0.9914252758026123, + -1.0456454753875732, + -1.1223607063293457 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.675239324569702e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-18ab33df290e3919a468;ms-f539c5c30da21c875657;ms-69785feff08dbf9a50be;ms-3996b923bb25440c29e3;ms-3f6e7085c865144a7408;ms-55e89d326b6531345902", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6959fa589edc996753d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.26189327239990234, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7235404253005981, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2764595746994019, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7235404253005981, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.053617045283317566, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 33 + ], + "candidate_oracle_potentials": [ + 0.053617045283317566, + -0.19071605801582336, + -0.2670908272266388, + -0.3194659650325775 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.675239324569702e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-4b3a296acc66a14476c3;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-61c099575bcff2de95e3;ms-88fb2bebd038dc786c01", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-662379c2c351807b9cdf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3126547038555145, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7271933555603027, + 0.7241841554641724, + 0.7219130396842957, + 0.7202245593070984 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.003009200096130371, + -0.00528031587600708, + -0.006968796253204346 + ], + "candidate_oracle_branch_scores": [ + 0.7271933555603027, + 0.7241841554641724, + 0.7219130396842957, + 0.7202245593070984 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4277152121067047, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4277152121067047, + -0.6003471612930298, + -0.6381938457489014, + -0.6747956275939941 + ], + "candidate_oracle_progress": 0.7271933555603027, + "candidate_oracle_regret": 1.2728066444396973, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.675239324569702e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7271933555603027, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7271933555603027, + "candidate_oracle_selected_branch_score": 0.7271933555603027, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3f56672eac1c00e9c2b0;ms-2f1164357c9732e059d4;ms-89520c3ac8779d9e81e7;ms-3af721139694f7f3ec04;ms-320d99264926ea029f95;ms-251c1dfd1010906f559f", + "expert_regret": 1.2729938626289368, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe790caba27d92511f71", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2729938626289368, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7270061373710632, + "restore_error": 2.384185791015625e-07, + "score": 0.7270061373710632, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.10294567793607712, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.6391037702560425, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + 0.6391037702560425, + 0.6163668036460876, + 0.614552915096283, + 0.6035114526748657 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-83c62951219e6599b630;ms-cbd6cc8b2708d5e3e4a9;ms-36f204d04ec4c4af3169;ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-3af721139694f7f3ec04", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83019373a06eb384c886", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.44750139117240906, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.4173462390899658, + 0.5720597505569458, + 0.5439744591712952, + 0.3803153932094574 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.15471351146697998, + 0.12662822008132935, + -0.03703084588050842 + ], + "candidate_oracle_branch_scores": [ + 0.4173462390899658, + 0.5720597505569458, + 0.5439744591712952, + 0.3803153932094574 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0530145168304443, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7953934669494629, + -1.0530145168304443, + -1.1319859027862549, + -1.2205092906951904 + ], + "candidate_oracle_progress": 0.5720597505569458, + "candidate_oracle_regret": 1.4279402494430542, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5720597505569458, + "candidate_oracle_score_gain_over_selected": 0.15471351146697998, + "candidate_oracle_selected_branch_progress": 0.4173462390899658, + "candidate_oracle_selected_branch_score": 0.4173462390899658, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c9e0182d4090ddaa991c;ms-b60078e9e6ea9c26dedc;ms-f539c5c30da21c875657;ms-9f4b47c80d59166302ab;ms-18ab33df290e3919a468;ms-27251a7c7f13bf165e21", + "expert_regret": 1.5827546119689941, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a8eb841beb710c8fbfb1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5827546119689941, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.41724538803100586, + "restore_error": 1.1920928955078125e-07, + "score": 0.41724538803100586, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2728058397769928, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.45137354731559753, + 0.425131618976593, + 0.42176467180252075, + 0.4201676547527313 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.026241928339004517, + -0.029608875513076782, + -0.03120589256286621 + ], + "candidate_oracle_branch_scores": [ + 0.45137354731559753, + 0.425131618976593, + 0.42176467180252075, + 0.4201676547527313 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.299027442932129, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.299027442932129, + -1.513204574584961, + -1.5452615022659302, + -1.574007272720337 + ], + "candidate_oracle_progress": 0.45137354731559753, + "candidate_oracle_regret": 1.5486264526844025, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.45137354731559753, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.45137354731559753, + "candidate_oracle_selected_branch_score": 0.45137354731559753, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3176a570b75767d1d729;ms-e56b37f0e3881a70ef54;ms-b55ca348be8b64323714;ms-ff012c1c8597c8db3cc7;ms-1d728ae415a4d3cb782e;ms-35d84da6eb1afcf8a811", + "expert_regret": 1.5486398339271545, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9257b89b9b635a0fb174", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5486398339271545, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.45136016607284546, + "restore_error": 1.1920928955078125e-07, + "score": 0.45136016607284546, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5518137812614441, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.20521071553230286, + 0.20519500970840454, + 0.20535334944725037, + 0.20503032207489014 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.570582389831543e-05, + 0.00014263391494750977, + -0.00018039345741271973 + ], + "candidate_oracle_branch_scores": [ + 0.20521071553230286, + 0.20519500970840454, + 0.20535334944725037, + 0.20503032207489014 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.5559183359146118, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0856475830078125, + -1.4816701412200928, + -1.5559183359146118, + -1.6248304843902588 + ], + "candidate_oracle_progress": 0.20535334944725037, + "candidate_oracle_regret": 1.7946466505527496, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20535334944725037, + "candidate_oracle_score_gain_over_selected": 0.00014263391494750977, + "candidate_oracle_selected_branch_progress": 0.20521071553230286, + "candidate_oracle_selected_branch_score": 0.20521071553230286, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-27251a7c7f13bf165e21;ms-c9e0182d4090ddaa991c;ms-ace117030ae44c474db1;ms-b60078e9e6ea9c26dedc;ms-9f4b47c80d59166302ab;ms-cf44ae14778c60c36af0", + "expert_regret": 1.7947862893342972, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-741e906eafd57d115b5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7947862893342972, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20521371066570282, + "restore_error": 1.1920928955078125e-07, + "score": 0.20521371066570282, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32774052023887634, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.039581671357154846, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + 0.039581671357154846, + -0.09811747074127197, + -0.12472903728485107, + -0.136125385761261 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-61c099575bcff2de95e3;ms-118ba8926eda06ffc61e;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-136f1ebebd0b697c3310;ms-8f24ad2e217963943c12", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-debd7e5668e2acdf6bb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.012235091999173164, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.26111024618148804, + 0.2290632575750351, + 0.22869732975959778, + 0.2533758282661438 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.03204698860645294, + -0.03241291642189026, + -0.007734417915344238 + ], + "candidate_oracle_branch_scores": [ + 0.26111024618148804, + 0.2290632575750351, + 0.22869732975959778, + 0.2533758282661438 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8585662841796875, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.8585662841796875, + -1.258113145828247, + -1.2653388977050781, + -1.2728123664855957 + ], + "candidate_oracle_progress": 0.26111024618148804, + "candidate_oracle_regret": 1.738889753818512, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.26111024618148804, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.26111024618148804, + "candidate_oracle_selected_branch_score": 0.26111024618148804, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9fd14cc61816c2d4360e;ms-d26dc2146eb8ae9a5434;ms-8bab784ae53525967763;ms-051860c228aa5160d5a6;ms-491aad3896ede89ea0dd;ms-690f52acc6ead9c7c078", + "expert_regret": 0.45234420895576477, + "expert_score": 0.7146890163421631, + "expert_success": false, + "group_id": "ms-b483cac145e16ccdf42a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7376551926136017, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2623448073863983, + "restore_error": 1.1920928955078125e-07, + "score": 0.2623448073863983, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38125792145729065, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7290254831314087, + 0.7190839648246765, + 0.6862514019012451, + 0.2526364326477051 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.009941518306732178, + -0.042774081230163574, + -0.4763890504837036 + ], + "candidate_oracle_branch_scores": [ + 0.7290254831314087, + 0.7190839648246765, + 0.6862514019012451, + 0.2526364326477051 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6618621349334717, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.6618621349334717, + -1.368693470954895, + -1.5819319486618042, + -1.6067143678665161 + ], + "candidate_oracle_progress": 0.7290254831314087, + "candidate_oracle_regret": 1.2709745168685913, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7290254831314087, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7290254831314087, + "candidate_oracle_selected_branch_score": 0.7290254831314087, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6cf775fbba580161c4e;ms-2286d9cf8d88e878c4d7;ms-577341cca32521f4045e;ms-b55ca348be8b64323714;ms-ff012c1c8597c8db3cc7;ms-1d728ae415a4d3cb782e", + "expert_regret": 1.2746723890304565, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7be84e650aec22374654", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2746723890304565, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7253276109695435, + "restore_error": 1.1920928955078125e-07, + "score": 0.7253276109695435, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2801332473754883, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.6839576959609985, + 0.716285228729248, + 0.7104494571685791, + 0.684086263179779 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.03232753276824951, + 0.026491761207580566, + 0.00012856721878051758 + ], + "candidate_oracle_branch_scores": [ + 0.6839576959609985, + 0.716285228729248, + 0.7104494571685791, + 0.684086263179779 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.13805148005485535, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -0.01646888256072998, + -0.13805148005485535, + -0.2941056191921234, + -0.3530820608139038 + ], + "candidate_oracle_progress": 0.716285228729248, + "candidate_oracle_regret": 0.007169604301452637, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.716285228729248, + "candidate_oracle_score_gain_over_selected": 0.03232753276824951, + "candidate_oracle_selected_branch_progress": 0.6839576959609985, + "candidate_oracle_selected_branch_score": 0.6839576959609985, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-36f204d04ec4c4af3169;ms-83c62951219e6599b630;ms-3af721139694f7f3ec04;ms-cbd6cc8b2708d5e3e4a9;ms-89520c3ac8779d9e81e7;ms-ba9541c7192498a1d8bd", + "expert_regret": 0.03454327583312988, + "expert_score": 0.7220854759216309, + "expert_success": false, + "group_id": "ms-e3c96ca4b56c4a26d40d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.03591263294219971, + "oracle_score": 0.7234548330307007, + "oracle_success": false, + "progress": 0.687542200088501, + "restore_error": 1.1920928955078125e-07, + "score": 0.687542200088501, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2229166477918625, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.7141082286834717, + 0.7148582339286804, + 0.7150624990463257, + 0.705788791179657 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0007500052452087402, + 0.0009542703628540039, + -0.008319437503814697 + ], + "candidate_oracle_branch_scores": [ + 0.7141082286834717, + 0.7148582339286804, + 0.7150624990463257, + 0.705788791179657 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2589579820632935, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.6956932544708252, + -1.207880973815918, + -1.2589579820632935, + -1.2904853820800781 + ], + "candidate_oracle_progress": 0.7150624990463257, + "candidate_oracle_regret": 1.2849375009536743, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7150624990463257, + "candidate_oracle_score_gain_over_selected": 0.0009542703628540039, + "candidate_oracle_selected_branch_progress": 0.7141082286834717, + "candidate_oracle_selected_branch_score": 0.7141082286834717, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f0d2ffde521e268efc83;ms-44e7935dbed5f3b3c739;ms-ea164b21572d39ffed58;ms-38758efd8620a312267d;ms-bbefdf03d0471be60f8f;ms-832f0e966173abd16c34", + "expert_regret": 1.285998821258545, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-080e034927abe2f30d60", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.285998821258545, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7140011787414551, + "restore_error": 1.1920928955078125e-07, + "score": 0.7140011787414551, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5881827473640442, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.4535744786262512, + 0.4684501886367798, + 0.6907261610031128, + 0.48266562819480896 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.014875710010528564, + 0.23715168237686157, + 0.02909114956855774 + ], + "candidate_oracle_branch_scores": [ + 0.4535744786262512, + 0.4684501886367798, + 0.6907261610031128, + 0.48266562819480896 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9355984926223755, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7115291357040405, + -0.8731119632720947, + -0.9355984926223755, + -1.0087755918502808 + ], + "candidate_oracle_progress": 0.6907261610031128, + "candidate_oracle_regret": 1.3092738389968872, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6907261610031128, + "candidate_oracle_score_gain_over_selected": 0.23715168237686157, + "candidate_oracle_selected_branch_progress": 0.4535744786262512, + "candidate_oracle_selected_branch_score": 0.4535744786262512, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ace117030ae44c474db1;ms-18ab33df290e3919a468;ms-27251a7c7f13bf165e21;ms-b60078e9e6ea9c26dedc;ms-f539c5c30da21c875657;ms-c9e0182d4090ddaa991c", + "expert_regret": 1.5499949753284454, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a99d874a81bc60301007", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5499949753284454, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.45000502467155457, + "restore_error": 1.1920928955078125e-07, + "score": 0.45000502467155457, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39613059163093567, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.25598394870758057, + 0.25303778052330017, + 0.23944424092769623, + 0.2406737059354782 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0029461681842803955, + -0.01653970777988434, + -0.015310242772102356 + ], + "candidate_oracle_branch_scores": [ + 0.25598394870758057, + 0.25303778052330017, + 0.23944424092769623, + 0.2406737059354782 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5458747148513794, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5458747148513794, + -0.8168500661849976, + -0.8464081287384033, + -0.8748873472213745 + ], + "candidate_oracle_progress": 0.25598394870758057, + "candidate_oracle_regret": 1.7440160512924194, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.25598394870758057, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.25598394870758057, + "candidate_oracle_selected_branch_score": 0.25598394870758057, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d26dc2146eb8ae9a5434;ms-9fd14cc61816c2d4360e;ms-051860c228aa5160d5a6;ms-1e41619ab39cf51b7822;ms-8bab784ae53525967763;ms-491aad3896ede89ea0dd", + "expert_regret": 1.7441230416297913, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e4090b0b0c1739070201", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7441230416297913, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25587695837020874, + "restore_error": 1.1920928955078125e-07, + "score": 0.25587695837020874, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39926567673683167, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.7277542352676392, + 0.7236733436584473 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.2722457647323608, + -1.2763266563415527 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.7277542352676392, + 0.7236733436584473 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5236009359359741, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5236009359359741, + -0.9040629863739014, + -1.0028326511383057, + -1.1021541357040405 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-131a98e2d4a78a9645f8;ms-136f1ebebd0b697c3310;ms-8bab784ae53525967763;ms-8f24ad2e217963943c12;ms-3661d65df223386f1be9;ms-ea164b21572d39ffed58", + "expert_regret": 1.2731095552444458, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08dc71adea7d8efeb298", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2731095552444458, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7268904447555542, + "restore_error": 1.1920928955078125e-07, + "score": 0.7268904447555542, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.25200968980789185, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6900156736373901, + 0.4990719258785248, + 0.4895922541618347, + 0.42823347449302673 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.19094374775886536, + -0.20042341947555542, + -0.2617821991443634 + ], + "candidate_oracle_branch_scores": [ + 0.6900156736373901, + 0.4990719258785248, + 0.4895922541618347, + 0.42823347449302673 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6595871448516846, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6595871448516846, + -1.1171783208847046, + -1.2670505046844482, + -1.4493740797042847 + ], + "candidate_oracle_progress": 0.6900156736373901, + "candidate_oracle_regret": 1.3099843263626099, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6900156736373901, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6900156736373901, + "candidate_oracle_selected_branch_score": 0.6900156736373901, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2286d9cf8d88e878c4d7;ms-577341cca32521f4045e;ms-a6cf775fbba580161c4e;ms-b55ca348be8b64323714;ms-ff012c1c8597c8db3cc7;ms-3176a570b75767d1d729", + "expert_regret": 1.3080106973648071, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8a8afc1963fb2220ecb6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3080106973648071, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6919893026351929, + "restore_error": 1.1920928955078125e-07, + "score": 0.6919893026351929, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.43196555972099304, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7121403217315674, + 0.6587992310523987, + 0.7012672424316406, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0533410906791687, + -0.010873079299926758, + 1.2878596782684326 + ], + "candidate_oracle_branch_scores": [ + 0.7121403217315674, + 0.6587992310523987, + 0.7012672424316406, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.9289731979370117, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.4659608602523804, + -1.8541042804718018, + -1.893479824066162, + -1.9289731979370117 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2878596782684326, + "candidate_oracle_selected_branch_progress": 0.7121403217315674, + "candidate_oracle_selected_branch_score": 0.7121403217315674, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-251c1dfd1010906f559f;ms-320d99264926ea029f95;ms-29a11d7bdcf49c86bd7a;ms-68d9596217cc37c949c4;ms-83c0299c23fa800452c7;ms-e1b6bcb41532a800d3cb", + "expert_regret": 1.2878596782684326, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c0ed69f549e56aa55f3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2878596782684326, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7121403217315674, + "restore_error": 1.1920928955078125e-07, + "score": 0.7121403217315674, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.329230934381485, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.43252918124198914, + 0.31816554069519043, + 0.304252028465271, + 0.2941189408302307 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1143636405467987, + -0.12827715277671814, + -0.13841024041175842 + ], + "candidate_oracle_branch_scores": [ + 0.43252918124198914, + 0.31816554069519043, + 0.304252028465271, + 0.2941189408302307 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.697386622428894, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.697386622428894, + -0.9180039167404175, + -0.9561851024627686, + -1.002079963684082 + ], + "candidate_oracle_progress": 0.43252918124198914, + "candidate_oracle_regret": 1.5674708187580109, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.43252918124198914, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.43252918124198914, + "candidate_oracle_selected_branch_score": 0.43252918124198914, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-507199452c6d42562a38;ms-a5a56eefeb2de0abe600;ms-780ea60ea0255941e6c8;ms-88f748134c3fd27fcf72;ms-1e41619ab39cf51b7822;ms-fdb2637276b27c46c757", + "expert_regret": 1.5701951086521149, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-684a66885f21739d826b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5701951086521149, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.42980489134788513, + "restore_error": 1.1920928955078125e-07, + "score": 0.42980489134788513, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.21683846414089203, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.28273171186447144, + 0.27372509241104126, + 0.27349334955215454, + 0.2526884078979492 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.009006619453430176, + -0.009238362312316895, + -0.030043303966522217 + ], + "candidate_oracle_branch_scores": [ + 0.28273171186447144, + 0.27372509241104126, + 0.27349334955215454, + 0.2526884078979492 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7548744678497314, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.7548744678497314, + -1.3502229452133179, + -1.5161024332046509, + -1.6577236652374268 + ], + "candidate_oracle_progress": 0.28273171186447144, + "candidate_oracle_regret": 1.7172682881355286, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.28273171186447144, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.28273171186447144, + "candidate_oracle_selected_branch_score": 0.28273171186447144, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2286d9cf8d88e878c4d7;ms-a6cf775fbba580161c4e;ms-577341cca32521f4045e;ms-b55ca348be8b64323714;ms-ff012c1c8597c8db3cc7;ms-3176a570b75767d1d729", + "expert_regret": 1.7174405455589294, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2d931673692269f11e8b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7174405455589294, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.28255945444107056, + "restore_error": 1.1920928955078125e-07, + "score": 0.28255945444107056, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5461036562919617, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.20511877536773682, + 0.207219660282135, + 0.20512104034423828, + 0.20748506486415863 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0021008849143981934, + 2.2649765014648438e-06, + 0.002366289496421814 + ], + "candidate_oracle_branch_scores": [ + 0.20511877536773682, + 0.207219660282135, + 0.20512104034423828, + 0.20748506486415863 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.6524125337600708, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -1.1736128330230713, + -1.6249412298202515, + -1.6287248134613037, + -1.6524125337600708 + ], + "candidate_oracle_progress": 0.20748506486415863, + "candidate_oracle_regret": 1.7925149351358414, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20748506486415863, + "candidate_oracle_score_gain_over_selected": 0.002366289496421814, + "candidate_oracle_selected_branch_progress": 0.20511877536773682, + "candidate_oracle_selected_branch_score": 0.20511877536773682, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ace117030ae44c474db1;ms-b60078e9e6ea9c26dedc;ms-27251a7c7f13bf165e21;ms-18ab33df290e3919a468;ms-f539c5c30da21c875657;ms-e2f90eb6c79dfd9ce6fd", + "expert_regret": 1.7948810160160065, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2c6000014d31fc0bb21c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7948810160160065, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20511898398399353, + "restore_error": 1.1920928955078125e-07, + "score": 0.20511898398399353, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48340001702308655, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5973306894302368, + 0.684599757194519, + 0.6637942790985107, + 0.5313968658447266 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.08726906776428223, + 0.06646358966827393, + -0.06593382358551025 + ], + "candidate_oracle_branch_scores": [ + 0.5973306894302368, + 0.684599757194519, + 0.6637942790985107, + 0.5313968658447266 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.3280410766601562, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.1014578342437744, + -1.3280410766601562, + -1.3550479412078857, + -1.3816266059875488 + ], + "candidate_oracle_progress": 0.684599757194519, + "candidate_oracle_regret": 1.315400242805481, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.684599757194519, + "candidate_oracle_score_gain_over_selected": 0.08726906776428223, + "candidate_oracle_selected_branch_progress": 0.5973306894302368, + "candidate_oracle_selected_branch_score": 0.5973306894302368, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-251c1dfd1010906f559f;ms-89520c3ac8779d9e81e7;ms-320d99264926ea029f95;ms-83c0299c23fa800452c7;ms-29a11d7bdcf49c86bd7a;ms-3af721139694f7f3ec04", + "expert_regret": 1.3999338150024414, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e7573c5d29c3a1a3f228", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3999338150024414, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6000661849975586, + "restore_error": 1.1920928955078125e-07, + "score": 0.6000661849975586, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42484599351882935, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.20640763640403748, + 0.7036389112472534, + 0.6990270614624023, + 0.21373680233955383 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.49723127484321594, + 0.49261942505836487, + 0.007329165935516357 + ], + "candidate_oracle_branch_scores": [ + 0.20640763640403748, + 0.7036389112472534, + 0.6990270614624023, + 0.21373680233955383 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.6806204319000244, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 35 + ], + "candidate_oracle_potentials": [ + -1.3430428504943848, + -1.6806204319000244, + -1.7092268466949463, + -1.716825008392334 + ], + "candidate_oracle_progress": 0.7036389112472534, + "candidate_oracle_regret": 1.2963610887527466, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7036389112472534, + "candidate_oracle_score_gain_over_selected": 0.49723127484321594, + "candidate_oracle_selected_branch_progress": 0.20640763640403748, + "candidate_oracle_selected_branch_score": 0.20640763640403748, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-89520c3ac8779d9e81e7;ms-251c1dfd1010906f559f;ms-83c0299c23fa800452c7;ms-320d99264926ea029f95;ms-3af721139694f7f3ec04;ms-68c63442972f322789b5", + "expert_regret": 1.7937886863946915, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c8cf210aa675c5db1fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7937886863946915, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20621131360530853, + "restore_error": 1.1920928955078125e-07, + "score": 0.20621131360530853, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.20989619195461273, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.4181813597679138, + 0.5609786510467529, + 0.5323402881622314, + 0.40578195452690125 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.1427972912788391, + 0.11415892839431763, + -0.012399405241012573 + ], + "candidate_oracle_branch_scores": [ + 0.4181813597679138, + 0.5609786510467529, + 0.5323402881622314, + 0.40578195452690125 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2107467651367188, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.0818043947219849, + -1.2107467651367188, + -1.249578833580017, + -1.2913720607757568 + ], + "candidate_oracle_progress": 0.5609786510467529, + "candidate_oracle_regret": 1.439021348953247, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5609786510467529, + "candidate_oracle_score_gain_over_selected": 0.1427972912788391, + "candidate_oracle_selected_branch_progress": 0.4181813597679138, + "candidate_oracle_selected_branch_score": 0.4181813597679138, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0251a326271aa1cab82b;ms-64a755437c34f39cda2a;ms-e705fef3e4caa4c49718;ms-09b2d832d7823c11fd22;ms-55e89d326b6531345902;ms-3176a570b75767d1d729", + "expert_regret": 1.5818126201629639, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f0c6556f6c7df39ec2d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5818126201629639, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.41818737983703613, + "restore_error": 1.1920928955078125e-07, + "score": 0.41818737983703613, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.33332759141921997, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7167227268218994, + 0.1985841989517212, + 0.19967614114284515, + 0.20025017857551575 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.5181385278701782, + -0.5170465707778931, + -0.516472578048706 + ], + "candidate_oracle_branch_scores": [ + 0.7167227268218994, + 0.1985841989517212, + 0.19967614114284515, + 0.20025017857551575 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0307106971740723, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0307106971740723, + -1.2757307291030884, + -1.330054759979248, + -1.391314148902893 + ], + "candidate_oracle_progress": 0.7167227268218994, + "candidate_oracle_regret": 1.2832772731781006, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7167227268218994, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7167227268218994, + "candidate_oracle_selected_branch_score": 0.7167227268218994, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e705fef3e4caa4c49718;ms-55e89d326b6531345902;ms-64a755437c34f39cda2a;ms-09b2d832d7823c11fd22;ms-0251a326271aa1cab82b;ms-3f6e7085c865144a7408", + "expert_regret": 1.2832816243171692, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0fe90299788e1f71f98a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2832816243171692, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7167183756828308, + "restore_error": 1.1920928955078125e-07, + "score": 0.7167183756828308, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4028540551662445, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2584279775619507, + 0.2424551546573639, + 0.2441624104976654, + 0.24568524956703186 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.015972822904586792, + -0.014265567064285278, + -0.012742727994918823 + ], + "candidate_oracle_branch_scores": [ + 0.2584279775619507, + 0.2424551546573639, + 0.2441624104976654, + 0.24568524956703186 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6123160123825073, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6123160123825073, + -0.9301437139511108, + -0.9699715375900269, + -1.0031007528305054 + ], + "candidate_oracle_progress": 0.2584279775619507, + "candidate_oracle_regret": 1.7415720224380493, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2584279775619507, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2584279775619507, + "candidate_oracle_selected_branch_score": 0.2584279775619507, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d26dc2146eb8ae9a5434;ms-9fd14cc61816c2d4360e;ms-8bab784ae53525967763;ms-051860c228aa5160d5a6;ms-491aad3896ede89ea0dd;ms-131a98e2d4a78a9645f8", + "expert_regret": 1.7415574193000793, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-22aaa483f5e7d381b63d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7415574193000793, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25844258069992065, + "restore_error": 1.1920928955078125e-07, + "score": 0.25844258069992065, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6810626983642578, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2839197516441345, + 0.2215210199356079, + 0.2219260036945343, + 0.21950691938400269 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.06239873170852661, + -0.06199374794960022, + -0.06441283226013184 + ], + "candidate_oracle_branch_scores": [ + 0.2839197516441345, + 0.2215210199356079, + 0.2219260036945343, + 0.21950691938400269 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.7984193563461304, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.7984193563461304, + -1.9322268962860107, + -1.9436254501342773, + -1.9546055793762207 + ], + "candidate_oracle_progress": 0.2839197516441345, + "candidate_oracle_regret": 1.7160802483558655, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2839197516441345, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2839197516441345, + "candidate_oracle_selected_branch_score": 0.2839197516441345, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b37738e210bf33a45a1d;ms-a932cbf7e2b5755db22e;ms-d30b515ab0ee174afa58;ms-e8de8d619c0cf5fd633e;ms-69785feff08dbf9a50be;ms-e705fef3e4caa4c49718", + "expert_regret": 1.7164251208305359, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-057132b6fc7922013391", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7164251208305359, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2835748791694641, + "restore_error": 1.1920928955078125e-07, + "score": 0.2835748791694641, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.02029608190059662, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7370988130569458, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7370988130569458, + -0.9706941843032837, + -1.0069396495819092, + -1.0440551042556763 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d26dc2146eb8ae9a5434;ms-a5a56eefeb2de0abe600;ms-9fd14cc61816c2d4360e;ms-051860c228aa5160d5a6;ms-1e41619ab39cf51b7822;ms-690f52acc6ead9c7c078", + "expert_regret": 0.0, + "expert_score": 0.7287395000457764, + "expert_success": false, + "group_id": "ms-74c9fc741b846b5019af", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2707622647285461, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7292377352714539, + "restore_error": 1.1920928955078125e-07, + "score": 0.7292377352714539, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5686135292053223, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6990825533866882, + 0.2247563898563385, + 0.2607209086418152, + 0.22451172769069672 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.47432616353034973, + -0.43836164474487305, + -0.4745708107948303 + ], + "candidate_oracle_branch_scores": [ + 0.6990825533866882, + 0.2247563898563385, + 0.2607209086418152, + 0.22451172769069672 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0198187828063965, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.0198187828063965, + -1.6794850826263428, + -1.7861783504486084, + -1.805511474609375 + ], + "candidate_oracle_progress": 0.6990825533866882, + "candidate_oracle_regret": 1.3009174466133118, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6990825533866882, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6990825533866882, + "candidate_oracle_selected_branch_score": 0.6990825533866882, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-35d84da6eb1afcf8a811;ms-e56b37f0e3881a70ef54;ms-1d728ae415a4d3cb782e;ms-3996b923bb25440c29e3;ms-f539c5c30da21c875657;ms-d602b7370c5b90f8a439", + "expert_regret": 1.301190435886383, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8054283375aeefc8f2c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.301190435886383, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6988095641136169, + "restore_error": 1.1920928955078125e-07, + "score": 0.6988095641136169, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3051016628742218, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5359876155853271, + 0.20335540175437927, + 0.2012498676776886, + 0.2012602686882019 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.3326322138309479, + -0.33473774790763855, + -0.33472734689712524 + ], + "candidate_oracle_branch_scores": [ + 0.5359876155853271, + 0.20335540175437927, + 0.2012498676776886, + 0.2012602686882019 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.8124661445617676, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.8124661445617676, + -2.0394399166107178, + -2.0434608459472656, + -2.0549707412719727 + ], + "candidate_oracle_progress": 0.5359876155853271, + "candidate_oracle_regret": 0.18178009986877441, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5359876155853271, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5359876155853271, + "candidate_oracle_selected_branch_score": 0.5359876155853271, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ba9541c7192498a1d8bd;ms-3af721139694f7f3ec04;ms-68c63442972f322789b5;ms-89520c3ac8779d9e81e7;ms-251c1dfd1010906f559f;ms-83c0299c23fa800452c7", + "expert_regret": 0.18152159452438354, + "expert_score": 0.7177677154541016, + "expert_success": false, + "group_id": "ms-e6478d71ed92dae06539", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.18152159452438354, + "oracle_score": 0.7177677154541016, + "oracle_success": false, + "progress": 0.536246120929718, + "restore_error": 1.1920928955078125e-07, + "score": 0.536246120929718, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3000568747520447, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.47497278451919556, + 0.3589875102043152, + 0.31295663118362427, + 0.2633185088634491 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.11598527431488037, + -0.1620161533355713, + -0.21165427565574646 + ], + "candidate_oracle_branch_scores": [ + 0.47497278451919556, + 0.3589875102043152, + 0.31295663118362427, + 0.2633185088634491 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6664527654647827, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.6664527654647827, + -1.285322666168213, + -1.5011183023452759, + -1.5692696571350098 + ], + "candidate_oracle_progress": 0.47497278451919556, + "candidate_oracle_regret": 1.5250272154808044, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.47497278451919556, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.47497278451919556, + "candidate_oracle_selected_branch_score": 0.47497278451919556, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2286d9cf8d88e878c4d7;ms-a6cf775fbba580161c4e;ms-577341cca32521f4045e;ms-b55ca348be8b64323714;ms-ff012c1c8597c8db3cc7;ms-e56b37f0e3881a70ef54", + "expert_regret": 1.5127410292625427, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c146ea1c89beb683b6fd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5127410292625427, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4872589707374573, + "restore_error": 1.1920928955078125e-07, + "score": 0.4872589707374573, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.18547919392585754, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7236263751983643, + 0.7236124873161316, + 0.7246413230895996 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2763736248016357, + -1.2763874530792236, + -1.2753586769104004 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7236263751983643, + 0.7236124873161316, + 0.7246413230895996 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.13347724080085754, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.13347724080085754, + -0.39312663674354553, + -0.42286261916160583, + -0.45182791352272034 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bbefdf03d0471be60f8f;ms-ea164b21572d39ffed58;ms-832f0e966173abd16c34;ms-06cb0796d1097e6ca111;ms-38758efd8620a312267d;ms-8d3d849234ceb98c3dc1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4a86d570dabb0916f020", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36851152777671814, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.3910195827484131, + 0.517602264881134, + 0.32287418842315674, + 0.49930962920188904 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.12658268213272095, + -0.06814539432525635, + 0.10829004645347595 + ], + "candidate_oracle_branch_scores": [ + 0.3910195827484131, + 0.517602264881134, + 0.32287418842315674, + 0.49930962920188904 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.5508971214294434, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.0680160522460938, + -1.5508971214294434, + -1.6120811700820923, + -1.6541965007781982 + ], + "candidate_oracle_progress": 0.517602264881134, + "candidate_oracle_regret": 1.482397735118866, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.517602264881134, + "candidate_oracle_score_gain_over_selected": 0.12658268213272095, + "candidate_oracle_selected_branch_progress": 0.3910195827484131, + "candidate_oracle_selected_branch_score": 0.3910195827484131, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b60078e9e6ea9c26dedc;ms-c9e0182d4090ddaa991c;ms-9f4b47c80d59166302ab;ms-35d84da6eb1afcf8a811;ms-f539c5c30da21c875657;ms-27251a7c7f13bf165e21", + "expert_regret": 1.6089561581611633, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0fe7053483f72737eaec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6089561581611633, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.39104384183883667, + "restore_error": 1.1920928955078125e-07, + "score": 0.39104384183883667, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.8400686979293823, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.1608045995235443, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -0.1608045995235443, + -0.19223275780677795, + -0.35888397693634033, + -0.5825109481811523 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-36f204d04ec4c4af3169;ms-2f1164357c9732e059d4;ms-3f56672eac1c00e9c2b0;ms-14dabc3ac1e1a339ebe4;ms-3af721139694f7f3ec04;ms-89520c3ac8779d9e81e7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bdc14f3225a9c9f26513", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1597663015127182, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7130677700042725, + 0.5018410086631775, + 0.42264872789382935, + 0.7037357091903687 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.21122676134109497, + -0.2904190421104431, + -0.009332060813903809 + ], + "candidate_oracle_branch_scores": [ + 0.7130677700042725, + 0.5018410086631775, + 0.42264872789382935, + 0.7037357091903687 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.4979362189769745, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + 0.4979362189769745, + 0.42758458852767944, + 0.39097675681114197, + 0.3899332284927368 + ], + "candidate_oracle_progress": 0.7130677700042725, + "candidate_oracle_regret": 1.2869322299957275, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7130677700042725, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7130677700042725, + "candidate_oracle_selected_branch_score": 0.7130677700042725, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cbd6cc8b2708d5e3e4a9;ms-83c62951219e6599b630;ms-487d0fe2a13fb699dd7a;ms-a6cf775fbba580161c4e;ms-2286d9cf8d88e878c4d7;ms-3af721139694f7f3ec04", + "expert_regret": 1.2842379808425903, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c6c7803c56c24c460c7f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2842379808425903, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7157620191574097, + "restore_error": 1.1920928955078125e-07, + "score": 0.7157620191574097, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48632797598838806, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.20268934965133667, + 0.20296858251094818, + 0.2017899453639984 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.7973105907440186, + -1.7970314025878906, + -1.7982100248336792 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.20268934965133667, + 0.20296858251094818, + 0.2017899453639984 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2107806205749512, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.2107806205749512, + -1.5257444381713867, + -1.5649693012237549, + -1.6007153987884521 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-29a11d7bdcf49c86bd7a;ms-320d99264926ea029f95;ms-251c1dfd1010906f559f;ms-e1b6bcb41532a800d3cb;ms-83c0299c23fa800452c7;ms-68d9596217cc37c949c4", + "expert_regret": 0.0, + "expert_score": 0.7285350561141968, + "expert_success": false, + "group_id": "ms-33a0bdb4bcee42c79a2b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.7285350561141968, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42808470129966736, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3911353349685669, + 0.3909261226654053, + 0.3749666213989258, + 0.36499103903770447 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0002092123031616211, + -0.016168713569641113, + -0.026144295930862427 + ], + "candidate_oracle_branch_scores": [ + 0.3911353349685669, + 0.3909261226654053, + 0.3749666213989258, + 0.36499103903770447 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7775202989578247, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7775202989578247, + -0.8543308973312378, + -0.8893222808837891, + -0.9397420883178711 + ], + "candidate_oracle_progress": 0.3911353349685669, + "candidate_oracle_regret": 1.608864665031433, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3911353349685669, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3911353349685669, + "candidate_oracle_selected_branch_score": 0.3911353349685669, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-18ab33df290e3919a468;ms-f539c5c30da21c875657;ms-3996b923bb25440c29e3;ms-3f6e7085c865144a7408;ms-69785feff08dbf9a50be;ms-d602b7370c5b90f8a439", + "expert_regret": 1.6098437309265137, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7ce799eb9d3b741e8960", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6098437309265137, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.39015626907348633, + "restore_error": 1.1920928955078125e-07, + "score": 0.39015626907348633, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3683282434940338, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.25748273730278015, + 0.24318301677703857, + 0.2435428500175476, + 0.243181049823761 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.014299720525741577, + -0.013939887285232544, + -0.014301687479019165 + ], + "candidate_oracle_branch_scores": [ + 0.25748273730278015, + 0.24318301677703857, + 0.2435428500175476, + 0.243181049823761 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5481817722320557, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5481817722320557, + -1.048937201499939, + -1.144160509109497, + -1.2302749156951904 + ], + "candidate_oracle_progress": 0.25748273730278015, + "candidate_oracle_regret": 1.7425172626972198, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.25748273730278015, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.25748273730278015, + "candidate_oracle_selected_branch_score": 0.25748273730278015, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3661d65df223386f1be9;ms-4dc9ab19fbe571f09699;ms-3db845076f92a16d1840;ms-7cd314f076bfe5c32088;ms-131a98e2d4a78a9645f8;ms-ea164b21572d39ffed58", + "expert_regret": 1.7420965135097504, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1b8e9b173562648021f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7420965135097504, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25790348649024963, + "restore_error": 1.1920928955078125e-07, + "score": 0.25790348649024963, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.451608806848526, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.2075236737728119, + 0.21278423070907593, + 0.21295535564422607, + 0.21299618482589722 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.005260556936264038, + 0.005431681871414185, + 0.005472511053085327 + ], + "candidate_oracle_branch_scores": [ + 0.2075236737728119, + 0.21278423070907593, + 0.21295535564422607, + 0.21299618482589722 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.7315223217010498, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.4700956344604492, + -1.6055095195770264, + -1.6717290878295898, + -1.7315223217010498 + ], + "candidate_oracle_progress": 0.21299618482589722, + "candidate_oracle_regret": 1.7870038151741028, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21299618482589722, + "candidate_oracle_score_gain_over_selected": 0.005472511053085327, + "candidate_oracle_selected_branch_progress": 0.2075236737728119, + "candidate_oracle_selected_branch_score": 0.2075236737728119, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3af721139694f7f3ec04;ms-ba9541c7192498a1d8bd;ms-89520c3ac8779d9e81e7;ms-83c0299c23fa800452c7;ms-251c1dfd1010906f559f;ms-320d99264926ea029f95", + "expert_regret": 1.7924761921167374, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e48a13af39db4a58bbc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7924761921167374, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20752380788326263, + "restore_error": 1.1920928955078125e-07, + "score": 0.20752380788326263, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3311491012573242, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7184054851531982, + 0.501728892326355, + 0.43976542353630066, + 0.3806951642036438 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.21667659282684326, + -0.2786400616168976, + -0.33771032094955444 + ], + "candidate_oracle_branch_scores": [ + 0.7184054851531982, + 0.501728892326355, + 0.43976542353630066, + 0.3806951642036438 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5178971290588379, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5178971290588379, + -0.8145495653152466, + -0.8519061803817749, + -0.8822145462036133 + ], + "candidate_oracle_progress": 0.7184054851531982, + "candidate_oracle_regret": 1.2815945148468018, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7184054851531982, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7184054851531982, + "candidate_oracle_selected_branch_score": 0.7184054851531982, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9fd14cc61816c2d4360e;ms-d26dc2146eb8ae9a5434;ms-051860c228aa5160d5a6;ms-8bab784ae53525967763;ms-491aad3896ede89ea0dd;ms-1e41619ab39cf51b7822", + "expert_regret": 1.2818464040756226, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2b59042e27453aff03a7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2818464040756226, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7181535959243774, + "restore_error": 1.1920928955078125e-07, + "score": 0.7181535959243774, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1759301871061325, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.40897002816200256, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + 0.40897002816200256, + 0.3993237018585205, + 0.3844356834888458, + 0.3682706952095032 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cbd6cc8b2708d5e3e4a9;ms-83c62951219e6599b630;ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-89520c3ac8779d9e81e7;ms-3af721139694f7f3ec04", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-794706690fbf8c028bda", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3713623881340027, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.49975353479385376, + 0.32361844182014465, + 0.2744355797767639, + 0.25570085644721985 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1761350929737091, + -0.22531795501708984, + -0.2440526783466339 + ], + "candidate_oracle_branch_scores": [ + 0.49975353479385376, + 0.32361844182014465, + 0.2744355797767639, + 0.25570085644721985 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7448527812957764, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.7448527812957764, + -1.482742190361023, + -1.5950853824615479, + -1.6917692422866821 + ], + "candidate_oracle_progress": 0.49975353479385376, + "candidate_oracle_regret": 1.5002464652061462, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.49975353479385376, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.49975353479385376, + "candidate_oracle_selected_branch_score": 0.49975353479385376, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b55ca348be8b64323714;ms-ff012c1c8597c8db3cc7;ms-577341cca32521f4045e;ms-e56b37f0e3881a70ef54;ms-1d728ae415a4d3cb782e;ms-2286d9cf8d88e878c4d7", + "expert_regret": 1.4914718866348267, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6a9c4c704edd84c21cda", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4914718866348267, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5085281133651733, + "restore_error": 1.1920928955078125e-07, + "score": 0.5085281133651733, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4553408622741699, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.2054038941860199, + 0.7007092833518982, + 0.20717740058898926 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.7945960760116577, + -1.299290657043457, + -1.7928225994110107 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.2054038941860199, + 0.7007092833518982, + 0.20717740058898926 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3470559120178223, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.3470559120178223, + -1.8883070945739746, + -1.951317548751831, + -1.9790544509887695 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8a9e7d69f7ade362fe40;ms-69785feff08dbf9a50be;ms-e8de8d619c0cf5fd633e;ms-e2f90eb6c79dfd9ce6fd;ms-ace117030ae44c474db1;ms-18ab33df290e3919a468", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b15f77ad3436ac282ba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3078984320163727, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7128506898880005, + 0.689804196357727, + 0.52448570728302, + 0.2531394958496094 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.023046493530273438, + -0.18836498260498047, + -0.4597111940383911 + ], + "candidate_oracle_branch_scores": [ + 0.7128506898880005, + 0.689804196357727, + 0.52448570728302, + 0.2531394958496094 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6290314197540283, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.6290314197540283, + -1.256335735321045, + -1.483170986175537, + -1.5732455253601074 + ], + "candidate_oracle_progress": 0.7128506898880005, + "candidate_oracle_regret": 1.2871493101119995, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7128506898880005, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7128506898880005, + "candidate_oracle_selected_branch_score": 0.7128506898880005, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2286d9cf8d88e878c4d7;ms-577341cca32521f4045e;ms-a6cf775fbba580161c4e;ms-b55ca348be8b64323714;ms-ff012c1c8597c8db3cc7;ms-e56b37f0e3881a70ef54", + "expert_regret": 1.285736083984375, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-227f2e245df67a5ef5ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.285736083984375, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.714263916015625, + "restore_error": 1.1920928955078125e-07, + "score": 0.714263916015625, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.673382580280304, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.21285538375377655, + 0.21205942332744598, + 0.2121068239212036, + 0.2089204043149948 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0007959604263305664, + -0.000748559832572937, + -0.003934979438781738 + ], + "candidate_oracle_branch_scores": [ + 0.21285538375377655, + 0.21205942332744598, + 0.2121068239212036, + 0.2089204043149948 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3001550436019897, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 1 + ], + "candidate_oracle_potentials": [ + -1.3001550436019897, + -1.4126474857330322, + -1.4669203758239746, + -1.5040192604064941 + ], + "candidate_oracle_progress": 0.21285538375377655, + "candidate_oracle_regret": 1.7871446162462234, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21285538375377655, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.21285538375377655, + "candidate_oracle_selected_branch_score": 0.21285538375377655, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-89520c3ac8779d9e81e7;ms-320d99264926ea029f95;ms-251c1dfd1010906f559f;ms-83c0299c23fa800452c7;ms-3af721139694f7f3ec04;ms-ba9541c7192498a1d8bd", + "expert_regret": 1.787141352891922, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-efb5a07185a3a1b33226", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.787141352891922, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.212858647108078, + "restore_error": 1.1920928955078125e-07, + "score": 0.212858647108078, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.9177537560462952, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.6442160606384277, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.3557839393615723, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.6442160606384277, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.5020620822906494, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 0, + 3 + ], + "candidate_oracle_potentials": [ + -0.5020620822906494, + -0.5562740564346313, + -0.6021114587783813, + -0.6631399393081665 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fb329ccd569163c53415;ms-3f56672eac1c00e9c2b0;ms-14dabc3ac1e1a339ebe4;ms-487d0fe2a13fb699dd7a;ms-9156a9a9c1b829b742ad;ms-89520c3ac8779d9e81e7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e3f38594991aafbffc23", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38814324140548706, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.208123117685318, + 0.20489054918289185, + 0.20802250504493713 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.7918769121170044, + -1.795109510421753, + -1.7919775247573853 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.208123117685318, + 0.20489054918289185, + 0.20802250504493713 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.5771503448486328, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 1, + 19 + ], + "candidate_oracle_potentials": [ + -1.5771503448486328, + -1.8544907569885254, + -1.8959970474243164, + -1.8994371891021729 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3af721139694f7f3ec04;ms-ba9541c7192498a1d8bd;ms-83c0299c23fa800452c7;ms-89520c3ac8779d9e81e7;ms-68c63442972f322789b5;ms-251c1dfd1010906f559f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-44a607bf50304347ead8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4924542009830475, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.47479817271232605, + 0.4236483573913574, + 0.38834816217422485, + 0.362536758184433 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.05114981532096863, + -0.0864500105381012, + -0.11226141452789307 + ], + "candidate_oracle_branch_scores": [ + 0.47479817271232605, + 0.4236483573913574, + 0.38834816217422485, + 0.362536758184433 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8865177631378174, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8865177631378174, + -0.9782183170318604, + -1.007708191871643, + -1.0479028224945068 + ], + "candidate_oracle_progress": 0.47479817271232605, + "candidate_oracle_regret": 1.525201827287674, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.47479817271232605, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.47479817271232605, + "candidate_oracle_selected_branch_score": 0.47479817271232605, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e8de8d619c0cf5fd633e;ms-69785feff08dbf9a50be;ms-18ab33df290e3919a468;ms-f539c5c30da21c875657;ms-55e89d326b6531345902;ms-3996b923bb25440c29e3", + "expert_regret": 1.526094913482666, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9f844e24c570295e0497", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.526094913482666, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.473905086517334, + "restore_error": 1.1920928955078125e-07, + "score": 0.473905086517334, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.33861401677131653, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.255844384431839, + 0.25287407636642456, + 0.2539699375629425, + 0.25317662954330444 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0029703080654144287, + -0.0018744468688964844, + -0.002667754888534546 + ], + "candidate_oracle_branch_scores": [ + 0.255844384431839, + 0.25287407636642456, + 0.2539699375629425, + 0.25317662954330444 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8556101322174072, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8556101322174072, + -1.1618103981018066, + -1.2209566831588745, + -1.2801036834716797 + ], + "candidate_oracle_progress": 0.255844384431839, + "candidate_oracle_regret": 1.744155615568161, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.255844384431839, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.255844384431839, + "candidate_oracle_selected_branch_score": 0.255844384431839, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-507199452c6d42562a38;ms-d30b515ab0ee174afa58;ms-a5a56eefeb2de0abe600;ms-780ea60ea0255941e6c8;ms-fdb2637276b27c46c757;ms-01ab68aa5051226638ee", + "expert_regret": 1.7451649904251099, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-777412474251e64d7e24", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7451649904251099, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25483500957489014, + "restore_error": 1.1920928955078125e-07, + "score": 0.25483500957489014, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4783249795436859, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.3126428723335266, + 0.3199142813682556, + 0.34045952558517456, + 0.36760053038597107 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.007271409034729004, + 0.02781665325164795, + 0.05495765805244446 + ], + "candidate_oracle_branch_scores": [ + 0.3126428723335266, + 0.3199142813682556, + 0.34045952558517456, + 0.36760053038597107 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9603197574615479, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7720588445663452, + -0.8950052261352539, + -0.9247198104858398, + -0.9603197574615479 + ], + "candidate_oracle_progress": 0.36760053038597107, + "candidate_oracle_regret": 1.632399469614029, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.36760053038597107, + "candidate_oracle_score_gain_over_selected": 0.05495765805244446, + "candidate_oracle_selected_branch_progress": 0.3126428723335266, + "candidate_oracle_selected_branch_score": 0.3126428723335266, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-18ab33df290e3919a468;ms-f539c5c30da21c875657;ms-3996b923bb25440c29e3;ms-d602b7370c5b90f8a439;ms-35d84da6eb1afcf8a811;ms-3f6e7085c865144a7408", + "expert_regret": 1.6867883205413818, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6684504de2fc8756f44f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6867883205413818, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.31321167945861816, + "restore_error": 1.1920928955078125e-07, + "score": 0.31321167945861816, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4746546745300293, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7136785984039307, + 0.5408721566200256, + 0.22518227994441986, + 0.37131747603416443 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.17280644178390503, + -0.4884963035583496, + -0.34236112236976624 + ], + "candidate_oracle_branch_scores": [ + 0.7136785984039307, + 0.5408721566200256, + 0.22518227994441986, + 0.37131747603416443 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3101396560668945, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -1.3101396560668945, + -1.8609082698822021, + -1.8642829656600952, + -1.8887057304382324 + ], + "candidate_oracle_progress": 0.7136785984039307, + "candidate_oracle_regret": 1.2863214015960693, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7136785984039307, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7136785984039307, + "candidate_oracle_selected_branch_score": 0.7136785984039307, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e2f90eb6c79dfd9ce6fd;ms-ace117030ae44c474db1;ms-8a9e7d69f7ade362fe40;ms-27251a7c7f13bf165e21;ms-69785feff08dbf9a50be;ms-b60078e9e6ea9c26dedc", + "expert_regret": 1.2861676216125488, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-49c99f285560483a85ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2861676216125488, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7138323783874512, + "restore_error": 1.1920928955078125e-07, + "score": 0.7138323783874512, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42923611402511597, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.6087999939918518, + 0.695756196975708, + 0.6858500242233276, + 0.35800808668136597 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0869562029838562, + 0.07705003023147583, + -0.25079190731048584 + ], + "candidate_oracle_branch_scores": [ + 0.6087999939918518, + 0.695756196975708, + 0.6858500242233276, + 0.35800808668136597 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.4241063594818115, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.1023950576782227, + -1.4241063594818115, + -1.5214107036590576, + -1.5697991847991943 + ], + "candidate_oracle_progress": 0.695756196975708, + "candidate_oracle_regret": 1.304243803024292, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.695756196975708, + "candidate_oracle_score_gain_over_selected": 0.0869562029838562, + "candidate_oracle_selected_branch_progress": 0.6087999939918518, + "candidate_oracle_selected_branch_score": 0.6087999939918518, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-27251a7c7f13bf165e21;ms-b60078e9e6ea9c26dedc;ms-9f4b47c80d59166302ab;ms-c9e0182d4090ddaa991c;ms-cf44ae14778c60c36af0;ms-ace117030ae44c474db1", + "expert_regret": 1.3915775418281555, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2d1a5e132eaeb353782", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3915775418281555, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6084224581718445, + "restore_error": 1.1920928955078125e-07, + "score": 0.6084224581718445, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.07837015390396118, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.48017990589141846, + 0.5700671672821045, + 0.5481396913528442, + 0.2228907197713852 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.08988726139068604, + 0.06795978546142578, + -0.25728917121887207 + ], + "candidate_oracle_branch_scores": [ + 0.48017990589141846, + 0.5700671672821045, + 0.5481396913528442, + 0.2228907197713852 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.27310165762901306, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 24 + ], + "candidate_oracle_potentials": [ + -0.14899292588233948, + -0.27310165762901306, + -0.3961094915866852, + -0.4412185251712799 + ], + "candidate_oracle_progress": 0.5700671672821045, + "candidate_oracle_regret": 1.4299328327178955, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5700671672821045, + "candidate_oracle_score_gain_over_selected": 0.08988726139068604, + "candidate_oracle_selected_branch_progress": 0.48017990589141846, + "candidate_oracle_selected_branch_score": 0.48017990589141846, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cbd6cc8b2708d5e3e4a9;ms-83c62951219e6599b630;ms-36f204d04ec4c4af3169;ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-3af721139694f7f3ec04", + "expert_regret": 1.4772633910179138, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9551db96b60a51ccf62a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4772633910179138, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5227366089820862, + "restore_error": 1.1920928955078125e-07, + "score": 0.5227366089820862, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1391947716474533, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.21552501618862152, + 0.7144902944564819, + 0.7154196500778198, + 0.7132973074913025 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.4989652633666992, + 0.4998946189880371, + 0.4977722764015198 + ], + "candidate_oracle_branch_scores": [ + 0.21552501618862152, + 0.7144902944564819, + 0.7154196500778198, + 0.7132973074913025 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.40716055035591125, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 19, + 3, + 35 + ], + "candidate_oracle_potentials": [ + -0.2393263280391693, + -0.39151719212532043, + -0.40716055035591125, + -0.4072374999523163 + ], + "candidate_oracle_progress": 0.7154196500778198, + "candidate_oracle_regret": 1.2845803499221802, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7154196500778198, + "candidate_oracle_score_gain_over_selected": 0.4998946189880371, + "candidate_oracle_selected_branch_progress": 0.21552501618862152, + "candidate_oracle_selected_branch_score": 0.21552501618862152, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-118ba8926eda06ffc61e;ms-575bd87a5da90963019d;ms-28c139f34a954b692962;ms-8d3d849234ceb98c3dc1", + "expert_regret": 1.7877328991889954, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7272e1e33d4ecc07470c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7877328991889954, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21226710081100464, + "restore_error": 1.1920928955078125e-07, + "score": 0.21226710081100464, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6358925700187683, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.20287200808525085, + 0.20365320146083832, + 0.20357689261436462, + 0.20350420475006104 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0007811933755874634, + 0.0007048845291137695, + 0.0006321966648101807 + ], + "candidate_oracle_branch_scores": [ + 0.20287200808525085, + 0.20365320146083832, + 0.20357689261436462, + 0.20350420475006104 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.7419614791870117, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 4 + ], + "candidate_oracle_potentials": [ + -1.3696227073669434, + -1.7419614791870117, + -1.778031349182129, + -1.8019118309020996 + ], + "candidate_oracle_progress": 0.20365320146083832, + "candidate_oracle_regret": 1.7963467985391617, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20365320146083832, + "candidate_oracle_score_gain_over_selected": 0.0007811933755874634, + "candidate_oracle_selected_branch_progress": 0.20287200808525085, + "candidate_oracle_selected_branch_score": 0.20287200808525085, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e1b6bcb41532a800d3cb;ms-29a11d7bdcf49c86bd7a;ms-320d99264926ea029f95;ms-68d9596217cc37c949c4;ms-251c1dfd1010906f559f;ms-83c0299c23fa800452c7", + "expert_regret": 1.7971279919147491, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-36d1128e3bd512cffe18", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7971279919147491, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20287200808525085, + "restore_error": 1.1920928955078125e-07, + "score": 0.20287200808525085, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.47050413489341736, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6225526332855225, + 0.4614480435848236, + 0.5024393200874329, + 0.4481894373893738 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.16110458970069885, + -0.1201133131980896, + -0.17436319589614868 + ], + "candidate_oracle_branch_scores": [ + 0.6225526332855225, + 0.4614480435848236, + 0.5024393200874329, + 0.4481894373893738 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8906751871109009, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8906751871109009, + -1.0091816186904907, + -1.0437402725219727, + -1.0876351594924927 + ], + "candidate_oracle_progress": 0.6225526332855225, + "candidate_oracle_regret": 1.3774473667144775, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6225526332855225, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6225526332855225, + "candidate_oracle_selected_branch_score": 0.6225526332855225, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-18ab33df290e3919a468;ms-69785feff08dbf9a50be;ms-f539c5c30da21c875657;ms-e8de8d619c0cf5fd633e;ms-ace117030ae44c474db1;ms-3996b923bb25440c29e3", + "expert_regret": 1.392566442489624, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ee12f14646b925adf51", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.392566442489624, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.607433557510376, + "restore_error": 1.1920928955078125e-07, + "score": 0.607433557510376, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.43266651034355164, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.6617645025253296, + 0.693344235420227, + 0.5163549780845642, + 0.3558175563812256 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.03157973289489746, + -0.14540952444076538, + -0.305946946144104 + ], + "candidate_oracle_branch_scores": [ + 0.6617645025253296, + 0.693344235420227, + 0.5163549780845642, + 0.3558175563812256 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.405772089958191, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.0824137926101685, + -1.405772089958191, + -1.505143642425537, + -1.5741618871688843 + ], + "candidate_oracle_progress": 0.693344235420227, + "candidate_oracle_regret": 1.306655764579773, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.693344235420227, + "candidate_oracle_score_gain_over_selected": 0.03157973289489746, + "candidate_oracle_selected_branch_progress": 0.6617645025253296, + "candidate_oracle_selected_branch_score": 0.6617645025253296, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-27251a7c7f13bf165e21;ms-9f4b47c80d59166302ab;ms-c9e0182d4090ddaa991c;ms-cf44ae14778c60c36af0;ms-b60078e9e6ea9c26dedc;ms-b04b489f4fbad93b65ca", + "expert_regret": 1.339338779449463, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6f03b16858c35025503e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.339338779449463, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6606612205505371, + "restore_error": 1.1920928955078125e-07, + "score": 0.6606612205505371, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34144285321235657, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.7038146257400513, + 0.6949767470359802 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.2961853742599487, + -1.305023193359375 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.7038146257400513, + 0.6949767470359802 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3089841306209564, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3089841306209564, + -0.6964429616928101, + -0.788032054901123, + -0.8822085857391357 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ea164b21572d39ffed58;ms-832f0e966173abd16c34;ms-3db845076f92a16d1840;ms-8d3d849234ceb98c3dc1;ms-bbefdf03d0471be60f8f;ms-06cb0796d1097e6ca111", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-25195d526c9adb43ac79", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3348689079284668, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.6968631148338318, + 0.42419296503067017 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.3031368255615234, + -1.5758070945739746 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.6968631148338318, + 0.42419296503067017 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.639858603477478, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.639858603477478, + -1.2530676126480103, + -1.471061110496521, + -1.543443202972412 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-577341cca32521f4045e;ms-b55ca348be8b64323714;ms-2286d9cf8d88e878c4d7;ms-ff012c1c8597c8db3cc7;ms-a6cf775fbba580161c4e;ms-e56b37f0e3881a70ef54", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6ca37421eb5405e1a9a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.03535556420683861, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6992036700248718, + 0.2049693465232849, + 0.2026461809873581, + 0.20260438323020935 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4942343235015869, + -0.49655747413635254, + -0.4965992867946625 + ], + "candidate_oracle_branch_scores": [ + 0.6992036700248718, + 0.2049693465232849, + 0.2026461809873581, + 0.20260438323020935 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3113324642181396, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.3113324642181396, + -1.6634635925292969, + -1.696899652481079, + -1.7268061637878418 + ], + "candidate_oracle_progress": 0.6992036700248718, + "candidate_oracle_regret": 1.3007963299751282, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6992036700248718, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6992036700248718, + "candidate_oracle_selected_branch_score": 0.6992036700248718, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-251c1dfd1010906f559f;ms-320d99264926ea029f95;ms-83c0299c23fa800452c7;ms-89520c3ac8779d9e81e7;ms-3af721139694f7f3ec04;ms-29a11d7bdcf49c86bd7a", + "expert_regret": 0.022775709629058838, + "expert_score": 0.7225138545036316, + "expert_success": false, + "group_id": "ms-4b4cd12d70c0615e0930", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3002618551254272, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6997381448745728, + "restore_error": 1.1920928955078125e-07, + "score": 0.6997381448745728, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2884964346885681, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5985254049301147, + 0.5861952304840088, + 0.6166704893112183, + 0.5785340070724487 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.012330174446105957, + 0.018145084381103516, + -0.019991397857666016 + ], + "candidate_oracle_branch_scores": [ + 0.5985254049301147, + 0.5861952304840088, + 0.6166704893112183, + 0.5785340070724487 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0217244625091553, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.78661048412323, + -0.973227858543396, + -1.0217244625091553, + -1.0836913585662842 + ], + "candidate_oracle_progress": 0.6166704893112183, + "candidate_oracle_regret": 1.3833295106887817, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6166704893112183, + "candidate_oracle_score_gain_over_selected": 0.018145084381103516, + "candidate_oracle_selected_branch_progress": 0.5985254049301147, + "candidate_oracle_selected_branch_score": 0.5985254049301147, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3f6e7085c865144a7408;ms-09b2d832d7823c11fd22;ms-d602b7370c5b90f8a439;ms-3996b923bb25440c29e3;ms-55e89d326b6531345902;ms-f539c5c30da21c875657", + "expert_regret": 1.4000755548477173, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2590f9fd91265598fb45", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4000755548477173, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5999244451522827, + "restore_error": 1.1920928955078125e-07, + "score": 0.5999244451522827, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5134353637695312, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.679291844367981, + 0.48117420077323914, + 0.4670756757259369, + 0.4527081847190857 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.19811764359474182, + -0.21221616864204407, + -0.22658365964889526 + ], + "candidate_oracle_branch_scores": [ + 0.679291844367981, + 0.48117420077323914, + 0.4670756757259369, + 0.4527081847190857 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.848872184753418, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.848872184753418, + -0.9238882064819336, + -0.948868989944458, + -0.9870884418487549 + ], + "candidate_oracle_progress": 0.679291844367981, + "candidate_oracle_regret": 1.320708155632019, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.679291844367981, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.679291844367981, + "candidate_oracle_selected_branch_score": 0.679291844367981, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-18ab33df290e3919a468;ms-f539c5c30da21c875657;ms-69785feff08dbf9a50be;ms-ace117030ae44c474db1;ms-3996b923bb25440c29e3;ms-e8de8d619c0cf5fd633e", + "expert_regret": 1.3208014965057373, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1e0634dc4c3b94220950", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3208014965057373, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6791985034942627, + "restore_error": 1.1920928955078125e-07, + "score": 0.6791985034942627, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.500493049621582, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.21048764884471893, + 0.21214887499809265, + 0.20796635746955872 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.7895123958587646, + -1.787851095199585, + -1.7920336723327637 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.21048764884471893, + 0.21214887499809265, + 0.20796635746955872 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9950194358825684, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9950194358825684, + -1.2035199403762817, + -1.3080713748931885, + -1.4334622621536255 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-69785feff08dbf9a50be;ms-18ab33df290e3919a468;ms-8a9e7d69f7ade362fe40;ms-e8de8d619c0cf5fd633e;ms-f539c5c30da21c875657;ms-ace117030ae44c474db1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-73c99a7a25cd025e5f2d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3576247990131378, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.23416763544082642, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 33, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.23416763544082642, + -0.5598828792572021, + -0.5608683824539185, + -0.5677371025085449 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-61c099575bcff2de95e3;ms-4b3a296acc66a14476c3;ms-118ba8926eda06ffc61e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-89feb4366865cfaf2273", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5024643540382385, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7114697694778442, + 0.7053349018096924, + 0.3676530122756958, + 0.7129871845245361 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0061348676681518555, + -0.34381675720214844, + 0.0015174150466918945 + ], + "candidate_oracle_branch_scores": [ + 0.7114697694778442, + 0.7053349018096924, + 0.3676530122756958, + 0.7129871845245361 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.7087360620498657, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.8929041624069214, + -1.547458291053772, + -1.700591802597046, + -1.7087360620498657 + ], + "candidate_oracle_progress": 0.7129871845245361, + "candidate_oracle_regret": 1.2870128154754639, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7129871845245361, + "candidate_oracle_score_gain_over_selected": 0.0015174150466918945, + "candidate_oracle_selected_branch_progress": 0.7114697694778442, + "candidate_oracle_selected_branch_score": 0.7114697694778442, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-35d84da6eb1afcf8a811;ms-e56b37f0e3881a70ef54;ms-1d728ae415a4d3cb782e;ms-ff012c1c8597c8db3cc7;ms-d602b7370c5b90f8a439;ms-b55ca348be8b64323714", + "expert_regret": 1.2883992791175842, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-261f6f6b578cee63be20", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2883992791175842, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7116007208824158, + "restore_error": 1.1920928955078125e-07, + "score": 0.7116007208824158, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.037683017551898956, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7269694209098816, + 0.20100818574428558, + 0.20135381817817688, + 0.1998376101255417 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.5259612202644348, + -0.5256155729293823, + -0.5271317958831787 + ], + "candidate_oracle_branch_scores": [ + 0.7269694209098816, + 0.20100818574428558, + 0.20135381817817688, + 0.1998376101255417 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.7357797622680664, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.7357797622680664, + -2.0467729568481445, + -2.074641466140747, + -2.0995476245880127 + ], + "candidate_oracle_progress": 0.7269694209098816, + "candidate_oracle_regret": 1.2730305790901184, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7269694209098816, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7269694209098816, + "candidate_oracle_selected_branch_score": 0.7269694209098816, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-251c1dfd1010906f559f;ms-68d9596217cc37c949c4;ms-c2c265f2f5013746eaa1;ms-320d99264926ea029f95;ms-83c0299c23fa800452c7;ms-29a11d7bdcf49c86bd7a", + "expert_regret": 0.0, + "expert_score": 0.725497841835022, + "expert_success": false, + "group_id": "ms-0660d5f65df5fc4b6132", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.272649347782135, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.727350652217865, + "restore_error": 1.1920928955078125e-07, + "score": 0.727350652217865, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7050268054008484, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7109515070915222, + 0.7122957706451416, + 0.7141766548156738, + 0.7179691791534424 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0013442635536193848, + 0.0032251477241516113, + 0.007017672061920166 + ], + "candidate_oracle_branch_scores": [ + 0.7109515070915222, + 0.7122957706451416, + 0.7141766548156738, + 0.7179691791534424 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3749738037586212, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 35, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -0.23207584023475647, + -0.23436865210533142, + -0.3266078531742096, + -0.3749738037586212 + ], + "candidate_oracle_progress": 0.7179691791534424, + "candidate_oracle_regret": 1.2820308208465576, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7179691791534424, + "candidate_oracle_score_gain_over_selected": 0.007017672061920166, + "candidate_oracle_selected_branch_progress": 0.7109515070915222, + "candidate_oracle_selected_branch_score": 0.7109515070915222, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-36f204d04ec4c4af3169;ms-2f1164357c9732e059d4;ms-3f56672eac1c00e9c2b0;ms-3af721139694f7f3ec04;ms-89520c3ac8779d9e81e7;ms-ba9541c7192498a1d8bd", + "expert_regret": 1.289901852607727, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-caa0a38b7df789550f8a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.289901852607727, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.710098147392273, + "restore_error": 1.1920928955078125e-07, + "score": 0.710098147392273, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.17082323133945465, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.2134062945842743, + 0.7177120447158813, + 0.7194340229034424, + 0.7199637293815613 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.5043057203292847, + 0.5060276985168457, + 0.5065574645996094 + ], + "candidate_oracle_branch_scores": [ + 0.2134062945842743, + 0.7177120447158813, + 0.7194340229034424, + 0.7199637293815613 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.24364450573921204, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -0.035702869296073914, + -0.19163468480110168, + -0.20596298575401306, + -0.24364450573921204 + ], + "candidate_oracle_progress": 0.7199637293815613, + "candidate_oracle_regret": 1.2800362706184387, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7199637293815613, + "candidate_oracle_score_gain_over_selected": 0.5065574645996094, + "candidate_oracle_selected_branch_progress": 0.2134062945842743, + "candidate_oracle_selected_branch_score": 0.2134062945842743, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-145f60d5fff285e7d05b;ms-575bd87a5da90963019d;ms-6a4398375c43dbf887b1;ms-96e1562aaca7ef49db28;ms-28c139f34a954b692962;ms-61c099575bcff2de95e3", + "expert_regret": 1.7867669612169266, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3d862f2a32d3404926c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7867669612169266, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21323303878307343, + "restore_error": 1.1920928955078125e-07, + "score": 0.21323303878307343, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41998472809791565, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.27918344736099243, + 0.3626958131790161 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.7208166122436523, + -1.6373041868209839 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.27918344736099243, + 0.3626958131790161 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6953197717666626, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.6953197717666626, + -1.4237216711044312, + -1.60982346534729, + -1.6570274829864502 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ff012c1c8597c8db3cc7;ms-b55ca348be8b64323714;ms-e56b37f0e3881a70ef54;ms-577341cca32521f4045e;ms-1d728ae415a4d3cb782e;ms-35d84da6eb1afcf8a811", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-80e3d8a34c3cb94cad65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.0222945474088192, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7171923518180847, + 0.7061446905136108, + 0.3419824242591858 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2828075885772705, + -1.2938553094863892, + -1.658017635345459 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7171923518180847, + 0.7061446905136108, + 0.3419824242591858 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5485931634902954, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.5485931634902954, + -1.0692732334136963, + -1.1534900665283203, + -1.187850832939148 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3db845076f92a16d1840;ms-3661d65df223386f1be9;ms-38758efd8620a312267d;ms-491aad3896ede89ea0dd;ms-ea164b21572d39ffed58;ms-bbefdf03d0471be60f8f", + "expert_regret": 0.0, + "expert_score": 0.7210851907730103, + "expert_success": false, + "group_id": "ms-988537a36edfece3d073", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22767026722431183, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4473777711391449, + 0.2529781460762024, + 0.2384795844554901, + 0.2388296127319336 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1943996250629425, + -0.20889818668365479, + -0.2085481584072113 + ], + "candidate_oracle_branch_scores": [ + 0.4473777711391449, + 0.2529781460762024, + 0.2384795844554901, + 0.2388296127319336 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5686256885528564, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5686256885528564, + -1.0786457061767578, + -1.1371212005615234, + -1.1876153945922852 + ], + "candidate_oracle_progress": 0.4473777711391449, + "candidate_oracle_regret": 1.552622228860855, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4473777711391449, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4473777711391449, + "candidate_oracle_selected_branch_score": 0.4473777711391449, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-38758efd8620a312267d;ms-ea164b21572d39ffed58;ms-bbefdf03d0471be60f8f;ms-06cb0796d1097e6ca111;ms-832f0e966173abd16c34;ms-f0d2ffde521e268efc83", + "expert_regret": 1.4936581254005432, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a4ade4de51ca437ac432", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4936581254005432, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5063418745994568, + "restore_error": 1.1920928955078125e-07, + "score": 0.5063418745994568, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3597750663757324, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.723738431930542, + 0.6984277963638306, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.025310635566711426, + 1.276261568069458, + 1.276261568069458 + ], + "candidate_oracle_branch_scores": [ + 0.723738431930542, + 0.6984277963638306, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.35620278120040894, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.08612746000289917, + -0.30143091082572937, + -0.35620278120040894, + -0.4156239926815033 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.276261568069458, + "candidate_oracle_selected_branch_progress": 0.723738431930542, + "candidate_oracle_selected_branch_score": 0.723738431930542, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8bab784ae53525967763;ms-131a98e2d4a78a9645f8;ms-690f52acc6ead9c7c078;ms-136f1ebebd0b697c3310;ms-491aad3896ede89ea0dd;ms-bbefdf03d0471be60f8f", + "expert_regret": 1.2760891914367676, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-675833805d1139c2f2a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2760891914367676, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7239108085632324, + "restore_error": 1.1920928955078125e-07, + "score": 0.7239108085632324, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7899077534675598, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7147457003593445, + 0.718339204788208, + 0.7246655225753784, + 0.7249690294265747 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0035935044288635254, + 0.009919822216033936, + 0.010223329067230225 + ], + "candidate_oracle_branch_scores": [ + 0.7147457003593445, + 0.718339204788208, + 0.7246655225753784, + 0.7249690294265747 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.11622625589370728, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 40, + 24 + ], + "candidate_oracle_potentials": [ + 0.05620139092206955, + -0.018313169479370117, + -0.07857678830623627, + -0.11622625589370728 + ], + "candidate_oracle_progress": 0.7249690294265747, + "candidate_oracle_regret": 1.2750309705734253, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7249690294265747, + "candidate_oracle_score_gain_over_selected": 0.010223329067230225, + "candidate_oracle_selected_branch_progress": 0.7147457003593445, + "candidate_oracle_selected_branch_score": 0.7147457003593445, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cbd6cc8b2708d5e3e4a9;ms-83c62951219e6599b630;ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-3af721139694f7f3ec04;ms-89520c3ac8779d9e81e7", + "expert_regret": 1.2862424850463867, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-62b88f5cbc4f137e3bba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.2862424850463867, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7137575149536133, + "restore_error": 1.1920928955078125e-07, + "score": 0.7137575149536133, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4736608862876892, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7043320536613464, + 0.6844273805618286, + 0.5819755792617798, + 0.21339961886405945 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.019904673099517822, + -0.12235647439956665, + -0.490932434797287 + ], + "candidate_oracle_branch_scores": [ + 0.7043320536613464, + 0.6844273805618286, + 0.5819755792617798, + 0.21339961886405945 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.100429892539978, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.100429892539978, + -1.3277604579925537, + -1.3554613590240479, + -1.382828712463379 + ], + "candidate_oracle_progress": 0.7043320536613464, + "candidate_oracle_regret": 1.2956679463386536, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7043320536613464, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7043320536613464, + "candidate_oracle_selected_branch_score": 0.7043320536613464, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-320d99264926ea029f95;ms-251c1dfd1010906f559f;ms-89520c3ac8779d9e81e7;ms-29a11d7bdcf49c86bd7a;ms-83c0299c23fa800452c7;ms-e1b6bcb41532a800d3cb", + "expert_regret": 1.2956679463386536, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-af91167a0cf15457c6ba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2956679463386536, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7043320536613464, + "restore_error": 1.1920928955078125e-07, + "score": 0.7043320536613464, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1709236204624176, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7248615622520447, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2751383781433105, + 1.2751383781433105, + 1.2751383781433105 + ], + "candidate_oracle_branch_scores": [ + 0.7248615622520447, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.18767210841178894, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.07296019792556763, + -0.18767210841178894, + -0.21177473664283752, + -0.23882779479026794 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2751383781433105, + "candidate_oracle_selected_branch_progress": 0.7248615622520447, + "candidate_oracle_selected_branch_score": 0.7248615622520447, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-06cb0796d1097e6ca111;ms-bbefdf03d0471be60f8f;ms-832f0e966173abd16c34;ms-ea164b21572d39ffed58;ms-051860c228aa5160d5a6;ms-118ba8926eda06ffc61e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-becd2ffef1c49174810a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41211217641830444, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.711607813835144, + 0.6878095865249634, + 0.6871460676193237, + 0.6870390772819519 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.023798227310180664, + -0.024461746215820312, + -0.02456873655319214 + ], + "candidate_oracle_branch_scores": [ + 0.711607813835144, + 0.6878095865249634, + 0.6871460676193237, + 0.6870390772819519 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.18184682726860046, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + -0.18184682726860046, + -0.4939117729663849, + -0.5182636976242065, + -0.5248807668685913 + ], + "candidate_oracle_progress": 0.711607813835144, + "candidate_oracle_regret": 1.288392186164856, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.711607813835144, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.711607813835144, + "candidate_oracle_selected_branch_score": 0.711607813835144, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-4b3a296acc66a14476c3;ms-6a4398375c43dbf887b1;ms-145f60d5fff285e7d05b;ms-61c099575bcff2de95e3;ms-118ba8926eda06ffc61e", + "expert_regret": 1.2882801294326782, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2e4ca0e2534ef8ea8bb4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2882801294326782, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7117198705673218, + "restore_error": 1.1920928955078125e-07, + "score": 0.7117198705673218, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2887762486934662, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5471826791763306, + 0.4611304700374603, + 0.44318246841430664, + 0.44527071714401245 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.08605220913887024, + -0.10400021076202393, + -0.10191196203231812 + ], + "candidate_oracle_branch_scores": [ + 0.5471826791763306, + 0.4611304700374603, + 0.44318246841430664, + 0.44527071714401245 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9811986684799194, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9811986684799194, + -1.140523910522461, + -1.1931736469268799, + -1.2566090822219849 + ], + "candidate_oracle_progress": 0.5471826791763306, + "candidate_oracle_regret": 1.4528173208236694, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5471826791763306, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5471826791763306, + "candidate_oracle_selected_branch_score": 0.5471826791763306, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3f6e7085c865144a7408;ms-09b2d832d7823c11fd22;ms-d602b7370c5b90f8a439;ms-3996b923bb25440c29e3;ms-f539c5c30da21c875657;ms-55e89d326b6531345902", + "expert_regret": 1.4531944394111633, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6939f3ecafd5e0a4bfee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4531944394111633, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5468055605888367, + "restore_error": 1.1920928955078125e-07, + "score": 0.5468055605888367, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.20084579288959503, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6896780729293823, + 0.24035333096981049, + 0.24091492593288422, + 0.24198085069656372 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.44932472705841064, + -0.4487631320953369, + -0.4476972222328186 + ], + "candidate_oracle_branch_scores": [ + 0.6896780729293823, + 0.24035333096981049, + 0.24091492593288422, + 0.24198085069656372 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7286378145217896, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7286378145217896, + -0.9768093824386597, + -0.9864096641540527, + -0.9966108798980713 + ], + "candidate_oracle_progress": 0.6896780729293823, + "candidate_oracle_regret": 1.3103219270706177, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6896780729293823, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6896780729293823, + "candidate_oracle_selected_branch_score": 0.6896780729293823, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-051860c228aa5160d5a6;ms-38758efd8620a312267d;ms-06cb0796d1097e6ca111;ms-bbefdf03d0471be60f8f;ms-ea164b21572d39ffed58;ms-832f0e966173abd16c34", + "expert_regret": 1.3020644187927246, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1145e0f6add300eee9bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3020644187927246, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6979355812072754, + "restore_error": 1.1920928955078125e-07, + "score": 0.6979355812072754, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.03978776931762695, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.25836724042892456, + 0.25531744956970215, + 0.25478023290634155, + 0.2540853023529053 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.003049790859222412, + -0.003587007522583008, + -0.004281938076019287 + ], + "candidate_oracle_branch_scores": [ + 0.25836724042892456, + 0.25531744956970215, + 0.25478023290634155, + 0.2540853023529053 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8931455612182617, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8931455612182617, + -1.1819050312042236, + -1.2381128072738647, + -1.2958734035491943 + ], + "candidate_oracle_progress": 0.25836724042892456, + "candidate_oracle_regret": 1.7416327595710754, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.25836724042892456, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.25836724042892456, + "candidate_oracle_selected_branch_score": 0.25836724042892456, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d30b515ab0ee174afa58;ms-507199452c6d42562a38;ms-a5a56eefeb2de0abe600;ms-780ea60ea0255941e6c8;ms-fdb2637276b27c46c757;ms-01ab68aa5051226638ee", + "expert_regret": 0.470607191324234, + "expert_score": 0.7288997173309326, + "expert_success": false, + "group_id": "ms-efbde8652e75274fbd69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7417074739933014, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2582925260066986, + "restore_error": 1.1920928955078125e-07, + "score": 0.2582925260066986, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40327924489974976, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.25729846954345703, + 0.24515017867088318, + 0.24628745019435883, + 0.24712738394737244 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.012148290872573853, + -0.011011019349098206, + -0.010171085596084595 + ], + "candidate_oracle_branch_scores": [ + 0.25729846954345703, + 0.24515017867088318, + 0.24628745019435883, + 0.24712738394737244 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6072129011154175, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6072129011154175, + -1.0972099304199219, + -1.1939576864242554, + -1.2834254503250122 + ], + "candidate_oracle_progress": 0.25729846954345703, + "candidate_oracle_regret": 0.46218961477279663, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.25729846954345703, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.25729846954345703, + "candidate_oracle_selected_branch_score": 0.25729846954345703, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4dc9ab19fbe571f09699;ms-7cd314f076bfe5c32088;ms-3661d65df223386f1be9;ms-ef8de99d917753ec603c;ms-131a98e2d4a78a9645f8;ms-8f24ad2e217963943c12", + "expert_regret": 0.4621132016181946, + "expert_score": 0.7194880843162537, + "expert_success": false, + "group_id": "ms-ff3256da4e1731651937", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.4621132016181946, + "oracle_score": 0.7194880843162537, + "oracle_success": false, + "progress": 0.2573748826980591, + "restore_error": 1.1920928955078125e-07, + "score": 0.2573748826980591, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3570687472820282, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6722525358200073, + 0.5629128813743591, + 0.5258357524871826, + 0.301970899105072 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1093396544456482, + -0.1464167833328247, + -0.3702816367149353 + ], + "candidate_oracle_branch_scores": [ + 0.6722525358200073, + 0.5629128813743591, + 0.5258357524871826, + 0.301970899105072 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7011674642562866, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.7011674642562866, + -1.2586216926574707, + -1.4480488300323486, + -1.5133116245269775 + ], + "candidate_oracle_progress": 0.6722525358200073, + "candidate_oracle_regret": 1.3277474641799927, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6722525358200073, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6722525358200073, + "candidate_oracle_selected_branch_score": 0.6722525358200073, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b55ca348be8b64323714;ms-ff012c1c8597c8db3cc7;ms-e56b37f0e3881a70ef54;ms-577341cca32521f4045e;ms-1d728ae415a4d3cb782e;ms-3176a570b75767d1d729", + "expert_regret": 1.331989347934723, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a195f05e99bccc48907e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.331989347934723, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6680106520652771, + "restore_error": 1.1920928955078125e-07, + "score": 0.6680106520652771, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.11654695123434067, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.719994068145752, + 0.6926745772361755, + 0.20534354448318481, + 0.20545193552970886 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.027319490909576416, + -0.5146505236625671, + -0.5145421028137207 + ], + "candidate_oracle_branch_scores": [ + 0.719994068145752, + 0.6926745772361755, + 0.20534354448318481, + 0.20545193552970886 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.4405553340911865, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.4405553340911865, + -1.838168978691101, + -1.8803443908691406, + -1.9169580936431885 + ], + "candidate_oracle_progress": 0.719994068145752, + "candidate_oracle_regret": 1.280005931854248, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.719994068145752, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.719994068145752, + "candidate_oracle_selected_branch_score": 0.719994068145752, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-29a11d7bdcf49c86bd7a;ms-320d99264926ea029f95;ms-e1b6bcb41532a800d3cb;ms-251c1dfd1010906f559f;ms-68d9596217cc37c949c4;ms-83c0299c23fa800452c7", + "expert_regret": 0.007168710231781006, + "expert_score": 0.727162778377533, + "expert_success": false, + "group_id": "ms-ec2e4afb34b439731136", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.280005931854248, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.719994068145752, + "restore_error": 1.1920928955078125e-07, + "score": 0.719994068145752, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22538046538829803, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.19684773683547974, + 0.19682662189006805, + 0.19681571424007416, + 0.1977432668209076 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -2.111494541168213e-05, + -3.202259540557861e-05, + 0.0008955299854278564 + ], + "candidate_oracle_branch_scores": [ + 0.19684773683547974, + 0.19682662189006805, + 0.19681571424007416, + 0.1977432668209076 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.2859538793563843, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.0682045221328735, + -1.2269121408462524, + -1.276612401008606, + -1.2859538793563843 + ], + "candidate_oracle_progress": 0.1977432668209076, + "candidate_oracle_regret": 1.8022567331790924, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.1977432668209076, + "candidate_oracle_score_gain_over_selected": 0.0008955299854278564, + "candidate_oracle_selected_branch_progress": 0.19684773683547974, + "candidate_oracle_selected_branch_score": 0.19684773683547974, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0251a326271aa1cab82b;ms-64a755437c34f39cda2a;ms-e705fef3e4caa4c49718;ms-09b2d832d7823c11fd22;ms-55e89d326b6531345902;ms-3f6e7085c865144a7408", + "expert_regret": 1.8031508475542068, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b4af9d7c922b1676e516", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8031508475542068, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19684915244579315, + "restore_error": 1.1920928955078125e-07, + "score": 0.19684915244579315, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3589824140071869, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5246467590332031, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5246467590332031, + -0.6720918416976929, + -0.6964759826660156, + -0.7203371524810791 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3f56672eac1c00e9c2b0;ms-487d0fe2a13fb699dd7a;ms-89520c3ac8779d9e81e7;ms-3af721139694f7f3ec04;ms-14dabc3ac1e1a339ebe4;ms-251c1dfd1010906f559f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-34f60c9a263bd0a5641f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.8225222229957581, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7114144563674927, + 0.7116235494613647, + 0.7243823409080505, + 0.7257108688354492 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0002090930938720703, + 0.012967884540557861, + 0.014296412467956543 + ], + "candidate_oracle_branch_scores": [ + 0.7114144563674927, + 0.7116235494613647, + 0.7243823409080505, + 0.7257108688354492 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.1531507670879364, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 0, + 40 + ], + "candidate_oracle_potentials": [ + 0.0021436959505081177, + -0.07648678123950958, + -0.14075163006782532, + -0.1531507670879364 + ], + "candidate_oracle_progress": 0.7257108688354492, + "candidate_oracle_regret": 1.2742891311645508, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7257108688354492, + "candidate_oracle_score_gain_over_selected": 0.014296412467956543, + "candidate_oracle_selected_branch_progress": 0.7114144563674927, + "candidate_oracle_selected_branch_score": 0.7114144563674927, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cbd6cc8b2708d5e3e4a9;ms-83c62951219e6599b630;ms-36f204d04ec4c4af3169;ms-89520c3ac8779d9e81e7;ms-487d0fe2a13fb699dd7a;ms-3af721139694f7f3ec04", + "expert_regret": 1.2880297303199768, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-490e2c471adbabec6304", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.2880297303199768, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7119702696800232, + "restore_error": 1.1920928955078125e-07, + "score": 0.7119702696800232, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32208776473999023, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7227789163589478, + 0.7238751649856567, + 0.7233371138572693, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0010962486267089844, + 0.0005581974983215332, + 1.2772210836410522 + ], + "candidate_oracle_branch_scores": [ + 0.7227789163589478, + 0.7238751649856567, + 0.7233371138572693, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.3900817930698395, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.07791998982429504, + -0.2798261046409607, + -0.3326909840106964, + -0.3900817930698395 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2772210836410522, + "candidate_oracle_selected_branch_progress": 0.7227789163589478, + "candidate_oracle_selected_branch_score": 0.7227789163589478, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-136f1ebebd0b697c3310;ms-ea164b21572d39ffed58;ms-8f24ad2e217963943c12;ms-bbefdf03d0471be60f8f;ms-832f0e966173abd16c34;ms-06cb0796d1097e6ca111", + "expert_regret": 1.2769253253936768, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-510cafd84de611de3909", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2769253253936768, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7230746746063232, + "restore_error": 1.1920928955078125e-07, + "score": 0.7230746746063232, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2870963215827942, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6715823411941528, + 0.23857013881206512, + 0.2380084991455078, + 0.23762671649456024 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4330121874809265, + -0.433573842048645, + -0.4339556097984314 + ], + "candidate_oracle_branch_scores": [ + 0.6715823411941528, + 0.23857013881206512, + 0.2380084991455078, + 0.23762671649456024 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6165186166763306, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6165186166763306, + -0.867507815361023, + -0.8916807174682617, + -0.9150660037994385 + ], + "candidate_oracle_progress": 0.6715823411941528, + "candidate_oracle_regret": 1.3284176588058472, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6715823411941528, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6715823411941528, + "candidate_oracle_selected_branch_score": 0.6715823411941528, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9fd14cc61816c2d4360e;ms-d26dc2146eb8ae9a5434;ms-051860c228aa5160d5a6;ms-8bab784ae53525967763;ms-1e41619ab39cf51b7822;ms-690f52acc6ead9c7c078", + "expert_regret": 1.3228707313537598, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d9ed0a9faf86ca5f5caa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3228707313537598, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6771292686462402, + "restore_error": 1.1920928955078125e-07, + "score": 0.6771292686462402, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3432452380657196, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.41109657287597656, + 0.2744276821613312, + 0.26054126024246216, + 0.2526699900627136 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.13666889071464539, + -0.1505553126335144, + -0.15842658281326294 + ], + "candidate_oracle_branch_scores": [ + 0.41109657287597656, + 0.2744276821613312, + 0.26054126024246216, + 0.2526699900627136 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8089848756790161, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8089848756790161, + -1.093346357345581, + -1.1384525299072266, + -1.1803309917449951 + ], + "candidate_oracle_progress": 0.41109657287597656, + "candidate_oracle_regret": 1.5889034271240234, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.41109657287597656, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.41109657287597656, + "candidate_oracle_selected_branch_score": 0.41109657287597656, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9fd14cc61816c2d4360e;ms-1e41619ab39cf51b7822;ms-051860c228aa5160d5a6;ms-a5a56eefeb2de0abe600;ms-d26dc2146eb8ae9a5434;ms-507199452c6d42562a38", + "expert_regret": 1.5727757513523102, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-508d1ea98eb9c78acd16", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5727757513523102, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4272242486476898, + "restore_error": 1.1920928955078125e-07, + "score": 0.4272242486476898, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7654123902320862, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.2413247525691986, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 0, + 3 + ], + "candidate_oracle_potentials": [ + -0.2413247525691986, + -0.34400674700737, + -0.4536643326282501, + -0.4871281683444977 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-3f56672eac1c00e9c2b0;ms-83c62951219e6599b630;ms-89520c3ac8779d9e81e7;ms-3af721139694f7f3ec04", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-785fb44f1371895f7721", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4688524901866913, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7283756136894226, + 1.0, + 0.7252768874168396, + 0.7224239110946655 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2716243267059326, + -0.003098726272583008, + -0.00595170259475708 + ], + "candidate_oracle_branch_scores": [ + 0.7283756136894226, + 2.0, + 0.7252768874168396, + 0.7224239110946655 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0102105140686035, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8877642154693604, + -1.0102105140686035, + -1.0790410041809082, + -1.1783686876296997 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2716243267059326, + "candidate_oracle_selected_branch_progress": 0.7283756136894226, + "candidate_oracle_selected_branch_score": 0.7283756136894226, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-18ab33df290e3919a468;ms-69785feff08dbf9a50be;ms-f539c5c30da21c875657;ms-e8de8d619c0cf5fd633e;ms-ace117030ae44c474db1;ms-3996b923bb25440c29e3", + "expert_regret": 1.2742202281951904, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-483520829af0d733cb2a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2742202281951904, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7257797718048096, + "restore_error": 1.1920928955078125e-07, + "score": 0.7257797718048096, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.385099858045578, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2761523723602295, + 0.2526036202907562, + 0.22904980182647705, + 0.23146288096904755 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.023548752069473267, + -0.04710257053375244, + -0.044689491391181946 + ], + "candidate_oracle_branch_scores": [ + 0.2761523723602295, + 0.2526036202907562, + 0.22904980182647705, + 0.23146288096904755 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5948474407196045, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5948474407196045, + -1.0493707656860352, + -1.0994727611541748, + -1.144275188446045 + ], + "candidate_oracle_progress": 0.2761523723602295, + "candidate_oracle_regret": 1.7238476276397705, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2761523723602295, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2761523723602295, + "candidate_oracle_selected_branch_score": 0.2761523723602295, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-690f52acc6ead9c7c078;ms-d26dc2146eb8ae9a5434;ms-8bab784ae53525967763;ms-131a98e2d4a78a9645f8;ms-491aad3896ede89ea0dd;ms-9fd14cc61816c2d4360e", + "expert_regret": 1.7228095531463623, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-77b33fec5c6c627dbda5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7228095531463623, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2771904468536377, + "restore_error": 1.1920928955078125e-07, + "score": 0.2771904468536377, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.45897409319877625, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.20721951127052307, + 0.20162513852119446, + 0.19899021089076996, + 0.20334498584270477 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.005594372749328613, + -0.008229300379753113, + -0.0038745254278182983 + ], + "candidate_oracle_branch_scores": [ + 0.20721951127052307, + 0.20162513852119446, + 0.19899021089076996, + 0.20334498584270477 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.4554355144500732, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -1.4554355144500732, + -1.8950915336608887, + -1.9150028228759766, + -1.9329328536987305 + ], + "candidate_oracle_progress": 0.20721951127052307, + "candidate_oracle_regret": 1.792780488729477, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20721951127052307, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.20721951127052307, + "candidate_oracle_selected_branch_score": 0.20721951127052307, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-29a11d7bdcf49c86bd7a;ms-e1b6bcb41532a800d3cb;ms-320d99264926ea029f95;ms-68d9596217cc37c949c4;ms-251c1dfd1010906f559f;ms-89520c3ac8779d9e81e7", + "expert_regret": 1.7927796244621277, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9852b3671856321cecc8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7927796244621277, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20722037553787231, + "restore_error": 1.1920928955078125e-07, + "score": 0.20722037553787231, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4762403666973114, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5447745323181152, + 1.0, + 0.20847734808921814, + 0.7024213075637817 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.4552254676818848, + -0.3362971842288971, + 0.1576467752456665 + ], + "candidate_oracle_branch_scores": [ + 0.5447745323181152, + 2.0, + 0.20847734808921814, + 0.7024213075637817 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.4762458801269531, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -1.101473093032837, + -1.4762458801269531, + -1.5025675296783447, + -1.5113648176193237 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4552254676818848, + "candidate_oracle_selected_branch_progress": 0.5447745323181152, + "candidate_oracle_selected_branch_score": 0.5447745323181152, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ace117030ae44c474db1;ms-18ab33df290e3919a468;ms-b60078e9e6ea9c26dedc;ms-f539c5c30da21c875657;ms-27251a7c7f13bf165e21;ms-3f6e7085c865144a7408", + "expert_regret": 1.4329368472099304, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-02663903d88aa84c9c10", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4329368472099304, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5670631527900696, + "restore_error": 2.384185791015625e-07, + "score": 0.5670631527900696, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3717900812625885, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.6896908283233643, + 0.6913450956344604, + 1.0, + 0.7102470397949219 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0016542673110961914, + 1.3103091716766357, + 0.020556211471557617 + ], + "candidate_oracle_branch_scores": [ + 0.6896908283233643, + 0.6913450956344604, + 2.0, + 0.7102470397949219 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3778423070907593, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.6702420711517334, + -1.184893250465393, + -1.3778423070907593, + -1.4772090911865234 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.3103091716766357, + "candidate_oracle_selected_branch_progress": 0.6896908283233643, + "candidate_oracle_selected_branch_score": 0.6896908283233643, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b55ca348be8b64323714;ms-ff012c1c8597c8db3cc7;ms-577341cca32521f4045e;ms-e56b37f0e3881a70ef54;ms-3176a570b75767d1d729;ms-1d728ae415a4d3cb782e", + "expert_regret": 1.286056637763977, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d8f42ed6b0b686d819ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.286056637763977, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.713943362236023, + "restore_error": 2.384185791015625e-07, + "score": 0.713943362236023, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4867601692676544, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3895087242126465, + 0.3840043544769287, + 0.38307756185531616, + 0.3838432729244232 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0055043697357177734, + -0.006431162357330322, + -0.005665451288223267 + ], + "candidate_oracle_branch_scores": [ + 0.3895087242126465, + 0.3840043544769287, + 0.38307756185531616, + 0.3838432729244232 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7404991388320923, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7404991388320923, + -0.8862024545669556, + -0.9479926824569702, + -1.024678111076355 + ], + "candidate_oracle_progress": 0.3895087242126465, + "candidate_oracle_regret": 1.6104912757873535, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3895087242126465, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3895087242126465, + "candidate_oracle_selected_branch_score": 0.3895087242126465, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-18ab33df290e3919a468;ms-ace117030ae44c474db1;ms-f539c5c30da21c875657;ms-b60078e9e6ea9c26dedc;ms-27251a7c7f13bf165e21;ms-3996b923bb25440c29e3", + "expert_regret": 1.6103869676589966, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-40a961867249ddccb68f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6103869676589966, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3896130323410034, + "restore_error": 2.384185791015625e-07, + "score": 0.3896130323410034, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.25670143961906433, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6738605499267578, + 0.29628777503967285, + 0.25259196758270264, + 0.2527470886707306 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.37757277488708496, + -0.4212685823440552, + -0.4211134612560272 + ], + "candidate_oracle_branch_scores": [ + 0.6738605499267578, + 0.29628777503967285, + 0.25259196758270264, + 0.2527470886707306 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.54447340965271, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.54447340965271, + -1.0270460844039917, + -1.0735974311828613, + -1.108625054359436 + ], + "candidate_oracle_progress": 0.6738605499267578, + "candidate_oracle_regret": 1.3261394500732422, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6738605499267578, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6738605499267578, + "candidate_oracle_selected_branch_score": 0.6738605499267578, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f0d2ffde521e268efc83;ms-ea164b21572d39ffed58;ms-3661d65df223386f1be9;ms-bbefdf03d0471be60f8f;ms-06cb0796d1097e6ca111;ms-38758efd8620a312267d", + "expert_regret": 1.3350251913070679, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13aa39b96923ad8c913a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3350251913070679, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6649748086929321, + "restore_error": 2.384185791015625e-07, + "score": 0.6649748086929321, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.014364221133291721, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7090275287628174, + 0.7099263072013855, + 0.7117143869400024 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2909724712371826, + -1.2900736331939697, + -1.2882856130599976 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7090275287628174, + 0.7099263072013855, + 0.7117143869400024 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.0007675588130950928, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + 0.0007675588130950928, + -0.14541825652122498, + -0.1920519769191742, + -0.25535184144973755 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-61c099575bcff2de95e3;ms-118ba8926eda06ffc61e;ms-96e1562aaca7ef49db28;ms-28c139f34a954b692962", + "expert_regret": 0.0, + "expert_score": 0.724672257900238, + "expert_success": false, + "group_id": "ms-9ced92cccacfe4d157b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40895316004753113, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.4130634665489197, + 0.7223198413848877, + 0.3527311682701111, + 0.5210903882980347 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.309256374835968, + -0.060332298278808594, + 0.10802692174911499 + ], + "candidate_oracle_branch_scores": [ + 0.4130634665489197, + 0.7223198413848877, + 0.3527311682701111, + 0.5210903882980347 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.573216199874878, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.1225091218948364, + -1.573216199874878, + -1.675168514251709, + -1.6843674182891846 + ], + "candidate_oracle_progress": 0.7223198413848877, + "candidate_oracle_regret": 1.2776801586151123, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7223198413848877, + "candidate_oracle_score_gain_over_selected": 0.309256374835968, + "candidate_oracle_selected_branch_progress": 0.4130634665489197, + "candidate_oracle_selected_branch_score": 0.4130634665489197, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ace117030ae44c474db1;ms-27251a7c7f13bf165e21;ms-e2f90eb6c79dfd9ce6fd;ms-18ab33df290e3919a468;ms-b60078e9e6ea9c26dedc;ms-69785feff08dbf9a50be", + "expert_regret": 1.5869365334510803, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-67b6e4d62036c13cc466", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5869365334510803, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4130634665489197, + "restore_error": 2.384185791015625e-07, + "score": 0.4130634665489197, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40322595834732056, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3481028974056244, + 0.258942186832428, + 0.25733938813209534, + 0.252828985452652 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.08916071057319641, + -0.09076350927352905, + -0.09527391195297241 + ], + "candidate_oracle_branch_scores": [ + 0.3481028974056244, + 0.258942186832428, + 0.25733938813209534, + 0.252828985452652 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7187930345535278, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 3 + ], + "candidate_oracle_potentials": [ + -0.7187930345535278, + -0.9729151725769043, + -1.0045044422149658, + -1.0223355293273926 + ], + "candidate_oracle_progress": 0.3481028974056244, + "candidate_oracle_regret": 1.6518971025943756, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3481028974056244, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3481028974056244, + "candidate_oracle_selected_branch_score": 0.3481028974056244, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5b0141f336d28927cf31;ms-88f748134c3fd27fcf72;ms-d229ac64c91c9bb6ce88;ms-780ea60ea0255941e6c8;ms-1e41619ab39cf51b7822;ms-d26dc2146eb8ae9a5434", + "expert_regret": 1.6435807049274445, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-252706fc0657a82ba5a4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6435807049274445, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.35641929507255554, + "restore_error": 2.384185791015625e-07, + "score": 0.35641929507255554, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30616119503974915, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.6941448450088501, + 0.687397837638855, + 0.7279791831970215, + 0.7295637130737305 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.006747007369995117, + 0.03383433818817139, + 0.03541886806488037 + ], + "candidate_oracle_branch_scores": [ + 0.6941448450088501, + 0.687397837638855, + 0.7279791831970215, + 0.7295637130737305 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.4321354925632477, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 19, + 35 + ], + "candidate_oracle_potentials": [ + -0.057784318923950195, + -0.42483022809028625, + -0.4297895133495331, + -0.4321354925632477 + ], + "candidate_oracle_progress": 0.7295637130737305, + "candidate_oracle_regret": 1.2704362869262695, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7295637130737305, + "candidate_oracle_score_gain_over_selected": 0.03541886806488037, + "candidate_oracle_selected_branch_progress": 0.6941448450088501, + "candidate_oracle_selected_branch_score": 0.6941448450088501, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a4398375c43dbf887b1;ms-145f60d5fff285e7d05b;ms-575bd87a5da90963019d;ms-28c139f34a954b692962;ms-96e1562aaca7ef49db28;ms-118ba8926eda06ffc61e", + "expert_regret": 1.3089599609375, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5cc5e6359fc006559eae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3089599609375, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6910400390625, + "restore_error": 2.384185791015625e-07, + "score": 0.6910400390625, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.590513288974762, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.19739878177642822, + 0.1976877897977829, + 0.19772425293922424, + 0.19775468111038208 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0002890080213546753, + 0.0003254711627960205, + 0.0003558993339538574 + ], + "candidate_oracle_branch_scores": [ + 0.19739878177642822, + 0.1976877897977829, + 0.19772425293922424, + 0.19775468111038208 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.886676549911499, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.3409202098846436, + -1.8333892822265625, + -1.864375352859497, + -1.886676549911499 + ], + "candidate_oracle_progress": 0.19775468111038208, + "candidate_oracle_regret": 1.802245318889618, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.19775468111038208, + "candidate_oracle_score_gain_over_selected": 0.0003558993339538574, + "candidate_oracle_selected_branch_progress": 0.19739878177642822, + "candidate_oracle_selected_branch_score": 0.19739878177642822, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8a9e7d69f7ade362fe40;ms-69785feff08dbf9a50be;ms-e8de8d619c0cf5fd633e;ms-e2f90eb6c79dfd9ce6fd;ms-ace117030ae44c474db1;ms-18ab33df290e3919a468", + "expert_regret": 1.8026011288166046, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-17a5e9b7bd8c1f255307", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8026011288166046, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19739887118339539, + "restore_error": 1.1920928955078125e-07, + "score": 0.19739887118339539, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34153881669044495, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2530257999897003, + 0.2529065012931824, + 0.25298041105270386, + 0.2525765299797058 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00011929869651794434, + -4.538893699645996e-05, + -0.00044927000999450684 + ], + "candidate_oracle_branch_scores": [ + 0.2530257999897003, + 0.2529065012931824, + 0.25298041105270386, + 0.2525765299797058 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8982377052307129, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 33, + 17, + 19 + ], + "candidate_oracle_potentials": [ + -0.8982377052307129, + -1.2342686653137207, + -1.2382779121398926, + -1.2391319274902344 + ], + "candidate_oracle_progress": 0.2530257999897003, + "candidate_oracle_regret": 1.7469742000102997, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2530257999897003, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2530257999897003, + "candidate_oracle_selected_branch_score": 0.2530257999897003, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-457db124a2f46a06175b;ms-b4281a37b8b48a0b4c54;ms-fdb2637276b27c46c757;ms-ef8de99d917753ec603c;ms-01ab68aa5051226638ee;ms-f0d2ffde521e268efc83", + "expert_regret": 1.7470391392707825, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-340913cb08bfca09a4e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7470391392707825, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25296086072921753, + "restore_error": 1.1920928955078125e-07, + "score": 0.25296086072921753, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3164595067501068, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4802370071411133, + 0.25286048650741577, + 0.2526264488697052, + 0.25280898809432983 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.2273765206336975, + -0.22761055827140808, + -0.22742801904678345 + ], + "candidate_oracle_branch_scores": [ + 0.4802370071411133, + 0.25286048650741577, + 0.2526264488697052, + 0.25280898809432983 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4817782938480377, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4817782938480377, + -1.0042895078659058, + -1.098557949066162, + -1.1836662292480469 + ], + "candidate_oracle_progress": 0.4802370071411133, + "candidate_oracle_regret": 1.5197629928588867, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4802370071411133, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4802370071411133, + "candidate_oracle_selected_branch_score": 0.4802370071411133, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3661d65df223386f1be9;ms-4dc9ab19fbe571f09699;ms-3db845076f92a16d1840;ms-ea164b21572d39ffed58;ms-44e7935dbed5f3b3c739;ms-f0d2ffde521e268efc83", + "expert_regret": 1.4908720254898071, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5bbc4c4b1b51e2a088db", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4908720254898071, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5091279745101929, + "restore_error": 1.1920928955078125e-07, + "score": 0.5091279745101929, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.329982191324234, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6995079517364502, + 0.5524988770484924, + 0.4872513711452484, + 0.42089593410491943 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.14700907468795776, + -0.21225658059120178, + -0.27861201763153076 + ], + "candidate_oracle_branch_scores": [ + 0.6995079517364502, + 0.5524988770484924, + 0.4872513711452484, + 0.42089593410491943 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7159203290939331, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7159203290939331, + -0.983548641204834, + -1.0365270376205444, + -1.0994213819503784 + ], + "candidate_oracle_progress": 0.6995079517364502, + "candidate_oracle_regret": 1.3004920482635498, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6995079517364502, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6995079517364502, + "candidate_oracle_selected_branch_score": 0.6995079517364502, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a5a56eefeb2de0abe600;ms-88f748134c3fd27fcf72;ms-1e41619ab39cf51b7822;ms-507199452c6d42562a38;ms-051860c228aa5160d5a6;ms-9fd14cc61816c2d4360e", + "expert_regret": 1.3078449368476868, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7c812bb98308442d95b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3078449368476868, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6921550631523132, + "restore_error": 1.1920928955078125e-07, + "score": 0.6921550631523132, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.028774861246347427, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.40765881538391113, + 0.24006633460521698, + 0.23998862504959106, + 0.23998910188674927 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.16759248077869415, + -0.16767019033432007, + -0.16766971349716187 + ], + "candidate_oracle_branch_scores": [ + 0.40765881538391113, + 0.24006633460521698, + 0.23998862504959106, + 0.23998910188674927 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8077210187911987, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8077210187911987, + -1.0794992446899414, + -1.1174007654190063, + -1.1595641374588013 + ], + "candidate_oracle_progress": 0.40765881538391113, + "candidate_oracle_regret": 1.5923411846160889, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.40765881538391113, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.40765881538391113, + "candidate_oracle_selected_branch_score": 0.40765881538391113, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9fd14cc61816c2d4360e;ms-d26dc2146eb8ae9a5434;ms-051860c228aa5160d5a6;ms-690f52acc6ead9c7c078;ms-38758efd8620a312267d;ms-8bab784ae53525967763", + "expert_regret": 0.2935158610343933, + "expert_score": 0.7224933505058289, + "expert_success": false, + "group_id": "ms-baa36ee75ec2de550b9b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5710225105285645, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.42897748947143555, + "restore_error": 1.1920928955078125e-07, + "score": 0.42897748947143555, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.9620634317398071, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7254899740219116, + 0.7236651182174683, + 0.7007780075073242, + 0.7006596326828003 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0018248558044433594, + -0.024711966514587402, + -0.024830341339111328 + ], + "candidate_oracle_branch_scores": [ + 0.7254899740219116, + 0.7236651182174683, + 0.7007780075073242, + 0.7006596326828003 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.4529142379760742, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 36, + 20 + ], + "candidate_oracle_potentials": [ + -1.4529142379760742, + -1.5366883277893066, + -1.542490005493164, + -1.548830270767212 + ], + "candidate_oracle_progress": 0.7254899740219116, + "candidate_oracle_regret": 0.004932045936584473, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7254899740219116, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7254899740219116, + "candidate_oracle_selected_branch_score": 0.7254899740219116, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2f1164357c9732e059d4;ms-36f204d04ec4c4af3169;ms-dfc111660c0d1c7b7e04;ms-89520c3ac8779d9e81e7;ms-320d99264926ea029f95;ms-251c1dfd1010906f559f", + "expert_regret": 0.009855866432189941, + "expert_score": 0.7304220199584961, + "expert_success": false, + "group_id": "ms-0bf60eaed682d2ca149f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.009855866432189941, + "oracle_score": 0.7304220199584961, + "oracle_success": false, + "progress": 0.7205661535263062, + "restore_error": 1.1920928955078125e-07, + "score": 0.7205661535263062, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.410331666469574, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.2053915113210678, + 0.5890986919403076, + 0.20175576210021973, + 0.42042967677116394 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.3837071657180786, + -0.0036357492208480835, + 0.21503816545009613 + ], + "candidate_oracle_branch_scores": [ + 0.2053915113210678, + 0.5890986919403076, + 0.20175576210021973, + 0.42042967677116394 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.8183605670928955, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -1.2556827068328857, + -1.8183605670928955, + -1.8251183032989502, + -1.858561635017395 + ], + "candidate_oracle_progress": 0.5890986919403076, + "candidate_oracle_regret": 1.4109013080596924, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5890986919403076, + "candidate_oracle_score_gain_over_selected": 0.3837071657180786, + "candidate_oracle_selected_branch_progress": 0.2053915113210678, + "candidate_oracle_selected_branch_score": 0.2053915113210678, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8a9e7d69f7ade362fe40;ms-69785feff08dbf9a50be;ms-e8de8d619c0cf5fd633e;ms-e2f90eb6c79dfd9ce6fd;ms-ace117030ae44c474db1;ms-18ab33df290e3919a468", + "expert_regret": 1.7946101129055023, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-50b9f93dd246400d20c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7946101129055023, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20538988709449768, + "restore_error": 1.1920928955078125e-07, + "score": 0.20538988709449768, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.019653132185339928, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.23108458518981934, + 0.2525799870491028, + 0.25257599353790283, + 0.2526167035102844 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.021495401859283447, + 0.021491408348083496, + 0.021532118320465088 + ], + "candidate_oracle_branch_scores": [ + 0.23108458518981934, + 0.2525799870491028, + 0.25257599353790283, + 0.2526167035102844 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.2115135192871094, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 19, + 35, + 3 + ], + "candidate_oracle_potentials": [ + -0.935960054397583, + -1.1937931776046753, + -1.1950346231460571, + -1.2115135192871094 + ], + "candidate_oracle_progress": 0.2526167035102844, + "candidate_oracle_regret": 1.7473832964897156, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2526167035102844, + "candidate_oracle_score_gain_over_selected": 0.021532118320465088, + "candidate_oracle_selected_branch_progress": 0.23108458518981934, + "candidate_oracle_selected_branch_score": 0.23108458518981934, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ef8de99d917753ec603c;ms-3661d65df223386f1be9;ms-7cd314f076bfe5c32088;ms-4dc9ab19fbe571f09699;ms-131a98e2d4a78a9645f8;ms-b4281a37b8b48a0b4c54", + "expert_regret": 0.48770202696323395, + "expert_score": 0.7187107801437378, + "expert_success": false, + "group_id": "ms-caeb4c3d358f256799a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7689912468194962, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23100875318050385, + "restore_error": 1.1920928955078125e-07, + "score": 0.23100875318050385, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.13119427859783173, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.7171518802642822, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 4 + ], + "candidate_oracle_potentials": [ + 0.7171518802642822, + 0.6416816711425781, + 0.6165022253990173, + 0.6122406721115112 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.4330954551696777e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cbd6cc8b2708d5e3e4a9;ms-83c62951219e6599b630;ms-487d0fe2a13fb699dd7a;ms-36f204d04ec4c4af3169;ms-14dabc3ac1e1a339ebe4;ms-3af721139694f7f3ec04", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5ebbab81506fa27fc6d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4850308299064636, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.21091096103191376, + 0.21515612304210663, + 0.2155989408493042, + 0.21591466665267944 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.004245162010192871, + 0.004687979817390442, + 0.005003705620765686 + ], + "candidate_oracle_branch_scores": [ + 0.21091096103191376, + 0.21515612304210663, + 0.2155989408493042, + 0.21591466665267944 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.6034364700317383, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.457792043685913, + -1.4710791110992432, + -1.5397019386291504, + -1.6034364700317383 + ], + "candidate_oracle_progress": 0.21591466665267944, + "candidate_oracle_regret": 1.7840853333473206, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.4330954551696777e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21591466665267944, + "candidate_oracle_score_gain_over_selected": 0.005003705620765686, + "candidate_oracle_selected_branch_progress": 0.21091096103191376, + "candidate_oracle_selected_branch_score": 0.21091096103191376, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-89520c3ac8779d9e81e7;ms-83c0299c23fa800452c7;ms-320d99264926ea029f95;ms-251c1dfd1010906f559f;ms-ba9541c7192498a1d8bd;ms-3af721139694f7f3ec04", + "expert_regret": 1.789089098572731, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-288ce929957d627c569c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.789089098572731, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21091090142726898, + "restore_error": 2.384185791015625e-07, + "score": 0.21091090142726898, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.8437783122062683, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7259566187858582, + 0.7257274389266968, + 0.7250207662582397, + 0.6985626220703125 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00022917985916137695, + -0.0009358525276184082, + -0.027393996715545654 + ], + "candidate_oracle_branch_scores": [ + 0.7259566187858582, + 0.7257274389266968, + 0.7250207662582397, + 0.6985626220703125 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.12965022027492523, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 40 + ], + "candidate_oracle_potentials": [ + 0.12965022027492523, + 0.12480995059013367, + 0.03147297352552414, + 0.02930537611246109 + ], + "candidate_oracle_progress": 0.7259566187858582, + "candidate_oracle_regret": 1.2740433812141418, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.4330954551696777e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7259566187858582, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7259566187858582, + "candidate_oracle_selected_branch_score": 0.7259566187858582, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-14dabc3ac1e1a339ebe4;ms-487d0fe2a13fb699dd7a;ms-3f56672eac1c00e9c2b0;ms-fb329ccd569163c53415;ms-9156a9a9c1b829b742ad;ms-89520c3ac8779d9e81e7", + "expert_regret": 1.274257242679596, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5003e0cda1e13bd4850a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.274257242679596, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.725742757320404, + "restore_error": 2.384185791015625e-07, + "score": 0.725742757320404, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.09546981751918793, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.23142212629318237, + 0.23163454234600067, + 0.23163853585720062, + 0.22968921065330505 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00021241605281829834, + 0.0002164095640182495, + -0.0017329156398773193 + ], + "candidate_oracle_branch_scores": [ + 0.23142212629318237, + 0.23163454234600067, + 0.23163853585720062, + 0.22968921065330505 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -2.182276964187622, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 3 + ], + "candidate_oracle_potentials": [ + -2.176068067550659, + -2.1791250705718994, + -2.182276964187622, + -2.1897408962249756 + ], + "candidate_oracle_progress": 0.23163853585720062, + "candidate_oracle_regret": 0.0032381415367126465, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.4330954551696777e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.23163853585720062, + "candidate_oracle_score_gain_over_selected": 0.0002164095640182495, + "candidate_oracle_selected_branch_progress": 0.23142212629318237, + "candidate_oracle_selected_branch_score": 0.23142212629318237, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a932cbf7e2b5755db22e;ms-e8de8d619c0cf5fd633e;ms-69785feff08dbf9a50be;ms-e705fef3e4caa4c49718;ms-64a755437c34f39cda2a;ms-55e89d326b6531345902", + "expert_regret": 0.0016917139291763306, + "expert_score": 0.23311088979244232, + "expert_success": false, + "group_id": "ms-a67a1ab4d96d811cec77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.003457501530647278, + "oracle_score": 0.23487667739391327, + "oracle_success": false, + "progress": 0.231419175863266, + "restore_error": 2.384185791015625e-07, + "score": 0.231419175863266, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2784680426120758, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.20349936187267303, + 0.20156650245189667, + 0.20257572829723358, + 0.20177581906318665 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0019328594207763672, + -0.0009236335754394531, + -0.0017235428094863892 + ], + "candidate_oracle_branch_scores": [ + 0.20349936187267303, + 0.20156650245189667, + 0.20257572829723358, + 0.20177581906318665 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.268552541732788, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.268552541732788, + -1.6220676898956299, + -1.707503080368042, + -1.7086796760559082 + ], + "candidate_oracle_progress": 0.20349936187267303, + "candidate_oracle_regret": 1.796500638127327, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.4330954551696777e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20349936187267303, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.20349936187267303, + "candidate_oracle_selected_branch_score": 0.20349936187267303, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e705fef3e4caa4c49718;ms-64a755437c34f39cda2a;ms-e8de8d619c0cf5fd633e;ms-0251a326271aa1cab82b;ms-69785feff08dbf9a50be;ms-55e89d326b6531345902", + "expert_regret": 1.7965057045221329, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7677b8f230103dd3c51", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7965057045221329, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20349429547786713, + "restore_error": 2.384185791015625e-07, + "score": 0.20349429547786713, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.266288697719574, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4850560128688812, + 0.4452234208583832, + 0.4393649101257324, + 0.4349336326122284 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.03983259201049805, + -0.045691102743148804, + -0.05012238025665283 + ], + "candidate_oracle_branch_scores": [ + 0.4850560128688812, + 0.4452234208583832, + 0.4393649101257324, + 0.4349336326122284 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.036926507949829, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -2.036926507949829, + -2.278212785720825, + -2.302107572555542, + -2.32363224029541 + ], + "candidate_oracle_progress": 0.4850560128688812, + "candidate_oracle_regret": 1.5149439871311188, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.4330954551696777e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4850560128688812, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4850560128688812, + "candidate_oracle_selected_branch_score": 0.4850560128688812, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c2c265f2f5013746eaa1;ms-68d9596217cc37c949c4;ms-251c1dfd1010906f559f;ms-ba9541c7192498a1d8bd;ms-68c63442972f322789b5;ms-83c0299c23fa800452c7", + "expert_regret": 1.5149439871311188, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4e825dd3ade30a42e899", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5149439871311188, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4850560128688812, + "restore_error": 2.384185791015625e-07, + "score": 0.4850560128688812, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2370149791240692, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6918298006057739, + 0.3893951177597046, + 0.3682538866996765, + 0.25260382890701294 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.30243468284606934, + -0.3235759139060974, + -0.439225971698761 + ], + "candidate_oracle_branch_scores": [ + 0.6918298006057739, + 0.3893951177597046, + 0.3682538866996765, + 0.25260382890701294 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5075936317443848, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5075936317443848, + -0.9181509017944336, + -0.9529203176498413, + -0.9794280529022217 + ], + "candidate_oracle_progress": 0.6918298006057739, + "candidate_oracle_regret": 1.308170199394226, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.4330954551696777e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6918298006057739, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6918298006057739, + "candidate_oracle_selected_branch_score": 0.6918298006057739, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-051860c228aa5160d5a6;ms-06cb0796d1097e6ca111;ms-bbefdf03d0471be60f8f;ms-ea164b21572d39ffed58;ms-38758efd8620a312267d;ms-3661d65df223386f1be9", + "expert_regret": 1.3145630955696106, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8fcf4d9d042de2f74d76", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3145630955696106, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6854369044303894, + "restore_error": 2.384185791015625e-07, + "score": 0.6854369044303894, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40853410959243774, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.23346850275993347, + 0.23309525847434998, + 0.23320625722408295, + 0.23322413861751556 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0003732442855834961, + -0.0002622455358505249, + -0.0002443641424179077 + ], + "candidate_oracle_branch_scores": [ + 0.23346850275993347, + 0.23309525847434998, + 0.23320625722408295, + 0.23322413861751556 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7658089399337769, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7658089399337769, + -1.0445382595062256, + -1.0754873752593994, + -1.1027053594589233 + ], + "candidate_oracle_progress": 0.23346850275993347, + "candidate_oracle_regret": 1.7665314972400665, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.4330954551696777e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.23346850275993347, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.23346850275993347, + "candidate_oracle_selected_branch_score": 0.23346850275993347, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5b0141f336d28927cf31;ms-88f748134c3fd27fcf72;ms-d229ac64c91c9bb6ce88;ms-1e41619ab39cf51b7822;ms-d26dc2146eb8ae9a5434;ms-9fd14cc61816c2d4360e", + "expert_regret": 1.7666545659303665, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e6ca7414c5035e80d0ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7666545659303665, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23334543406963348, + "restore_error": 2.384185791015625e-07, + "score": 0.23334543406963348, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3152349591255188, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6985244154930115, + 0.20151475071907043, + 0.20154522359371185, + 0.20156651735305786 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.49700966477394104, + -0.4969791769981384, + -0.4969578981399536 + ], + "candidate_oracle_branch_scores": [ + 0.6985244154930115, + 0.20151475071907043, + 0.20154522359371185, + 0.20156651735305786 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.7199832201004028, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.7199832201004028, + -2.0244734287261963, + -2.0432839393615723, + -2.057997703552246 + ], + "candidate_oracle_progress": 0.6985244154930115, + "candidate_oracle_regret": 1.3014755845069885, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6985244154930115, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6985244154930115, + "candidate_oracle_selected_branch_score": 0.6985244154930115, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ba9541c7192498a1d8bd;ms-68c63442972f322789b5;ms-3af721139694f7f3ec04;ms-83c0299c23fa800452c7;ms-251c1dfd1010906f559f;ms-89520c3ac8779d9e81e7", + "expert_regret": 1.3014438152313232, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a43b35c03282fe0c8464", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3014438152313232, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6985561847686768, + "restore_error": 1.1920928955078125e-07, + "score": 0.6985561847686768, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5269851088523865, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4679594933986664, + 0.3085915744304657, + 0.25468146800994873, + 0.3027142286300659 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.15936791896820068, + -0.21327802538871765, + -0.16524526476860046 + ], + "candidate_oracle_branch_scores": [ + 0.4679594933986664, + 0.3085915744304657, + 0.25468146800994873, + 0.3027142286300659 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.908463716506958, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.908463716506958, + -1.5219194889068604, + -1.6084012985229492, + -1.6609516143798828 + ], + "candidate_oracle_progress": 0.4679594933986664, + "candidate_oracle_regret": 1.5320405066013336, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4679594933986664, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4679594933986664, + "candidate_oracle_selected_branch_score": 0.4679594933986664, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-577341cca32521f4045e;ms-2286d9cf8d88e878c4d7;ms-b55ca348be8b64323714;ms-a6cf775fbba580161c4e;ms-ff012c1c8597c8db3cc7;ms-1d728ae415a4d3cb782e", + "expert_regret": 1.5270540118217468, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11e34e842b9154f34d56", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5270540118217468, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4729459881782532, + "restore_error": 1.1920928955078125e-07, + "score": 0.4729459881782532, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3247392773628235, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7246100306510925, + 0.43067440390586853, + 0.7018226981163025, + 0.2532467842102051 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.293935626745224, + -0.02278733253479004, + -0.47136324644088745 + ], + "candidate_oracle_branch_scores": [ + 0.7246100306510925, + 0.43067440390586853, + 0.7018226981163025, + 0.2532467842102051 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6905096769332886, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.6905096769332886, + -1.3569777011871338, + -1.5795143842697144, + -1.6268434524536133 + ], + "candidate_oracle_progress": 0.7246100306510925, + "candidate_oracle_regret": 1.2753899693489075, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7246100306510925, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7246100306510925, + "candidate_oracle_selected_branch_score": 0.7246100306510925, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2286d9cf8d88e878c4d7;ms-a6cf775fbba580161c4e;ms-577341cca32521f4045e;ms-b55ca348be8b64323714;ms-ff012c1c8597c8db3cc7;ms-e56b37f0e3881a70ef54", + "expert_regret": 1.2767606973648071, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-af25c332ad54eee6e1c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2767606973648071, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7232393026351929, + "restore_error": 1.1920928955078125e-07, + "score": 0.7232393026351929, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2809429168701172, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5037082433700562, + 0.4490516781806946, + 0.39083725214004517, + 0.36494600772857666 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.05465656518936157, + -0.11287099123001099, + -0.1387622356414795 + ], + "candidate_oracle_branch_scores": [ + 0.5037082433700562, + 0.4490516781806946, + 0.39083725214004517, + 0.36494600772857666 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7098054885864258, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7098054885864258, + -1.178567886352539, + -1.3255094289779663, + -1.5023972988128662 + ], + "candidate_oracle_progress": 0.5037082433700562, + "candidate_oracle_regret": 1.4962917566299438, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5037082433700562, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5037082433700562, + "candidate_oracle_selected_branch_score": 0.5037082433700562, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2286d9cf8d88e878c4d7;ms-a6cf775fbba580161c4e;ms-577341cca32521f4045e;ms-b55ca348be8b64323714;ms-ff012c1c8597c8db3cc7;ms-3176a570b75767d1d729", + "expert_regret": 1.4973955750465393, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-074b26fed4c4a9dd3449", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4973955750465393, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5026044249534607, + "restore_error": 1.1920928955078125e-07, + "score": 0.5026044249534607, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.27663376927375793, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.527830958366394, + 0.5939029455184937, + 0.19872340559959412, + 0.19861344993114471 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.06607198715209961, + -0.3291075527667999, + -0.32921749353408813 + ], + "candidate_oracle_branch_scores": [ + 0.527830958366394, + 0.5939029455184937, + 0.19872340559959412, + 0.19861344993114471 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -2.1630773544311523, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.92862868309021, + -2.1630773544311523, + -2.181955099105835, + -2.1981863975524902 + ], + "candidate_oracle_progress": 0.5939029455184937, + "candidate_oracle_regret": 1.4060970544815063, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5939029455184937, + "candidate_oracle_score_gain_over_selected": 0.06607198715209961, + "candidate_oracle_selected_branch_progress": 0.527830958366394, + "candidate_oracle_selected_branch_score": 0.527830958366394, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-68d9596217cc37c949c4;ms-c2c265f2f5013746eaa1;ms-ba9541c7192498a1d8bd;ms-251c1dfd1010906f559f;ms-3af721139694f7f3ec04;ms-68c63442972f322789b5", + "expert_regret": 1.4721563458442688, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c550bf52d7bf91f4ca2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4721563458442688, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5278436541557312, + "restore_error": 1.1920928955078125e-07, + "score": 0.5278436541557312, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.9911118745803833, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.6985880136489868, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.3014119863510132, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.6985880136489868, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.13838645815849304, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 0, + 3 + ], + "candidate_oracle_potentials": [ + 0.13838645815849304, + -0.01168552041053772, + -0.04116085171699524, + -0.1709834337234497 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-4b3a296acc66a14476c3;ms-88fb2bebd038dc786c01;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-61c099575bcff2de95e3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fa077183f74add357112", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5931017994880676, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.19616758823394775, + 0.19648776948451996, + 0.19649504125118256, + 0.19616983830928802 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0003201812505722046, + 0.00032745301723480225, + 2.250075340270996e-06 + ], + "candidate_oracle_branch_scores": [ + 0.19616758823394775, + 0.19648776948451996, + 0.19649504125118256, + 0.19616983830928802 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -2.0769662857055664, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 4 + ], + "candidate_oracle_potentials": [ + -1.596323013305664, + -2.034857988357544, + -2.0769662857055664, + -2.0991687774658203 + ], + "candidate_oracle_progress": 0.19649504125118256, + "candidate_oracle_regret": 1.8035049587488174, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.19649504125118256, + "candidate_oracle_score_gain_over_selected": 0.00032745301723480225, + "candidate_oracle_selected_branch_progress": 0.19616758823394775, + "candidate_oracle_selected_branch_score": 0.19616758823394775, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-29a11d7bdcf49c86bd7a;ms-68d9596217cc37c949c4;ms-320d99264926ea029f95;ms-e1b6bcb41532a800d3cb;ms-251c1dfd1010906f559f;ms-c2c265f2f5013746eaa1", + "expert_regret": 1.8038323521614075, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28835618507e7bc71227", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8038323521614075, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19616764783859253, + "restore_error": 1.1920928955078125e-07, + "score": 0.19616764783859253, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2894672751426697, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5387001633644104, + 0.43325719237327576, + 0.42028653621673584, + 0.41841718554496765 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.10544297099113464, + -0.11841362714767456, + -0.12028297781944275 + ], + "candidate_oracle_branch_scores": [ + 0.5387001633644104, + 0.43325719237327576, + 0.42028653621673584, + 0.41841718554496765 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.016159176826477, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.016159176826477, + -1.2041759490966797, + -1.2644398212432861, + -1.3347066640853882 + ], + "candidate_oracle_progress": 0.5387001633644104, + "candidate_oracle_regret": 1.4612998366355896, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5387001633644104, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5387001633644104, + "candidate_oracle_selected_branch_score": 0.5387001633644104, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-09b2d832d7823c11fd22;ms-3f6e7085c865144a7408;ms-55e89d326b6531345902;ms-d602b7370c5b90f8a439;ms-3996b923bb25440c29e3;ms-f539c5c30da21c875657", + "expert_regret": 1.4610846042633057, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5b24bcde90348f24bb19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4610846042633057, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5389153957366943, + "restore_error": 1.1920928955078125e-07, + "score": 0.5389153957366943, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.021375898271799088, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7276043891906738, + 0.7180793285369873, + 0.721549928188324, + 0.6938011646270752 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.009525060653686523, + -0.0060544610023498535, + -0.03380322456359863 + ], + "candidate_oracle_branch_scores": [ + 0.7276043891906738, + 0.7180793285369873, + 0.721549928188324, + 0.6938011646270752 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3175812065601349, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3175812065601349, + -0.7211825847625732, + -0.8033428192138672, + -0.8818860054016113 + ], + "candidate_oracle_progress": 0.7276043891906738, + "candidate_oracle_regret": 1.2723956108093262, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.3096799850463867e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7276043891906738, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7276043891906738, + "candidate_oracle_selected_branch_score": 0.7276043891906738, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8f24ad2e217963943c12;ms-ea164b21572d39ffed58;ms-832f0e966173abd16c34;ms-bbefdf03d0471be60f8f;ms-136f1ebebd0b697c3310;ms-4dc9ab19fbe571f09699", + "expert_regret": 0.0, + "expert_score": 0.712003231048584, + "expert_success": false, + "group_id": "ms-8bc7aa419d17368d81b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2785576581954956, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7214423418045044, + "restore_error": 1.1920928955078125e-07, + "score": 0.7214423418045044, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.21205899119377136, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.252616286277771, + 0.2446349561214447, + 0.2532518208026886, + 0.24553132057189941 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.007981330156326294, + 0.0006355345249176025, + -0.007084965705871582 + ], + "candidate_oracle_branch_scores": [ + 0.252616286277771, + 0.2446349561214447, + 0.2532518208026886, + 0.24553132057189941 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.28646981716156, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.7741233110427856, + -1.2442318201065063, + -1.28646981716156, + -1.2966710329055786 + ], + "candidate_oracle_progress": 0.2532518208026886, + "candidate_oracle_regret": 1.7467481791973114, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 2.3096799850463867e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2532518208026886, + "candidate_oracle_score_gain_over_selected": 0.0006355345249176025, + "candidate_oracle_selected_branch_progress": 0.252616286277771, + "candidate_oracle_selected_branch_score": 0.252616286277771, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9fd14cc61816c2d4360e;ms-d26dc2146eb8ae9a5434;ms-491aad3896ede89ea0dd;ms-8bab784ae53525967763;ms-690f52acc6ead9c7c078;ms-051860c228aa5160d5a6", + "expert_regret": 1.7473814487457275, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3aa33c0fda88e08e75fa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7473814487457275, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25261855125427246, + "restore_error": 1.1920928955078125e-07, + "score": 0.25261855125427246, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.25885000824928284, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7236814498901367, + 1.0, + 0.7235736846923828 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2763185501098633, + 0.0, + -1.2764263153076172 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7236814498901367, + 2.0, + 0.7235736846923828 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.08160556852817535, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 33, + 19 + ], + "candidate_oracle_potentials": [ + 0.08160556852817535, + -0.2395842969417572, + -0.2972579896450043, + -0.3135538697242737 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 2.3096799850463867e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-4b3a296acc66a14476c3;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-61c099575bcff2de95e3;ms-88fb2bebd038dc786c01", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a40abdebe8a9c17de878", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4601500332355499, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6550500392913818, + 0.6425222158432007, + 0.6479668617248535, + 0.6475318670272827 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.012527823448181152, + -0.00708317756652832, + -0.007518172264099121 + ], + "candidate_oracle_branch_scores": [ + 0.6550500392913818, + 0.6425222158432007, + 0.6479668617248535, + 0.6475318670272827 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.42428621649742126, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.42428621649742126, + -0.7775139808654785, + -0.8344876766204834, + -0.885206937789917 + ], + "candidate_oracle_progress": 0.6550500392913818, + "candidate_oracle_regret": 1.3449499607086182, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.3096799850463867e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6550500392913818, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6550500392913818, + "candidate_oracle_selected_branch_score": 0.6550500392913818, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d26dc2146eb8ae9a5434;ms-131a98e2d4a78a9645f8;ms-3661d65df223386f1be9;ms-8bab784ae53525967763;ms-051860c228aa5160d5a6;ms-9fd14cc61816c2d4360e", + "expert_regret": 1.3400086164474487, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-295dab0e1d105e758827", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3400086164474487, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6599913835525513, + "restore_error": 1.1920928955078125e-07, + "score": 0.6599913835525513, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5281272530555725, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.694802463054657, + 0.44097161293029785, + 0.3808932304382324, + 0.20808762311935425 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.25383085012435913, + -0.31390923261642456, + -0.48671483993530273 + ], + "candidate_oracle_branch_scores": [ + 0.694802463054657, + 0.44097161293029785, + 0.3808932304382324, + 0.20808762311935425 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8953104019165039, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8953104019165039, + -1.5047385692596436, + -1.6290336847305298, + -1.7477128505706787 + ], + "candidate_oracle_progress": 0.694802463054657, + "candidate_oracle_regret": 1.305197536945343, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.3096799850463867e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.694802463054657, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.694802463054657, + "candidate_oracle_selected_branch_score": 0.694802463054657, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-35d84da6eb1afcf8a811;ms-e56b37f0e3881a70ef54;ms-d602b7370c5b90f8a439;ms-3996b923bb25440c29e3;ms-f539c5c30da21c875657;ms-1d728ae415a4d3cb782e", + "expert_regret": 1.305724024772644, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-48db1178206eee52434a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.305724024772644, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.694275975227356, + "restore_error": 1.1920928955078125e-07, + "score": 0.694275975227356, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3011227250099182, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.3479810357093811, + 0.7011126279830933, + 0.2538185715675354 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.6520190238952637, + -1.2988873720169067, + -1.7461814880371094 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.3479810357093811, + 0.7011126279830933, + 0.2538185715675354 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6749577522277832, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.6749577522277832, + -1.3231866359710693, + -1.5481915473937988, + -1.6185880899429321 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 2.3096799850463867e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2286d9cf8d88e878c4d7;ms-a6cf775fbba580161c4e;ms-577341cca32521f4045e;ms-b55ca348be8b64323714;ms-ff012c1c8597c8db3cc7;ms-e56b37f0e3881a70ef54", + "expert_regret": 1.2712122201919556, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4a845dab9503bc4eba04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2712122201919556, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7287877798080444, + "restore_error": 1.1920928955078125e-07, + "score": 0.7287877798080444, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40537580847740173, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3623717725276947, + 0.26999548077583313, + 0.2580313980579376, + 0.252770334482193 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.09237629175186157, + -0.10434037446975708, + -0.10960143804550171 + ], + "candidate_oracle_branch_scores": [ + 0.3623717725276947, + 0.26999548077583313, + 0.2580313980579376, + 0.252770334482193 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6845656633377075, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 3 + ], + "candidate_oracle_potentials": [ + -0.6845656633377075, + -0.9893209934234619, + -1.0319337844848633, + -1.0443804264068604 + ], + "candidate_oracle_progress": 0.3623717725276947, + "candidate_oracle_regret": 1.6376282274723053, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 2.3096799850463867e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3623717725276947, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3623717725276947, + "candidate_oracle_selected_branch_score": 0.3623717725276947, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5b0141f336d28927cf31;ms-88f748134c3fd27fcf72;ms-780ea60ea0255941e6c8;ms-1e41619ab39cf51b7822;ms-d229ac64c91c9bb6ce88;ms-507199452c6d42562a38", + "expert_regret": 1.6382092535495758, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e9a43adf4bba03b65d5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6382092535495758, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3617907464504242, + "restore_error": 1.1920928955078125e-07, + "score": 0.3617907464504242, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.23420988023281097, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.45352524518966675, + 0.4209151268005371, + 0.41210195422172546, + 0.4126242399215698 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.03261011838912964, + -0.041423290967941284, + -0.040901005268096924 + ], + "candidate_oracle_branch_scores": [ + 0.45352524518966675, + 0.4209151268005371, + 0.41210195422172546, + 0.4126242399215698 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.001767635345459, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.001767635345459, + -1.187556505203247, + -1.2416985034942627, + -1.30495023727417 + ], + "candidate_oracle_progress": 0.45352524518966675, + "candidate_oracle_regret": 1.5464747548103333, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.3096799850463867e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.45352524518966675, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.45352524518966675, + "candidate_oracle_selected_branch_score": 0.45352524518966675, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-09b2d832d7823c11fd22;ms-3f6e7085c865144a7408;ms-55e89d326b6531345902;ms-e705fef3e4caa4c49718;ms-d602b7370c5b90f8a439;ms-3996b923bb25440c29e3", + "expert_regret": 1.546639233827591, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-04cc31b72a8dc8a91911", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.546639233827591, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.45336076617240906, + "restore_error": 1.1920928955078125e-07, + "score": 0.45336076617240906, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.09117741137742996, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.20710109174251556, + 0.2099829763174057, + 0.2107515037059784, + 0.21132054924964905 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0028818845748901367, + 0.0036504119634628296, + 0.004219457507133484 + ], + "candidate_oracle_branch_scores": [ + 0.20710109174251556, + 0.2099829763174057, + 0.2107515037059784, + 0.21132054924964905 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.6860820055007935, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.336993932723999, + -1.6435319185256958, + -1.6665313243865967, + -1.6860820055007935 + ], + "candidate_oracle_progress": 0.21132054924964905, + "candidate_oracle_regret": 0.5198176205158234, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21132054924964905, + "candidate_oracle_score_gain_over_selected": 0.004219457507133484, + "candidate_oracle_selected_branch_progress": 0.20710109174251556, + "candidate_oracle_selected_branch_score": 0.20710109174251556, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-35d84da6eb1afcf8a811;ms-e56b37f0e3881a70ef54;ms-3176a570b75767d1d729;ms-1d728ae415a4d3cb782e;ms-d602b7370c5b90f8a439;ms-3f6e7085c865144a7408", + "expert_regret": 0.5198953300714493, + "expert_score": 0.7269299030303955, + "expert_success": false, + "group_id": "ms-125287f805d320b2eff7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5241035968065262, + "oracle_score": 0.7311381697654724, + "oracle_success": false, + "progress": 0.20703457295894623, + "restore_error": 1.1920928955078125e-07, + "score": 0.20703457295894623, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.020912643522024155, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6230931282043457, + 0.4443087577819824, + 0.3954784572124481, + 0.3569483458995819 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.17878437042236328, + -0.22761467099189758, + -0.2661447823047638 + ], + "candidate_oracle_branch_scores": [ + 0.6230931282043457, + 0.4443087577819824, + 0.3954784572124481, + 0.3569483458995819 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.703559160232544, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.703559160232544, + -1.0450150966644287, + -1.081138014793396, + -1.1168941259384155 + ], + "candidate_oracle_progress": 0.6230931282043457, + "candidate_oracle_regret": 1.3769068717956543, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6230931282043457, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6230931282043457, + "candidate_oracle_selected_branch_score": 0.6230931282043457, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a5a56eefeb2de0abe600;ms-051860c228aa5160d5a6;ms-fdb2637276b27c46c757;ms-88f748134c3fd27fcf72;ms-3661d65df223386f1be9;ms-507199452c6d42562a38", + "expert_regret": 0.12678664922714233, + "expert_score": 0.7271513342857361, + "expert_success": false, + "group_id": "ms-062addb9da32a0c2ea97", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3996353149414062, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6003646850585938, + "restore_error": 1.1920928955078125e-07, + "score": 0.6003646850585938, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1798006147146225, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.7177671194076538, + 0.7210270762443542, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0032599568367004395, + 1.2822328805923462, + 1.2822328805923462 + ], + "candidate_oracle_branch_scores": [ + 0.7177671194076538, + 0.7210270762443542, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6145919561386108, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 20 + ], + "candidate_oracle_potentials": [ + -0.29399192333221436, + -0.6132341623306274, + -0.6145919561386108, + -0.6359462738037109 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2822328805923462, + "candidate_oracle_selected_branch_progress": 0.7177671194076538, + "candidate_oracle_selected_branch_score": 0.7177671194076538, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-28c139f34a954b692962;ms-118ba8926eda06ffc61e;ms-575bd87a5da90963019d;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-8d3d849234ceb98c3dc1", + "expert_regret": 1.279661238193512, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-aa46bb6dc8e6274963b6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.279661238193512, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.720338761806488, + "restore_error": 1.1920928955078125e-07, + "score": 0.720338761806488, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2712767720222473, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.676118791103363, + 0.5054178237915039, + 0.6689884662628174, + 0.38943013548851013 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.17070096731185913, + -0.007130324840545654, + -0.2866886556148529 + ], + "candidate_oracle_branch_scores": [ + 0.676118791103363, + 0.5054178237915039, + 0.6689884662628174, + 0.38943013548851013 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.44676390290260315, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.44676390290260315, + -0.8737488985061646, + -0.9233055114746094, + -0.9624003171920776 + ], + "candidate_oracle_progress": 0.676118791103363, + "candidate_oracle_regret": 1.323881208896637, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.676118791103363, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.676118791103363, + "candidate_oracle_selected_branch_score": 0.676118791103363, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f0d2ffde521e268efc83;ms-ea164b21572d39ffed58;ms-bbefdf03d0471be60f8f;ms-051860c228aa5160d5a6;ms-3661d65df223386f1be9;ms-38758efd8620a312267d", + "expert_regret": 1.326272964477539, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7dfc3684b46df95070e2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.326272964477539, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6737270355224609, + "restore_error": 1.1920928955078125e-07, + "score": 0.6737270355224609, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.033669788390398026, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6597813963890076, + 0.25318872928619385, + 0.6432744264602661, + 0.25393277406692505 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4065926671028137, + -0.016506969928741455, + -0.4058486223220825 + ], + "candidate_oracle_branch_scores": [ + 0.6597813963890076, + 0.25318872928619385, + 0.6432744264602661, + 0.25393277406692505 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.35321277379989624, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.35321277379989624, + -0.6617313623428345, + -0.7051491737365723, + -0.7254742383956909 + ], + "candidate_oracle_progress": 0.6597813963890076, + "candidate_oracle_regret": 1.3402186036109924, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6597813963890076, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6597813963890076, + "candidate_oracle_selected_branch_score": 0.6597813963890076, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-575bd87a5da90963019d;ms-28c139f34a954b692962;ms-8d3d849234ceb98c3dc1;ms-6a4398375c43dbf887b1;ms-118ba8926eda06ffc61e;ms-145f60d5fff285e7d05b", + "expert_regret": 0.06906026601791382, + "expert_score": 0.7262760400772095, + "expert_success": false, + "group_id": "ms-99f263cb3f383b1f6243", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3427842259407043, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6572157740592957, + "restore_error": 1.1920928955078125e-07, + "score": 0.6572157740592957, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3581711947917938, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.4089537262916565, + 0.24490326642990112, + 0.24733972549438477 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.5910463333129883, + -1.755096673965454, + -1.7526602745056152 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.4089537262916565, + 0.24490326642990112, + 0.24733972549438477 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3060471713542938, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3060471713542938, + -0.6573158502578735, + -0.7466422319412231, + -0.839432954788208 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8bab784ae53525967763;ms-131a98e2d4a78a9645f8;ms-690f52acc6ead9c7c078;ms-136f1ebebd0b697c3310;ms-8d3d849234ceb98c3dc1;ms-491aad3896ede89ea0dd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-074cb86179cdd7f52737", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4366891086101532, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.6854300498962402, + 0.7101900577545166, + 0.7103318572044373, + 0.2138971984386444 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.024760007858276367, + 0.02490180730819702, + -0.4715328514575958 + ], + "candidate_oracle_branch_scores": [ + 0.6854300498962402, + 0.7101900577545166, + 0.7103318572044373, + 0.2138971984386444 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.7007226943969727, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 35 + ], + "candidate_oracle_potentials": [ + -1.3073718547821045, + -1.6691584587097168, + -1.7007226943969727, + -1.7140170335769653 + ], + "candidate_oracle_progress": 0.7103318572044373, + "candidate_oracle_regret": 0.018157541751861572, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7103318572044373, + "candidate_oracle_score_gain_over_selected": 0.02490180730819702, + "candidate_oracle_selected_branch_progress": 0.6854300498962402, + "candidate_oracle_selected_branch_score": 0.6854300498962402, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-83c0299c23fa800452c7;ms-251c1dfd1010906f559f;ms-3af721139694f7f3ec04;ms-320d99264926ea029f95;ms-89520c3ac8779d9e81e7;ms-ba9541c7192498a1d8bd", + "expert_regret": 0.04305112361907959, + "expert_score": 0.7284893989562988, + "expert_success": false, + "group_id": "ms-1bbd61ce613ae75c8bb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.04305112361907959, + "oracle_score": 0.7284893989562988, + "oracle_success": false, + "progress": 0.6854382753372192, + "restore_error": 1.1920928955078125e-07, + "score": 0.6854382753372192, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37034741044044495, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.4478069543838501, + 0.44174763560295105, + 0.54814612865448 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.55219304561615, + -1.5582523345947266, + -1.45185387134552 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.4478069543838501, + 0.44174763560295105, + 0.54814612865448 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0969767570495605, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.0969767570495605, + -1.4012566804885864, + -1.4932132959365845, + -1.558413028717041 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ace117030ae44c474db1;ms-18ab33df290e3919a468;ms-f539c5c30da21c875657;ms-b60078e9e6ea9c26dedc;ms-69785feff08dbf9a50be;ms-27251a7c7f13bf165e21", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f63a0e43f0923369edc3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36454513669013977, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.190589040517807, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 3, + 19, + 35 + ], + "candidate_oracle_potentials": [ + -0.190589040517807, + -0.553141713142395, + -0.5578041076660156, + -0.5917583703994751 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-145f60d5fff285e7d05b;ms-61c099575bcff2de95e3;ms-6a4398375c43dbf887b1;ms-96e1562aaca7ef49db28;ms-118ba8926eda06ffc61e;ms-136f1ebebd0b697c3310", + "expert_regret": 0.0, + "expert_score": 0.726958692073822, + "expert_success": false, + "group_id": "ms-7a0330e9e3189ff035d3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.726958692073822, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2899312973022461, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.21354907751083374, + 0.2133900374174118, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00015904009342193604, + 1.7864508628845215, + 1.7864508628845215 + ], + "candidate_oracle_branch_scores": [ + 0.21354907751083374, + 0.2133900374174118, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.5765167474746704, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 3, + 19 + ], + "candidate_oracle_potentials": [ + -0.2145313024520874, + -0.5620148181915283, + -0.5765167474746704, + -0.5805867910385132 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.7864508628845215, + "candidate_oracle_selected_branch_progress": 0.21354907751083374, + "candidate_oracle_selected_branch_score": 0.21354907751083374, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-575bd87a5da90963019d;ms-118ba8926eda06ffc61e;ms-28c139f34a954b692962;ms-61c099575bcff2de95e3", + "expert_regret": 1.7864286601543427, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b18ea4e0982a1352696", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7864286601543427, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21357133984565735, + "restore_error": 1.1920928955078125e-07, + "score": 0.21357133984565735, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4685574471950531, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7230920195579529, + 0.6677889227867126, + 0.6012064218521118, + 0.34886810183525085 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.055303096771240234, + -0.12188559770584106, + -0.374223917722702 + ], + "candidate_oracle_branch_scores": [ + 0.7230920195579529, + 0.6677889227867126, + 0.6012064218521118, + 0.34886810183525085 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4824199974536896, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4824199974536896, + -0.881840705871582, + -0.9639443159103394, + -1.0392400026321411 + ], + "candidate_oracle_progress": 0.7230920195579529, + "candidate_oracle_regret": 1.2769079804420471, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7230920195579529, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7230920195579529, + "candidate_oracle_selected_branch_score": 0.7230920195579529, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-131a98e2d4a78a9645f8;ms-3661d65df223386f1be9;ms-136f1ebebd0b697c3310;ms-4dc9ab19fbe571f09699;ms-8f24ad2e217963943c12;ms-7cd314f076bfe5c32088", + "expert_regret": 1.2758281230926514, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-03495469257613a802b4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2758281230926514, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7241718769073486, + "restore_error": 1.1920928955078125e-07, + "score": 0.7241718769073486, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3828296661376953, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.2076929211616516, + 0.21057188510894775, + 0.21095207333564758, + 0.21160992980003357 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0028789639472961426, + 0.0032591521739959717, + 0.003917008638381958 + ], + "candidate_oracle_branch_scores": [ + 0.2076929211616516, + 0.21057188510894775, + 0.21095207333564758, + 0.21160992980003357 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -2.124239206314087, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -2.000438690185547, + -2.1033763885498047, + -2.1139893531799316, + -2.124239206314087 + ], + "candidate_oracle_progress": 0.21160992980003357, + "candidate_oracle_regret": 1.7883900701999664, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21160992980003357, + "candidate_oracle_score_gain_over_selected": 0.003917008638381958, + "candidate_oracle_selected_branch_progress": 0.2076929211616516, + "candidate_oracle_selected_branch_score": 0.2076929211616516, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ba9541c7192498a1d8bd;ms-83c0299c23fa800452c7;ms-3af721139694f7f3ec04;ms-68c63442972f322789b5;ms-251c1dfd1010906f559f;ms-c2c265f2f5013746eaa1", + "expert_regret": 0.5156184583902359, + "expert_score": 0.7233109474182129, + "expert_success": false, + "group_id": "ms-8f3d4e1d07bb5dcc7c57", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.792307510972023, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.207692489027977, + "restore_error": 1.1920928955078125e-07, + "score": 0.207692489027977, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.8662244081497192, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.048971325159072876, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 0, + 19, + 3 + ], + "candidate_oracle_potentials": [ + 0.048971325159072876, + 0.011322632431983948, + -0.07649874687194824, + -0.20742088556289673 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-4b3a296acc66a14476c3;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-61c099575bcff2de95e3;ms-118ba8926eda06ffc61e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ed30f8fbb80b2cf46fbc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3438331186771393, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.11861847341060638, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + -0.11861847341060638, + -0.4081245958805084, + -0.43195047974586487, + -0.43682757019996643 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-61c099575bcff2de95e3;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-96e1562aaca7ef49db28;ms-118ba8926eda06ffc61e;ms-136f1ebebd0b697c3310", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7aeb0835d3396e6666b6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.33823803067207336, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.25654399394989014, + 0.2571829557418823, + 0.2570818066596985, + 0.2312498539686203 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0006389617919921875, + 0.0005378127098083496, + -0.025294139981269836 + ], + "candidate_oracle_branch_scores": [ + 0.25654399394989014, + 0.2571829557418823, + 0.2570818066596985, + 0.2312498539686203 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8180676698684692, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5925513505935669, + -0.8180676698684692, + -0.8542090654373169, + -0.888870358467102 + ], + "candidate_oracle_progress": 0.2571829557418823, + "candidate_oracle_regret": 1.7428170442581177, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2571829557418823, + "candidate_oracle_score_gain_over_selected": 0.0006389617919921875, + "candidate_oracle_selected_branch_progress": 0.25654399394989014, + "candidate_oracle_selected_branch_score": 0.25654399394989014, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-780ea60ea0255941e6c8;ms-88f748134c3fd27fcf72;ms-507199452c6d42562a38;ms-5b0141f336d28927cf31;ms-1e41619ab39cf51b7822;ms-d30b515ab0ee174afa58", + "expert_regret": 1.743397980928421, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b0861c414f8690d62a82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.743397980928421, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.256602019071579, + "restore_error": 1.1920928955078125e-07, + "score": 0.256602019071579, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6671573519706726, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.20476838946342468, + 0.21408987045288086, + 0.21335315704345703, + 0.20792612433433533 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.009321480989456177, + 0.008584767580032349, + 0.0031577348709106445 + ], + "candidate_oracle_branch_scores": [ + 0.20476838946342468, + 0.21408987045288086, + 0.21335315704345703, + 0.20792612433433533 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.5132923126220703, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 33 + ], + "candidate_oracle_potentials": [ + -1.3985822200775146, + -1.5132923126220703, + -1.5392119884490967, + -1.563999891281128 + ], + "candidate_oracle_progress": 0.21408987045288086, + "candidate_oracle_regret": 1.7859101295471191, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21408987045288086, + "candidate_oracle_score_gain_over_selected": 0.009321480989456177, + "candidate_oracle_selected_branch_progress": 0.20476838946342468, + "candidate_oracle_selected_branch_score": 0.20476838946342468, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cf44ae14778c60c36af0;ms-9f4b47c80d59166302ab;ms-b60078e9e6ea9c26dedc;ms-c9e0182d4090ddaa991c;ms-b04b489f4fbad93b65ca;ms-27251a7c7f13bf165e21", + "expert_regret": 1.7952317744493484, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0a57aa04002f1b843856", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7952317744493484, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20476822555065155, + "restore_error": 1.1920928955078125e-07, + "score": 0.20476822555065155, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37021422386169434, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.48405930399894714, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 19, + 35, + 3 + ], + "candidate_oracle_potentials": [ + -0.48405930399894714, + -0.6523637771606445, + -0.6704117059707642, + -0.689415693283081 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3f56672eac1c00e9c2b0;ms-9156a9a9c1b829b742ad;ms-fb329ccd569163c53415;ms-14dabc3ac1e1a339ebe4;ms-487d0fe2a13fb699dd7a;ms-89520c3ac8779d9e81e7", + "expert_regret": 0.0, + "expert_score": 0.7031490206718445, + "expert_success": false, + "group_id": "ms-e2950dcb50ed2b955be6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.7267410159111023, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3146829605102539, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.6979145407676697, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.3020853996276855, + 1.3020853996276855, + 1.3020853996276855 + ], + "candidate_oracle_branch_scores": [ + 0.6979145407676697, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.48871007561683655, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 40, + 1, + 33 + ], + "candidate_oracle_potentials": [ + -0.0808754563331604, + -0.48871007561683655, + -0.4956184923648834, + -0.5098878145217896 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.3020853996276855, + "candidate_oracle_selected_branch_progress": 0.6979145407676697, + "candidate_oracle_selected_branch_score": 0.6979145407676697, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a4398375c43dbf887b1;ms-145f60d5fff285e7d05b;ms-61c099575bcff2de95e3;ms-118ba8926eda06ffc61e;ms-136f1ebebd0b697c3310;ms-8f24ad2e217963943c12", + "expert_regret": 0.00030303001403808594, + "expert_score": 0.7251858115196228, + "expert_success": false, + "group_id": "ms-92070f417bd9d14d6fc7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.00030303001403808594, + "oracle_score": 0.7251858115196228, + "oracle_success": false, + "progress": 0.7248827815055847, + "restore_error": 1.1920928955078125e-07, + "score": 0.7248827815055847, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3366069495677948, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.45216354727745056, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 3, + 4, + 19 + ], + "candidate_oracle_potentials": [ + -0.45216354727745056, + -0.7786908149719238, + -0.794097900390625, + -0.7989993095397949 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3f56672eac1c00e9c2b0;ms-2f1164357c9732e059d4;ms-9156a9a9c1b829b742ad;ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-fb329ccd569163c53415", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-faeff0379a053e9ea351", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5118311643600464, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.25964099168777466, + 0.2538822889328003, + 0.25258976221084595, + 0.2307119369506836 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.005758702754974365, + -0.007051229476928711, + -0.028929054737091064 + ], + "candidate_oracle_branch_scores": [ + 0.25964099168777466, + 0.2538822889328003, + 0.25258976221084595, + 0.2307119369506836 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2138500213623047, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.2138500213623047, + -1.4613797664642334, + -1.4976449012756348, + -1.5351250171661377 + ], + "candidate_oracle_progress": 0.25964099168777466, + "candidate_oracle_regret": 1.7403590083122253, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.25964099168777466, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.25964099168777466, + "candidate_oracle_selected_branch_score": 0.25964099168777466, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-29a11d7bdcf49c86bd7a;ms-83c0299c23fa800452c7;ms-320d99264926ea029f95;ms-68d9596217cc37c949c4;ms-251c1dfd1010906f559f;ms-e1b6bcb41532a800d3cb", + "expert_regret": 1.740464210510254, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-84d10acd6db571034f10", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.740464210510254, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2595357894897461, + "restore_error": 1.1920928955078125e-07, + "score": 0.2595357894897461, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22892168164253235, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.378847599029541, + 0.33137351274490356, + 0.32685548067092896, + 0.25257378816604614 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.04747408628463745, + -0.05199211835861206, + -0.12627381086349487 + ], + "candidate_oracle_branch_scores": [ + 0.378847599029541, + 0.33137351274490356, + 0.32685548067092896, + 0.25257378816604614 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9387803077697754, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.9387803077697754, + -1.5390186309814453, + -1.6762182712554932, + -1.7559752464294434 + ], + "candidate_oracle_progress": 0.378847599029541, + "candidate_oracle_regret": 1.621152400970459, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.378847599029541, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.378847599029541, + "candidate_oracle_selected_branch_score": 0.378847599029541, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6cf775fbba580161c4e;ms-2286d9cf8d88e878c4d7;ms-577341cca32521f4045e;ms-b55ca348be8b64323714;ms-ff012c1c8597c8db3cc7;ms-3176a570b75767d1d729", + "expert_regret": 1.6179080605506897, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fdf18cd6260d82226927", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6179080605506897, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3820919394493103, + "restore_error": 1.1920928955078125e-07, + "score": 0.3820919394493103, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3136025369167328, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7212543487548828, + 0.625246524810791, + 0.6023306250572205, + 0.5381307005882263 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0960078239440918, + -0.11892372369766235, + -0.1831236481666565 + ], + "candidate_oracle_branch_scores": [ + 0.7212543487548828, + 0.625246524810791, + 0.6023306250572205, + 0.5381307005882263 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.5558924674987793, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.5558924674987793, + -1.9161434173583984, + -1.9437260627746582, + -1.96651029586792 + ], + "candidate_oracle_progress": 0.7212543487548828, + "candidate_oracle_regret": 1.2787456512451172, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7212543487548828, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7212543487548828, + "candidate_oracle_selected_branch_score": 0.7212543487548828, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ba9541c7192498a1d8bd;ms-3af721139694f7f3ec04;ms-251c1dfd1010906f559f;ms-68c63442972f322789b5;ms-83c0299c23fa800452c7;ms-89520c3ac8779d9e81e7", + "expert_regret": 1.2787456512451172, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-35c12c467fb8a54f89f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2787456512451172, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7212543487548828, + "restore_error": 1.1920928955078125e-07, + "score": 0.7212543487548828, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48479801416397095, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7132663130760193, + 0.22105464339256287, + 0.22174423933029175, + 0.7034233808517456 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4922116696834564, + -0.49152207374572754, + -0.009842932224273682 + ], + "candidate_oracle_branch_scores": [ + 0.7132663130760193, + 0.22105464339256287, + 0.22174423933029175, + 0.7034233808517456 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.083821177482605, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.083821177482605, + -1.4316620826721191, + -1.5311533212661743, + -1.618449091911316 + ], + "candidate_oracle_progress": 0.7132663130760193, + "candidate_oracle_regret": 1.2867336869239807, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7132663130760193, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7132663130760193, + "candidate_oracle_selected_branch_score": 0.7132663130760193, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-27251a7c7f13bf165e21;ms-b60078e9e6ea9c26dedc;ms-c9e0182d4090ddaa991c;ms-9f4b47c80d59166302ab;ms-cf44ae14778c60c36af0;ms-ace117030ae44c474db1", + "expert_regret": 1.2867428064346313, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6ceb341dfa656e485a13", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2867428064346313, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7132571935653687, + "restore_error": 1.1920928955078125e-07, + "score": 0.7132571935653687, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40719643235206604, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4784669876098633, + 0.4192121624946594, + 0.4134848117828369, + 0.4079000949859619 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.05925482511520386, + -0.06498217582702637, + -0.07056689262390137 + ], + "candidate_oracle_branch_scores": [ + 0.4784669876098633, + 0.4192121624946594, + 0.4134848117828369, + 0.4079000949859619 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3624308109283447, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.3624308109283447, + -1.5233454704284668, + -1.5249531269073486, + -1.5254418849945068 + ], + "candidate_oracle_progress": 0.4784669876098633, + "candidate_oracle_regret": 1.5215330123901367, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4784669876098633, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4784669876098633, + "candidate_oracle_selected_branch_score": 0.4784669876098633, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-35d84da6eb1afcf8a811;ms-b60078e9e6ea9c26dedc;ms-f539c5c30da21c875657;ms-3996b923bb25440c29e3;ms-3f6e7085c865144a7408;ms-e56b37f0e3881a70ef54", + "expert_regret": 1.5214483737945557, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-30e4ae59842091fe16b2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5214483737945557, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.47855162620544434, + "restore_error": 1.1920928955078125e-07, + "score": 0.47855162620544434, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3469780385494232, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.38877806067466736, + 0.2526050806045532, + 0.2526019215583801, + 0.23700521886348724 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.13617298007011414, + -0.13617613911628723, + -0.15177284181118011 + ], + "candidate_oracle_branch_scores": [ + 0.38877806067466736, + 0.2526050806045532, + 0.2526019215583801, + 0.23700521886348724 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5792495012283325, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5792495012283325, + -0.8325754404067993, + -0.861041784286499, + -0.8845481872558594 + ], + "candidate_oracle_progress": 0.38877806067466736, + "candidate_oracle_regret": 1.6112219393253326, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.38877806067466736, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.38877806067466736, + "candidate_oracle_selected_branch_score": 0.38877806067466736, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d26dc2146eb8ae9a5434;ms-9fd14cc61816c2d4360e;ms-051860c228aa5160d5a6;ms-8bab784ae53525967763;ms-491aad3896ede89ea0dd;ms-690f52acc6ead9c7c078", + "expert_regret": 1.6125140488147736, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3a09e411ee6c882ef7df", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6125140488147736, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.38748595118522644, + "restore_error": 1.1920928955078125e-07, + "score": 0.38748595118522644, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3186857998371124, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.23458683490753174, + 0.25615882873535156, + 0.2622481882572174, + 0.2555409073829651 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.021571993827819824, + 0.02766135334968567, + 0.02095407247543335 + ], + "candidate_oracle_branch_scores": [ + 0.23458683490753174, + 0.25615882873535156, + 0.2622481882572174, + 0.2555409073829651 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.2001221179962158, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 19, + 35, + 3 + ], + "candidate_oracle_potentials": [ + -0.6842663288116455, + -1.2000510692596436, + -1.2001221179962158, + -1.212686538696289 + ], + "candidate_oracle_progress": 0.2622481882572174, + "candidate_oracle_regret": 1.7377518117427826, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2622481882572174, + "candidate_oracle_score_gain_over_selected": 0.02766135334968567, + "candidate_oracle_selected_branch_progress": 0.23458683490753174, + "candidate_oracle_selected_branch_score": 0.23458683490753174, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3661d65df223386f1be9;ms-3db845076f92a16d1840;ms-4dc9ab19fbe571f09699;ms-7cd314f076bfe5c32088;ms-131a98e2d4a78a9645f8;ms-44e7935dbed5f3b3c739", + "expert_regret": 1.7653985917568207, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-502c195c0e4810814bac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7653985917568207, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23460140824317932, + "restore_error": 1.1920928955078125e-07, + "score": 0.23460140824317932, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.18188288807868958, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3106756806373596, + 0.2558014392852783, + 0.25359711050987244, + 0.2526450753211975 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0548742413520813, + -0.05707857012748718, + -0.05803060531616211 + ], + "candidate_oracle_branch_scores": [ + 0.3106756806373596, + 0.2558014392852783, + 0.25359711050987244, + 0.2526450753211975 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.44054195284843445, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.44054195284843445, + -0.9034978151321411, + -0.9245578050613403, + -0.994227409362793 + ], + "candidate_oracle_progress": 0.3106756806373596, + "candidate_oracle_regret": 1.6893243193626404, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3106756806373596, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3106756806373596, + "candidate_oracle_selected_branch_score": 0.3106756806373596, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-832f0e966173abd16c34;ms-bbefdf03d0471be60f8f;ms-06cb0796d1097e6ca111;ms-3db845076f92a16d1840;ms-ea164b21572d39ffed58;ms-491aad3896ede89ea0dd", + "expert_regret": 1.6856504082679749, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1cb9edbe8bd7ed4106c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6856504082679749, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.31434959173202515, + "restore_error": 1.1920928955078125e-07, + "score": 0.31434959173202515, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3370269238948822, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.6744976043701172, + 0.651687741279602, + 0.5339748859405518 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.3255023956298828, + -1.348312258720398, + -1.4660251140594482 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.6744976043701172, + 0.651687741279602, + 0.5339748859405518 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4786982834339142, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4786982834339142, + -0.9149818420410156, + -1.0185835361480713, + -1.119053840637207 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8f24ad2e217963943c12;ms-136f1ebebd0b697c3310;ms-131a98e2d4a78a9645f8;ms-8bab784ae53525967763;ms-8d3d849234ceb98c3dc1;ms-ea164b21572d39ffed58", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b461b0929537fbc1d41", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31584495306015015, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.705168604850769, + 0.46608251333236694, + 0.37368664145469666, + 0.5556492805480957 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.2390860915184021, + -0.3314819633960724, + -0.14951932430267334 + ], + "candidate_oracle_branch_scores": [ + 0.705168604850769, + 0.46608251333236694, + 0.37368664145469666, + 0.5556492805480957 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.46791723370552063, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.46791723370552063, + -0.9172462224960327, + -1.0163722038269043, + -1.0407843589782715 + ], + "candidate_oracle_progress": 0.705168604850769, + "candidate_oracle_regret": 1.294831395149231, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.705168604850769, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.705168604850769, + "candidate_oracle_selected_branch_score": 0.705168604850769, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8bab784ae53525967763;ms-690f52acc6ead9c7c078;ms-d26dc2146eb8ae9a5434;ms-491aad3896ede89ea0dd;ms-8d3d849234ceb98c3dc1;ms-6a4398375c43dbf887b1", + "expert_regret": 1.294998288154602, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ab10d34780322326aa3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.294998288154602, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.705001711845398, + "restore_error": 1.1920928955078125e-07, + "score": 0.705001711845398, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4001100957393646, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.2000959813594818, + 0.39946895837783813, + 0.40332430601119995, + 0.4070405960083008 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.19937297701835632, + 0.20322832465171814, + 0.20694461464881897 + ], + "candidate_oracle_branch_scores": [ + 0.2000959813594818, + 0.39946895837783813, + 0.40332430601119995, + 0.4070405960083008 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.6566308736801147, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + -1.5714318752288818, + -1.654152512550354, + -1.6560704708099365, + -1.6566308736801147 + ], + "candidate_oracle_progress": 0.4070405960083008, + "candidate_oracle_regret": 1.5929594039916992, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4070405960083008, + "candidate_oracle_score_gain_over_selected": 0.20694461464881897, + "candidate_oracle_selected_branch_progress": 0.2000959813594818, + "candidate_oracle_selected_branch_score": 0.2000959813594818, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3176a570b75767d1d729;ms-35d84da6eb1afcf8a811;ms-e56b37f0e3881a70ef54;ms-1d728ae415a4d3cb782e;ms-ff012c1c8597c8db3cc7;ms-3f6e7085c865144a7408", + "expert_regret": 1.7999040186405182, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a905b84bd3ab703c025f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7999040186405182, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2000959813594818, + "restore_error": 1.1920928955078125e-07, + "score": 0.2000959813594818, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.47459879517555237, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7171585559844971, + 0.20392701029777527, + 0.5471324324607849, + 0.48991698026657104 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.5132315158843994, + -0.17002612352371216, + -0.22724157571792603 + ], + "candidate_oracle_branch_scores": [ + 0.7171585559844971, + 0.20392701029777527, + 0.5471324324607849, + 0.48991698026657104 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2974481582641602, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.2974481582641602, + -1.8527867794036865, + -1.8580894470214844, + -1.8858637809753418 + ], + "candidate_oracle_progress": 0.7171585559844971, + "candidate_oracle_regret": 1.282841444015503, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7171585559844971, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7171585559844971, + "candidate_oracle_selected_branch_score": 0.7171585559844971, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e2f90eb6c79dfd9ce6fd;ms-8a9e7d69f7ade362fe40;ms-ace117030ae44c474db1;ms-27251a7c7f13bf165e21;ms-69785feff08dbf9a50be;ms-18ab33df290e3919a468", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-40392e5aeef63551f9ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4545583426952362, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.25509244203567505, + 0.2537735402584076, + 0.25353485345840454, + 0.25329071283340454 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.001318901777267456, + -0.0015575885772705078, + -0.0018017292022705078 + ], + "candidate_oracle_branch_scores": [ + 0.25509244203567505, + 0.2537735402584076, + 0.25353485345840454, + 0.25329071283340454 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7843269109725952, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7843269109725952, + -0.9572892189025879, + -0.983318567276001, + -1.0112929344177246 + ], + "candidate_oracle_progress": 0.25509244203567505, + "candidate_oracle_regret": 1.744907557964325, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.25509244203567505, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.25509244203567505, + "candidate_oracle_selected_branch_score": 0.25509244203567505, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-507199452c6d42562a38;ms-a5a56eefeb2de0abe600;ms-1e41619ab39cf51b7822;ms-fdb2637276b27c46c757;ms-88f748134c3fd27fcf72;ms-01ab68aa5051226638ee", + "expert_regret": 1.7448095977306366, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc29afbe2bbf00638d25", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7448095977306366, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2551904022693634, + "restore_error": 1.1920928955078125e-07, + "score": 0.2551904022693634, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35735028982162476, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.724275529384613, + 0.7149267196655273, + 0.6933898329734802, + 0.6663141250610352 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.009348809719085693, + -0.030885696411132812, + -0.05796140432357788 + ], + "candidate_oracle_branch_scores": [ + 0.724275529384613, + 0.7149267196655273, + 0.6933898329734802, + 0.6663141250610352 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.31376075744628906, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.31376075744628906, + -0.6301449537277222, + -0.7164579629898071, + -0.8082906007766724 + ], + "candidate_oracle_progress": 0.724275529384613, + "candidate_oracle_regret": 1.275724470615387, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.5762786865234375e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.724275529384613, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.724275529384613, + "candidate_oracle_selected_branch_score": 0.724275529384613, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8bab784ae53525967763;ms-131a98e2d4a78a9645f8;ms-136f1ebebd0b697c3310;ms-690f52acc6ead9c7c078;ms-8d3d849234ceb98c3dc1;ms-491aad3896ede89ea0dd", + "expert_regret": 1.2747765183448792, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c1e7b47135487435fc1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2747765183448792, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7252234816551208, + "restore_error": 1.1920928955078125e-07, + "score": 0.7252234816551208, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2930185794830322, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7070388197898865, + 0.7109125852584839, + 0.7118029594421387, + 0.7122358083724976 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.003873765468597412, + 0.004764139652252197, + 0.005196988582611084 + ], + "candidate_oracle_branch_scores": [ + 0.7070388197898865, + 0.7109125852584839, + 0.7118029594421387, + 0.7122358083724976 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.47018948197364807, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.014108523726463318, + -0.41943052411079407, + -0.45224836468696594, + -0.47018948197364807 + ], + "candidate_oracle_progress": 0.7122358083724976, + "candidate_oracle_regret": 1.2877641916275024, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.5762786865234375e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7122358083724976, + "candidate_oracle_score_gain_over_selected": 0.005196988582611084, + "candidate_oracle_selected_branch_progress": 0.7070388197898865, + "candidate_oracle_selected_branch_score": 0.7070388197898865, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-118ba8926eda06ffc61e;ms-28c139f34a954b692962;ms-61c099575bcff2de95e3;ms-575bd87a5da90963019d", + "expert_regret": 1.2921062111854553, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cc0b4a1deec28e53722a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2921062111854553, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7078937888145447, + "restore_error": 1.1920928955078125e-07, + "score": 0.7078937888145447, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40662407875061035, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2566373944282532, + 0.25453969836235046, + 0.25260329246520996, + 0.2527516186237335 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00209769606590271, + -0.004034101963043213, + -0.0038857758045196533 + ], + "candidate_oracle_branch_scores": [ + 0.2566373944282532, + 0.25453969836235046, + 0.25260329246520996, + 0.2527516186237335 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.550861120223999, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.550861120223999, + -0.8206634521484375, + -0.8551594018936157, + -0.8840780258178711 + ], + "candidate_oracle_progress": 0.2566373944282532, + "candidate_oracle_regret": 1.7433626055717468, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.5762786865234375e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2566373944282532, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2566373944282532, + "candidate_oracle_selected_branch_score": 0.2566373944282532, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d26dc2146eb8ae9a5434;ms-9fd14cc61816c2d4360e;ms-1e41619ab39cf51b7822;ms-051860c228aa5160d5a6;ms-8bab784ae53525967763;ms-131a98e2d4a78a9645f8", + "expert_regret": 1.7429912984371185, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dd94921779f12b249579", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7429912984371185, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25700870156288147, + "restore_error": 1.1920928955078125e-07, + "score": 0.25700870156288147, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3181597888469696, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.7124067544937134, + 0.7269692420959473, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.014562487602233887, + 1.2875932455062866, + 1.2875932455062866 + ], + "candidate_oracle_branch_scores": [ + 0.7124067544937134, + 0.7269692420959473, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + true + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.08917263150215149, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + 0.02375808358192444, + -0.03049120306968689, + -0.08917263150215149, + -0.15598827600479126 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 3.5762786865234375e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2875932455062866, + "candidate_oracle_selected_branch_progress": 0.7124067544937134, + "candidate_oracle_selected_branch_score": 0.7124067544937134, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-88fb2bebd038dc786c01;ms-4b3a296acc66a14476c3;ms-96e1562aaca7ef49db28;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-61c099575bcff2de95e3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d8295b43b30ceea30907", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.52552330493927, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.21142911911010742, + 0.222502201795578, + 0.2220810502767563, + 0.21695372462272644 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.011073082685470581, + 0.010651931166648865, + 0.0055246055126190186 + ], + "candidate_oracle_branch_scores": [ + 0.21142911911010742, + 0.222502201795578, + 0.2220810502767563, + 0.21695372462272644 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.597865343093872, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 1 + ], + "candidate_oracle_potentials": [ + -1.4239550828933716, + -1.597865343093872, + -1.6358078718185425, + -1.6667132377624512 + ], + "candidate_oracle_progress": 0.222502201795578, + "candidate_oracle_regret": 1.777497798204422, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 3.5762786865234375e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.222502201795578, + "candidate_oracle_score_gain_over_selected": 0.011073082685470581, + "candidate_oracle_selected_branch_progress": 0.21142911911010742, + "candidate_oracle_selected_branch_score": 0.21142911911010742, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cf44ae14778c60c36af0;ms-b04b489f4fbad93b65ca;ms-9f4b47c80d59166302ab;ms-c9e0182d4090ddaa991c;ms-b60078e9e6ea9c26dedc;ms-27251a7c7f13bf165e21", + "expert_regret": 1.7885717153549194, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-851d25e7a1dde4242f33", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7885717153549194, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21142828464508057, + "restore_error": 1.1920928955078125e-07, + "score": 0.21142828464508057, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2780098617076874, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7013595104217529, + 0.5246712565422058, + 0.510178804397583, + 0.43160054087638855 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.17668825387954712, + -0.19118070602416992, + -0.2697589695453644 + ], + "candidate_oracle_branch_scores": [ + 0.7013595104217529, + 0.5246712565422058, + 0.510178804397583, + 0.43160054087638855 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9873244762420654, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9873244762420654, + -1.3990082740783691, + -1.4739677906036377, + -1.5533682107925415 + ], + "candidate_oracle_progress": 0.7013595104217529, + "candidate_oracle_regret": 1.298640489578247, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.5762786865234375e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7013595104217529, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7013595104217529, + "candidate_oracle_selected_branch_score": 0.7013595104217529, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d30b515ab0ee174afa58;ms-fdb2637276b27c46c757;ms-507199452c6d42562a38;ms-01ab68aa5051226638ee;ms-457db124a2f46a06175b;ms-f0d2ffde521e268efc83", + "expert_regret": 1.2989232540130615, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2e7fc6c97e5ce1f024e5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2989232540130615, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7010767459869385, + "restore_error": 1.1920928955078125e-07, + "score": 0.7010767459869385, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.9080319404602051, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.7128067016601562, + 0.6924415826797485, + 0.7261748313903809, + 0.7207865715026855 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.020365118980407715, + 0.01336812973022461, + 0.007979869842529297 + ], + "candidate_oracle_branch_scores": [ + 0.7128067016601562, + 0.6924415826797485, + 0.7261748313903809, + 0.7207865715026855 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.10423758625984192, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 40, + 3 + ], + "candidate_oracle_potentials": [ + -0.008721902966499329, + -0.07063385844230652, + -0.10423758625984192, + -0.1897852122783661 + ], + "candidate_oracle_progress": 0.7261748313903809, + "candidate_oracle_regret": 1.2738251686096191, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 3.5762786865234375e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7261748313903809, + "candidate_oracle_score_gain_over_selected": 0.01336812973022461, + "candidate_oracle_selected_branch_progress": 0.7128067016601562, + "candidate_oracle_selected_branch_score": 0.7128067016601562, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-3f56672eac1c00e9c2b0;ms-3af721139694f7f3ec04;ms-fb329ccd569163c53415;ms-89520c3ac8779d9e81e7", + "expert_regret": 1.287459671497345, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-067e0fe46e4e9483e2a1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.287459671497345, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.712540328502655, + "restore_error": 1.1920928955078125e-07, + "score": 0.712540328502655, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4144352972507477, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5008927583694458, + 0.26943784952163696, + 0.25866758823394775, + 0.25613710284233093 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.23145490884780884, + -0.24222517013549805, + -0.24475565552711487 + ], + "candidate_oracle_branch_scores": [ + 0.5008927583694458, + 0.26943784952163696, + 0.25866758823394775, + 0.25613710284233093 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5005489587783813, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5005489587783813, + -0.9468029737472534, + -1.0341224670410156, + -1.1119686365127563 + ], + "candidate_oracle_progress": 0.5008927583694458, + "candidate_oracle_regret": 1.4991072416305542, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.5762786865234375e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5008927583694458, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5008927583694458, + "candidate_oracle_selected_branch_score": 0.5008927583694458, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3661d65df223386f1be9;ms-131a98e2d4a78a9645f8;ms-4dc9ab19fbe571f09699;ms-136f1ebebd0b697c3310;ms-7cd314f076bfe5c32088;ms-ea164b21572d39ffed58", + "expert_regret": 1.4552732706069946, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4906f3adfda6dace862d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4552732706069946, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5447267293930054, + "restore_error": 1.1920928955078125e-07, + "score": 0.5447267293930054, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4081508219242096, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.678541362285614, + 0.33371198177337646, + 0.7230066657066345, + 0.32103094458580017 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.34482938051223755, + 0.04446530342102051, + -0.35751041769981384 + ], + "candidate_oracle_branch_scores": [ + 0.678541362285614, + 0.33371198177337646, + 0.7230066657066345, + 0.32103094458580017 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.8531051874160767, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -1.276923418045044, + -1.8370709419250488, + -1.8531051874160767, + -1.8742425441741943 + ], + "candidate_oracle_progress": 0.7230066657066345, + "candidate_oracle_regret": 1.2769933342933655, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7230066657066345, + "candidate_oracle_score_gain_over_selected": 0.04446530342102051, + "candidate_oracle_selected_branch_progress": 0.678541362285614, + "candidate_oracle_selected_branch_score": 0.678541362285614, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8a9e7d69f7ade362fe40;ms-69785feff08dbf9a50be;ms-e8de8d619c0cf5fd633e;ms-e2f90eb6c79dfd9ce6fd;ms-ace117030ae44c474db1;ms-18ab33df290e3919a468", + "expert_regret": 1.3214662075042725, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-85fcc6b4797417c3473f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3214662075042725, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6785337924957275, + "restore_error": 1.1920928955078125e-07, + "score": 0.6785337924957275, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4156671166419983, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.524318277835846, + 0.4659653902053833, + 0.45683154463768005, + 0.43761104345321655 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.058352887630462646, + -0.0674867331981659, + -0.0867072343826294 + ], + "candidate_oracle_branch_scores": [ + 0.524318277835846, + 0.4659653902053833, + 0.45683154463768005, + 0.43761104345321655 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.717479944229126, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.717479944229126, + -0.8642010688781738, + -0.914885401725769, + -0.9813690185546875 + ], + "candidate_oracle_progress": 0.524318277835846, + "candidate_oracle_regret": 1.475681722164154, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.524318277835846, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.524318277835846, + "candidate_oracle_selected_branch_score": 0.524318277835846, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3996b923bb25440c29e3;ms-d602b7370c5b90f8a439;ms-f539c5c30da21c875657;ms-35d84da6eb1afcf8a811;ms-55e89d326b6531345902;ms-3f6e7085c865144a7408", + "expert_regret": 1.4911997318267822, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-324a58dd51dfecb51fa8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4911997318267822, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5088002681732178, + "restore_error": 1.1920928955078125e-07, + "score": 0.5088002681732178, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16773343086242676, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3325616121292114, + 0.2526107430458069, + 0.26542019844055176, + 0.2526235580444336 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.07995086908340454, + -0.06714141368865967, + -0.07993805408477783 + ], + "candidate_oracle_branch_scores": [ + 0.3325616121292114, + 0.2526107430458069, + 0.26542019844055176, + 0.2526235580444336 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4930150806903839, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -0.4930150806903839, + -0.9194104671478271, + -0.9559167623519897, + -0.9897334575653076 + ], + "candidate_oracle_progress": 0.3325616121292114, + "candidate_oracle_regret": 1.6674383878707886, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3325616121292114, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3325616121292114, + "candidate_oracle_selected_branch_score": 0.3325616121292114, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-832f0e966173abd16c34;ms-bbefdf03d0471be60f8f;ms-06cb0796d1097e6ca111;ms-ea164b21572d39ffed58;ms-3db845076f92a16d1840;ms-38758efd8620a312267d", + "expert_regret": 1.667723834514618, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-73259d17883355f7fa88", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.667723834514618, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3322761654853821, + "restore_error": 1.1920928955078125e-07, + "score": 0.3322761654853821, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39709821343421936, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5980648398399353, + 0.3924775719642639, + 0.39867115020751953, + 0.3502519726753235 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.2055872678756714, + -0.19939368963241577, + -0.24781286716461182 + ], + "candidate_oracle_branch_scores": [ + 0.5980648398399353, + 0.3924775719642639, + 0.39867115020751953, + 0.3502519726753235 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6372576951980591, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6372576951980591, + -0.8179101943969727, + -0.8390680551528931, + -0.861446738243103 + ], + "candidate_oracle_progress": 0.5980648398399353, + "candidate_oracle_regret": 1.4019351601600647, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5980648398399353, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5980648398399353, + "candidate_oracle_selected_branch_score": 0.5980648398399353, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-507199452c6d42562a38;ms-780ea60ea0255941e6c8;ms-88f748134c3fd27fcf72;ms-1e41619ab39cf51b7822;ms-a5a56eefeb2de0abe600;ms-d30b515ab0ee174afa58", + "expert_regret": 1.404760718345642, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-aedc3dee6e275342eb8f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.404760718345642, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5952392816543579, + "restore_error": 1.1920928955078125e-07, + "score": 0.5952392816543579, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3869691491127014, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5163232088088989, + 0.3253729045391083, + 0.28229328989982605, + 0.27204298973083496 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.19095030426979065, + -0.23402991890907288, + -0.24428021907806396 + ], + "candidate_oracle_branch_scores": [ + 0.5163232088088989, + 0.3253729045391083, + 0.28229328989982605, + 0.27204298973083496 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7829842567443848, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.7829842567443848, + -1.5468910932540894, + -1.634230375289917, + -1.7366646528244019 + ], + "candidate_oracle_progress": 0.5163232088088989, + "candidate_oracle_regret": 1.483676791191101, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5163232088088989, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5163232088088989, + "candidate_oracle_selected_branch_score": 0.5163232088088989, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b55ca348be8b64323714;ms-e56b37f0e3881a70ef54;ms-ff012c1c8597c8db3cc7;ms-1d728ae415a4d3cb782e;ms-577341cca32521f4045e;ms-35d84da6eb1afcf8a811", + "expert_regret": 1.4900901317596436, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-84264ef080ec4f3631df", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4900901317596436, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5099098682403564, + "restore_error": 1.1920928955078125e-07, + "score": 0.5099098682403564, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3127077519893646, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5445544719696045, + 0.4815545678138733, + 0.4577539563179016, + 0.3304073214530945 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0629999041557312, + -0.08680051565170288, + -0.21414715051651 + ], + "candidate_oracle_branch_scores": [ + 0.5445544719696045, + 0.4815545678138733, + 0.4577539563179016, + 0.3304073214530945 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0566039085388184, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.0566039085388184, + -1.349980354309082, + -1.4429373741149902, + -1.4665948152542114 + ], + "candidate_oracle_progress": 0.5445544719696045, + "candidate_oracle_regret": 1.4554455280303955, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5445544719696045, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5445544719696045, + "candidate_oracle_selected_branch_score": 0.5445544719696045, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f539c5c30da21c875657;ms-18ab33df290e3919a468;ms-b60078e9e6ea9c26dedc;ms-3f6e7085c865144a7408;ms-ace117030ae44c474db1;ms-3996b923bb25440c29e3", + "expert_regret": 1.4554455280303955, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9756d07ed207e9ab1d53", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4554455280303955, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5445544719696045, + "restore_error": 1.1920928955078125e-07, + "score": 0.5445544719696045, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3208498954772949, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.21248841285705566, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.7875115871429443, + 1.7875115871429443, + 1.7875115871429443 + ], + "candidate_oracle_branch_scores": [ + 0.21248841285705566, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.497598797082901, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -0.1592702567577362, + -0.497598797082901, + -0.5086257457733154, + -0.5240319967269897 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.7875115871429443, + "candidate_oracle_selected_branch_progress": 0.21248841285705566, + "candidate_oracle_selected_branch_score": 0.21248841285705566, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-145f60d5fff285e7d05b;ms-61c099575bcff2de95e3;ms-6a4398375c43dbf887b1;ms-118ba8926eda06ffc61e;ms-575bd87a5da90963019d;ms-28c139f34a954b692962", + "expert_regret": 1.7875957489013672, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ac6e78b1c56d020d0c09", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7875957489013672, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2124042510986328, + "restore_error": 1.1920928955078125e-07, + "score": 0.2124042510986328, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.21209502220153809, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7032203078269958, + 0.7102216482162476, + 0.5681132674217224, + 0.686405599117279 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.007001340389251709, + -0.13510704040527344, + -0.016814708709716797 + ], + "candidate_oracle_branch_scores": [ + 0.7032203078269958, + 0.7102216482162476, + 0.5681132674217224, + 0.686405599117279 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9352378845214844, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5629860162734985, + -0.9352378845214844, + -0.9661644697189331, + -0.9901387691497803 + ], + "candidate_oracle_progress": 0.7102216482162476, + "candidate_oracle_regret": 1.2897783517837524, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7102216482162476, + "candidate_oracle_score_gain_over_selected": 0.007001340389251709, + "candidate_oracle_selected_branch_progress": 0.7032203078269958, + "candidate_oracle_selected_branch_score": 0.7032203078269958, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-051860c228aa5160d5a6;ms-9fd14cc61816c2d4360e;ms-491aad3896ede89ea0dd;ms-38758efd8620a312267d;ms-690f52acc6ead9c7c078;ms-06cb0796d1097e6ca111", + "expert_regret": 1.303183674812317, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a242f1d12ebfcd82de05", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.303183674812317, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6968163251876831, + "restore_error": 1.1920928955078125e-07, + "score": 0.6968163251876831, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.27749279141426086, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7182208299636841, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.281779170036316, + 1.281779170036316, + 1.281779170036316 + ], + "candidate_oracle_branch_scores": [ + 0.7182208299636841, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.0013063251972198486, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + 0.02662518620491028, + -0.0013063251972198486, + -0.0864621251821518, + -0.17684999108314514 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.281779170036316, + "candidate_oracle_selected_branch_progress": 0.7182208299636841, + "candidate_oracle_selected_branch_score": 0.7182208299636841, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-145f60d5fff285e7d05b;ms-96e1562aaca7ef49db28;ms-6a4398375c43dbf887b1;ms-575bd87a5da90963019d;ms-61c099575bcff2de95e3;ms-28c139f34a954b692962", + "expert_regret": 0.0033209919929504395, + "expert_score": 0.7208024859428406, + "expert_success": false, + "group_id": "ms-502dba1003c09ec60ba0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2825185060501099, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7174814939498901, + "restore_error": 1.1920928955078125e-07, + "score": 0.7174814939498901, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.00796602200716734, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.11547505855560303, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + 0.11547505855560303, + 0.10783077776432037, + 0.0990137904882431, + 0.0804428681731224 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4b3a296acc66a14476c3;ms-96e1562aaca7ef49db28;ms-88fb2bebd038dc786c01;ms-145f60d5fff285e7d05b;ms-61c099575bcff2de95e3;ms-6a4398375c43dbf887b1", + "expert_regret": 0.0, + "expert_score": 0.7112311720848083, + "expert_success": false, + "group_id": "ms-fae3c6a2f1b575ddc3f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2857632040977478, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.410561203956604, + 0.3381727635860443, + 0.3301517963409424, + 0.3225961923599243 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.07238844037055969, + -0.08040940761566162, + -0.08796501159667969 + ], + "candidate_oracle_branch_scores": [ + 0.410561203956604, + 0.3381727635860443, + 0.3301517963409424, + 0.3225961923599243 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2112680673599243, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.2112680673599243, + -1.5302090644836426, + -1.5654637813568115, + -1.5960795879364014 + ], + "candidate_oracle_progress": 0.410561203956604, + "candidate_oracle_regret": 1.589438796043396, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.410561203956604, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.410561203956604, + "candidate_oracle_selected_branch_score": 0.410561203956604, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-35d84da6eb1afcf8a811;ms-3f6e7085c865144a7408;ms-3176a570b75767d1d729;ms-e56b37f0e3881a70ef54;ms-f539c5c30da21c875657;ms-d602b7370c5b90f8a439", + "expert_regret": 1.5897709727287292, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5fc588b9c9d52034f4c4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5897709727287292, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.41022902727127075, + "restore_error": 1.1920928955078125e-07, + "score": 0.41022902727127075, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3604638874530792, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.1992293894290924, + 0.19973650574684143, + 0.20061573386192322, + 0.20091252028942108 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0005071163177490234, + 0.0013863444328308105, + 0.0016831308603286743 + ], + "candidate_oracle_branch_scores": [ + 0.1992293894290924, + 0.19973650574684143, + 0.20061573386192322, + 0.20091252028942108 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.9978501796722412, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.6008350849151611, + -1.9437024593353271, + -1.9729149341583252, + -1.9978501796722412 + ], + "candidate_oracle_progress": 0.20091252028942108, + "candidate_oracle_regret": 0.5260707885026932, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20091252028942108, + "candidate_oracle_score_gain_over_selected": 0.0016831308603286743, + "candidate_oracle_selected_branch_progress": 0.1992293894290924, + "candidate_oracle_selected_branch_score": 0.1992293894290924, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ba9541c7192498a1d8bd;ms-251c1dfd1010906f559f;ms-3af721139694f7f3ec04;ms-83c0299c23fa800452c7;ms-68c63442972f322789b5;ms-c2c265f2f5013746eaa1", + "expert_regret": 0.527753546833992, + "expert_score": 0.7269833087921143, + "expert_success": false, + "group_id": "ms-de8d6051e6ee74b62fec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.527753546833992, + "oracle_score": 0.7269833087921143, + "oracle_success": false, + "progress": 0.19922976195812225, + "restore_error": 1.1920928955078125e-07, + "score": 0.19922976195812225, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3253304064273834, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.3155476450920105, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 8 + ], + "candidate_oracle_potentials": [ + 0.3155476450920105, + 0.3024415373802185, + 0.28773412108421326, + 0.25778070092201233 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-83c62951219e6599b630;ms-cbd6cc8b2708d5e3e4a9;ms-487d0fe2a13fb699dd7a;ms-3af721139694f7f3ec04;ms-89520c3ac8779d9e81e7;ms-ba9541c7192498a1d8bd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dbad4f4d0df3c19c7bbb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3818112015724182, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.690579354763031, + 0.6908953189849854, + 0.6911038756370544, + 0.7104170322418213 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0003159642219543457, + 0.0005245208740234375, + 0.019837677478790283 + ], + "candidate_oracle_branch_scores": [ + 0.690579354763031, + 0.6908953189849854, + 0.6911038756370544, + 0.7104170322418213 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.2872381806373596, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 33 + ], + "candidate_oracle_potentials": [ + 0.3471164107322693, + 0.34642109274864197, + 0.341373085975647, + 0.2872381806373596 + ], + "candidate_oracle_progress": 0.7104170322418213, + "candidate_oracle_regret": 1.2895829677581787, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7104170322418213, + "candidate_oracle_score_gain_over_selected": 0.019837677478790283, + "candidate_oracle_selected_branch_progress": 0.690579354763031, + "candidate_oracle_selected_branch_score": 0.690579354763031, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-83c62951219e6599b630;ms-cbd6cc8b2708d5e3e4a9;ms-487d0fe2a13fb699dd7a;ms-a6cf775fbba580161c4e;ms-2286d9cf8d88e878c4d7;ms-36f204d04ec4c4af3169", + "expert_regret": 1.313899040222168, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-761ab1e423462aa44e3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.313899040222168, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.686100959777832, + "restore_error": 1.1920928955078125e-07, + "score": 0.686100959777832, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5367678999900818, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6990176439285278, + 0.696868896484375, + 0.6654517650604248, + 0.5036706328392029 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002148747444152832, + -0.03356587886810303, + -0.19534701108932495 + ], + "candidate_oracle_branch_scores": [ + 0.6990176439285278, + 0.696868896484375, + 0.6654517650604248, + 0.5036706328392029 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8127034902572632, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8127034902572632, + -0.9510358572006226, + -1.0117528438568115, + -1.0860650539398193 + ], + "candidate_oracle_progress": 0.6990176439285278, + "candidate_oracle_regret": 1.3009823560714722, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6990176439285278, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6990176439285278, + "candidate_oracle_selected_branch_score": 0.6990176439285278, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ace117030ae44c474db1;ms-18ab33df290e3919a468;ms-27251a7c7f13bf165e21;ms-b60078e9e6ea9c26dedc;ms-f539c5c30da21c875657;ms-c9e0182d4090ddaa991c", + "expert_regret": 1.3009594678878784, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f97bd60d5430c32f9494", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3009594678878784, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6990405321121216, + "restore_error": 1.1920928955078125e-07, + "score": 0.6990405321121216, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32427340745925903, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2580198049545288, + 0.25525209307670593, + 0.25478124618530273, + 0.25423091650009155 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002767711877822876, + -0.0032385587692260742, + -0.003788888454437256 + ], + "candidate_oracle_branch_scores": [ + 0.2580198049545288, + 0.25525209307670593, + 0.25478124618530273, + 0.25423091650009155 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.905813455581665, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.905813455581665, + -1.1605441570281982, + -1.2089706659317017, + -1.258568286895752 + ], + "candidate_oracle_progress": 0.2580198049545288, + "candidate_oracle_regret": 1.7419801950454712, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2580198049545288, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2580198049545288, + "candidate_oracle_selected_branch_score": 0.2580198049545288, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d30b515ab0ee174afa58;ms-507199452c6d42562a38;ms-a5a56eefeb2de0abe600;ms-fdb2637276b27c46c757;ms-780ea60ea0255941e6c8;ms-01ab68aa5051226638ee", + "expert_regret": 1.7411382794380188, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-73e3079ce5eb7cd14ec8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7411382794380188, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2588617205619812, + "restore_error": 1.1920928955078125e-07, + "score": 0.2588617205619812, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37588903307914734, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7278159856796265, + 0.7171642780303955, + 0.7180992960929871, + 0.7260593175888062 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.010651707649230957, + -0.009716689586639404, + -0.0017566680908203125 + ], + "candidate_oracle_branch_scores": [ + 0.7278159856796265, + 0.7171642780303955, + 0.7180992960929871, + 0.7260593175888062 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3842555582523346, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3842555582523346, + -0.8935613632202148, + -0.9950766563415527, + -1.091684103012085 + ], + "candidate_oracle_progress": 0.7278159856796265, + "candidate_oracle_regret": 1.2721840143203735, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7278159856796265, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7278159856796265, + "candidate_oracle_selected_branch_score": 0.7278159856796265, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3db845076f92a16d1840;ms-491aad3896ede89ea0dd;ms-3661d65df223386f1be9;ms-bbefdf03d0471be60f8f;ms-ea164b21572d39ffed58;ms-832f0e966173abd16c34", + "expert_regret": 1.2793663144111633, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cdbfe4d3b05f4ed12db3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2793663144111633, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7206336855888367, + "restore_error": 1.1920928955078125e-07, + "score": 0.7206336855888367, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4439748227596283, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.39444348216056824, + 0.2577782869338989, + 0.25308701395988464, + 0.25266504287719727 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1366651952266693, + -0.1413564682006836, + -0.14177843928337097 + ], + "candidate_oracle_branch_scores": [ + 0.39444348216056824, + 0.2577782869338989, + 0.25308701395988464, + 0.25266504287719727 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.44990959763526917, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.44990959763526917, + -0.7915258407592773, + -0.8465381860733032, + -0.8984287977218628 + ], + "candidate_oracle_progress": 0.39444348216056824, + "candidate_oracle_regret": 1.6055565178394318, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.39444348216056824, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.39444348216056824, + "candidate_oracle_selected_branch_score": 0.39444348216056824, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d26dc2146eb8ae9a5434;ms-9fd14cc61816c2d4360e;ms-8bab784ae53525967763;ms-491aad3896ede89ea0dd;ms-690f52acc6ead9c7c078;ms-131a98e2d4a78a9645f8", + "expert_regret": 1.6031581461429596, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3fd410dabe0c3ef8dc1a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6031581461429596, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3968418538570404, + "restore_error": 1.1920928955078125e-07, + "score": 0.3968418538570404, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34567102789878845, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.6980876922607422, + 0.7101867198944092, + 0.7130531072616577, + 0.7165093421936035 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.012099027633666992, + 0.014965415000915527, + 0.018421649932861328 + ], + "candidate_oracle_branch_scores": [ + 0.6980876922607422, + 0.7101867198944092, + 0.7130531072616577, + 0.7165093421936035 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6002908945083618, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 40 + ], + "candidate_oracle_potentials": [ + -0.12248322367668152, + -0.5414890050888062, + -0.5809059143066406, + -0.6002908945083618 + ], + "candidate_oracle_progress": 0.7165093421936035, + "candidate_oracle_regret": 1.2834906578063965, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7165093421936035, + "candidate_oracle_score_gain_over_selected": 0.018421649932861328, + "candidate_oracle_selected_branch_progress": 0.6980876922607422, + "candidate_oracle_selected_branch_score": 0.6980876922607422, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a4398375c43dbf887b1;ms-136f1ebebd0b697c3310;ms-118ba8926eda06ffc61e;ms-145f60d5fff285e7d05b;ms-8f24ad2e217963943c12;ms-61c099575bcff2de95e3", + "expert_regret": 1.3035037517547607, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6e2b02ee71a4a44bc325", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3035037517547607, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6964962482452393, + "restore_error": 1.1920928955078125e-07, + "score": 0.6964962482452393, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6363887190818787, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.35066938400268555, + 0.43156155943870544, + 0.41477203369140625, + 0.40946754813194275 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0808921754360199, + 0.0641026496887207, + 0.0587981641292572 + ], + "candidate_oracle_branch_scores": [ + 0.35066938400268555, + 0.43156155943870544, + 0.41477203369140625, + 0.40946754813194275 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.1153852939605713, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7987843751907349, + -1.1153852939605713, + -1.2056350708007812, + -1.302162528038025 + ], + "candidate_oracle_progress": 0.43156155943870544, + "candidate_oracle_regret": 1.5684384405612946, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.43156155943870544, + "candidate_oracle_score_gain_over_selected": 0.0808921754360199, + "candidate_oracle_selected_branch_progress": 0.35066938400268555, + "candidate_oracle_selected_branch_score": 0.35066938400268555, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f539c5c30da21c875657;ms-18ab33df290e3919a468;ms-35d84da6eb1afcf8a811;ms-3996b923bb25440c29e3;ms-b60078e9e6ea9c26dedc;ms-d602b7370c5b90f8a439", + "expert_regret": 1.649416595697403, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f7169e27b3743aa48e77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.649416595697403, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.35058340430259705, + "restore_error": 1.1920928955078125e-07, + "score": 0.35058340430259705, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30816301703453064, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7012295126914978, + 0.7029992341995239, + 0.25727784633636475 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2987704277038574, + -1.297000765800476, + -1.7427221536636353 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7012295126914978, + 0.7029992341995239, + 0.25727784633636475 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6342244148254395, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.6342244148254395, + -1.2432868480682373, + -1.4676661491394043, + -1.5530455112457275 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-577341cca32521f4045e;ms-2286d9cf8d88e878c4d7;ms-b55ca348be8b64323714;ms-a6cf775fbba580161c4e;ms-ff012c1c8597c8db3cc7;ms-e56b37f0e3881a70ef54", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-da28f7d135db8979d5b8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.25472491979599, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.3708878755569458, + 0.7094990015029907, + 0.6927822828292847, + 0.7102166414260864 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.3386111259460449, + 0.32189440727233887, + 0.3393287658691406 + ], + "candidate_oracle_branch_scores": [ + 0.3708878755569458, + 0.7094990015029907, + 0.6927822828292847, + 0.7102166414260864 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.5055210590362549, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 40, + 17 + ], + "candidate_oracle_potentials": [ + -0.06479349732398987, + -0.47080913186073303, + -0.5034857988357544, + -0.5055210590362549 + ], + "candidate_oracle_progress": 0.7102166414260864, + "candidate_oracle_regret": 1.2897833585739136, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7102166414260864, + "candidate_oracle_score_gain_over_selected": 0.3393287658691406, + "candidate_oracle_selected_branch_progress": 0.3708878755569458, + "candidate_oracle_selected_branch_score": 0.3708878755569458, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-575bd87a5da90963019d;ms-28c139f34a954b692962;ms-118ba8926eda06ffc61e;ms-61c099575bcff2de95e3", + "expert_regret": 1.6352996230125427, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cc5f2a24e2571cb23050", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6352996230125427, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3647003769874573, + "restore_error": 1.1920928955078125e-07, + "score": 0.3647003769874573, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39510855078697205, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7084778547286987, + 0.7214333415031433, + 0.719326913356781, + 0.7219008803367615 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.01295548677444458, + 0.010849058628082275, + 0.013423025608062744 + ], + "candidate_oracle_branch_scores": [ + 0.7084778547286987, + 0.7214333415031433, + 0.719326913356781, + 0.7219008803367615 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.6430686712265015, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 33, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.27237340807914734, + -0.634896993637085, + -0.6391041278839111, + -0.6430686712265015 + ], + "candidate_oracle_progress": 0.7219008803367615, + "candidate_oracle_regret": 1.2780991196632385, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7219008803367615, + "candidate_oracle_score_gain_over_selected": 0.013423025608062744, + "candidate_oracle_selected_branch_progress": 0.7084778547286987, + "candidate_oracle_selected_branch_score": 0.7084778547286987, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-61c099575bcff2de95e3;ms-6a4398375c43dbf887b1;ms-136f1ebebd0b697c3310;ms-145f60d5fff285e7d05b;ms-118ba8926eda06ffc61e;ms-96e1562aaca7ef49db28", + "expert_regret": 1.2921746373176575, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b439839ee4165bac92a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2921746373176575, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7078253626823425, + "restore_error": 1.1920928955078125e-07, + "score": 0.7078253626823425, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.23892389237880707, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2990826964378357, + 0.2883979082107544, + 0.2525767683982849, + 0.2525802254676819 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.010684788227081299, + -0.04650592803955078, + -0.04650247097015381 + ], + "candidate_oracle_branch_scores": [ + 0.2990826964378357, + 0.2883979082107544, + 0.2525767683982849, + 0.2525802254676819 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8542994260787964, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.8542994260787964, + -1.6610112190246582, + -1.688896894454956, + -1.76899254322052 + ], + "candidate_oracle_progress": 0.2990826964378357, + "candidate_oracle_regret": 1.7009173035621643, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2990826964378357, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2990826964378357, + "candidate_oracle_selected_branch_score": 0.2990826964378357, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6cf775fbba580161c4e;ms-2286d9cf8d88e878c4d7;ms-577341cca32521f4045e;ms-b55ca348be8b64323714;ms-ff012c1c8597c8db3cc7;ms-cbd6cc8b2708d5e3e4a9", + "expert_regret": 1.7025027871131897, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de68dbb7daad3e3a71fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7025027871131897, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2974972128868103, + "restore_error": 1.1920928955078125e-07, + "score": 0.2974972128868103, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3280258774757385, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4107266366481781, + 0.33827850222587585, + 0.327571839094162, + 0.3208461105823517 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.07244813442230225, + -0.08315479755401611, + -0.08988052606582642 + ], + "candidate_oracle_branch_scores": [ + 0.4107266366481781, + 0.33827850222587585, + 0.327571839094162, + 0.3208461105823517 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2006645202636719, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.2006645202636719, + -1.6120312213897705, + -1.6588478088378906, + -1.698273777961731 + ], + "candidate_oracle_progress": 0.4107266366481781, + "candidate_oracle_regret": 1.589273363351822, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.905726432800293e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4107266366481781, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4107266366481781, + "candidate_oracle_selected_branch_score": 0.4107266366481781, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3176a570b75767d1d729;ms-e56b37f0e3881a70ef54;ms-35d84da6eb1afcf8a811;ms-ff012c1c8597c8db3cc7;ms-1d728ae415a4d3cb782e;ms-d602b7370c5b90f8a439", + "expert_regret": 1.5892828702926636, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d799435b5f6b8fae2ffb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5892828702926636, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4107171297073364, + "restore_error": 1.862645149230957e-07, + "score": 0.4107171297073364, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7252300977706909, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.19033415615558624, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + 0.19033415615558624, + 0.17627379298210144, + 0.1463785171508789, + 0.09095937758684158 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 2.905726432800293e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-88fb2bebd038dc786c01;ms-4b3a296acc66a14476c3;ms-96e1562aaca7ef49db28;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-61c099575bcff2de95e3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-957002faf092f769aa8e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.862645149230957e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.14961041510105133, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.19770704209804535, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + 0.19770704209804535, + 0.10709953308105469, + 0.10607138276100159, + 0.09453600645065308 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 2.905726432800293e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cbd6cc8b2708d5e3e4a9;ms-83c62951219e6599b630;ms-36f204d04ec4c4af3169;ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-89520c3ac8779d9e81e7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-91710558482886874dd7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.862645149230957e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1776023656129837, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.25563985109329224, + 0.23595069348812103, + 0.23688623309135437, + 0.23752014338970184 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.019689157605171204, + -0.018753618001937866, + -0.018119707703590393 + ], + "candidate_oracle_branch_scores": [ + 0.25563985109329224, + 0.23595069348812103, + 0.23688623309135437, + 0.23752014338970184 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7340354919433594, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7340354919433594, + -1.2143771648406982, + -1.249785304069519, + -1.2810969352722168 + ], + "candidate_oracle_progress": 0.25563985109329224, + "candidate_oracle_regret": 1.7443601489067078, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.905726432800293e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.25563985109329224, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.25563985109329224, + "candidate_oracle_selected_branch_score": 0.25563985109329224, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-051860c228aa5160d5a6;ms-38758efd8620a312267d;ms-06cb0796d1097e6ca111;ms-bbefdf03d0471be60f8f;ms-ea164b21572d39ffed58;ms-832f0e966173abd16c34", + "expert_regret": 1.7423908114433289, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc56601ca069f65cd08f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7423908114433289, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25760918855667114, + "restore_error": 1.862645149230957e-07, + "score": 0.25760918855667114, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34051233530044556, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3090910017490387, + 0.2876041531562805, + 0.3038281500339508, + 0.25742968916893005 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.02148684859275818, + -0.005262851715087891, + -0.05166131258010864 + ], + "candidate_oracle_branch_scores": [ + 0.3090910017490387, + 0.2876041531562805, + 0.3038281500339508, + 0.25742968916893005 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.5371153354644775, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.5371153354644775, + -1.986433982849121, + -2.050168037414551, + -2.0754666328430176 + ], + "candidate_oracle_progress": 0.3090910017490387, + "candidate_oracle_regret": 1.6909089982509613, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 2.905726432800293e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3090910017490387, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3090910017490387, + "candidate_oracle_selected_branch_score": 0.3090910017490387, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e705fef3e4caa4c49718;ms-64a755437c34f39cda2a;ms-0251a326271aa1cab82b;ms-e8de8d619c0cf5fd633e;ms-55e89d326b6531345902;ms-69785feff08dbf9a50be", + "expert_regret": 1.6909482181072235, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5dcf9054c3c1c4e1d50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6909482181072235, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3090517818927765, + "restore_error": 1.862645149230957e-07, + "score": 0.3090517818927765, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5149736404418945, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.21070489287376404, + 0.30052077770233154, + 0.21070586144924164 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.7892950773239136, + -1.6994792222976685, + -1.7892941236495972 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.21070489287376404, + 0.30052077770233154, + 0.21070586144924164 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8664265871047974, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.8664265871047974, + -1.6078894138336182, + -1.6969510316848755, + -1.7606587409973145 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 2.905726432800293e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e56b37f0e3881a70ef54;ms-35d84da6eb1afcf8a811;ms-1d728ae415a4d3cb782e;ms-ff012c1c8597c8db3cc7;ms-b55ca348be8b64323714;ms-d602b7370c5b90f8a439", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e91b824c3841686ed053", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.862645149230957e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.05398236960172653, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.20265117287635803, + 0.20263884961605072, + 0.20261767506599426 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.7973488569259644, + -1.797361135482788, + -1.7973823547363281 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.20265117287635803, + 0.20263884961605072, + 0.20261767506599426 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2373547554016113, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.2373547554016113, + -1.5619392395019531, + -1.5975868701934814, + -1.628868579864502 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.905726432800293e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e1b6bcb41532a800d3cb;ms-29a11d7bdcf49c86bd7a;ms-320d99264926ea029f95;ms-251c1dfd1010906f559f;ms-89520c3ac8779d9e81e7;ms-68d9596217cc37c949c4", + "expert_regret": 0.0, + "expert_score": 0.7265902757644653, + "expert_success": false, + "group_id": "ms-13d8bae55d3c3710138f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.862645149230957e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35211849212646484, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.23312370479106903, + 0.23424819111824036, + 0.2704145908355713, + 0.25929731130599976 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0011244863271713257, + 0.03729088604450226, + 0.026173606514930725 + ], + "candidate_oracle_branch_scores": [ + 0.23312370479106903, + 0.23424819111824036, + 0.2704145908355713, + 0.25929731130599976 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.249868392944336, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 35, + 19 + ], + "candidate_oracle_potentials": [ + -0.6739917993545532, + -1.2144914865493774, + -1.249868392944336, + -1.2570407390594482 + ], + "candidate_oracle_progress": 0.2704145908355713, + "candidate_oracle_regret": 1.7295854091644287, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 2.905726432800293e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2704145908355713, + "candidate_oracle_score_gain_over_selected": 0.03729088604450226, + "candidate_oracle_selected_branch_progress": 0.23312370479106903, + "candidate_oracle_selected_branch_score": 0.23312370479106903, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3661d65df223386f1be9;ms-3db845076f92a16d1840;ms-131a98e2d4a78a9645f8;ms-4dc9ab19fbe571f09699;ms-491aad3896ede89ea0dd;ms-7cd314f076bfe5c32088", + "expert_regret": 1.7671093940734863, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9f993a6e9bb26846d4f4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7671093940734863, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23289060592651367, + "restore_error": 1.862645149230957e-07, + "score": 0.23289060592651367, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.44469907879829407, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4730079770088196, + 0.45943325757980347, + 0.43321073055267334, + 0.4203367233276367 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.013574719429016113, + -0.03979724645614624, + -0.05267125368118286 + ], + "candidate_oracle_branch_scores": [ + 0.4730079770088196, + 0.45943325757980347, + 0.43321073055267334, + 0.4203367233276367 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8140150308609009, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8140150308609009, + -0.8561655282974243, + -0.88422691822052, + -0.9277791976928711 + ], + "candidate_oracle_progress": 0.4730079770088196, + "candidate_oracle_regret": 1.5269920229911804, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4730079770088196, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4730079770088196, + "candidate_oracle_selected_branch_score": 0.4730079770088196, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-18ab33df290e3919a468;ms-f539c5c30da21c875657;ms-69785feff08dbf9a50be;ms-3996b923bb25440c29e3;ms-e8de8d619c0cf5fd633e;ms-55e89d326b6531345902", + "expert_regret": 1.5270378589630127, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-98c8fcf4c9f098cebe8d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5270378589630127, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4729621410369873, + "restore_error": 1.1920928955078125e-07, + "score": 0.4729621410369873, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.43538427352905273, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.71415776014328, + 0.6129454374313354, + 0.25798332691192627, + 0.3310461938381195 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.10121232271194458, + -0.45617443323135376, + -0.3831115663051605 + ], + "candidate_oracle_branch_scores": [ + 0.71415776014328, + 0.6129454374313354, + 0.25798332691192627, + 0.3310461938381195 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8731974363327026, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.8731974363327026, + -1.6200591325759888, + -1.72441565990448, + -1.7868130207061768 + ], + "candidate_oracle_progress": 0.71415776014328, + "candidate_oracle_regret": 1.28584223985672, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.71415776014328, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.71415776014328, + "candidate_oracle_selected_branch_score": 0.71415776014328, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1d728ae415a4d3cb782e;ms-e56b37f0e3881a70ef54;ms-b55ca348be8b64323714;ms-ff012c1c8597c8db3cc7;ms-35d84da6eb1afcf8a811;ms-577341cca32521f4045e", + "expert_regret": 1.2859488725662231, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01a86e5f5731af7002ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2859488725662231, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7140511274337769, + "restore_error": 1.1920928955078125e-07, + "score": 0.7140511274337769, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5356701612472534, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.7000323534011841, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.299967646598816, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.7000323534011841, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.10969662666320801, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.10969662666320801, + -0.3688782751560211, + -0.4273233711719513, + -0.48706695437431335 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8bab784ae53525967763;ms-d26dc2146eb8ae9a5434;ms-9fd14cc61816c2d4360e;ms-690f52acc6ead9c7c078;ms-6a4398375c43dbf887b1;ms-8d3d849234ceb98c3dc1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-76c7efad95ae67dba1ca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3450950086116791, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5443607568740845, + 0.2538674771785736, + 0.2536207437515259, + 0.2544603943824768 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.29049327969551086, + -0.2907400131225586, + -0.28990036249160767 + ], + "candidate_oracle_branch_scores": [ + 0.5443607568740845, + 0.2538674771785736, + 0.2536207437515259, + 0.2544603943824768 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.677597165107727, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 35 + ], + "candidate_oracle_potentials": [ + -0.677597165107727, + -1.2075700759887695, + -1.285079002380371, + -1.311811923980713 + ], + "candidate_oracle_progress": 0.5443607568740845, + "candidate_oracle_regret": 1.4556392431259155, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5443607568740845, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5443607568740845, + "candidate_oracle_selected_branch_score": 0.5443607568740845, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8bab784ae53525967763;ms-d26dc2146eb8ae9a5434;ms-131a98e2d4a78a9645f8;ms-491aad3896ede89ea0dd;ms-3661d65df223386f1be9;ms-9fd14cc61816c2d4360e", + "expert_regret": 1.4573002457618713, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f1529c9d823325056e8d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4573002457618713, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5426997542381287, + "restore_error": 1.1920928955078125e-07, + "score": 0.5426997542381287, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4517650306224823, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.6800574660301208, + 0.27324163913726807, + 0.6804760694503784 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.3199424743652344, + -1.726758360862732, + -1.3195239305496216 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.6800574660301208, + 0.27324163913726807, + 0.6804760694503784 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8838551044464111, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.8838551044464111, + -1.5666561126708984, + -1.6963080167770386, + -1.7230861186981201 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e56b37f0e3881a70ef54;ms-1d728ae415a4d3cb782e;ms-ff012c1c8597c8db3cc7;ms-b55ca348be8b64323714;ms-35d84da6eb1afcf8a811;ms-3176a570b75767d1d729", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a3daad6772d2384ea66", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40481042861938477, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5326776504516602, + 0.21364223957061768, + 0.34369906783103943, + 0.49010705947875977 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.3190354108810425, + -0.18897858262062073, + -0.04257059097290039 + ], + "candidate_oracle_branch_scores": [ + 0.5326776504516602, + 0.21364223957061768, + 0.34369906783103943, + 0.49010705947875977 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.108145833015442, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.108145833015442, + -1.5424909591674805, + -1.649581789970398, + -1.6584298610687256 + ], + "candidate_oracle_progress": 0.5326776504516602, + "candidate_oracle_regret": 1.4673223495483398, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5326776504516602, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5326776504516602, + "candidate_oracle_selected_branch_score": 0.5326776504516602, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-69785feff08dbf9a50be;ms-18ab33df290e3919a468;ms-e8de8d619c0cf5fd633e;ms-8a9e7d69f7ade362fe40;ms-ace117030ae44c474db1;ms-f539c5c30da21c875657", + "expert_regret": 1.4673223495483398, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-57dc9349b8f2c9c49105", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4673223495483398, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5326776504516602, + "restore_error": 1.1920928955078125e-07, + "score": 0.5326776504516602, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5242563486099243, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7054256200790405, + 0.6362730860710144, + 0.5448688864707947, + 0.5058585405349731 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.06915253400802612, + -0.16055673360824585, + -0.19956707954406738 + ], + "candidate_oracle_branch_scores": [ + 0.7054256200790405, + 0.6362730860710144, + 0.5448688864707947, + 0.5058585405349731 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9973882436752319, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9973882436752319, + -1.1991231441497803, + -1.272109866142273, + -1.3668344020843506 + ], + "candidate_oracle_progress": 0.7054256200790405, + "candidate_oracle_regret": 1.2945743799209595, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7054256200790405, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7054256200790405, + "candidate_oracle_selected_branch_score": 0.7054256200790405, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e8de8d619c0cf5fd633e;ms-69785feff08dbf9a50be;ms-8a9e7d69f7ade362fe40;ms-18ab33df290e3919a468;ms-f539c5c30da21c875657;ms-ace117030ae44c474db1", + "expert_regret": 1.2931659817695618, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ce7b349699ed248bb67c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2931659817695618, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7068340182304382, + "restore_error": 1.1920928955078125e-07, + "score": 0.7068340182304382, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.303085595369339, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.7159011363983154, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.2840988636016846, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.7159011363983154, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.01988578587770462, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 40, + 33, + 17 + ], + "candidate_oracle_potentials": [ + 0.01988578587770462, + -0.16867119073867798, + -0.1827915906906128, + -0.21439120173454285 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-61c099575bcff2de95e3;ms-118ba8926eda06ffc61e;ms-145f60d5fff285e7d05b;ms-8f24ad2e217963943c12;ms-28c139f34a954b692962;ms-136f1ebebd0b697c3310", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-54b1042de0891da7c07e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2404666692018509, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7176855802536011, + 0.7109940052032471, + 0.2769531011581421, + 0.7089426517486572 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.006691575050354004, + -0.440732479095459, + -0.008742928504943848 + ], + "candidate_oracle_branch_scores": [ + 0.7176855802536011, + 0.7109940052032471, + 0.2769531011581421, + 0.7089426517486572 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6881407499313354, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.6881407499313354, + -1.4613937139511108, + -1.669929027557373, + -1.6732685565948486 + ], + "candidate_oracle_progress": 0.7176855802536011, + "candidate_oracle_regret": 1.282314419746399, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7176855802536011, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7176855802536011, + "candidate_oracle_selected_branch_score": 0.7176855802536011, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2286d9cf8d88e878c4d7;ms-a6cf775fbba580161c4e;ms-577341cca32521f4045e;ms-b55ca348be8b64323714;ms-ff012c1c8597c8db3cc7;ms-1d728ae415a4d3cb782e", + "expert_regret": 1.2820265889167786, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-40fb8acb1e648bf3b617", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2820265889167786, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7179734110832214, + "restore_error": 1.1920928955078125e-07, + "score": 0.7179734110832214, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4608430862426758, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.20652459561824799, + 0.21671359241008759, + 0.21537598967552185, + 0.20531366765499115 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0101889967918396, + 0.008851394057273865, + -0.001210927963256836 + ], + "candidate_oracle_branch_scores": [ + 0.20652459561824799, + 0.21671359241008759, + 0.21537598967552185, + 0.20531366765499115 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.7692570686340332, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 33 + ], + "candidate_oracle_potentials": [ + -1.5195473432540894, + -1.7692570686340332, + -1.7900563478469849, + -1.8103173971176147 + ], + "candidate_oracle_progress": 0.21671359241008759, + "candidate_oracle_regret": 1.7832864075899124, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21671359241008759, + "candidate_oracle_score_gain_over_selected": 0.0101889967918396, + "candidate_oracle_selected_branch_progress": 0.20652459561824799, + "candidate_oracle_selected_branch_score": 0.20652459561824799, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e2f90eb6c79dfd9ce6fd;ms-8a9e7d69f7ade362fe40;ms-ace117030ae44c474db1;ms-69785feff08dbf9a50be;ms-27251a7c7f13bf165e21;ms-e8de8d619c0cf5fd633e", + "expert_regret": 1.7934703826904297, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c0142e4a5d15dd8d647a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7934703826904297, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2065296173095703, + "restore_error": 1.1920928955078125e-07, + "score": 0.2065296173095703, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5563877820968628, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.6904240846633911, + 0.6937219500541687, + 0.2192011922597885, + 0.4133680462837219 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.003297865390777588, + -0.4712228775024414, + -0.2770560383796692 + ], + "candidate_oracle_branch_scores": [ + 0.6904240846633911, + 0.6937219500541687, + 0.2192011922597885, + 0.4133680462837219 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.7482391595840454, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.2133753299713135, + -1.7482391595840454, + -1.829481840133667, + -1.8301963806152344 + ], + "candidate_oracle_progress": 0.6937219500541687, + "candidate_oracle_regret": 1.3062780499458313, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6937219500541687, + "candidate_oracle_score_gain_over_selected": 0.003297865390777588, + "candidate_oracle_selected_branch_progress": 0.6904240846633911, + "candidate_oracle_selected_branch_score": 0.6904240846633911, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8a9e7d69f7ade362fe40;ms-ace117030ae44c474db1;ms-69785feff08dbf9a50be;ms-18ab33df290e3919a468;ms-e2f90eb6c79dfd9ce6fd;ms-e8de8d619c0cf5fd633e", + "expert_regret": 1.3095081448554993, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bbaa576369a59660ecdd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3095081448554993, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6904918551445007, + "restore_error": 1.1920928955078125e-07, + "score": 0.6904918551445007, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4278477132320404, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5023589134216309, + 0.21124550700187683, + 0.21112804114818573, + 0.4365791082382202 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.29111340641975403, + -0.29123085737228394, + -0.06577980518341064 + ], + "candidate_oracle_branch_scores": [ + 0.5023589134216309, + 0.21124550700187683, + 0.21112804114818573, + 0.4365791082382202 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.6051642894744873, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 1 + ], + "candidate_oracle_potentials": [ + -1.6051642894744873, + -1.8400911092758179, + -1.88802170753479, + -1.90498685836792 + ], + "candidate_oracle_progress": 0.5023589134216309, + "candidate_oracle_regret": 0.22025442123413086, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5023589134216309, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5023589134216309, + "candidate_oracle_selected_branch_score": 0.5023589134216309, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ba9541c7192498a1d8bd;ms-3af721139694f7f3ec04;ms-68c63442972f322789b5;ms-83c0299c23fa800452c7;ms-251c1dfd1010906f559f;ms-89520c3ac8779d9e81e7", + "expert_regret": 0.22030776739120483, + "expert_score": 0.7226133346557617, + "expert_success": false, + "group_id": "ms-a103dfbc0567d05ade6e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.22030776739120483, + "oracle_score": 0.7226133346557617, + "oracle_success": false, + "progress": 0.5023055672645569, + "restore_error": 1.1920928955078125e-07, + "score": 0.5023055672645569, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.20101334154605865, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7279564738273621, + 0.7267419099807739, + 0.7277967929840088 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2720434665679932, + -1.273258090019226, + -1.2722032070159912 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7279564738273621, + 0.7267419099807739, + 0.7277967929840088 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.5355880260467529, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + 0.5355880260467529, + 0.42317646741867065, + 0.4111070930957794, + 0.37429118156433105 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cbd6cc8b2708d5e3e4a9;ms-83c62951219e6599b630;ms-a5a56eefeb2de0abe600;ms-a6cf775fbba580161c4e;ms-487d0fe2a13fb699dd7a;ms-2286d9cf8d88e878c4d7", + "expert_regret": 1.2728530168533325, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f237f72fe3db2b4f8e12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2728530168533325, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7271469831466675, + "restore_error": 1.1920928955078125e-07, + "score": 0.7271469831466675, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.17574699223041534, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.7269908785820007, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.2730090618133545, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.7269908785820007, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.02968543767929077, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 40, + 3 + ], + "candidate_oracle_potentials": [ + -0.02968543767929077, + -0.09589788317680359, + -0.1813337802886963, + -0.23012563586235046 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-487d0fe2a13fb699dd7a;ms-fb329ccd569163c53415;ms-14dabc3ac1e1a339ebe4;ms-3f56672eac1c00e9c2b0;ms-83c62951219e6599b630;ms-9156a9a9c1b829b742ad", + "expert_regret": 0.0, + "expert_score": 0.7073621153831482, + "expert_success": false, + "group_id": "ms-1b24faaf0d032ad20017", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4084247052669525, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7054486274719238, + 0.6796506643295288, + 0.6813322901725769, + 0.6815988421440125 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.02579796314239502, + -0.024116337299346924, + -0.023849785327911377 + ], + "candidate_oracle_branch_scores": [ + 0.7054486274719238, + 0.6796506643295288, + 0.6813322901725769, + 0.6815988421440125 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.733875036239624, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.733875036239624, + -0.807904839515686, + -0.836847186088562, + -0.8767011165618896 + ], + "candidate_oracle_progress": 0.7054486274719238, + "candidate_oracle_regret": 1.2945513725280762, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7054486274719238, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7054486274719238, + "candidate_oracle_selected_branch_score": 0.7054486274719238, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f539c5c30da21c875657;ms-3996b923bb25440c29e3;ms-d602b7370c5b90f8a439;ms-3f6e7085c865144a7408;ms-18ab33df290e3919a468;ms-55e89d326b6531345902", + "expert_regret": 1.294713020324707, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7b1a03be4a61ba27261c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.294713020324707, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.705286979675293, + "restore_error": 1.1920928955078125e-07, + "score": 0.705286979675293, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3954865634441376, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3709897994995117, + 0.31893467903137207, + 0.3630513846874237, + 0.3106805086135864 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.05205512046813965, + -0.007938414812088013, + -0.06030929088592529 + ], + "candidate_oracle_branch_scores": [ + 0.3709897994995117, + 0.31893467903137207, + 0.3630513846874237, + 0.3106805086135864 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2677483558654785, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -1.2677483558654785, + -1.8251434564590454, + -1.8353168964385986, + -1.8734543323516846 + ], + "candidate_oracle_progress": 0.3709897994995117, + "candidate_oracle_regret": 0.35482871532440186, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3709897994995117, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3709897994995117, + "candidate_oracle_selected_branch_score": 0.3709897994995117, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-69785feff08dbf9a50be;ms-8a9e7d69f7ade362fe40;ms-e8de8d619c0cf5fd633e;ms-64a755437c34f39cda2a;ms-18ab33df290e3919a468;ms-e2f90eb6c79dfd9ce6fd", + "expert_regret": 0.3548439145088196, + "expert_score": 0.7258185148239136, + "expert_success": false, + "group_id": "ms-a829d650eb9914fb2983", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.3548439145088196, + "oracle_score": 0.7258185148239136, + "oracle_success": false, + "progress": 0.370974600315094, + "restore_error": 1.1920928955078125e-07, + "score": 0.370974600315094, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.4761133193969727, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.2231743335723877, + 0.22412851452827454, + 0.2249736189842224, + 0.21723276376724243 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0009541809558868408, + 0.0017992854118347168, + -0.005941569805145264 + ], + "candidate_oracle_branch_scores": [ + 0.2231743335723877, + 0.22412851452827454, + 0.2249736189842224, + 0.21723276376724243 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.377340316772461, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -1.2631123065948486, + -1.318584680557251, + -1.377340316772461, + -1.4473018646240234 + ], + "candidate_oracle_progress": 0.2249736189842224, + "candidate_oracle_regret": 1.7750263810157776, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2249736189842224, + "candidate_oracle_score_gain_over_selected": 0.0017992854118347168, + "candidate_oracle_selected_branch_progress": 0.2231743335723877, + "candidate_oracle_selected_branch_score": 0.2231743335723877, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-89520c3ac8779d9e81e7;ms-83c0299c23fa800452c7;ms-320d99264926ea029f95;ms-3af721139694f7f3ec04;ms-251c1dfd1010906f559f;ms-ba9541c7192498a1d8bd", + "expert_regret": 1.7768256962299347, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-95264bfdaa3892cf66ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7768256962299347, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2231743037700653, + "restore_error": 1.1920928955078125e-07, + "score": 0.2231743037700653, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30816420912742615, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.712672233581543, + 0.7166500091552734, + 0.7103840708732605 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.287327766418457, + -1.2833499908447266, + -1.2896158695220947 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.712672233581543, + 0.7166500091552734, + 0.7103840708732605 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.21855592727661133, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 19, + 3, + 35 + ], + "candidate_oracle_potentials": [ + -0.21855592727661133, + -0.5139484405517578, + -0.5187766551971436, + -0.5448727607727051 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a4398375c43dbf887b1;ms-145f60d5fff285e7d05b;ms-96e1562aaca7ef49db28;ms-61c099575bcff2de95e3;ms-118ba8926eda06ffc61e;ms-136f1ebebd0b697c3310", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9ac2c188beb33e70f98", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.8133452534675598, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.013327471911907196, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 40 + ], + "candidate_oracle_potentials": [ + 0.013327471911907196, + -0.04203839600086212, + -0.17074871063232422, + -0.18215402960777283 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-3f56672eac1c00e9c2b0;ms-fb329ccd569163c53415;ms-3af721139694f7f3ec04;ms-89520c3ac8779d9e81e7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-908213fef55ccf1dfda6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.005527491215616465, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6744787096977234, + 0.21847966313362122, + 0.22008198499679565, + 0.220452219247818 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4559990465641022, + -0.45439672470092773, + -0.4540264904499054 + ], + "candidate_oracle_branch_scores": [ + 0.6744787096977234, + 0.21847966313362122, + 0.22008198499679565, + 0.220452219247818 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5676681995391846, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5676681995391846, + -0.7223953008651733, + -0.7453498840332031, + -0.7677857875823975 + ], + "candidate_oracle_progress": 0.6744787096977234, + "candidate_oracle_regret": 1.3255212903022766, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6744787096977234, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6744787096977234, + "candidate_oracle_selected_branch_score": 0.6744787096977234, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3f56672eac1c00e9c2b0;ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-89520c3ac8779d9e81e7;ms-3af721139694f7f3ec04;ms-251c1dfd1010906f559f", + "expert_regret": 0.5069390088319778, + "expert_score": 0.7244810461997986, + "expert_success": false, + "group_id": "ms-2436538e05fdcf8e44fc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7824579626321793, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21754203736782074, + "restore_error": 1.1920928955078125e-07, + "score": 0.21754203736782074, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3265916407108307, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2554769814014435, + 0.2544670104980469, + 0.25413721799850464, + 0.25358787178993225 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0010099709033966064, + -0.0013397634029388428, + -0.0018891096115112305 + ], + "candidate_oracle_branch_scores": [ + 0.2554769814014435, + 0.2544670104980469, + 0.25413721799850464, + 0.25358787178993225 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8939063549041748, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8939063549041748, + -1.17778742313385, + -1.2287760972976685, + -1.277584195137024 + ], + "candidate_oracle_progress": 0.2554769814014435, + "candidate_oracle_regret": 1.7445230185985565, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2554769814014435, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2554769814014435, + "candidate_oracle_selected_branch_score": 0.2554769814014435, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a5a56eefeb2de0abe600;ms-507199452c6d42562a38;ms-1e41619ab39cf51b7822;ms-051860c228aa5160d5a6;ms-fdb2637276b27c46c757;ms-88f748134c3fd27fcf72", + "expert_regret": 1.7448024451732635, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97c28a7584b35207bf84", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7448024451732635, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25519755482673645, + "restore_error": 1.1920928955078125e-07, + "score": 0.25519755482673645, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37575820088386536, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7050209045410156, + 0.3888690173625946, + 0.2531556487083435, + 0.3415551781654358 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.316151887178421, + -0.4518652558326721, + -0.36346572637557983 + ], + "candidate_oracle_branch_scores": [ + 0.7050209045410156, + 0.3888690173625946, + 0.2531556487083435, + 0.3415551781654358 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7188150882720947, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.7188150882720947, + -1.4621434211730957, + -1.6430387496948242, + -1.6741938591003418 + ], + "candidate_oracle_progress": 0.7050209045410156, + "candidate_oracle_regret": 1.2949790954589844, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7050209045410156, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7050209045410156, + "candidate_oracle_selected_branch_score": 0.7050209045410156, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-577341cca32521f4045e;ms-b55ca348be8b64323714;ms-ff012c1c8597c8db3cc7;ms-2286d9cf8d88e878c4d7;ms-1d728ae415a4d3cb782e;ms-e56b37f0e3881a70ef54", + "expert_regret": 1.2936067581176758, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c7bbc80458fce91a1ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2936067581176758, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7063932418823242, + "restore_error": 1.1920928955078125e-07, + "score": 0.7063932418823242, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48345014452934265, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.6005042791366577, + 0.6463863849639893, + 0.646366536617279, + 0.45093870162963867 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.04588210582733154, + 0.04586225748062134, + -0.14956557750701904 + ], + "candidate_oracle_branch_scores": [ + 0.6005042791366577, + 0.6463863849639893, + 0.646366536617279, + 0.45093870162963867 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8357844352722168, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7784713506698608, + -0.8357844352722168, + -0.8711968660354614, + -0.9227237701416016 + ], + "candidate_oracle_progress": 0.6463863849639893, + "candidate_oracle_regret": 1.3536136150360107, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6463863849639893, + "candidate_oracle_score_gain_over_selected": 0.04588210582733154, + "candidate_oracle_selected_branch_progress": 0.6005042791366577, + "candidate_oracle_selected_branch_score": 0.6005042791366577, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-18ab33df290e3919a468;ms-f539c5c30da21c875657;ms-ace117030ae44c474db1;ms-3996b923bb25440c29e3;ms-69785feff08dbf9a50be;ms-3f6e7085c865144a7408", + "expert_regret": 1.399446427822113, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dd0fad10ce064047d62e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.399446427822113, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.600553572177887, + "restore_error": 1.1920928955078125e-07, + "score": 0.600553572177887, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.26342666149139404, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5588698387145996, + 0.4337718188762665, + 0.4300386905670166, + 0.42447900772094727 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.12509801983833313, + -0.128831148147583, + -0.13439083099365234 + ], + "candidate_oracle_branch_scores": [ + 0.5588698387145996, + 0.4337718188762665, + 0.4300386905670166, + 0.42447900772094727 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.231963038444519, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.231963038444519, + -1.4393739700317383, + -1.4782845973968506, + -1.5153567790985107 + ], + "candidate_oracle_progress": 0.5588698387145996, + "candidate_oracle_regret": 1.4411301612854004, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5588698387145996, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5588698387145996, + "candidate_oracle_selected_branch_score": 0.5588698387145996, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3176a570b75767d1d729;ms-b55ca348be8b64323714;ms-e56b37f0e3881a70ef54;ms-ff012c1c8597c8db3cc7;ms-1d728ae415a4d3cb782e;ms-35d84da6eb1afcf8a811", + "expert_regret": 1.4411144256591797, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf8c5d9c874edc9f000d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4411144256591797, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5588855743408203, + "restore_error": 1.1920928955078125e-07, + "score": 0.5588855743408203, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5324822664260864, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.20225229859352112, + 0.2072676718235016, + 0.20712725818157196, + 0.20811967551708221 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.005015373229980469, + 0.004874959588050842, + 0.005867376923561096 + ], + "candidate_oracle_branch_scores": [ + 0.20225229859352112, + 0.2072676718235016, + 0.20712725818157196, + 0.20811967551708221 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.4647529125213623, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 17, + 1, + 33 + ], + "candidate_oracle_potentials": [ + -1.353337287902832, + -1.4621145725250244, + -1.462243676185608, + -1.4647529125213623 + ], + "candidate_oracle_progress": 0.20811967551708221, + "candidate_oracle_regret": 1.7918803244829178, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.544854164123535e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20811967551708221, + "candidate_oracle_score_gain_over_selected": 0.005867376923561096, + "candidate_oracle_selected_branch_progress": 0.20225229859352112, + "candidate_oracle_selected_branch_score": 0.20225229859352112, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b60078e9e6ea9c26dedc;ms-35d84da6eb1afcf8a811;ms-c9e0182d4090ddaa991c;ms-9f4b47c80d59166302ab;ms-f539c5c30da21c875657;ms-18ab33df290e3919a468", + "expert_regret": 1.7977481484413147, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-14a2c3eb293175cb76f3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7977481484413147, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2022518515586853, + "restore_error": 1.1920928955078125e-07, + "score": 0.2022518515586853, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37285181879997253, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6374787092208862, + 0.22390833497047424, + 0.2240665853023529, + 0.22438117861747742 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.413570374250412, + -0.4134121239185333, + -0.4130975306034088 + ], + "candidate_oracle_branch_scores": [ + 0.6374787092208862, + 0.22390833497047424, + 0.2240665853023529, + 0.22438117861747742 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0039331912994385, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0039331912994385, + -1.1439869403839111, + -1.1941486597061157, + -1.2553906440734863 + ], + "candidate_oracle_progress": 0.6374787092208862, + "candidate_oracle_regret": 1.3625212907791138, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.544854164123535e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6374787092208862, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6374787092208862, + "candidate_oracle_selected_branch_score": 0.6374787092208862, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3f6e7085c865144a7408;ms-f539c5c30da21c875657;ms-18ab33df290e3919a468;ms-3996b923bb25440c29e3;ms-d602b7370c5b90f8a439;ms-09b2d832d7823c11fd22", + "expert_regret": 1.3624076843261719, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65e9da4468e522823587", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3624076843261719, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6375923156738281, + "restore_error": 1.1920928955078125e-07, + "score": 0.6375923156738281, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31582310795783997, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7291361093521118, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2708638906478882, + 1.2708638906478882, + 1.2708638906478882 + ], + "candidate_oracle_branch_scores": [ + 0.7291361093521118, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.554222583770752, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.15990760922431946, + -0.554222583770752, + -0.5940802097320557, + -0.6227865219116211 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.544854164123535e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2708638906478882, + "candidate_oracle_selected_branch_progress": 0.7291361093521118, + "candidate_oracle_selected_branch_score": 0.7291361093521118, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a4398375c43dbf887b1;ms-145f60d5fff285e7d05b;ms-8bab784ae53525967763;ms-690f52acc6ead9c7c078;ms-136f1ebebd0b697c3310;ms-118ba8926eda06ffc61e", + "expert_regret": 1.2706995606422424, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d68051ee4e3b8a5c9a4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2706995606422424, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7293004393577576, + "restore_error": 1.1920928955078125e-07, + "score": 0.7293004393577576, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2482740581035614, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.09212402999401093, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.09212402999401093, + -0.2760206460952759, + -0.32476967573165894, + -0.3739163279533386 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.544854164123535e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-06cb0796d1097e6ca111;ms-bbefdf03d0471be60f8f;ms-832f0e966173abd16c34;ms-ea164b21572d39ffed58;ms-3db845076f92a16d1840;ms-491aad3896ede89ea0dd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0a6bff8326e7e32702f3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5304051041603088, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.254365473985672, + 0.25263315439224243, + 0.25260651111602783, + 0.25276118516921997 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0017323195934295654, + -0.001758962869644165, + -0.0016042888164520264 + ], + "candidate_oracle_branch_scores": [ + 0.254365473985672, + 0.25263315439224243, + 0.25260651111602783, + 0.25276118516921997 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5942350625991821, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5942350625991821, + -0.8932235240936279, + -0.9368491172790527, + -0.9762420654296875 + ], + "candidate_oracle_progress": 0.254365473985672, + "candidate_oracle_regret": 1.745634526014328, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.544854164123535e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.254365473985672, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.254365473985672, + "candidate_oracle_selected_branch_score": 0.254365473985672, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d26dc2146eb8ae9a5434;ms-9fd14cc61816c2d4360e;ms-8bab784ae53525967763;ms-131a98e2d4a78a9645f8;ms-1e41619ab39cf51b7822;ms-491aad3896ede89ea0dd", + "expert_regret": 1.7451829314231873, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83199198e5f952f8dd69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7451829314231873, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25481706857681274, + "restore_error": 1.1920928955078125e-07, + "score": 0.25481706857681274, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2918854057788849, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.594307541847229, + 0.42962953448295593, + 0.42478543519973755, + 0.4202866554260254 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.16467800736427307, + -0.16952210664749146, + -0.1740208864212036 + ], + "candidate_oracle_branch_scores": [ + 0.594307541847229, + 0.42962953448295593, + 0.42478543519973755, + 0.4202866554260254 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2689294815063477, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.2689294815063477, + -1.499771237373352, + -1.531332015991211, + -1.5594403743743896 + ], + "candidate_oracle_progress": 0.594307541847229, + "candidate_oracle_regret": 1.405692458152771, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.544854164123535e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.594307541847229, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.594307541847229, + "candidate_oracle_selected_branch_score": 0.594307541847229, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3176a570b75767d1d729;ms-e56b37f0e3881a70ef54;ms-35d84da6eb1afcf8a811;ms-ff012c1c8597c8db3cc7;ms-b55ca348be8b64323714;ms-1d728ae415a4d3cb782e", + "expert_regret": 1.405692458152771, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9554f100dd5be3a4fa47", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.405692458152771, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.594307541847229, + "restore_error": 1.1920928955078125e-07, + "score": 0.594307541847229, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3173997104167938, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7049533724784851, + 0.44472870230674744, + 0.5739598870277405, + 0.3643985986709595 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.26022467017173767, + -0.13099348545074463, + -0.34055477380752563 + ], + "candidate_oracle_branch_scores": [ + 0.7049533724784851, + 0.44472870230674744, + 0.5739598870277405, + 0.3643985986709595 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7215651273727417, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.7215651273727417, + -1.3703579902648926, + -1.5677790641784668, + -1.6309105157852173 + ], + "candidate_oracle_progress": 0.7049533724784851, + "candidate_oracle_regret": 1.295046627521515, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.544854164123535e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7049533724784851, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7049533724784851, + "candidate_oracle_selected_branch_score": 0.7049533724784851, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6cf775fbba580161c4e;ms-2286d9cf8d88e878c4d7;ms-577341cca32521f4045e;ms-b55ca348be8b64323714;ms-ff012c1c8597c8db3cc7;ms-1d728ae415a4d3cb782e", + "expert_regret": 1.294431984424591, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-929e1dd2134a8952111c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.294431984424591, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7055680155754089, + "restore_error": 1.1920928955078125e-07, + "score": 0.7055680155754089, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.01710260845720768, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.704684853553772, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.704684853553772, + -1.1409437656402588, + -1.2836321592330933, + -1.459228515625 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.544854164123535e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-577341cca32521f4045e;ms-2286d9cf8d88e878c4d7;ms-b55ca348be8b64323714;ms-ff012c1c8597c8db3cc7;ms-a6cf775fbba580161c4e;ms-3176a570b75767d1d729", + "expert_regret": 0.0, + "expert_score": 0.7218565344810486, + "expert_success": false, + "group_id": "ms-ec4c6be448348c8021a9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.727399468421936, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35797467827796936, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.25771692395210266, + 0.25527817010879517, + 0.2547900080680847, + 0.2542765140533447 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002438753843307495, + -0.0029269158840179443, + -0.0034404098987579346 + ], + "candidate_oracle_branch_scores": [ + 0.25771692395210266, + 0.25527817010879517, + 0.2547900080680847, + 0.2542765140533447 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7958080768585205, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7958080768585205, + -1.040175199508667, + -1.0855801105499268, + -1.134033441543579 + ], + "candidate_oracle_progress": 0.25771692395210266, + "candidate_oracle_regret": 1.7422830760478973, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.600733518600464e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.25771692395210266, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.25771692395210266, + "candidate_oracle_selected_branch_score": 0.25771692395210266, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a5a56eefeb2de0abe600;ms-507199452c6d42562a38;ms-051860c228aa5160d5a6;ms-1e41619ab39cf51b7822;ms-88f748134c3fd27fcf72;ms-fdb2637276b27c46c757", + "expert_regret": 1.742917239665985, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-35babd5f83dcf1561f9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.742917239665985, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2570827603340149, + "restore_error": 2.384185791015625e-07, + "score": 0.2570827603340149, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4575527012348175, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.44417446851730347, + 0.3751641511917114, + 0.3677089214324951, + 0.36037978529930115 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.06901031732559204, + -0.07646554708480835, + -0.08379468321800232 + ], + "candidate_oracle_branch_scores": [ + 0.44417446851730347, + 0.3751641511917114, + 0.3677089214324951, + 0.36037978529930115 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3083972930908203, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.3083972930908203, + -1.5146675109863281, + -1.5274245738983154, + -1.5381581783294678 + ], + "candidate_oracle_progress": 0.44417446851730347, + "candidate_oracle_regret": 1.5558255314826965, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.600733518600464e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.44417446851730347, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.44417446851730347, + "candidate_oracle_selected_branch_score": 0.44417446851730347, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-35d84da6eb1afcf8a811;ms-e56b37f0e3881a70ef54;ms-3176a570b75767d1d729;ms-3f6e7085c865144a7408;ms-d602b7370c5b90f8a439;ms-3996b923bb25440c29e3", + "expert_regret": 1.5552489757537842, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01bef10a5ccfd38294fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5552489757537842, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4447510242462158, + "restore_error": 2.384185791015625e-07, + "score": 0.4447510242462158, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2956179082393646, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.724456250667572, + 0.6953505277633667, + 0.2596088945865631 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2755436897277832, + -1.3046494722366333, + -1.7403911352157593 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.724456250667572, + 0.6953505277633667, + 0.2596088945865631 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6095874309539795, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.6095874309539795, + -1.164690613746643, + -1.3884001970291138, + -1.522782564163208 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.600733518600464e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-577341cca32521f4045e;ms-2286d9cf8d88e878c4d7;ms-b55ca348be8b64323714;ms-ff012c1c8597c8db3cc7;ms-a6cf775fbba580161c4e;ms-e56b37f0e3881a70ef54", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e467ecc93a4793286423", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1944187730550766, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7231409549713135, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2768590450286865, + 1.2768590450286865, + 1.2768590450286865 + ], + "candidate_oracle_branch_scores": [ + 0.7231409549713135, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.4873652756214142, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 36, + 20, + 4 + ], + "candidate_oracle_potentials": [ + -0.2949512302875519, + -0.4873652756214142, + -0.5021194219589233, + -0.5135430097579956 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.600733518600464e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2768590450286865, + "candidate_oracle_selected_branch_progress": 0.7231409549713135, + "candidate_oracle_selected_branch_score": 0.7231409549713135, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-118ba8926eda06ffc61e;ms-28c139f34a954b692962;ms-575bd87a5da90963019d;ms-ea164b21572d39ffed58;ms-832f0e966173abd16c34;ms-8f24ad2e217963943c12", + "expert_regret": 0.0, + "expert_score": 0.714394211769104, + "expert_success": false, + "group_id": "ms-c76aba3db8d4ce0062bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.714394211769104, + "oracle_success": false, + "progress": 0.7221516966819763, + "restore_error": 2.384185791015625e-07, + "score": 0.7221516966819763, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.9443261027336121, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.2175177037715912, + 0.22991220653057098, + 0.22281084954738617, + 0.2235952466726303 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.012394502758979797, + 0.005293145775794983, + 0.0060775429010391235 + ], + "candidate_oracle_branch_scores": [ + 0.2175177037715912, + 0.22991220653057098, + 0.22281084954738617, + 0.2235952466726303 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.6457221508026123, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.3533152341842651, + -1.6457221508026123, + -1.6567182540893555, + -1.6683908700942993 + ], + "candidate_oracle_progress": 0.22991220653057098, + "candidate_oracle_regret": 0.017166748642921448, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.600733518600464e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.22991220653057098, + "candidate_oracle_score_gain_over_selected": 0.012394502758979797, + "candidate_oracle_selected_branch_progress": 0.2175177037715912, + "candidate_oracle_selected_branch_score": 0.2175177037715912, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cf44ae14778c60c36af0;ms-9f4b47c80d59166302ab;ms-c9e0182d4090ddaa991c;ms-b04b489f4fbad93b65ca;ms-b60078e9e6ea9c26dedc;ms-27251a7c7f13bf165e21", + "expert_regret": 0.002855151891708374, + "expert_score": 0.22032809257507324, + "expert_success": false, + "group_id": "ms-a5bd3a36c6fe41cd0b35", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.029606014490127563, + "oracle_score": 0.24707895517349243, + "oracle_success": false, + "progress": 0.21747294068336487, + "restore_error": 2.384185791015625e-07, + "score": 0.21747294068336487, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3778710961341858, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.5430240631103516, + 1.0, + 0.3944333493709564 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.4569759368896484, + 0.0, + -1.6055666208267212 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.5430240631103516, + 2.0, + 0.3944333493709564 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.105440616607666, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -1.105440616607666, + -1.5847713947296143, + -1.6219342947006226, + -1.6353206634521484 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.600733518600464e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-69785feff08dbf9a50be;ms-e8de8d619c0cf5fd633e;ms-8a9e7d69f7ade362fe40;ms-64a755437c34f39cda2a;ms-18ab33df290e3919a468;ms-e705fef3e4caa4c49718", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-40eb8d19498413d4e730", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3293810486793518, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.29762256145477295, + 0.716080904006958, + 0.7206804752349854, + 0.7141579985618591 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.41845834255218506, + 0.4230579137802124, + 0.4165354371070862 + ], + "candidate_oracle_branch_scores": [ + 0.29762256145477295, + 0.716080904006958, + 0.7206804752349854, + 0.7141579985618591 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.2711857855319977, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -0.027185633778572083, + -0.1963404417037964, + -0.2711857855319977, + -0.33690428733825684 + ], + "candidate_oracle_progress": 0.7206804752349854, + "candidate_oracle_regret": 1.2793195247650146, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.600733518600464e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7206804752349854, + "candidate_oracle_score_gain_over_selected": 0.4230579137802124, + "candidate_oracle_selected_branch_progress": 0.29762256145477295, + "candidate_oracle_selected_branch_score": 0.29762256145477295, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-575bd87a5da90963019d;ms-61c099575bcff2de95e3;ms-28c139f34a954b692962", + "expert_regret": 1.705201119184494, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-59bff662e0ecb913ed81", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.705201119184494, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.294798880815506, + "restore_error": 2.384185791015625e-07, + "score": 0.294798880815506, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32948023080825806, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7234777808189392, + 0.6860654354095459, + 0.7203565835952759, + 0.7042714953422546 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.03741234540939331, + -0.00312119722366333, + -0.01920628547668457 + ], + "candidate_oracle_branch_scores": [ + 0.7234777808189392, + 0.6860654354095459, + 0.7203565835952759, + 0.7042714953422546 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.21478742361068726, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.21478742361068726, + -0.525884747505188, + -0.5990595817565918, + -0.6725391149520874 + ], + "candidate_oracle_progress": 0.7234777808189392, + "candidate_oracle_regret": 1.2765222191810608, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.600733518600464e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7234777808189392, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7234777808189392, + "candidate_oracle_selected_branch_score": 0.7234777808189392, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-136f1ebebd0b697c3310;ms-8f24ad2e217963943c12;ms-ea164b21572d39ffed58;ms-bbefdf03d0471be60f8f;ms-832f0e966173abd16c34;ms-131a98e2d4a78a9645f8", + "expert_regret": 1.2744980454444885, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a40dee47c502e73949af", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2744980454444885, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7255019545555115, + "restore_error": 2.384185791015625e-07, + "score": 0.7255019545555115, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.03180313855409622, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.20393186807632446, + 0.20393288135528564, + 0.2039235681295395 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.7960681915283203, + -1.7960671186447144, + -1.7960764169692993 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.20393186807632446, + 0.20393288135528564, + 0.2039235681295395 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.4314645528793335, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.4314645528793335, + -1.7963378429412842, + -1.8274118900299072, + -1.8540945053100586 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-251c1dfd1010906f559f;ms-83c0299c23fa800452c7;ms-320d99264926ea029f95;ms-89520c3ac8779d9e81e7;ms-3af721139694f7f3ec04;ms-ba9541c7192498a1d8bd", + "expert_regret": 0.0, + "expert_score": 0.7245650291442871, + "expert_success": false, + "group_id": "ms-e12808f670338ca180c6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.7281787395477295, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2392483800649643, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8290599584579468, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -0.8290599584579468, + -0.9052150249481201, + -0.9684686660766602, + -1.116528034210205 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cbd6cc8b2708d5e3e4a9;ms-83c62951219e6599b630;ms-36f204d04ec4c4af3169;ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-3af721139694f7f3ec04", + "expert_regret": 0.0, + "expert_score": 0.699689507484436, + "expert_success": false, + "group_id": "ms-33294c8fed5a847bf149", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38872358202934265, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5982271432876587, + 0.21673882007598877, + 0.3505139946937561, + 0.2146667093038559 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.3814883232116699, + -0.2477131485939026, + -0.3835604190826416 + ], + "candidate_oracle_branch_scores": [ + 0.5982271432876587, + 0.21673882007598877, + 0.3505139946937561, + 0.2146667093038559 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0814754962921143, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.0814754962921143, + -1.4704830646514893, + -1.5754139423370361, + -1.586451768875122 + ], + "candidate_oracle_progress": 0.5982271432876587, + "candidate_oracle_regret": 1.4017728567123413, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5982271432876587, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5982271432876587, + "candidate_oracle_selected_branch_score": 0.5982271432876587, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-69785feff08dbf9a50be;ms-e8de8d619c0cf5fd633e;ms-18ab33df290e3919a468;ms-8a9e7d69f7ade362fe40;ms-f539c5c30da21c875657;ms-64a755437c34f39cda2a", + "expert_regret": 1.4024466276168823, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a74a87e26362d09598fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4024466276168823, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5975533723831177, + "restore_error": 1.1920928955078125e-07, + "score": 0.5975533723831177, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1957082748413086, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6497467756271362, + 0.2697005867958069, + 0.22846439480781555, + 0.2283312976360321 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.38004618883132935, + -0.4212823808193207, + -0.4214154779911041 + ], + "candidate_oracle_branch_scores": [ + 0.6497467756271362, + 0.2697005867958069, + 0.22846439480781555, + 0.2283312976360321 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1728967428207397, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.1728967428207397, + -1.612122893333435, + -1.6756446361541748, + -1.7359410524368286 + ], + "candidate_oracle_progress": 0.6497467756271362, + "candidate_oracle_regret": 1.3502532243728638, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6497467756271362, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6497467756271362, + "candidate_oracle_selected_branch_score": 0.6497467756271362, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a5a56eefeb2de0abe600;ms-051860c228aa5160d5a6;ms-06cb0796d1097e6ca111;ms-fdb2637276b27c46c757;ms-bbefdf03d0471be60f8f;ms-ea164b21572d39ffed58", + "expert_regret": 1.3582442998886108, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c7f34ae8218aa0952c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3582442998886108, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6417557001113892, + "restore_error": 1.1920928955078125e-07, + "score": 0.6417557001113892, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5572420954704285, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.39273542165756226, + 0.5681923031806946, + 0.29429352283477783, + 0.20742462575435638 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.17545688152313232, + -0.09844189882278442, + -0.18531079590320587 + ], + "candidate_oracle_branch_scores": [ + 0.39273542165756226, + 0.5681923031806946, + 0.29429352283477783, + 0.20742462575435638 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.4069435596466064, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.030798316001892, + -1.4069435596466064, + -1.479292869567871, + -1.5511260032653809 + ], + "candidate_oracle_progress": 0.5681923031806946, + "candidate_oracle_regret": 1.4318076968193054, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5681923031806946, + "candidate_oracle_score_gain_over_selected": 0.17545688152313232, + "candidate_oracle_selected_branch_progress": 0.39273542165756226, + "candidate_oracle_selected_branch_score": 0.39273542165756226, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-27251a7c7f13bf165e21;ms-ace117030ae44c474db1;ms-b60078e9e6ea9c26dedc;ms-c9e0182d4090ddaa991c;ms-9f4b47c80d59166302ab;ms-18ab33df290e3919a468", + "expert_regret": 1.6072708368301392, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87fa87e06dc88c28a44f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6072708368301392, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.39272916316986084, + "restore_error": 1.1920928955078125e-07, + "score": 0.39272916316986084, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3446177840232849, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.4231507182121277, + 0.3971445560455322, + 0.42438969016075134, + 0.40227144956588745 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.02600616216659546, + 0.0012389719486236572, + -0.020879268646240234 + ], + "candidate_oracle_branch_scores": [ + 0.4231507182121277, + 0.3971445560455322, + 0.42438969016075134, + 0.40227144956588745 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8104097843170166, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3695460855960846, + -0.7469762563705444, + -0.8104097843170166, + -0.8660157918930054 + ], + "candidate_oracle_progress": 0.42438969016075134, + "candidate_oracle_regret": 1.5756103098392487, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.42438969016075134, + "candidate_oracle_score_gain_over_selected": 0.0012389719486236572, + "candidate_oracle_selected_branch_progress": 0.4231507182121277, + "candidate_oracle_selected_branch_score": 0.4231507182121277, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3661d65df223386f1be9;ms-051860c228aa5160d5a6;ms-bbefdf03d0471be60f8f;ms-ea164b21572d39ffed58;ms-06cb0796d1097e6ca111;ms-3db845076f92a16d1840", + "expert_regret": 1.5532002747058868, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c871c1157a16e19e6150", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5532002747058868, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.44679972529411316, + "restore_error": 1.1920928955078125e-07, + "score": 0.44679972529411316, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48648908734321594, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6913729906082153, + 0.6904773116111755, + 0.6902283430099487, + 0.622412383556366 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0008956789970397949, + -0.0011446475982666016, + -0.06896060705184937 + ], + "candidate_oracle_branch_scores": [ + 0.6913729906082153, + 0.6904773116111755, + 0.6902283430099487, + 0.622412383556366 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8341584205627441, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8341584205627441, + -0.8776576519012451, + -0.910883903503418, + -0.9640146493911743 + ], + "candidate_oracle_progress": 0.6913729906082153, + "candidate_oracle_regret": 1.3086270093917847, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6913729906082153, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6913729906082153, + "candidate_oracle_selected_branch_score": 0.6913729906082153, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-18ab33df290e3919a468;ms-ace117030ae44c474db1;ms-f539c5c30da21c875657;ms-69785feff08dbf9a50be;ms-3996b923bb25440c29e3;ms-b60078e9e6ea9c26dedc", + "expert_regret": 1.3086531162261963, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf7bdf0776c928ee2342", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3086531162261963, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6913468837738037, + "restore_error": 1.1920928955078125e-07, + "score": 0.6913468837738037, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7547999620437622, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7099690437316895, + 0.4334818124771118, + 0.2134680449962616, + 0.5368749499320984 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.27648723125457764, + -0.49650099873542786, + -0.17309409379959106 + ], + "candidate_oracle_branch_scores": [ + 0.7099690437316895, + 0.4334818124771118, + 0.2134680449962616, + 0.5368749499320984 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.15333950519561768, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 0, + 40 + ], + "candidate_oracle_potentials": [ + -0.15333950519561768, + -0.1904725432395935, + -0.19160887598991394, + -0.22285544872283936 + ], + "candidate_oracle_progress": 0.7099690437316895, + "candidate_oracle_regret": 1.2900309562683105, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7099690437316895, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7099690437316895, + "candidate_oracle_selected_branch_score": 0.7099690437316895, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cbd6cc8b2708d5e3e4a9;ms-83c62951219e6599b630;ms-36f204d04ec4c4af3169;ms-3af721139694f7f3ec04;ms-89520c3ac8779d9e81e7;ms-29a11d7bdcf49c86bd7a", + "expert_regret": 1.2903111577033997, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5fb06efe2b4bea27cc89", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.2903111577033997, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7096888422966003, + "restore_error": 1.1920928955078125e-07, + "score": 0.7096888422966003, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4141528010368347, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4729120433330536, + 0.33904191851615906, + 0.20205365121364594, + 0.33047348260879517 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.13387012481689453, + -0.27085840702056885, + -0.14243856072425842 + ], + "candidate_oracle_branch_scores": [ + 0.4729120433330536, + 0.33904191851615906, + 0.20205365121364594, + 0.33047348260879517 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3151723146438599, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -1.3151723146438599, + -1.8651235103607178, + -1.8805277347564697, + -1.8981544971466064 + ], + "candidate_oracle_progress": 0.4729120433330536, + "candidate_oracle_regret": 1.5270879566669464, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4729120433330536, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4729120433330536, + "candidate_oracle_selected_branch_score": 0.4729120433330536, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8a9e7d69f7ade362fe40;ms-e2f90eb6c79dfd9ce6fd;ms-69785feff08dbf9a50be;ms-ace117030ae44c474db1;ms-e8de8d619c0cf5fd633e;ms-18ab33df290e3919a468", + "expert_regret": 1.5324656963348389, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-524ae7618ed9b6a272ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5324656963348389, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.46753430366516113, + "restore_error": 1.1920928955078125e-07, + "score": 0.46753430366516113, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37160035967826843, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7261062860488892, + 0.725479781627655, + 0.7260332107543945, + 0.7233411073684692 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0006265044212341309, + -7.30752944946289e-05, + -0.002765178680419922 + ], + "candidate_oracle_branch_scores": [ + 0.7261062860488892, + 0.725479781627655, + 0.7260332107543945, + 0.7233411073684692 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.020144373178482056, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 33, + 17, + 35 + ], + "candidate_oracle_potentials": [ + -0.020144373178482056, + -0.04965865612030029, + -0.08541348576545715, + -0.10518530011177063 + ], + "candidate_oracle_progress": 0.7261062860488892, + "candidate_oracle_regret": 1.2738937139511108, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7261062860488892, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7261062860488892, + "candidate_oracle_selected_branch_score": 0.7261062860488892, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cbd6cc8b2708d5e3e4a9;ms-83c62951219e6599b630;ms-a6cf775fbba580161c4e;ms-2286d9cf8d88e878c4d7;ms-487d0fe2a13fb699dd7a;ms-577341cca32521f4045e", + "expert_regret": 1.274301528930664, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f601aab1d8f7e4f1b97f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.274301528930664, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7256984710693359, + "restore_error": 1.1920928955078125e-07, + "score": 0.7256984710693359, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30760541558265686, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7228373289108276, + 0.7107564210891724, + 0.5377382040023804 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2771626710891724, + -1.2892435789108276, + -1.4622617959976196 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7228373289108276, + 0.7107564210891724, + 0.5377382040023804 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.42162439227104187, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.42162439227104187, + -0.8908007144927979, + -1.0015194416046143, + -1.100870966911316 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8d3d849234ceb98c3dc1;ms-8bab784ae53525967763;ms-8f24ad2e217963943c12;ms-ea164b21572d39ffed58;ms-131a98e2d4a78a9645f8;ms-136f1ebebd0b697c3310", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ad7b7d5d7fb25961859f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.11063724011182785, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.7246990203857422, + 0.7218571901321411, + 1.0, + 0.7220449447631836 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0028418302536010742, + 1.2753009796142578, + -0.0026540756225585938 + ], + "candidate_oracle_branch_scores": [ + 0.7246990203857422, + 0.7218571901321411, + 2.0, + 0.7220449447631836 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.5544967651367188, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.1485849916934967, + -0.5296432971954346, + -0.5544967651367188, + -0.5640296936035156 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2753009796142578, + "candidate_oracle_selected_branch_progress": 0.7246990203857422, + "candidate_oracle_selected_branch_score": 0.7246990203857422, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a4398375c43dbf887b1;ms-145f60d5fff285e7d05b;ms-118ba8926eda06ffc61e;ms-136f1ebebd0b697c3310;ms-61c099575bcff2de95e3;ms-96e1562aaca7ef49db28", + "expert_regret": 0.0, + "expert_score": 0.7104858756065369, + "expert_success": false, + "group_id": "ms-20cd6d8ccbf13e36dcdb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.277327835559845, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.722672164440155, + "restore_error": 1.1920928955078125e-07, + "score": 0.722672164440155, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.13475780189037323, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.5485355854034424, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 4 + ], + "candidate_oracle_potentials": [ + 0.5485355854034424, + 0.38109996914863586, + 0.3338552415370941, + 0.2851312458515167 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cbd6cc8b2708d5e3e4a9;ms-83c62951219e6599b630;ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-2286d9cf8d88e878c4d7;ms-36f204d04ec4c4af3169", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5b4f2522663bec742b02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41715237498283386, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.20216237008571625, + 0.20235764980316162, + 0.1985105574131012, + 0.20157943665981293 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00019527971744537354, + -0.0036518126726150513, + -0.0005829334259033203 + ], + "candidate_oracle_branch_scores": [ + 0.20216237008571625, + 0.20235764980316162, + 0.1985105574131012, + 0.20157943665981293 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.7975444793701172, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.2676551342010498, + -1.7975444793701172, + -1.8164350986480713, + -1.8614948987960815 + ], + "candidate_oracle_progress": 0.20235764980316162, + "candidate_oracle_regret": 1.7976423501968384, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20235764980316162, + "candidate_oracle_score_gain_over_selected": 0.00019527971744537354, + "candidate_oracle_selected_branch_progress": 0.20216237008571625, + "candidate_oracle_selected_branch_score": 0.20216237008571625, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8a9e7d69f7ade362fe40;ms-69785feff08dbf9a50be;ms-e8de8d619c0cf5fd633e;ms-e2f90eb6c79dfd9ce6fd;ms-ace117030ae44c474db1;ms-18ab33df290e3919a468", + "expert_regret": 1.7978376299142838, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-917b0f051489227842f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7978376299142838, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20216237008571625, + "restore_error": 1.1920928955078125e-07, + "score": 0.20216237008571625, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.06324444711208344, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7101171016693115, + 0.25312116742134094, + 0.2914774417877197, + 0.25372520089149475 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4569959342479706, + -0.4186396598815918, + -0.4563919007778168 + ], + "candidate_oracle_branch_scores": [ + 0.7101171016693115, + 0.25312116742134094, + 0.2914774417877197, + 0.25372520089149475 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5866159200668335, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.5866159200668335, + -1.116160273551941, + -1.1604317426681519, + -1.1897363662719727 + ], + "candidate_oracle_progress": 0.7101171016693115, + "candidate_oracle_regret": 0.016706347465515137, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7101171016693115, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7101171016693115, + "candidate_oracle_selected_branch_score": 0.7101171016693115, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3db845076f92a16d1840;ms-491aad3896ede89ea0dd;ms-3661d65df223386f1be9;ms-835bd462e505aa659d16;ms-44e7935dbed5f3b3c739;ms-bbefdf03d0471be60f8f", + "expert_regret": 0.005458831787109375, + "expert_score": 0.7198172807693481, + "expert_success": false, + "group_id": "ms-ebeb5587176e3877b98a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.01246500015258789, + "oracle_score": 0.7268234491348267, + "oracle_success": false, + "progress": 0.7143584489822388, + "restore_error": 1.1920928955078125e-07, + "score": 0.7143584489822388, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.43021321296691895, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5189752578735352, + 1.0, + 1.0, + 0.7265092730522156 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.4810247421264648, + 1.4810247421264648, + 0.20753401517868042 + ], + "candidate_oracle_branch_scores": [ + 0.5189752578735352, + 2.0, + 2.0, + 0.7265092730522156 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.3677389621734619, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -0.11481498181819916, + -0.3677389621734619, + -0.404753714799881, + -0.4437038004398346 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4810247421264648, + "candidate_oracle_selected_branch_progress": 0.5189752578735352, + "candidate_oracle_selected_branch_score": 0.5189752578735352, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-575bd87a5da90963019d;ms-61c099575bcff2de95e3;ms-28c139f34a954b692962", + "expert_regret": 1.4623895287513733, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-605dbfbe6bef2b15b58c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4623895287513733, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5376104712486267, + "restore_error": 1.1920928955078125e-07, + "score": 0.5376104712486267, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2532227039337158, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3499588668346405, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3499588668346405, + -0.3909435570240021, + -0.40816643834114075, + -0.4293469488620758 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.1513551473617554e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-36f204d04ec4c4af3169;ms-14dabc3ac1e1a339ebe4;ms-83c62951219e6599b630;ms-487d0fe2a13fb699dd7a;ms-cbd6cc8b2708d5e3e4a9;ms-3af721139694f7f3ec04", + "expert_regret": 0.0, + "expert_score": 0.6975592374801636, + "expert_success": false, + "group_id": "ms-f81ea99a1ec3423f3b6e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.7158336043357849, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.020779773592948914, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7023382186889648, + 0.7024290561676025, + 0.7031657695770264, + 0.7045899629592896 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 9.083747863769531e-05, + 0.0008275508880615234, + 0.002251744270324707 + ], + "candidate_oracle_branch_scores": [ + 0.7023382186889648, + 0.7024290561676025, + 0.7031657695770264, + 0.7045899629592896 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.2958495318889618, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -0.15150171518325806, + -0.1601662039756775, + -0.2206559181213379, + -0.2958495318889618 + ], + "candidate_oracle_progress": 0.7045899629592896, + "candidate_oracle_regret": 1.2954100370407104, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 2.1513551473617554e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7045899629592896, + "candidate_oracle_score_gain_over_selected": 0.002251744270324707, + "candidate_oracle_selected_branch_progress": 0.7023382186889648, + "candidate_oracle_selected_branch_score": 0.7023382186889648, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-61c099575bcff2de95e3;ms-96e1562aaca7ef49db28;ms-4b3a296acc66a14476c3;ms-145f60d5fff285e7d05b;ms-118ba8926eda06ffc61e;ms-6a4398375c43dbf887b1", + "expert_regret": 0.024684131145477295, + "expert_score": 0.7279080748558044, + "expert_success": false, + "group_id": "ms-7b229b60d7f64fb624cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2967760562896729, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7032239437103271, + "restore_error": 1.1920928955078125e-07, + "score": 0.7032239437103271, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39449816942214966, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6185630559921265, + 0.20101402699947357, + 0.200984925031662, + 0.2009558528661728 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4175490140914917, + -0.4175781309604645, + -0.4176071882247925 + ], + "candidate_oracle_branch_scores": [ + 0.6185630559921265, + 0.20101402699947357, + 0.200984925031662, + 0.2009558528661728 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.4766267538070679, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.4766267538070679, + -1.8448634147644043, + -1.8809142112731934, + -1.9132635593414307 + ], + "candidate_oracle_progress": 0.6185630559921265, + "candidate_oracle_regret": 0.1028173565864563, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.1513551473617554e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6185630559921265, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6185630559921265, + "candidate_oracle_selected_branch_score": 0.6185630559921265, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-68d9596217cc37c949c4;ms-251c1dfd1010906f559f;ms-320d99264926ea029f95;ms-89520c3ac8779d9e81e7;ms-29a11d7bdcf49c86bd7a;ms-ba9541c7192498a1d8bd", + "expert_regret": 0.10324490070343018, + "expert_score": 0.7213804125785828, + "expert_success": false, + "group_id": "ms-648250f7c25953eab081", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.10324490070343018, + "oracle_score": 0.7213804125785828, + "oracle_success": false, + "progress": 0.6181355118751526, + "restore_error": 1.1920928955078125e-07, + "score": 0.6181355118751526, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3087766468524933, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7145686149597168, + 0.43613895773887634, + 0.3655819892883301, + 0.27111363410949707 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.27842965722084045, + -0.3489866256713867, + -0.4434549808502197 + ], + "candidate_oracle_branch_scores": [ + 0.7145686149597168, + 0.43613895773887634, + 0.3655819892883301, + 0.27111363410949707 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6243574619293213, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 35 + ], + "candidate_oracle_potentials": [ + -0.6243574619293213, + -1.134678602218628, + -1.165531039237976, + -1.1818881034851074 + ], + "candidate_oracle_progress": 0.7145686149597168, + "candidate_oracle_regret": 1.2854313850402832, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 2.1513551473617554e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7145686149597168, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7145686149597168, + "candidate_oracle_selected_branch_score": 0.7145686149597168, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3db845076f92a16d1840;ms-3661d65df223386f1be9;ms-38758efd8620a312267d;ms-ea164b21572d39ffed58;ms-44e7935dbed5f3b3c739;ms-491aad3896ede89ea0dd", + "expert_regret": 1.2868614792823792, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9c33d4837de7d23232d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2868614792823792, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7131385207176208, + "restore_error": 1.1920928955078125e-07, + "score": 0.7131385207176208, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2350577563047409, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.2532244920730591, + 0.25307855010032654, + 0.25335073471069336, + 0.2531397342681885 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00014594197273254395, + 0.00012624263763427734, + -8.475780487060547e-05 + ], + "candidate_oracle_branch_scores": [ + 0.2532244920730591, + 0.25307855010032654, + 0.25335073471069336, + 0.2531397342681885 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.1270325183868408, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 33, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.8559316396713257, + -1.1263723373413086, + -1.1270325183868408, + -1.1299464702606201 + ], + "candidate_oracle_progress": 0.25335073471069336, + "candidate_oracle_regret": 1.7466492652893066, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 2.1513551473617554e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.25335073471069336, + "candidate_oracle_score_gain_over_selected": 0.00012624263763427734, + "candidate_oracle_selected_branch_progress": 0.2532244920730591, + "candidate_oracle_selected_branch_score": 0.2532244920730591, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-491aad3896ede89ea0dd;ms-38758efd8620a312267d;ms-3db845076f92a16d1840;ms-8bab784ae53525967763;ms-8d3d849234ceb98c3dc1;ms-835bd462e505aa659d16", + "expert_regret": 1.7468315958976746, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e0952f3218e0bf6fe027", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7468315958976746, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25316840410232544, + "restore_error": 1.1920928955078125e-07, + "score": 0.25316840410232544, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37827667593955994, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.34375977516174316, + 0.25701904296875, + 0.25534510612487793, + 0.25378936529159546 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.08674073219299316, + -0.08841466903686523, + -0.0899704098701477 + ], + "candidate_oracle_branch_scores": [ + 0.34375977516174316, + 0.25701904296875, + 0.25534510612487793, + 0.25378936529159546 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6483865976333618, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6483865976333618, + -0.9942524433135986, + -1.0451505184173584, + -1.0995718240737915 + ], + "candidate_oracle_progress": 0.34375977516174316, + "candidate_oracle_regret": 1.6562402248382568, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.1513551473617554e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.34375977516174316, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.34375977516174316, + "candidate_oracle_selected_branch_score": 0.34375977516174316, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d26dc2146eb8ae9a5434;ms-d229ac64c91c9bb6ce88;ms-9fd14cc61816c2d4360e;ms-a5a56eefeb2de0abe600;ms-88f748134c3fd27fcf72;ms-690f52acc6ead9c7c078", + "expert_regret": 1.654516339302063, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9bb65f13e00984482ef8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.654516339302063, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.345483660697937, + "restore_error": 1.1920928955078125e-07, + "score": 0.345483660697937, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2198619842529297, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.30132395029067993, + 0.2535097897052765, + 0.2533873915672302, + 0.25338858366012573 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.04781416058540344, + -0.04793655872344971, + -0.0479353666305542 + ], + "candidate_oracle_branch_scores": [ + 0.30132395029067993, + 0.2535097897052765, + 0.2533873915672302, + 0.25338858366012573 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.963769793510437, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.963769793510437, + -1.1882216930389404, + -1.1928201913833618, + -1.1986297369003296 + ], + "candidate_oracle_progress": 0.30132395029067993, + "candidate_oracle_regret": 1.69867604970932, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.1513551473617554e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.30132395029067993, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.30132395029067993, + "candidate_oracle_selected_branch_score": 0.30132395029067993, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9fd14cc61816c2d4360e;ms-051860c228aa5160d5a6;ms-491aad3896ede89ea0dd;ms-38758efd8620a312267d;ms-d26dc2146eb8ae9a5434;ms-8bab784ae53525967763", + "expert_regret": 1.6926290392875671, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e3526036a5bf85cac0bf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6926290392875671, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.30737096071243286, + "restore_error": 1.1920928955078125e-07, + "score": 0.30737096071243286, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42913082242012024, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7175232768058777, + 0.7172612547874451, + 0.6906251907348633, + 0.6900943517684937 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0002620220184326172, + -0.026898086071014404, + -0.027428925037384033 + ], + "candidate_oracle_branch_scores": [ + 0.7175232768058777, + 0.7172612547874451, + 0.6906251907348633, + 0.6900943517684937 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8145960569381714, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8145960569381714, + -1.0504438877105713, + -1.0863308906555176, + -1.1216834783554077 + ], + "candidate_oracle_progress": 0.7175232768058777, + "candidate_oracle_regret": 1.2824767231941223, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.1513551473617554e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7175232768058777, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7175232768058777, + "candidate_oracle_selected_branch_score": 0.7175232768058777, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-507199452c6d42562a38;ms-a5a56eefeb2de0abe600;ms-fdb2637276b27c46c757;ms-d30b515ab0ee174afa58;ms-1e41619ab39cf51b7822;ms-780ea60ea0255941e6c8", + "expert_regret": 1.2875433564186096, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-076246c4c5d1ca8ccd9d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2875433564186096, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7124566435813904, + "restore_error": 1.1920928955078125e-07, + "score": 0.7124566435813904, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3896133005619049, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.4167807698249817, + 0.5713200569152832, + 0.5580817461013794, + 0.34714818000793457 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.1545392870903015, + 0.1413009762763977, + -0.06963258981704712 + ], + "candidate_oracle_branch_scores": [ + 0.4167807698249817, + 0.5713200569152832, + 0.5580817461013794, + 0.34714818000793457 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.420327067375183, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.1029590368270874, + -1.420327067375183, + -1.5176398754119873, + -1.5669209957122803 + ], + "candidate_oracle_progress": 0.5713200569152832, + "candidate_oracle_regret": 1.4286799430847168, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5713200569152832, + "candidate_oracle_score_gain_over_selected": 0.1545392870903015, + "candidate_oracle_selected_branch_progress": 0.4167807698249817, + "candidate_oracle_selected_branch_score": 0.4167807698249817, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b60078e9e6ea9c26dedc;ms-27251a7c7f13bf165e21;ms-ace117030ae44c474db1;ms-c9e0182d4090ddaa991c;ms-9f4b47c80d59166302ab;ms-cf44ae14778c60c36af0", + "expert_regret": 1.583020955324173, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-093472a082b3b61e73d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.583020955324173, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.416979044675827, + "restore_error": 1.1920928955078125e-07, + "score": 0.416979044675827, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.26067054271698, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.726108193397522, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.273891806602478, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.726108193397522, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.0848376452922821, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 33 + ], + "candidate_oracle_potentials": [ + 0.0848376452922821, + -0.338422954082489, + -0.382262259721756, + -0.40252938866615295 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-4b3a296acc66a14476c3;ms-145f60d5fff285e7d05b;ms-61c099575bcff2de95e3;ms-6a4398375c43dbf887b1;ms-118ba8926eda06ffc61e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ecb5cc61f0b736e3f06f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3798597455024719, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.20576885342597961, + 0.20924094319343567, + 0.20866698026657104, + 0.20783433318138123 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0034720897674560547, + 0.0028981268405914307, + 0.0020654797554016113 + ], + "candidate_oracle_branch_scores": [ + 0.20576885342597961, + 0.20924094319343567, + 0.20866698026657104, + 0.20783433318138123 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.5581846237182617, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.4052726030349731, + -1.5581846237182617, + -1.5655717849731445, + -1.5710276365280151 + ], + "candidate_oracle_progress": 0.20924094319343567, + "candidate_oracle_regret": 1.7907590568065643, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20924094319343567, + "candidate_oracle_score_gain_over_selected": 0.0034720897674560547, + "candidate_oracle_selected_branch_progress": 0.20576885342597961, + "candidate_oracle_selected_branch_score": 0.20576885342597961, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-35d84da6eb1afcf8a811;ms-3176a570b75767d1d729;ms-e56b37f0e3881a70ef54;ms-1d728ae415a4d3cb782e;ms-3f6e7085c865144a7408;ms-d602b7370c5b90f8a439", + "expert_regret": 1.7942335903644562, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f4060cdbe6d39b9215ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7942335903644562, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20576640963554382, + "restore_error": 1.1920928955078125e-07, + "score": 0.20576640963554382, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5691651701927185, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.6482486128807068, + 0.729338526725769, + 0.7287241816520691, + 0.5288545489311218 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.08108991384506226, + 0.0804755687713623, + -0.11939406394958496 + ], + "candidate_oracle_branch_scores": [ + 0.6482486128807068, + 0.729338526725769, + 0.7287241816520691, + 0.5288545489311218 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.1911864280700684, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9074926376342773, + -1.1911864280700684, + -1.2612214088439941, + -1.3317556381225586 + ], + "candidate_oracle_progress": 0.729338526725769, + "candidate_oracle_regret": 1.270661473274231, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.729338526725769, + "candidate_oracle_score_gain_over_selected": 0.08108991384506226, + "candidate_oracle_selected_branch_progress": 0.6482486128807068, + "candidate_oracle_selected_branch_score": 0.6482486128807068, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-27251a7c7f13bf165e21;ms-ace117030ae44c474db1;ms-b60078e9e6ea9c26dedc;ms-c9e0182d4090ddaa991c;ms-9f4b47c80d59166302ab;ms-18ab33df290e3919a468", + "expert_regret": 1.3517046570777893, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1d5ca9681600acdaba39", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3517046570777893, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6482953429222107, + "restore_error": 1.1920928955078125e-07, + "score": 0.6482953429222107, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32544320821762085, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.201944500207901, + 0.2000085413455963, + 1.0, + 0.19948270916938782 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0019359588623046875, + 1.7980555295944214, + -0.0024617910385131836 + ], + "candidate_oracle_branch_scores": [ + 0.201944500207901, + 0.2000085413455963, + 2.0, + 0.19948270916938782 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.3836908340454102, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.0553805828094482, + -1.3368152379989624, + -1.3836908340454102, + -1.4130629301071167 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.7980555295944214, + "candidate_oracle_selected_branch_progress": 0.201944500207901, + "candidate_oracle_selected_branch_score": 0.201944500207901, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-64a755437c34f39cda2a;ms-69785feff08dbf9a50be;ms-e705fef3e4caa4c49718;ms-e8de8d619c0cf5fd633e;ms-09b2d832d7823c11fd22;ms-55e89d326b6531345902", + "expert_regret": 1.7980544865131378, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-865f9d670f806778ae61", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7980544865131378, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20194551348686218, + "restore_error": 1.1920928955078125e-07, + "score": 0.20194551348686218, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1982768476009369, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.35010942816734314, + 0.3674912452697754, + 0.34822189807891846, + 0.3313466012477875 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.01738181710243225, + -0.0018875300884246826, + -0.018762826919555664 + ], + "candidate_oracle_branch_scores": [ + 0.35010942816734314, + 0.3674912452697754, + 0.34822189807891846, + 0.3313466012477875 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.121619701385498, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6853445768356323, + -1.121619701385498, + -1.1514488458633423, + -1.176838755607605 + ], + "candidate_oracle_progress": 0.3674912452697754, + "candidate_oracle_regret": 1.6325087547302246, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3674912452697754, + "candidate_oracle_score_gain_over_selected": 0.01738181710243225, + "candidate_oracle_selected_branch_progress": 0.35010942816734314, + "candidate_oracle_selected_branch_score": 0.35010942816734314, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-051860c228aa5160d5a6;ms-38758efd8620a312267d;ms-9fd14cc61816c2d4360e;ms-491aad3896ede89ea0dd;ms-06cb0796d1097e6ca111;ms-bbefdf03d0471be60f8f", + "expert_regret": 1.6358857154846191, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-078317e23cc56a9d719d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6358857154846191, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.36411428451538086, + "restore_error": 1.1920928955078125e-07, + "score": 0.36411428451538086, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.33900395035743713, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7275170087814331, + 0.6755000352859497, + 0.6885902881622314, + 0.695685863494873 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0520169734954834, + -0.03892672061920166, + -0.03183114528656006 + ], + "candidate_oracle_branch_scores": [ + 0.7275170087814331, + 0.6755000352859497, + 0.6885902881622314, + 0.695685863494873 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.2825070917606354, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.2825070917606354, + -0.6359816789627075, + -0.7213702201843262, + -0.8078241348266602 + ], + "candidate_oracle_progress": 0.7275170087814331, + "candidate_oracle_regret": 1.272482991218567, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7275170087814331, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7275170087814331, + "candidate_oracle_selected_branch_score": 0.7275170087814331, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-136f1ebebd0b697c3310;ms-8f24ad2e217963943c12;ms-ea164b21572d39ffed58;ms-131a98e2d4a78a9645f8;ms-bbefdf03d0471be60f8f;ms-118ba8926eda06ffc61e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a6e4ac1995198def96a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35136762261390686, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6896817684173584, + 0.5772397518157959, + 0.5591999292373657, + 0.5158876180648804 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1124420166015625, + -0.13048183917999268, + -0.17379415035247803 + ], + "candidate_oracle_branch_scores": [ + 0.6896817684173584, + 0.5772397518157959, + 0.5591999292373657, + 0.5158876180648804 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6720008850097656, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6720008850097656, + -0.8618178367614746, + -0.891598105430603, + -0.9276771545410156 + ], + "candidate_oracle_progress": 0.6896817684173584, + "candidate_oracle_regret": 1.3103182315826416, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6896817684173584, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6896817684173584, + "candidate_oracle_selected_branch_score": 0.6896817684173584, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-507199452c6d42562a38;ms-a5a56eefeb2de0abe600;ms-88f748134c3fd27fcf72;ms-780ea60ea0255941e6c8;ms-1e41619ab39cf51b7822;ms-fdb2637276b27c46c757", + "expert_regret": 1.306042194366455, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a4420cda0b159dda82a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.306042194366455, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6939578056335449, + "restore_error": 1.1920928955078125e-07, + "score": 0.6939578056335449, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.45734643936157227, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7161235213279724, + 0.6058375239372253, + 0.6750680208206177, + 0.2711929678916931 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.11028599739074707, + -0.041055500507354736, + -0.4449305534362793 + ], + "candidate_oracle_branch_scores": [ + 0.7161235213279724, + 0.6058375239372253, + 0.6750680208206177, + 0.2711929678916931 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6321612596511841, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6321612596511841, + -0.9098244905471802, + -0.9485266208648682, + -0.9881120920181274 + ], + "candidate_oracle_progress": 0.7161235213279724, + "candidate_oracle_regret": 1.2838764786720276, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7161235213279724, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7161235213279724, + "candidate_oracle_selected_branch_score": 0.7161235213279724, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d26dc2146eb8ae9a5434;ms-9fd14cc61816c2d4360e;ms-8bab784ae53525967763;ms-131a98e2d4a78a9645f8;ms-1e41619ab39cf51b7822;ms-88f748134c3fd27fcf72", + "expert_regret": 1.288011372089386, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97924f0cc5e7bd79c4a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.288011372089386, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.711988627910614, + "restore_error": 1.825392246246338e-07, + "score": 0.711988627910614, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4048146605491638, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.7271469831466675 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.2728530168533325 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.7271469831466675 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7918801307678223, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7918801307678223, + -0.873976469039917, + -0.9074335098266602, + -0.9546816349029541 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f539c5c30da21c875657;ms-18ab33df290e3919a468;ms-3996b923bb25440c29e3;ms-55e89d326b6531345902;ms-3f6e7085c865144a7408;ms-d602b7370c5b90f8a439", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8be8a38748f9fb037556", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.825392246246338e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4427447021007538, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6908948421478271, + 0.25903552770614624, + 0.2256239503622055, + 0.2561291456222534 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4318593144416809, + -0.46527087688446045, + -0.43476569652557373 + ], + "candidate_oracle_branch_scores": [ + 0.6908948421478271, + 0.25903552770614624, + 0.2256239503622055, + 0.2561291456222534 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6139378547668457, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.6139378547668457, + -0.9646480083465576, + -1.0755647420883179, + -1.2064732313156128 + ], + "candidate_oracle_progress": 0.6908948421478271, + "candidate_oracle_regret": 1.3091051578521729, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6908948421478271, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6908948421478271, + "candidate_oracle_selected_branch_score": 0.6908948421478271, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b37738e210bf33a45a1d;ms-b55ca348be8b64323714;ms-577341cca32521f4045e;ms-ff012c1c8597c8db3cc7;ms-1d728ae415a4d3cb782e;ms-e56b37f0e3881a70ef54", + "expert_regret": 1.3014132976531982, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6818a4edf6ef35dacfb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3014132976531982, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6985867023468018, + "restore_error": 1.825392246246338e-07, + "score": 0.6985867023468018, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.06991907209157944, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.20577791333198547, + 0.20192275941371918, + 0.20322853326797485, + 0.20534071326255798 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0038551539182662964, + -0.00254938006401062, + -0.00043720006942749023 + ], + "candidate_oracle_branch_scores": [ + 0.20577791333198547, + 0.20192275941371918, + 0.20322853326797485, + 0.20534071326255798 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1046795845031738, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -1.1046795845031738, + -1.5624133348464966, + -1.574468731880188, + -1.6105787754058838 + ], + "candidate_oracle_progress": 0.20577791333198547, + "candidate_oracle_regret": 1.7942220866680145, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20577791333198547, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.20577791333198547, + "candidate_oracle_selected_branch_score": 0.20577791333198547, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-69785feff08dbf9a50be;ms-e8de8d619c0cf5fd633e;ms-64a755437c34f39cda2a;ms-e705fef3e4caa4c49718;ms-8a9e7d69f7ade362fe40;ms-18ab33df290e3919a468", + "expert_regret": 0.5216532498598099, + "expert_score": 0.7279428839683533, + "expert_success": false, + "group_id": "ms-c090bce47703a4c4bb0b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7937103658914566, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2062896341085434, + "restore_error": 1.825392246246338e-07, + "score": 0.2062896341085434, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.431270569562912, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6904510259628296, + 0.5557091236114502, + 0.5132311582565308, + 0.4996008574962616 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1347419023513794, + -0.17721986770629883, + -0.190850168466568 + ], + "candidate_oracle_branch_scores": [ + 0.6904510259628296, + 0.5557091236114502, + 0.5132311582565308, + 0.4996008574962616 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6604453325271606, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6604453325271606, + -0.9672205448150635, + -1.028572678565979, + -1.102268934249878 + ], + "candidate_oracle_progress": 0.6904510259628296, + "candidate_oracle_regret": 1.3095489740371704, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6904510259628296, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6904510259628296, + "candidate_oracle_selected_branch_score": 0.6904510259628296, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a5a56eefeb2de0abe600;ms-d229ac64c91c9bb6ce88;ms-88f748134c3fd27fcf72;ms-780ea60ea0255941e6c8;ms-507199452c6d42562a38;ms-1e41619ab39cf51b7822", + "expert_regret": 1.3099456429481506, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08ab006a923f5fdae198", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3099456429481506, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6900543570518494, + "restore_error": 1.825392246246338e-07, + "score": 0.6900543570518494, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4093926250934601, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.21013228595256805, + 0.20678910613059998, + 0.21001625061035156 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.7898677587509155, + -1.7932108640670776, + -1.7899837493896484 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.21013228595256805, + 0.20678910613059998, + 0.21001625061035156 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.5450952053070068, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 1, + 19 + ], + "candidate_oracle_potentials": [ + -1.5450952053070068, + -1.8420194387435913, + -1.8728623390197754, + -1.8853917121887207 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3af721139694f7f3ec04;ms-ba9541c7192498a1d8bd;ms-83c0299c23fa800452c7;ms-251c1dfd1010906f559f;ms-68c63442972f322789b5;ms-89520c3ac8779d9e81e7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f3211ecde366ca9f6ac7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.825392246246338e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35070881247520447, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.23589512705802917, + 0.25256654620170593, + 0.2525790333747864, + 0.2535572946071625 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.016671419143676758, + 0.016683906316757202, + 0.0176621675491333 + ], + "candidate_oracle_branch_scores": [ + 0.23589512705802917, + 0.25256654620170593, + 0.2525790333747864, + 0.2535572946071625 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.2040958404541016, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 3, + 19, + 33 + ], + "candidate_oracle_potentials": [ + -0.929431676864624, + -1.1892527341842651, + -1.1902637481689453, + -1.2040958404541016 + ], + "candidate_oracle_progress": 0.2535572946071625, + "candidate_oracle_regret": 1.7464427053928375, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2535572946071625, + "candidate_oracle_score_gain_over_selected": 0.0176621675491333, + "candidate_oracle_selected_branch_progress": 0.23589512705802917, + "candidate_oracle_selected_branch_score": 0.23589512705802917, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8bab784ae53525967763;ms-491aad3896ede89ea0dd;ms-131a98e2d4a78a9645f8;ms-3db845076f92a16d1840;ms-3661d65df223386f1be9;ms-d26dc2146eb8ae9a5434", + "expert_regret": 1.7641746401786804, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-efc33064e2a2f7e86dbe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7641746401786804, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23582535982131958, + "restore_error": 1.825392246246338e-07, + "score": 0.23582535982131958, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37091535329818726, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.1837729662656784, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + 0.1837729662656784, + 0.040902264416217804, + 0.002034291625022888, + -0.03242892026901245 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-88fb2bebd038dc786c01;ms-4b3a296acc66a14476c3;ms-96e1562aaca7ef49db28;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-61c099575bcff2de95e3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ea41340182245326a218", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.825392246246338e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2074267566204071, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.575279951095581, + 0.5463342666625977, + 0.47348207235336304, + 0.3863139748573303 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0289456844329834, + -0.10179787874221802, + -0.18896597623825073 + ], + "candidate_oracle_branch_scores": [ + 0.575279951095581, + 0.5463342666625977, + 0.47348207235336304, + 0.3863139748573303 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.018323302268982, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.018323302268982, + -1.3699631690979004, + -1.4489266872406006, + -1.5356123447418213 + ], + "candidate_oracle_progress": 0.575279951095581, + "candidate_oracle_regret": 1.424720048904419, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.575279951095581, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.575279951095581, + "candidate_oracle_selected_branch_score": 0.575279951095581, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-09b2d832d7823c11fd22;ms-55e89d326b6531345902;ms-3176a570b75767d1d729;ms-0251a326271aa1cab82b;ms-d602b7370c5b90f8a439;ms-e705fef3e4caa4c49718", + "expert_regret": 1.4274952411651611, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-22d1b2dcc954dcdff384", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4274952411651611, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5725047588348389, + "restore_error": 1.1920928955078125e-07, + "score": 0.5725047588348389, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5170606374740601, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.7276749014854431 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.272325038909912 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.7276749014854431 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.45393308997154236, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 0, + 33 + ], + "candidate_oracle_potentials": [ + 0.45393308997154236, + 0.4014733135700226, + 0.35851234197616577, + 0.336014986038208 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-88fb2bebd038dc786c01;ms-4b3a296acc66a14476c3;ms-96e1562aaca7ef49db28;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-118ba8926eda06ffc61e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a96ff9a1d5571ec4a6f2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31691768765449524, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7030674815177917, + 1.0, + 0.7139170169830322, + 0.7012993693351746 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2969324588775635, + 0.010849535465240479, + -0.0017681121826171875 + ], + "candidate_oracle_branch_scores": [ + 0.7030674815177917, + 2.0, + 0.7139170169830322, + 0.7012993693351746 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.720116138458252, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.347154825925827, + -0.720116138458252, + -0.8085540533065796, + -0.8976148366928101 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2969324588775635, + "candidate_oracle_selected_branch_progress": 0.7030674815177917, + "candidate_oracle_selected_branch_score": 0.7030674815177917, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8f24ad2e217963943c12;ms-136f1ebebd0b697c3310;ms-ea164b21572d39ffed58;ms-8d3d849234ceb98c3dc1;ms-832f0e966173abd16c34;ms-bbefdf03d0471be60f8f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-02cacb03f445c8a460e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41842666268348694, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4597039222717285, + 0.3391205072402954, + 0.31667834520339966, + 0.29565316438674927 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1205834150314331, + -0.14302557706832886, + -0.16405075788497925 + ], + "candidate_oracle_branch_scores": [ + 0.4597039222717285, + 0.3391205072402954, + 0.31667834520339966, + 0.29565316438674927 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7437844276428223, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7437844276428223, + -1.1156591176986694, + -1.2291316986083984, + -1.3592283725738525 + ], + "candidate_oracle_progress": 0.4597039222717285, + "candidate_oracle_regret": 1.5402960777282715, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4597039222717285, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4597039222717285, + "candidate_oracle_selected_branch_score": 0.4597039222717285, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3176a570b75767d1d729;ms-ff012c1c8597c8db3cc7;ms-b55ca348be8b64323714;ms-d602b7370c5b90f8a439;ms-e56b37f0e3881a70ef54;ms-35d84da6eb1afcf8a811", + "expert_regret": 1.5398947596549988, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fc3c8a3572fd96442723", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5398947596549988, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4601052403450012, + "restore_error": 1.1920928955078125e-07, + "score": 0.4601052403450012, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.04061660170555115, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7286298274993896, + 0.19815370440483093, + 0.19703781604766846, + 0.1969858705997467 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.5304760932922363, + -0.5315920114517212, + -0.5316439867019653 + ], + "candidate_oracle_branch_scores": [ + 0.7286298274993896, + 0.19815370440483093, + 0.19703781604766846, + 0.1969858705997467 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.6030280590057373, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.6030280590057373, + -1.9798853397369385, + -2.0183653831481934, + -2.052579879760742 + ], + "candidate_oracle_progress": 0.7286298274993896, + "candidate_oracle_regret": 1.2713701725006104, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7286298274993896, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7286298274993896, + "candidate_oracle_selected_branch_score": 0.7286298274993896, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-251c1dfd1010906f559f;ms-68d9596217cc37c949c4;ms-29a11d7bdcf49c86bd7a;ms-320d99264926ea029f95;ms-c2c265f2f5013746eaa1;ms-83c0299c23fa800452c7", + "expert_regret": 0.0, + "expert_score": 0.7276763319969177, + "expert_success": false, + "group_id": "ms-715db95b13ebc6c977c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2713654041290283, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7286345958709717, + "restore_error": 1.1920928955078125e-07, + "score": 0.7286345958709717, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.19850614666938782, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.003549426794052124, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 40, + 24, + 8 + ], + "candidate_oracle_potentials": [ + 0.003549426794052124, + -0.08898770809173584, + -0.1484348177909851, + -0.20928019285202026 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-118ba8926eda06ffc61e;ms-28c139f34a954b692962;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-61c099575bcff2de95e3;ms-575bd87a5da90963019d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b933fbfb7c8fa68a445f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.015319788828492165, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7225902080535889, + 0.7232569456100464, + 0.7258685827255249 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2774097919464111, + -1.2767430543899536, + -1.274131417274475 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7225902080535889, + 0.7232569456100464, + 0.7258685827255249 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.0017890632152557373, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -0.0017890632152557373, + -0.05866284668445587, + -0.14265260100364685, + -0.2396259307861328 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4b3a296acc66a14476c3;ms-96e1562aaca7ef49db28;ms-88fb2bebd038dc786c01;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-61c099575bcff2de95e3", + "expert_regret": 0.0, + "expert_score": 0.695741593837738, + "expert_success": false, + "group_id": "ms-5799584ed40e211c50a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.27392247319221497, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.6852476596832275, + 0.7201061248779297, + 0.7227105498313904 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.3147523403167725, + -1.2798938751220703, + -1.2772893905639648 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.6852476596832275, + 0.7201061248779297, + 0.7227105498313904 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.0858713686466217, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -0.0858713686466217, + -0.1106671392917633, + -0.15291213989257812, + -0.20824331045150757 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4b3a296acc66a14476c3;ms-96e1562aaca7ef49db28;ms-88fb2bebd038dc786c01;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-61c099575bcff2de95e3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b383acd9844466b19579", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.017838284373283386, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6998095512390137, + 0.4370751976966858, + 0.2597687840461731, + 0.21989654004573822 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.2627343535423279, + -0.4400407671928406, + -0.47991299629211426 + ], + "candidate_oracle_branch_scores": [ + 0.6998095512390137, + 0.4370751976966858, + 0.2597687840461731, + 0.21989654004573822 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0340005159378052, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.0340005159378052, + -1.6955655813217163, + -1.7624565362930298, + -1.8295155763626099 + ], + "candidate_oracle_progress": 0.6998095512390137, + "candidate_oracle_regret": 1.3001904487609863, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6998095512390137, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6998095512390137, + "candidate_oracle_selected_branch_score": 0.6998095512390137, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-35d84da6eb1afcf8a811;ms-e56b37f0e3881a70ef54;ms-1d728ae415a4d3cb782e;ms-ff012c1c8597c8db3cc7;ms-b55ca348be8b64323714;ms-d602b7370c5b90f8a439", + "expert_regret": 0.026807427406311035, + "expert_score": 0.7271000146865845, + "expert_success": false, + "group_id": "ms-fb131b52f94500da894b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2997074127197266, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7002925872802734, + "restore_error": 1.1920928955078125e-07, + "score": 0.7002925872802734, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.8552747964859009, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.1135212630033493, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 0, + 19, + 3 + ], + "candidate_oracle_potentials": [ + 0.1135212630033493, + 0.018149249255657196, + -0.053957223892211914, + -0.23109939694404602 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-4b3a296acc66a14476c3;ms-145f60d5fff285e7d05b;ms-88fb2bebd038dc786c01;ms-6a4398375c43dbf887b1;ms-61c099575bcff2de95e3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-80d8d8fc4a3308139975", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.25061261653900146, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.6853193640708923, + 0.6829475164413452 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.314680576324463, + -1.3170524835586548 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.6853193640708923, + 0.6829475164413452 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.0834728479385376, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.0834728479385376, + -0.2887502610683441, + -0.3301104009151459, + -0.37262868881225586 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bbefdf03d0471be60f8f;ms-ea164b21572d39ffed58;ms-06cb0796d1097e6ca111;ms-051860c228aa5160d5a6;ms-832f0e966173abd16c34;ms-38758efd8620a312267d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f6f0d14ef7c24b9e4621", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37020203471183777, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.0781136155128479, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + 0.0781136155128479, + -0.09809842705726624, + -0.16559752821922302, + -0.23823919892311096 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4b3a296acc66a14476c3;ms-96e1562aaca7ef49db28;ms-61c099575bcff2de95e3;ms-145f60d5fff285e7d05b;ms-88fb2bebd038dc786c01;ms-118ba8926eda06ffc61e", + "expert_regret": 0.0, + "expert_score": 0.6959263682365417, + "expert_success": false, + "group_id": "ms-ed4f6388ae96f9da76fa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.7241452932357788, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3232068121433258, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6964786052703857, + 0.5533472299575806, + 0.5445774793624878, + 0.3057444393634796 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.14313137531280518, + -0.15190112590789795, + -0.39073416590690613 + ], + "candidate_oracle_branch_scores": [ + 0.6964786052703857, + 0.5533472299575806, + 0.5445774793624878, + 0.3057444393634796 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.39217743277549744, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.39217743277549744, + -0.8210848569869995, + -0.91750168800354, + -0.9266217947006226 + ], + "candidate_oracle_progress": 0.6964786052703857, + "candidate_oracle_regret": 1.3035213947296143, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6964786052703857, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6964786052703857, + "candidate_oracle_selected_branch_score": 0.6964786052703857, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8d3d849234ceb98c3dc1;ms-8bab784ae53525967763;ms-491aad3896ede89ea0dd;ms-ea164b21572d39ffed58;ms-38758efd8620a312267d;ms-832f0e966173abd16c34", + "expert_regret": 1.2905657291412354, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9bbea286acf66b5cfb8e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2905657291412354, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7094342708587646, + "restore_error": 1.1920928955078125e-07, + "score": 0.7094342708587646, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42577505111694336, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.39167818427085876, + 0.29662132263183594, + 0.2854887545108795, + 0.2753428816795349 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.09505686163902283, + -0.10618942975997925, + -0.11633530259132385 + ], + "candidate_oracle_branch_scores": [ + 0.39167818427085876, + 0.29662132263183594, + 0.2854887545108795, + 0.2753428816795349 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6539033651351929, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6539033651351929, + -0.8381582498550415, + -0.8596725463867188, + -0.8814065456390381 + ], + "candidate_oracle_progress": 0.39167818427085876, + "candidate_oracle_regret": 1.6083218157291412, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.39167818427085876, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.39167818427085876, + "candidate_oracle_selected_branch_score": 0.39167818427085876, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1e41619ab39cf51b7822;ms-88f748134c3fd27fcf72;ms-d26dc2146eb8ae9a5434;ms-9fd14cc61816c2d4360e;ms-a5a56eefeb2de0abe600;ms-5b0141f336d28927cf31", + "expert_regret": 1.5979545712471008, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c1f3359c70d068a36081", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5979545712471008, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.40204542875289917, + "restore_error": 1.1920928955078125e-07, + "score": 0.40204542875289917, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.12899184226989746, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.02594888210296631, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 40 + ], + "candidate_oracle_potentials": [ + -0.02594888210296631, + -0.08665356040000916, + -0.21271857619285583, + -0.32114890217781067 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-3f56672eac1c00e9c2b0;ms-fb329ccd569163c53415;ms-89520c3ac8779d9e81e7;ms-3af721139694f7f3ec04", + "expert_regret": 0.0, + "expert_score": 0.7006968855857849, + "expert_success": false, + "group_id": "ms-472376eba1a5e1c706bf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.7282652854919434, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5710231065750122, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.21605458855628967, + 0.2180841863155365, + 0.21777617931365967, + 0.21735593676567078 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.002029597759246826, + 0.0017215907573699951, + 0.0013013482093811035 + ], + "candidate_oracle_branch_scores": [ + 0.21605458855628967, + 0.2180841863155365, + 0.21777617931365967, + 0.21735593676567078 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.6846423149108887, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.481306791305542, + -1.6846423149108887, + -1.7297123670578003, + -1.7783188819885254 + ], + "candidate_oracle_progress": 0.2180841863155365, + "candidate_oracle_regret": 1.7819158136844635, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2180841863155365, + "candidate_oracle_score_gain_over_selected": 0.002029597759246826, + "candidate_oracle_selected_branch_progress": 0.21605458855628967, + "candidate_oracle_selected_branch_score": 0.21605458855628967, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cf44ae14778c60c36af0;ms-b04b489f4fbad93b65ca;ms-27251a7c7f13bf165e21;ms-9f4b47c80d59166302ab;ms-b60078e9e6ea9c26dedc;ms-c9e0182d4090ddaa991c", + "expert_regret": 1.7839436829090118, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d2febdb2a469fbbac4f2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7839436829090118, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21605631709098816, + "restore_error": 1.1920928955078125e-07, + "score": 0.21605631709098816, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.299176961183548, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.19590848684310913, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.19590848684310913, + -0.6218886375427246, + -0.6463958024978638, + -0.6602048873901367 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a4398375c43dbf887b1;ms-136f1ebebd0b697c3310;ms-145f60d5fff285e7d05b;ms-118ba8926eda06ffc61e;ms-61c099575bcff2de95e3;ms-8f24ad2e217963943c12", + "expert_regret": 1.2825086116790771, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b5b68468bf26d19252f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2825086116790771, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7174913883209229, + "restore_error": 1.1920928955078125e-07, + "score": 0.7174913883209229, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1810259371995926, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.71083664894104, + 0.7133837938308716, + 0.22117607295513153, + 0.717061460018158 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.002547144889831543, + -0.4896605610847473, + 0.00622481107711792 + ], + "candidate_oracle_branch_scores": [ + 0.71083664894104, + 0.7133837938308716, + 0.22117607295513153, + 0.717061460018158 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.48191967606544495, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 0, + 3 + ], + "candidate_oracle_potentials": [ + -0.3934914171695709, + -0.39756181836128235, + -0.428315669298172, + -0.48191967606544495 + ], + "candidate_oracle_progress": 0.717061460018158, + "candidate_oracle_regret": 1.282938539981842, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.717061460018158, + "candidate_oracle_score_gain_over_selected": 0.00622481107711792, + "candidate_oracle_selected_branch_progress": 0.71083664894104, + "candidate_oracle_selected_branch_score": 0.71083664894104, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3f56672eac1c00e9c2b0;ms-fb329ccd569163c53415;ms-9156a9a9c1b829b742ad;ms-14dabc3ac1e1a339ebe4;ms-487d0fe2a13fb699dd7a;ms-89520c3ac8779d9e81e7", + "expert_regret": 0.0, + "expert_score": 0.49721559882164, + "expert_success": false, + "group_id": "ms-059d7962a5f998edf668", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.2944680452346802, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7055319547653198, + "restore_error": 1.1920928955078125e-07, + "score": 0.7055319547653198, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3996277153491974, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7203802466392517, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2796196937561035, + 1.2796196937561035, + 1.2796196937561035 + ], + "candidate_oracle_branch_scores": [ + 0.7203802466392517, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.4035509526729584, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 1 + ], + "candidate_oracle_potentials": [ + 0.4130532741546631, + 0.4035509526729584, + 0.3812495768070221, + 0.2198973149061203 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2796196937561035, + "candidate_oracle_selected_branch_progress": 0.7203802466392517, + "candidate_oracle_selected_branch_score": 0.7203802466392517, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4b3a296acc66a14476c3;ms-a6cf775fbba580161c4e;ms-2286d9cf8d88e878c4d7;ms-cbd6cc8b2708d5e3e4a9;ms-83c62951219e6599b630;ms-577341cca32521f4045e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b0f3a35453f8c458ada8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7392808198928833, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.711608350276947, + 0.716437578201294, + 0.7176874876022339, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.004829227924346924, + 0.006079137325286865, + 1.2883915901184082 + ], + "candidate_oracle_branch_scores": [ + 0.711608350276947, + 0.716437578201294, + 0.7176874876022339, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.29430916905403137, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 40 + ], + "candidate_oracle_potentials": [ + -0.06979867815971375, + -0.1471252143383026, + -0.2906278073787689, + -0.29430916905403137 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2883915901184082, + "candidate_oracle_selected_branch_progress": 0.711608350276947, + "candidate_oracle_selected_branch_score": 0.711608350276947, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-487d0fe2a13fb699dd7a;ms-3f56672eac1c00e9c2b0;ms-14dabc3ac1e1a339ebe4;ms-83c62951219e6599b630;ms-3af721139694f7f3ec04;ms-89520c3ac8779d9e81e7", + "expert_regret": 1.2893438339233398, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-76b0b0463fdb323b6233", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.2893438339233398, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7106561660766602, + "restore_error": 1.1920928955078125e-07, + "score": 0.7106561660766602, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.17490120232105255, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.2531983554363251, + 0.2532728314399719, + 0.25322961807250977, + 0.2531677484512329 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 7.447600364685059e-05, + 3.126263618469238e-05, + -3.0606985092163086e-05 + ], + "candidate_oracle_branch_scores": [ + 0.2531983554363251, + 0.2532728314399719, + 0.25322961807250977, + 0.2531677484512329 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.1823680400848389, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.867058277130127, + -1.1823680400848389, + -1.2031956911087036, + -1.2208735942840576 + ], + "candidate_oracle_progress": 0.2532728314399719, + "candidate_oracle_regret": 1.746727168560028, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2532728314399719, + "candidate_oracle_score_gain_over_selected": 7.447600364685059e-05, + "candidate_oracle_selected_branch_progress": 0.2531983554363251, + "candidate_oracle_selected_branch_score": 0.2531983554363251, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9fd14cc61816c2d4360e;ms-d26dc2146eb8ae9a5434;ms-690f52acc6ead9c7c078;ms-8bab784ae53525967763;ms-491aad3896ede89ea0dd;ms-051860c228aa5160d5a6", + "expert_regret": 1.7468910813331604, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d3a7e3f163b142a3e56b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7468910813331604, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2531089186668396, + "restore_error": 1.1920928955078125e-07, + "score": 0.2531089186668396, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.17801682651042938, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.21393153071403503, + 0.7172831296920776, + 0.7151686549186707, + 0.3266211152076721 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.5033515691757202, + 0.501237154006958, + 0.11268958449363708 + ], + "candidate_oracle_branch_scores": [ + 0.21393153071403503, + 0.7172831296920776, + 0.7151686549186707, + 0.3266211152076721 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.5684261322021484, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 3, + 19, + 1 + ], + "candidate_oracle_potentials": [ + -0.3056282103061676, + -0.5684261322021484, + -0.5748445987701416, + -0.5858334302902222 + ], + "candidate_oracle_progress": 0.7172831296920776, + "candidate_oracle_regret": 1.2827168703079224, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7172831296920776, + "candidate_oracle_score_gain_over_selected": 0.5033515691757202, + "candidate_oracle_selected_branch_progress": 0.21393153071403503, + "candidate_oracle_selected_branch_score": 0.21393153071403503, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-28c139f34a954b692962;ms-118ba8926eda06ffc61e;ms-575bd87a5da90963019d;ms-8d3d849234ceb98c3dc1", + "expert_regret": 1.7860882431268692, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-062a265cedee2107eb17", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7860882431268692, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2139117568731308, + "restore_error": 1.1920928955078125e-07, + "score": 0.2139117568731308, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5887693762779236, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.7259753942489624, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.2740246057510376, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.7259753942489624, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.052264049649238586, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 0, + 19, + 3 + ], + "candidate_oracle_potentials": [ + 0.052264049649238586, + 0.00761982798576355, + -0.07618723809719086, + -0.2404859960079193 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-61c099575bcff2de95e3;ms-4b3a296acc66a14476c3;ms-118ba8926eda06ffc61e", + "expert_regret": 1.2737284898757935, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6abc3749b5df33ea621e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.2737284898757935, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7262715101242065, + "restore_error": 1.1920928955078125e-07, + "score": 0.7262715101242065, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3000410497188568, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7039978504180908, + 0.6869670152664185, + 0.6924793720245361, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.017030835151672363, + -0.011518478393554688, + 1.2960021495819092 + ], + "candidate_oracle_branch_scores": [ + 0.7039978504180908, + 0.6869670152664185, + 0.6924793720245361, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.6110419034957886, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 3, + 19, + 35 + ], + "candidate_oracle_potentials": [ + -0.46256598830223083, + -0.46279171109199524, + -0.48872920870780945, + -0.6110419034957886 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2960021495819092, + "candidate_oracle_selected_branch_progress": 0.7039978504180908, + "candidate_oracle_selected_branch_score": 0.7039978504180908, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-14dabc3ac1e1a339ebe4;ms-cbd6cc8b2708d5e3e4a9;ms-3af721139694f7f3ec04;ms-89520c3ac8779d9e81e7;ms-251c1dfd1010906f559f;ms-68c63442972f322789b5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4f54ed10d332989ae524", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4035670757293701, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.28376826643943787, + 0.252601683139801, + 0.2527017891407013, + 0.2525794804096222 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.03116658329963684, + -0.031066477298736572, + -0.031188786029815674 + ], + "candidate_oracle_branch_scores": [ + 0.28376826643943787, + 0.252601683139801, + 0.2527017891407013, + 0.2525794804096222 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8112852573394775, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 35 + ], + "candidate_oracle_potentials": [ + -0.8112852573394775, + -1.2008357048034668, + -1.2381150722503662, + -1.256302833557129 + ], + "candidate_oracle_progress": 0.28376826643943787, + "candidate_oracle_regret": 1.7162317335605621, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.28376826643943787, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.28376826643943787, + "candidate_oracle_selected_branch_score": 0.28376826643943787, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b4281a37b8b48a0b4c54;ms-ef8de99d917753ec603c;ms-457db124a2f46a06175b;ms-fdb2637276b27c46c757;ms-f0d2ffde521e268efc83;ms-4dc9ab19fbe571f09699", + "expert_regret": 1.7162258625030518, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e536e40f6902c6ba0927", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7162258625030518, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.28377413749694824, + "restore_error": 1.1920928955078125e-07, + "score": 0.28377413749694824, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6358093619346619, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.21457281708717346, + 0.21685239672660828, + 0.21646782755851746, + 0.21597737073898315 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0022795796394348145, + 0.0018950104713439941, + 0.0014045536518096924 + ], + "candidate_oracle_branch_scores": [ + 0.21457281708717346, + 0.21685239672660828, + 0.21646782755851746, + 0.21597737073898315 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.6142640113830566, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.526680588722229, + -1.6142640113830566, + -1.6531071662902832, + -1.6956636905670166 + ], + "candidate_oracle_progress": 0.21685239672660828, + "candidate_oracle_regret": 1.7831476032733917, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21685239672660828, + "candidate_oracle_score_gain_over_selected": 0.0022795796394348145, + "candidate_oracle_selected_branch_progress": 0.21457281708717346, + "candidate_oracle_selected_branch_score": 0.21457281708717346, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b04b489f4fbad93b65ca;ms-cf44ae14778c60c36af0;ms-9f4b47c80d59166302ab;ms-27251a7c7f13bf165e21;ms-b60078e9e6ea9c26dedc;ms-c9e0182d4090ddaa991c", + "expert_regret": 1.785421371459961, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-22d006041320a4487c21", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.785421371459961, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21457862854003906, + "restore_error": 1.1920928955078125e-07, + "score": 0.21457862854003906, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3101697266101837, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7288665175437927, + 1.0, + 0.7290887832641602, + 0.7254066467285156 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2711334228515625, + 0.00022226572036743164, + -0.0034598708152770996 + ], + "candidate_oracle_branch_scores": [ + 0.7288665175437927, + 2.0, + 0.7290887832641602, + 0.7254066467285156 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.3235616385936737, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 8 + ], + "candidate_oracle_potentials": [ + 0.3319053649902344, + 0.3235616385936737, + 0.3129940629005432, + 0.29342028498649597 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2711334228515625, + "candidate_oracle_selected_branch_progress": 0.7288665175437927, + "candidate_oracle_selected_branch_score": 0.7288665175437927, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cbd6cc8b2708d5e3e4a9;ms-83c62951219e6599b630;ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-3af721139694f7f3ec04;ms-89520c3ac8779d9e81e7", + "expert_regret": 1.271037220954895, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-737e72810112f3246b05", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.271037220954895, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.728962779045105, + "restore_error": 1.1920928955078125e-07, + "score": 0.728962779045105, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3155236542224884, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5629674196243286, + 0.5626711249351501, + 0.5623706579208374, + 0.560149610042572 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0002962946891784668, + -0.0005967617034912109, + -0.002817809581756592 + ], + "candidate_oracle_branch_scores": [ + 0.5629674196243286, + 0.5626711249351501, + 0.5623706579208374, + 0.560149610042572 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.0487513393163681, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + 0.0487513393163681, + 0.04770525544881821, + 0.046239301562309265, + 0.015841923654079437 + ], + "candidate_oracle_progress": 0.5629674196243286, + "candidate_oracle_regret": 1.4370325803756714, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5629674196243286, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5629674196243286, + "candidate_oracle_selected_branch_score": 0.5629674196243286, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-023e021f079a8774c741;ms-e8fbdbddd9200f5091d6;ms-12050326f623a94ae9e0;ms-5425964a186feaf6fd99;ms-d91cbe61314c18955b6b;ms-73e36360221b6732c688", + "expert_regret": 1.4370418190956116, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4cd9eae753bf9e48f520", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4370418190956116, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5629581809043884, + "restore_error": 1.1920928955078125e-07, + "score": 0.5629581809043884, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5873669385910034, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5482411980628967, + 0.5486239790916443, + 0.542110800743103, + 0.5490083694458008 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0003827810287475586, + -0.006130397319793701, + 0.0007671713829040527 + ], + "candidate_oracle_branch_scores": [ + 0.5482411980628967, + 0.5486239790916443, + 0.542110800743103, + 0.5490083694458008 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.05364552512764931, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 4 + ], + "candidate_oracle_potentials": [ + 0.08325257152318954, + 0.010529200546443462, + -0.040017493069171906, + -0.05364552512764931 + ], + "candidate_oracle_progress": 0.5490083694458008, + "candidate_oracle_regret": 1.4509916305541992, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5490083694458008, + "candidate_oracle_score_gain_over_selected": 0.0007671713829040527, + "candidate_oracle_selected_branch_progress": 0.5482411980628967, + "candidate_oracle_selected_branch_score": 0.5482411980628967, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7057de70d36f5cc31472;ms-f3f6a1b34fdf35290a6c;ms-8f241450069e74460a40;ms-9ff81e54049443a0f3d3;ms-5780f9e1e9f9e740d474;ms-9044026b69850d12d05b", + "expert_regret": 1.4518851041793823, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6edb3f8fe977a81f8979", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4518851041793823, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5481148958206177, + "restore_error": 1.1920928955078125e-07, + "score": 0.5481148958206177, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6696915030479431, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.08808708190917969, + 0.08809278160333633, + 0.0880814790725708, + 0.08807539194822311 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 5.6996941566467285e-06, + -5.602836608886719e-06, + -1.1689960956573486e-05 + ], + "candidate_oracle_branch_scores": [ + 0.08808708190917969, + 0.08809278160333633, + 0.0880814790725708, + 0.08807539194822311 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.258759021759033, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 36, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -2.252088785171509, + -2.258759021759033, + -2.269404172897339, + -2.2861976623535156 + ], + "candidate_oracle_progress": 0.08809278160333633, + "candidate_oracle_regret": 1.9119072183966637, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.08809278160333633, + "candidate_oracle_score_gain_over_selected": 5.6996941566467285e-06, + "candidate_oracle_selected_branch_progress": 0.08808708190917969, + "candidate_oracle_selected_branch_score": 0.08808708190917969, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4f833710c2706ee077af;ms-b7e7fe66a6c86898eec2;ms-02ab2e7a74d970154eb7;ms-8b972386cfdf0158a0a3;ms-2d995e39f2b95fed1a67;ms-aea09fb002af52e12bd8", + "expert_regret": 0.5100375637412071, + "expert_score": 0.5981246829032898, + "expert_success": false, + "group_id": "ms-23a355317920e192147f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9119128808379173, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08808711916208267, + "restore_error": 1.1920928955078125e-07, + "score": 0.08808711916208267, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6414703726768494, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.4996275007724762, + 0.5010124444961548, + 0.49851304292678833, + 0.49983546137809753 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0013849437236785889, + -0.0011144578456878662, + 0.0002079606056213379 + ], + "candidate_oracle_branch_scores": [ + 0.4996275007724762, + 0.5010124444961548, + 0.49851304292678833, + 0.49983546137809753 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8098851442337036, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -0.7626373767852783, + -0.8098851442337036, + -0.828744649887085, + -0.8929527401924133 + ], + "candidate_oracle_progress": 0.5010124444961548, + "candidate_oracle_regret": 1.4989875555038452, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5010124444961548, + "candidate_oracle_score_gain_over_selected": 0.0013849437236785889, + "candidate_oracle_selected_branch_progress": 0.4996275007724762, + "candidate_oracle_selected_branch_score": 0.4996275007724762, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d6305829d7ca1c68a3ce;ms-26e09c86be9068a34acf;ms-fb228a036fe5973bcad1;ms-8f241450069e74460a40;ms-9ff81e54049443a0f3d3;ms-a8e6435948250f5e163d", + "expert_regret": 1.5003747045993805, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-faeacb4289bbfe504de1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5003747045993805, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4996252954006195, + "restore_error": 1.1920928955078125e-07, + "score": 0.4996252954006195, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4436863362789154, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5225996375083923, + 0.5226338505744934, + 0.5226721167564392, + 0.5222151875495911 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 3.421306610107422e-05, + 7.2479248046875e-05, + -0.00038444995880126953 + ], + "candidate_oracle_branch_scores": [ + 0.5225996375083923, + 0.5226338505744934, + 0.5226721167564392, + 0.5222151875495911 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.0040242671966553, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 8 + ], + "candidate_oracle_potentials": [ + -1.0009069442749023, + -1.0023709535598755, + -1.0040242671966553, + -1.0087116956710815 + ], + "candidate_oracle_progress": 0.5226721167564392, + "candidate_oracle_regret": 1.4773278832435608, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5226721167564392, + "candidate_oracle_score_gain_over_selected": 7.2479248046875e-05, + "candidate_oracle_selected_branch_progress": 0.5225996375083923, + "candidate_oracle_selected_branch_score": 0.5225996375083923, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8d9b2a5ccd43461f827e;ms-41279eb586ca5e587474;ms-16d5b122db1824caf92b;ms-b4af4c8b9dcd6976546c;ms-3aa864ead19c9cb9fb49;ms-842e179244eddac303a5", + "expert_regret": 1.4774022698402405, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f88a44616a0985aac518", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4774022698402405, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5225977301597595, + "restore_error": 1.1920928955078125e-07, + "score": 0.5225977301597595, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4289751350879669, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.018722986802458763, + 0.022472679615020752, + 0.021848857402801514, + 0.019243407994508743 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.003749692812561989, + 0.0031258706003427505, + 0.0005204211920499802 + ], + "candidate_oracle_branch_scores": [ + 0.018722986802458763, + 0.022472679615020752, + 0.021848857402801514, + 0.019243407994508743 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -2.3643553256988525, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 20 + ], + "candidate_oracle_potentials": [ + -2.200913429260254, + -2.3643553256988525, + -2.387389898300171, + -2.401540756225586 + ], + "candidate_oracle_progress": 0.022472679615020752, + "candidate_oracle_regret": 0.5790682435035706, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.022472679615020752, + "candidate_oracle_score_gain_over_selected": 0.003749692812561989, + "candidate_oracle_selected_branch_progress": 0.018722986802458763, + "candidate_oracle_selected_branch_score": 0.018722986802458763, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a76ae18568c88af1da6b;ms-ed9addab41f3298db7bc;ms-b786173f210fcaa65a6e;ms-b481531ab787e3d6fb1e;ms-b9e46b7345a63ded4397;ms-319a6c0cef0ac1a872d5", + "expert_regret": 0.5828179363161325, + "expert_score": 0.6015409231185913, + "expert_success": false, + "group_id": "ms-f5483f0819e0e8bc352e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5828179363161325, + "oracle_score": 0.6015409231185913, + "oracle_success": false, + "progress": 0.018722986802458763, + "restore_error": 1.1920928955078125e-07, + "score": 0.018722986802458763, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5528163909912109, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5328370928764343, + 0.5311328172683716, + 0.024878276512026787, + 0.02411264181137085 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0017042756080627441, + -0.5079588294029236, + -0.5087244510650635 + ], + "candidate_oracle_branch_scores": [ + 0.5328370928764343, + 0.5311328172683716, + 0.024878276512026787, + 0.02411264181137085 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.5274436473846436, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 36, + 0 + ], + "candidate_oracle_potentials": [ + -2.5274436473846436, + -2.5301806926727295, + -2.5752062797546387, + -2.6661884784698486 + ], + "candidate_oracle_progress": 0.5328370928764343, + "candidate_oracle_regret": 1.4671629071235657, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5328370928764343, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5328370928764343, + "candidate_oracle_selected_branch_score": 0.5328370928764343, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4f833710c2706ee077af;ms-02ab2e7a74d970154eb7;ms-8b972386cfdf0158a0a3;ms-b7e7fe66a6c86898eec2;ms-aea09fb002af52e12bd8;ms-319a6c0cef0ac1a872d5", + "expert_regret": 1.4671255946159363, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-22675530f3a401b3fd6d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4671255946159363, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5328744053840637, + "restore_error": 1.1920928955078125e-07, + "score": 0.5328744053840637, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12381432950496674, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.7268514633178711, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.7268514633178711, + 0.7029069066047668, + 0.6953772902488708, + 0.6870844960212708 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e15eeda61ed4064a5c9f;ms-ce8d2ef7d19bed381822;ms-417cab1470cf46273b02;ms-486572c62484eb4d73db;ms-478b7b8b729f9212a522;ms-6c39b520dca0a325535f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-751daa0137578c486f3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6083250641822815, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 1.2859185934066772, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 1, + 17 + ], + "candidate_oracle_potentials": [ + 1.2859185934066772, + 1.283449411392212, + 1.261842131614685, + 1.2602577209472656 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-12050326f623a94ae9e0;ms-d75a00b1388f50bf8919;ms-5425964a186feaf6fd99;ms-a7f98a43ff113d74f009;ms-76c78750d7abc6570487;ms-e8fbdbddd9200f5091d6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-193063285cdb9faff39b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3985564112663269, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.2970268726348877, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + -0.2970268726348877, + -0.3137890100479126, + -0.3827895522117615, + -0.3964877724647522 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5425964a186feaf6fd99;ms-a7f98a43ff113d74f009;ms-12050326f623a94ae9e0;ms-d75a00b1388f50bf8919;ms-01db5970aec167a8ee1d;ms-76c78750d7abc6570487", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5d430ebe6f7933dc6c8c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6875649094581604, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.8559287786483765, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 33 + ], + "candidate_oracle_potentials": [ + 0.8559287786483765, + 0.819255530834198, + 0.8016661405563354, + 0.7665413618087769 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-16d5b122db1824caf92b;ms-b4af4c8b9dcd6976546c;ms-30ad687dc1bc8318fa45;ms-70342af6b601660d7c69;ms-4b1561bd0029228fdbbe;ms-a196fc3a729550509b18", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-67f602a0e4efc9984d72", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5945366621017456, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5711337924003601, + 0.5703905820846558, + 0.5711595416069031, + 0.5703030228614807 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0007432103157043457, + 2.574920654296875e-05, + -0.0008307695388793945 + ], + "candidate_oracle_branch_scores": [ + 0.5711337924003601, + 0.5703905820846558, + 0.5711595416069031, + 0.5703030228614807 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.6174511909484863, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 36, + 40 + ], + "candidate_oracle_potentials": [ + 0.6872199773788452, + 0.6717263460159302, + 0.6174511909484863, + 0.6105190515518188 + ], + "candidate_oracle_progress": 0.5711595416069031, + "candidate_oracle_regret": 1.428840458393097, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5711595416069031, + "candidate_oracle_score_gain_over_selected": 2.574920654296875e-05, + "candidate_oracle_selected_branch_progress": 0.5711337924003601, + "candidate_oracle_selected_branch_score": 0.5711337924003601, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-39450dbba738dbd8a764;ms-87f8bbc8d9e7f4dcaacf;ms-21155188bc35f0f021d3;ms-cafa65eeb953aff47f30;ms-6f1db8895d5164cc5ae5;ms-fbcc714230de2c097d0d", + "expert_regret": 1.4288653135299683, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-564c02492863ae749ea9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4288653135299683, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5711346864700317, + "restore_error": 1.1920928955078125e-07, + "score": 0.5711346864700317, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5277048945426941, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.04869530349969864, + 0.05982878431677818, + 0.048649635165929794, + 0.049000322818756104 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.011133480817079544, + -4.5668333768844604e-05, + 0.0003050193190574646 + ], + "candidate_oracle_branch_scores": [ + 0.04869530349969864, + 0.05982878431677818, + 0.048649635165929794, + 0.049000322818756104 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.22562365233898163, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 0 + ], + "candidate_oracle_potentials": [ + -0.18193688988685608, + -0.22562365233898163, + -0.2768954038619995, + -0.2995792627334595 + ], + "candidate_oracle_progress": 0.05982878431677818, + "candidate_oracle_regret": 1.9401712156832218, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.05982878431677818, + "candidate_oracle_score_gain_over_selected": 0.011133480817079544, + "candidate_oracle_selected_branch_progress": 0.04869530349969864, + "candidate_oracle_selected_branch_score": 0.04869530349969864, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f9c00ba41392adec3fd1;ms-5316151a88a3282436ca;ms-c2bc492ab5eb87a73789;ms-34495bfe34440ac63cf6;ms-1f8e2d5d25706493821d;ms-578e24198ed828a74485", + "expert_regret": 1.9513041600584984, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-86b0447349029dfaa6ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9513041600584984, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04869583994150162, + "restore_error": 1.1920928955078125e-07, + "score": 0.04869583994150162, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.35602471232414246, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5894288420677185, + 0.5898370146751404, + 1.0, + 0.5698699355125427 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.000408172607421875, + 1.4105710983276367, + -0.01955890655517578 + ], + "candidate_oracle_branch_scores": [ + 0.5894288420677185, + 0.5898370146751404, + 2.0, + 0.5698699355125427 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.313926100730896, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 8, + 1 + ], + "candidate_oracle_potentials": [ + 0.3284352719783783, + 0.31529682874679565, + 0.313926100730896, + 0.2769927382469177 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4105710983276367, + "candidate_oracle_selected_branch_progress": 0.5894288420677185, + "candidate_oracle_selected_branch_score": 0.5894288420677185, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b97cb4ec02e8234b08c5;ms-a22fbce4503f088acb1f;ms-d6b2d805dc063382ade2;ms-625b5d55ca76cc565049;ms-11bb3387454624de8143;ms-1bfca22d4af29f0e14b1", + "expert_regret": 1.4105711579322815, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e441e4042cb7d77a4986", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4105711579322815, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5894288420677185, + "restore_error": 1.1920928955078125e-07, + "score": 0.5894288420677185, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5962035059928894, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.507987380027771, + 0.49830594658851624, + 0.510992169380188, + 0.5170980095863342 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00968143343925476, + 0.003004789352416992, + 0.009110629558563232 + ], + "candidate_oracle_branch_scores": [ + 0.507987380027771, + 0.49830594658851624, + 0.510992169380188, + 0.5170980095863342 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.2503230571746826, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 36, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -2.152556896209717, + -2.157599687576294, + -2.158830404281616, + -2.2503230571746826 + ], + "candidate_oracle_progress": 0.5170980095863342, + "candidate_oracle_regret": 1.4829019904136658, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5170980095863342, + "candidate_oracle_score_gain_over_selected": 0.009110629558563232, + "candidate_oracle_selected_branch_progress": 0.507987380027771, + "candidate_oracle_selected_branch_score": 0.507987380027771, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b786173f210fcaa65a6e;ms-a76ae18568c88af1da6b;ms-ed9addab41f3298db7bc;ms-b481531ab787e3d6fb1e;ms-b9e46b7345a63ded4397;ms-319a6c0cef0ac1a872d5", + "expert_regret": 1.4920134544372559, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5dfad80e83d210946447", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4920134544372559, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5079865455627441, + "restore_error": 1.1920928955078125e-07, + "score": 0.5079865455627441, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3506035804748535, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5480865836143494, + 0.5465333461761475, + 0.5493860840797424, + 0.5478395819664001 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0015532374382019043, + 0.0012995004653930664, + -0.00024700164794921875 + ], + "candidate_oracle_branch_scores": [ + 0.5480865836143494, + 0.5465333461761475, + 0.5493860840797424, + 0.5478395819664001 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.30706724524497986, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + 0.3493448495864868, + 0.34092748165130615, + 0.30706724524497986, + 0.2917390465736389 + ], + "candidate_oracle_progress": 0.5493860840797424, + "candidate_oracle_regret": 1.4506139159202576, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5493860840797424, + "candidate_oracle_score_gain_over_selected": 0.0012995004653930664, + "candidate_oracle_selected_branch_progress": 0.5480865836143494, + "candidate_oracle_selected_branch_score": 0.5480865836143494, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6273302894af3505ca8;ms-b97cb4ec02e8234b08c5;ms-26e09c86be9068a34acf;ms-a22fbce4503f088acb1f;ms-1bfca22d4af29f0e14b1;ms-11bb3387454624de8143", + "expert_regret": 1.451913058757782, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-be8eff6e6d520ae11a0d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.451913058757782, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.548086941242218, + "restore_error": 1.1920928955078125e-07, + "score": 0.548086941242218, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12298084795475006, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.26151224970817566, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 17, + 1, + 33, + 0 + ], + "candidate_oracle_potentials": [ + 0.26151224970817566, + 0.2614276707172394, + 0.2612639367580414, + 0.24248665571212769 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-21155188bc35f0f021d3;ms-87f8bbc8d9e7f4dcaacf;ms-fbcc714230de2c097d0d;ms-3c4ff3dae26217f22a8b;ms-29f1abb869ff206a4d52;ms-39450dbba738dbd8a764", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-93e3d9968204474eff49", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7106428146362305, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5557171702384949, + 0.5556068420410156, + 0.555590808391571, + 0.5551838278770447 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00011032819747924805, + -0.00012636184692382812, + -0.0005333423614501953 + ], + "candidate_oracle_branch_scores": [ + 0.5557171702384949, + 0.5556068420410156, + 0.555590808391571, + 0.5551838278770447 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 1.029192328453064, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 40 + ], + "candidate_oracle_potentials": [ + 1.029192328453064, + 1.0087416172027588, + 1.0064936876296997, + 0.9979426264762878 + ], + "candidate_oracle_progress": 0.5557171702384949, + "candidate_oracle_regret": 1.4442828297615051, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5557171702384949, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5557171702384949, + "candidate_oracle_selected_branch_score": 0.5557171702384949, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3aa864ead19c9cb9fb49;ms-66cc354bbf4e8bdd1051;ms-c104c2ebba7bf9b34680;ms-4bc32bd893d0cff76423;ms-ee19bfbcb2f4fbf5a44d;ms-9ff81e54049443a0f3d3", + "expert_regret": 1.4444523453712463, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-708baf01c22c75cafd22", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4444523453712463, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5555476546287537, + "restore_error": 1.1920928955078125e-07, + "score": 0.5555476546287537, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6519231796264648, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5645939707756042, + 0.564474880695343, + 0.5641106963157654, + 0.5620577931404114 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00011909008026123047, + -0.0004832744598388672, + -0.002536177635192871 + ], + "candidate_oracle_branch_scores": [ + 0.5645939707756042, + 0.564474880695343, + 0.5641106963157654, + 0.5620577931404114 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7132347822189331, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 0, + 40 + ], + "candidate_oracle_potentials": [ + -0.7132347822189331, + -0.924079179763794, + -0.9768073558807373, + -0.9842449426651001 + ], + "candidate_oracle_progress": 0.5645939707756042, + "candidate_oracle_regret": 1.4354060292243958, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5645939707756042, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5645939707756042, + "candidate_oracle_selected_branch_score": 0.5645939707756042, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4385e9c56007fdaa94b5;ms-c1ac63fb3644e3a2ae06;ms-99ecd2226d7187416316;ms-0adce283894b0a2b7b94;ms-88bdd8987f890af7e9ea;ms-7a460f3c1b67817c19de", + "expert_regret": 1.4355427622795105, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e55645c0c701caac48a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4355427622795105, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5644572377204895, + "restore_error": 1.1920928955078125e-07, + "score": 0.5644572377204895, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5086213946342468, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.532684862613678, + 0.5307096838951111, + 0.5327972769737244, + 0.5316393971443176 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0019751787185668945, + 0.00011241436004638672, + -0.0010454654693603516 + ], + "candidate_oracle_branch_scores": [ + 0.532684862613678, + 0.5307096838951111, + 0.5327972769737244, + 0.5316393971443176 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.6400511264801025, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 1 + ], + "candidate_oracle_potentials": [ + 0.718186616897583, + 0.7047417759895325, + 0.6400511264801025, + 0.6384846568107605 + ], + "candidate_oracle_progress": 0.5327972769737244, + "candidate_oracle_regret": 1.4672027230262756, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5327972769737244, + "candidate_oracle_score_gain_over_selected": 0.00011241436004638672, + "candidate_oracle_selected_branch_progress": 0.532684862613678, + "candidate_oracle_selected_branch_score": 0.532684862613678, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-486572c62484eb4d73db;ms-6c39b520dca0a325535f;ms-704fee4c9fb9941a26e7;ms-a45ed89f5b95d1e7ab07;ms-ca25b016439a98198434;ms-8f6d30c2ade00e451dc2", + "expert_regret": 1.4673152565956116, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4fe47d946641f0096a85", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4673152565956116, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5326847434043884, + "restore_error": 1.1920928955078125e-07, + "score": 0.5326847434043884, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1212480217218399, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.6096929311752319, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.6096929311752319, + 0.5747572779655457, + 0.5652338862419128, + 0.5549275279045105 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a45ed89f5b95d1e7ab07;ms-478b7b8b729f9212a522;ms-ca25b016439a98198434;ms-a10d8368c33b56390f77;ms-f4b95f2b569e3f1bf086;ms-c104c2ebba7bf9b34680", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10621e1108a69d0b633e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6189466118812561, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 1.1213003396987915, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 4 + ], + "candidate_oracle_potentials": [ + 1.1213003396987915, + 1.0985196828842163, + 1.0842341184616089, + 1.0797520875930786 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c8666cbd7e5a9d0fd036;ms-6b8adb335c80e03d5cd5;ms-11a2794efa24f4d93d83;ms-c4cb99b887c88c707ba9;ms-9e53ca6bc5ddb9133ffa;ms-76c78750d7abc6570487", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c07472c627b51086ff33", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.32929879426956177, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7076831459999084, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 20 + ], + "candidate_oracle_potentials": [ + 0.7076831459999084, + 0.6465255618095398, + 0.6136002540588379, + 0.564927339553833 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6995d4366e7c20010126;ms-e1972ebf2c5587a6fdf9;ms-bcc70292f404cd1c7f75;ms-166b7f66bf9f4eec432b;ms-9a2d8f0085e6740cf5b0;ms-c4cb99b887c88c707ba9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f07607bc0ce1c4e202b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6013240814208984, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5497075319290161, + 0.5513195991516113, + 0.548996090888977, + 0.550428569316864 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0016120672225952148, + -0.0007114410400390625, + 0.0007210373878479004 + ], + "candidate_oracle_branch_scores": [ + 0.5497075319290161, + 0.5513195991516113, + 0.548996090888977, + 0.550428569316864 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.28376156091690063, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.29827558994293213, + 0.28376156091690063, + 0.2562378942966461, + 0.2350345402956009 + ], + "candidate_oracle_progress": 0.5513195991516113, + "candidate_oracle_regret": 1.4486804008483887, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5513195991516113, + "candidate_oracle_score_gain_over_selected": 0.0016120672225952148, + "candidate_oracle_selected_branch_progress": 0.5497075319290161, + "candidate_oracle_selected_branch_score": 0.5497075319290161, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-29dd2cdbb66fe13ab877;ms-3a07c49566decfea04de;ms-4b1561bd0029228fdbbe;ms-87f8bbc8d9e7f4dcaacf;ms-55ea22014575410563a4;ms-3c4ff3dae26217f22a8b", + "expert_regret": 1.4502918124198914, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-23d6e5835aa90a62b6ef", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4502918124198914, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5497081875801086, + "restore_error": 1.1920928955078125e-07, + "score": 0.5497081875801086, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.10166138410568237, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5458381772041321, + 0.5497823357582092, + 0.5537552833557129, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0039441585540771484, + 0.00791710615158081, + 1.4541618824005127 + ], + "candidate_oracle_branch_scores": [ + 0.5458381772041321, + 0.5497823357582092, + 0.5537552833557129, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6066370010375977, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.36461588740348816, + -0.37970998883247375, + -0.3971973955631256, + -0.6066370010375977 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4541618824005127, + "candidate_oracle_selected_branch_progress": 0.5458381772041321, + "candidate_oracle_selected_branch_score": 0.5458381772041321, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d6b2d805dc063382ade2;ms-c7f427f37d47501932e8;ms-2d995e39f2b95fed1a67;ms-02ab2e7a74d970154eb7;ms-b7e7fe66a6c86898eec2;ms-4f833710c2706ee077af", + "expert_regret": 1.454161822795868, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1309e1770b6ca6e71c7e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.454161822795868, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5458381772041321, + "restore_error": 1.1920928955078125e-07, + "score": 0.5458381772041321, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24362917244434357, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5436026453971863, + 0.5438370704650879, + 0.5419425368309021, + 0.5440683364868164 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00023442506790161133, + -0.0016601085662841797, + 0.00046569108963012695 + ], + "candidate_oracle_branch_scores": [ + 0.5436026453971863, + 0.5438370704650879, + 0.5419425368309021, + 0.5440683364868164 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.5230346918106079, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 0, + 33 + ], + "candidate_oracle_potentials": [ + -0.5197892189025879, + -0.5213490724563599, + -0.5227514505386353, + -0.5230346918106079 + ], + "candidate_oracle_progress": 0.5440683364868164, + "candidate_oracle_regret": 1.4559316635131836, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5440683364868164, + "candidate_oracle_score_gain_over_selected": 0.00046569108963012695, + "candidate_oracle_selected_branch_progress": 0.5436026453971863, + "candidate_oracle_selected_branch_score": 0.5436026453971863, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-29f1abb869ff206a4d52;ms-3c4ff3dae26217f22a8b;ms-6f1db8895d5164cc5ae5;ms-d91cbe61314c18955b6b;ms-023e021f079a8774c741;ms-87f8bbc8d9e7f4dcaacf", + "expert_regret": 1.4563969373703003, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-52c6c227fd4b61609031", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4563969373703003, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5436030626296997, + "restore_error": 1.1920928955078125e-07, + "score": 0.5436030626296997, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6515033841133118, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5127849578857422, + 0.5121373534202576, + 0.5112682580947876, + 0.046336542814970016 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0006476044654846191, + -0.0015166997909545898, + -0.46644842624664307 + ], + "candidate_oracle_branch_scores": [ + 0.5127849578857422, + 0.5121373534202576, + 0.5112682580947876, + 0.046336542814970016 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.5329902172088623, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 36, + 4, + 24 + ], + "candidate_oracle_potentials": [ + -2.5329902172088623, + -2.5458948612213135, + -2.6304333209991455, + -2.8638267517089844 + ], + "candidate_oracle_progress": 0.5127849578857422, + "candidate_oracle_regret": 1.4872150421142578, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5127849578857422, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5127849578857422, + "candidate_oracle_selected_branch_score": 0.5127849578857422, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c7f427f37d47501932e8;ms-2d995e39f2b95fed1a67;ms-b7e7fe66a6c86898eec2;ms-02ab2e7a74d970154eb7;ms-4f833710c2706ee077af;ms-8b972386cfdf0158a0a3", + "expert_regret": 1.487211287021637, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8a22f0da78e59cd1eb5f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.487211287021637, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.512788712978363, + "restore_error": 1.1920928955078125e-07, + "score": 0.512788712978363, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7407496571540833, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.15442021191120148, + 0.15595750510692596, + 0.5251802802085876, + 0.5278609395027161 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0015372931957244873, + 0.37076008319854736, + 0.3734407424926758 + ], + "candidate_oracle_branch_scores": [ + 0.15442021191120148, + 0.15595750510692596, + 0.5251802802085876, + 0.5278609395027161 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.7350225448608398, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 36, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -1.7043941020965576, + -1.7086553573608398, + -1.7087199687957764, + -1.7350225448608398 + ], + "candidate_oracle_progress": 0.5278609395027161, + "candidate_oracle_regret": 1.472139060497284, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5278609395027161, + "candidate_oracle_score_gain_over_selected": 0.3734407424926758, + "candidate_oracle_selected_branch_progress": 0.15442021191120148, + "candidate_oracle_selected_branch_score": 0.15442021191120148, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-aea09fb002af52e12bd8;ms-319a6c0cef0ac1a872d5;ms-b9e46b7345a63ded4397;ms-8b972386cfdf0158a0a3;ms-b481531ab787e3d6fb1e;ms-ed9addab41f3298db7bc", + "expert_regret": 1.8448402285575867, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4acbf69acd30d96e46a7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8448402285575867, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.15515977144241333, + "restore_error": 1.1920928955078125e-07, + "score": 0.15515977144241333, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.13479845225811005, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.18962936103343964, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + 0.18962936103343964, + 0.18732334673404694, + 0.18367713689804077, + 0.16053913533687592 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4b1561bd0029228fdbbe;ms-3a07c49566decfea04de;ms-30ad687dc1bc8318fa45;ms-29dd2cdbb66fe13ab877;ms-a196fc3a729550509b18;ms-c7f427f37d47501932e8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1518756d5da0b8d3c190", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7085723876953125, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.589158833026886, + 0.5891724824905396, + 0.5890620946884155, + 0.588708758354187 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.3649463653564453e-05, + -9.673833847045898e-05, + -0.0004500746726989746 + ], + "candidate_oracle_branch_scores": [ + 0.589158833026886, + 0.5891724824905396, + 0.5890620946884155, + 0.588708758354187 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4952544867992401, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.49327272176742554, + -0.4952544867992401, + -0.49528729915618896, + -0.5030561685562134 + ], + "candidate_oracle_progress": 0.5891724824905396, + "candidate_oracle_regret": 1.4108275175094604, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5891724824905396, + "candidate_oracle_score_gain_over_selected": 1.3649463653564453e-05, + "candidate_oracle_selected_branch_progress": 0.589158833026886, + "candidate_oracle_selected_branch_score": 0.589158833026886, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3a07c49566decfea04de;ms-55ea22014575410563a4;ms-4b1561bd0029228fdbbe;ms-a196fc3a729550509b18;ms-29dd2cdbb66fe13ab877;ms-5316151a88a3282436ca", + "expert_regret": 1.410841166973114, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ee05717b29d39d7cddff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.410841166973114, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.589158833026886, + "restore_error": 1.1920928955078125e-07, + "score": 0.589158833026886, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6730149984359741, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.04655928537249565, + 0.04646545648574829, + 0.0453164242208004, + 0.04640995338559151 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -9.382888674736023e-05, + -0.0012428611516952515, + -0.0001493319869041443 + ], + "candidate_oracle_branch_scores": [ + 0.04655928537249565, + 0.04646545648574829, + 0.0453164242208004, + 0.04640995338559151 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.6651618480682373, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 36, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -2.6651618480682373, + -2.670912742614746, + -2.6993134021759033, + -2.7775959968566895 + ], + "candidate_oracle_progress": 0.04655928537249565, + "candidate_oracle_regret": 1.9534407146275043, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.04655928537249565, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.04655928537249565, + "candidate_oracle_selected_branch_score": 0.04655928537249565, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02ab2e7a74d970154eb7;ms-b7e7fe66a6c86898eec2;ms-2d995e39f2b95fed1a67;ms-4f833710c2706ee077af;ms-8b972386cfdf0158a0a3;ms-c7f427f37d47501932e8", + "expert_regret": 1.953441858291626, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7020f1cda882b79bffa3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.953441858291626, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04655814170837402, + "restore_error": 1.1920928955078125e-07, + "score": 0.04655814170837402, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4663753807544708, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.556771457195282, + 0.5505416989326477, + 0.5558110475540161, + 0.5470978021621704 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.006229758262634277, + -0.0009604096412658691, + -0.009673655033111572 + ], + "candidate_oracle_branch_scores": [ + 0.556771457195282, + 0.5505416989326477, + 0.5558110475540161, + 0.5470978021621704 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.7452741861343384, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -1.7452741861343384, + -1.7534254789352417, + -1.8068493604660034, + -1.8149282932281494 + ], + "candidate_oracle_progress": 0.556771457195282, + "candidate_oracle_regret": 1.443228542804718, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.556771457195282, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.556771457195282, + "candidate_oracle_selected_branch_score": 0.556771457195282, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1f8e2d5d25706493821d;ms-34495bfe34440ac63cf6;ms-87fd37bcc6b666e220ef;ms-4fad1f976cc64cc06826;ms-cf274fbe4c657d04d7c4;ms-0377c81a67d9819ab96b", + "expert_regret": 1.4432291984558105, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-caed5c1b1c882141e2e9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4432291984558105, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5567708015441895, + "restore_error": 1.1920928955078125e-07, + "score": 0.5567708015441895, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5680051445960999, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5691571235656738, + 0.5691551566123962, + 0.569176435470581, + 0.569187581539154 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.9669532775878906e-06, + 1.9311904907226562e-05, + 3.045797348022461e-05 + ], + "candidate_oracle_branch_scores": [ + 0.5691571235656738, + 0.5691551566123962, + 0.569176435470581, + 0.569187581539154 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.8032427430152893, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 36 + ], + "candidate_oracle_potentials": [ + 0.8262357115745544, + 0.8250216245651245, + 0.8176121115684509, + 0.8032427430152893 + ], + "candidate_oracle_progress": 0.569187581539154, + "candidate_oracle_regret": 1.430812418460846, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.569187581539154, + "candidate_oracle_score_gain_over_selected": 3.045797348022461e-05, + "candidate_oracle_selected_branch_progress": 0.5691571235656738, + "candidate_oracle_selected_branch_score": 0.5691571235656738, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-11bb3387454624de8143;ms-a22fbce4503f088acb1f;ms-a6273302894af3505ca8;ms-b97cb4ec02e8234b08c5;ms-8d9b2a5ccd43461f827e;ms-309c09cf5d782e9ba0a3", + "expert_regret": 1.430795669555664, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-766b6fe7c08a3525ce94", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.430795669555664, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5692043304443359, + "restore_error": 1.1920928955078125e-07, + "score": 0.5692043304443359, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6371656060218811, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5446434020996094, + 0.543560802936554, + 0.5444213151931763, + 0.5444245338439941 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00108259916305542, + -0.00022208690643310547, + -0.00021886825561523438 + ], + "candidate_oracle_branch_scores": [ + 0.5446434020996094, + 0.543560802936554, + 0.5444213151931763, + 0.5444245338439941 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.728115975856781, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 4 + ], + "candidate_oracle_potentials": [ + 0.728115975856781, + 0.7140871286392212, + 0.6582983136177063, + 0.6568643450737 + ], + "candidate_oracle_progress": 0.5446434020996094, + "candidate_oracle_regret": 1.4553565979003906, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5446434020996094, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5446434020996094, + "candidate_oracle_selected_branch_score": 0.5446434020996094, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3aa864ead19c9cb9fb49;ms-66cc354bbf4e8bdd1051;ms-c104c2ebba7bf9b34680;ms-4bc32bd893d0cff76423;ms-ee19bfbcb2f4fbf5a44d;ms-d807915e233a0c74b809", + "expert_regret": 1.455595076084137, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ea72196e20393870bcbb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.455595076084137, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.544404923915863, + "restore_error": 1.1920928955078125e-07, + "score": 0.544404923915863, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6941569447517395, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.549822211265564, + 0.5495550036430359, + 0.5465189218521118, + 0.5466971397399902 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00026720762252807617, + -0.0033032894134521484, + -0.0031250715255737305 + ], + "candidate_oracle_branch_scores": [ + 0.549822211265564, + 0.5495550036430359, + 0.5465189218521118, + 0.5466971397399902 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.3809370994567871, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 24 + ], + "candidate_oracle_potentials": [ + -0.3809370994567871, + -0.3946932554244995, + -0.4155443608760834, + -0.42784085869789124 + ], + "candidate_oracle_progress": 0.549822211265564, + "candidate_oracle_regret": 1.450177788734436, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.549822211265564, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.549822211265564, + "candidate_oracle_selected_branch_score": 0.549822211265564, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3aa864ead19c9cb9fb49;ms-309c09cf5d782e9ba0a3;ms-9ff81e54049443a0f3d3;ms-66cc354bbf4e8bdd1051;ms-842e179244eddac303a5;ms-8f241450069e74460a40", + "expert_regret": 1.4501780271530151, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b6827e38768a63212d73", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4501780271530151, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5498219728469849, + "restore_error": 1.1920928955078125e-07, + "score": 0.5498219728469849, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5846074223518372, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.0760297104716301, + 0.07685063034296036, + 0.07520373910665512, + 0.06797172129154205 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0008209198713302612, + -0.0008259713649749756, + -0.008057989180088043 + ], + "candidate_oracle_branch_scores": [ + 0.0760297104716301, + 0.07685063034296036, + 0.07520373910665512, + 0.06797172129154205 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.8146984577178955, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 4 + ], + "candidate_oracle_potentials": [ + -2.8136231899261475, + -2.8146984577178955, + -2.816023588180542, + -2.839566230773926 + ], + "candidate_oracle_progress": 0.07685063034296036, + "candidate_oracle_regret": 1.9231493696570396, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.07685063034296036, + "candidate_oracle_score_gain_over_selected": 0.0008209198713302612, + "candidate_oracle_selected_branch_progress": 0.0760297104716301, + "candidate_oracle_selected_branch_score": 0.0760297104716301, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-319a6c0cef0ac1a872d5;ms-b9e46b7345a63ded4397;ms-aea09fb002af52e12bd8;ms-8b972386cfdf0158a0a3;ms-b481531ab787e3d6fb1e;ms-ed9addab41f3298db7bc", + "expert_regret": 1.9239706248044968, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a01e21b91a5b37a16afe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9239706248044968, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07602937519550323, + "restore_error": 1.1920928955078125e-07, + "score": 0.07602937519550323, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5671301484107971, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.4318438172340393, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 4 + ], + "candidate_oracle_potentials": [ + 0.4318438172340393, + 0.4002667963504791, + 0.3561607599258423, + 0.35329118371009827 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-166b7f66bf9f4eec432b;ms-bcc70292f404cd1c7f75;ms-e1972ebf2c5587a6fdf9;ms-935ff204de9424ec00a2;ms-d73a2a984d5829e884f9;ms-5fc884c238818acdde08", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f39bbaa063044719a98d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4596307575702667, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.025831198319792747, + 0.024479879066348076, + 0.021832620725035667, + 0.02332007884979248 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0013513192534446716, + -0.00399857759475708, + -0.002511119470000267 + ], + "candidate_oracle_branch_scores": [ + 0.025831198319792747, + 0.024479879066348076, + 0.021832620725035667, + 0.02332007884979248 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8923007845878601, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 24, + 4, + 33 + ], + "candidate_oracle_potentials": [ + -0.8923007845878601, + -0.909690797328949, + -0.9149637818336487, + -0.9282212853431702 + ], + "candidate_oracle_progress": 0.025831198319792747, + "candidate_oracle_regret": 1.9741688016802073, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.025831198319792747, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.025831198319792747, + "candidate_oracle_selected_branch_score": 0.025831198319792747, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4fad1f976cc64cc06826;ms-d305a11348461ae1622c;ms-a1d69e0b112064914357;ms-62b597990a3d637e5a8a;ms-cf274fbe4c657d04d7c4;ms-52cdfff790d71133c5a0", + "expert_regret": 1.9741688016802073, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c3cdd70e2bc10bba1930", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9741688016802073, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.025831198319792747, + "restore_error": 1.1920928955078125e-07, + "score": 0.025831198319792747, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.0681481808423996, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.38131245970726013, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.38131245970726013, + 0.3578180968761444, + 0.3510386049747467, + 0.3436916172504425 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-023e021f079a8774c741;ms-d91cbe61314c18955b6b;ms-3c4ff3dae26217f22a8b;ms-29f1abb869ff206a4d52;ms-73e36360221b6732c688;ms-87f8bbc8d9e7f4dcaacf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eb16021deb5d03f15c9d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5998215079307556, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 1.0164480209350586, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 24, + 36, + 40 + ], + "candidate_oracle_potentials": [ + 1.0164480209350586, + 1.014445424079895, + 0.9835783839225769, + 0.981255829334259 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13af3f2f8e0b8444fe68;ms-d75a00b1388f50bf8919;ms-5fc884c238818acdde08;ms-76c78750d7abc6570487;ms-61d4dd4acc03b8d30f19;ms-309d2258d275ae304857", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-912718b1f2ef92066799", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15316104888916016, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.08108830451965332, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 4 + ], + "candidate_oracle_potentials": [ + -0.08108830451965332, + -0.2821727991104126, + -0.318989098072052, + -0.31901001930236816 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-88bdd8987f890af7e9ea;ms-99ecd2226d7187416316;ms-b8276cb9b6cb9a9b302f;ms-4385e9c56007fdaa94b5;ms-8a74cf665984273be00d;ms-ffef7730418c831245b3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9783ccaf76f1b20c766e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7090435028076172, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5361405611038208, + 0.5359101295471191, + 0.5361153483390808, + 0.5357648730278015 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00023043155670166016, + -2.5212764739990234e-05, + -0.0003756880760192871 + ], + "candidate_oracle_branch_scores": [ + 0.5361405611038208, + 0.5359101295471191, + 0.5361153483390808, + 0.5357648730278015 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0634303092956543, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 4 + ], + "candidate_oracle_potentials": [ + -1.0634303092956543, + -1.1150596141815186, + -1.1309974193572998, + -1.1461963653564453 + ], + "candidate_oracle_progress": 0.5361405611038208, + "candidate_oracle_regret": 1.4638594388961792, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5361405611038208, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5361405611038208, + "candidate_oracle_selected_branch_score": 0.5361405611038208, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0cc80a2933abf1b4853f;ms-c425c810f7865e9564ee;ms-6558f35ae2a2871a4bfd;ms-0b7f8ba789c00b37caa0;ms-56ad75c28031e049a3dd;ms-72cf68c15631675b063f", + "expert_regret": 1.4637031555175781, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ffc3f18cbc674bdcc085", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4637031555175781, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5362968444824219, + "restore_error": 1.1920928955078125e-07, + "score": 0.5362968444824219, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4281698167324066, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5977324843406677 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.4022674560546875 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5977324843406677 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.41324135661125183, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 4, + 36, + 24 + ], + "candidate_oracle_potentials": [ + 0.41324135661125183, + 0.40951672196388245, + 0.4091421663761139, + 0.29830652475357056 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dbb32d9fd6999e09f589;ms-11230e3aaabb1feec834;ms-29dd2cdbb66fe13ab877;ms-55ea22014575410563a4;ms-99b15d50660b77fe2fcb;ms-0e275939f12a9dcee0a0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c2515d4a10082514714", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45203423500061035, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.9044854640960693, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + 0.9044854640960693, + 0.9008557796478271, + 0.8967257738113403, + 0.8956934213638306 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3aa864ead19c9cb9fb49;ms-41279eb586ca5e587474;ms-842e179244eddac303a5;ms-8d9b2a5ccd43461f827e;ms-b4af4c8b9dcd6976546c;ms-309c09cf5d782e9ba0a3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a17ceb004979b99a586", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6145790815353394, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7846371531486511, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 0.7846371531486511, + 0.7713846564292908, + 0.7606683373451233, + 0.7288702130317688 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d75a00b1388f50bf8919;ms-12050326f623a94ae9e0;ms-13af3f2f8e0b8444fe68;ms-61d4dd4acc03b8d30f19;ms-76c78750d7abc6570487;ms-5425964a186feaf6fd99", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2be3bf4f348678c0cc6c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39775481820106506, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5333250164985657, + 0.5366946458816528, + 0.5330697298049927, + 0.5333859324455261 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.003369629383087158, + -0.00025528669357299805, + 6.091594696044922e-05 + ], + "candidate_oracle_branch_scores": [ + 0.5333250164985657, + 0.5366946458816528, + 0.5330697298049927, + 0.5333859324455261 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.24514853954315186, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 36, + 4 + ], + "candidate_oracle_potentials": [ + -0.20542263984680176, + -0.24514853954315186, + -0.24923786520957947, + -0.25880539417266846 + ], + "candidate_oracle_progress": 0.5366946458816528, + "candidate_oracle_regret": 1.4633053541183472, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5366946458816528, + "candidate_oracle_score_gain_over_selected": 0.003369629383087158, + "candidate_oracle_selected_branch_progress": 0.5333250164985657, + "candidate_oracle_selected_branch_score": 0.5333250164985657, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e8fbdbddd9200f5091d6;ms-5425964a186feaf6fd99;ms-023e021f079a8774c741;ms-12050326f623a94ae9e0;ms-3d095a49ed03de972849;ms-4bf0620f8d1294466596", + "expert_regret": 1.4666749835014343, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2dc8e489908f72903319", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4666749835014343, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5333250164985657, + "restore_error": 1.1920928955078125e-07, + "score": 0.5333250164985657, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19909991323947906, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.3969525396823883, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.3969525396823883, + 0.3297981917858124, + 0.3150648772716522, + 0.2992006242275238 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9e1f3c14116ebca6164d;ms-0ece7b8c91d9d82f244b;ms-7a460f3c1b67817c19de;ms-4385e9c56007fdaa94b5;ms-0adce283894b0a2b7b94;ms-bc30ca6b7675f4de5041", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ca11ec8f7fbf0c1d66e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6831526756286621, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.06990134716033936, + 0.5454803109169006, + 0.5541335940361023, + 0.05227300152182579 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.4755789637565613, + 0.48423224687576294, + -0.017628345638513565 + ], + "candidate_oracle_branch_scores": [ + 0.06990134716033936, + 0.5454803109169006, + 0.5541335940361023, + 0.05227300152182579 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.998032569885254, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 0, + 36 + ], + "candidate_oracle_potentials": [ + -1.9787471294403076, + -1.991835594177246, + -1.998032569885254, + -1.9994947910308838 + ], + "candidate_oracle_progress": 0.5541335940361023, + "candidate_oracle_regret": 0.06408447027206421, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5541335940361023, + "candidate_oracle_score_gain_over_selected": 0.48423224687576294, + "candidate_oracle_selected_branch_progress": 0.06990134716033936, + "candidate_oracle_selected_branch_score": 0.06990134716033936, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2d995e39f2b95fed1a67;ms-b7e7fe66a6c86898eec2;ms-02ab2e7a74d970154eb7;ms-4f833710c2706ee077af;ms-c7f427f37d47501932e8;ms-8b972386cfdf0158a0a3", + "expert_regret": 0.5430488362908363, + "expert_score": 0.6129657030105591, + "expert_success": false, + "group_id": "ms-f653a3ac16eba9fba5dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5483011975884438, + "oracle_score": 0.6182180643081665, + "oracle_success": false, + "progress": 0.06991686671972275, + "restore_error": 1.1920928955078125e-07, + "score": 0.06991686671972275, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4936473071575165, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5843201875686646, + 0.5843685865402222, + 0.5845731496810913, + 0.5831904411315918 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 4.839897155761719e-05, + 0.0002529621124267578, + -0.001129746437072754 + ], + "candidate_oracle_branch_scores": [ + 0.5843201875686646, + 0.5843685865402222, + 0.5845731496810913, + 0.5831904411315918 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9512605667114258, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -0.9432825446128845, + -0.9470110535621643, + -0.9512605667114258, + -0.95160973072052 + ], + "candidate_oracle_progress": 0.5845731496810913, + "candidate_oracle_regret": 1.4154268503189087, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5845731496810913, + "candidate_oracle_score_gain_over_selected": 0.0002529621124267578, + "candidate_oracle_selected_branch_progress": 0.5843201875686646, + "candidate_oracle_selected_branch_score": 0.5843201875686646, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-55ea22014575410563a4;ms-ff3f17774184180998f0;ms-29dd2cdbb66fe13ab877;ms-11230e3aaabb1feec834;ms-3a07c49566decfea04de;ms-7be1c6c8ef67031b1f90", + "expert_regret": 1.4154962301254272, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c0bfce3c9dd10f9d3231", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4154962301254272, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5845037698745728, + "restore_error": 1.1920928955078125e-07, + "score": 0.5845037698745728, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3291715979576111, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5118445754051208, + 0.5110111236572266, + 0.5100343823432922, + 0.5065214037895203 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0008334517478942871, + -0.0018101930618286133, + -0.005323171615600586 + ], + "candidate_oracle_branch_scores": [ + 0.5118445754051208, + 0.5110111236572266, + 0.5100343823432922, + 0.5065214037895203 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6699336767196655, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 0, + 36 + ], + "candidate_oracle_potentials": [ + -0.6699336767196655, + -0.6715972423553467, + -0.6774615049362183, + -0.68266761302948 + ], + "candidate_oracle_progress": 0.5118445754051208, + "candidate_oracle_regret": 1.4881554245948792, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5118445754051208, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5118445754051208, + "candidate_oracle_selected_branch_score": 0.5118445754051208, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-97598e118c5cc8c254a5;ms-227fe0347d2ea57a66a3;ms-844b753810c45699d501;ms-ac281cce8f6e42586359;ms-bdd1924b44de2db5b07a;ms-6af227c07aaf7c0f0aea", + "expert_regret": 1.4881556630134583, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-296b75a11f61d61d5fba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4881556630134583, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5118443369865417, + "restore_error": 1.1920928955078125e-07, + "score": 0.5118443369865417, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42364150285720825, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.568831741809845, + 0.04513981565833092, + 1.0, + 0.026592707261443138 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.5236919522285461, + 1.4311683177947998, + -0.5422390103340149 + ], + "candidate_oracle_branch_scores": [ + 0.568831741809845, + 0.04513981565833092, + 2.0, + 0.026592707261443138 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.7492635250091553, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 20, + 4, + 36 + ], + "candidate_oracle_potentials": [ + -2.6559338569641113, + -2.737950325012207, + -2.7492635250091553, + -2.759246349334717 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4311683177947998, + "candidate_oracle_selected_branch_progress": 0.568831741809845, + "candidate_oracle_selected_branch_score": 0.568831741809845, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02ab2e7a74d970154eb7;ms-b7e7fe66a6c86898eec2;ms-4f833710c2706ee077af;ms-2d995e39f2b95fed1a67;ms-8b972386cfdf0158a0a3;ms-c7f427f37d47501932e8", + "expert_regret": 1.4311274290084839, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d1978e8c3540cb5b1f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4311274290084839, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5688725709915161, + "restore_error": 1.1920928955078125e-07, + "score": 0.5688725709915161, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.781986653804779, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5313723683357239, + 0.5299270749092102, + 0.5311172008514404, + 0.529637336730957 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0014452934265136719, + -0.00025516748428344727, + -0.0017350316047668457 + ], + "candidate_oracle_branch_scores": [ + 0.5313723683357239, + 0.5299270749092102, + 0.5311172008514404, + 0.529637336730957 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.30193912982940674, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 24 + ], + "candidate_oracle_potentials": [ + 0.30193912982940674, + 0.29879119992256165, + 0.2963065207004547, + 0.29342809319496155 + ], + "candidate_oracle_progress": 0.5313723683357239, + "candidate_oracle_regret": 1.4686276316642761, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5313723683357239, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5313723683357239, + "candidate_oracle_selected_branch_score": 0.5313723683357239, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fbcc714230de2c097d0d;ms-3a07c49566decfea04de;ms-55ea22014575410563a4;ms-3c4ff3dae26217f22a8b;ms-21155188bc35f0f021d3;ms-29f1abb869ff206a4d52", + "expert_regret": 1.4686309695243835, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6355260c6fa49f291729", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4686309695243835, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5313690304756165, + "restore_error": 1.1920928955078125e-07, + "score": 0.5313690304756165, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4088132083415985, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5698816776275635, + 0.5702545046806335, + 0.568761944770813, + 0.5690101981163025 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00037282705307006836, + -0.0011197328567504883, + -0.0008714795112609863 + ], + "candidate_oracle_branch_scores": [ + 0.5698816776275635, + 0.5702545046806335, + 0.568761944770813, + 0.5690101981163025 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.23550905287265778, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 24, + 4, + 20 + ], + "candidate_oracle_potentials": [ + 0.23628921806812286, + 0.23550905287265778, + 0.21113134920597076, + 0.20536088943481445 + ], + "candidate_oracle_progress": 0.5702545046806335, + "candidate_oracle_regret": 1.4297454953193665, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5702545046806335, + "candidate_oracle_score_gain_over_selected": 0.00037282705307006836, + "candidate_oracle_selected_branch_progress": 0.5698816776275635, + "candidate_oracle_selected_branch_score": 0.5698816776275635, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d91cbe61314c18955b6b;ms-3c4ff3dae26217f22a8b;ms-29f1abb869ff206a4d52;ms-29dd2cdbb66fe13ab877;ms-87f8bbc8d9e7f4dcaacf;ms-ff3f17774184180998f0", + "expert_regret": 1.4301181435585022, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe2964cc8940ee7c24aa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4301181435585022, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5698818564414978, + "restore_error": 1.1920928955078125e-07, + "score": 0.5698818564414978, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.599607527256012, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 1.2943899631500244, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 4 + ], + "candidate_oracle_potentials": [ + 1.2943899631500244, + 1.2813467979431152, + 1.265924334526062, + 1.2655657529830933 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-12050326f623a94ae9e0;ms-5425964a186feaf6fd99;ms-d75a00b1388f50bf8919;ms-a7f98a43ff113d74f009;ms-76c78750d7abc6570487;ms-e8fbdbddd9200f5091d6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3731f1c5af3c4a133633", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7261171340942383, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.6137659549713135, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 8 + ], + "candidate_oracle_potentials": [ + -0.6137659549713135, + -0.6151937246322632, + -0.6167385578155518, + -0.627838671207428 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3a07c49566decfea04de;ms-55ea22014575410563a4;ms-4b1561bd0029228fdbbe;ms-fbcc714230de2c097d0d;ms-a196fc3a729550509b18;ms-29dd2cdbb66fe13ab877", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-090e18187bb6ae4a9120", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.23569893836975098, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.03490495681762695, + 0.047647904604673386, + 0.03535497188568115, + 0.0468347929418087 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.012742947787046432, + 0.0004500150680541992, + 0.011929836124181747 + ], + "candidate_oracle_branch_scores": [ + 0.03490495681762695, + 0.047647904604673386, + 0.03535497188568115, + 0.0468347929418087 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.1079788208007812, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 3 + ], + "candidate_oracle_potentials": [ + -2.05325984954834, + -2.1079788208007812, + -2.1534183025360107, + -2.1588101387023926 + ], + "candidate_oracle_progress": 0.047647904604673386, + "candidate_oracle_regret": 1.9523520953953266, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.047647904604673386, + "candidate_oracle_score_gain_over_selected": 0.012742947787046432, + "candidate_oracle_selected_branch_progress": 0.03490495681762695, + "candidate_oracle_selected_branch_score": 0.03490495681762695, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1c0e2bb3a811fac6d567;ms-5415e349e8f9f2bce641;ms-782893a3eb2e3dcfd15e;ms-71ef8f2cdc11d83250fa;ms-a1d69e0b112064914357;ms-1b83fc0981e283975488", + "expert_regret": 1.9650963768363, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4f938bd3599c372c8bff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9650963768363, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.034903623163700104, + "restore_error": 1.1920928955078125e-07, + "score": 0.034903623163700104, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6982660889625549, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5264427065849304, + 0.5239819288253784, + 0.5262262225151062, + 0.5261353850364685 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002460777759552002, + -0.00021648406982421875, + -0.00030732154846191406 + ], + "candidate_oracle_branch_scores": [ + 0.5264427065849304, + 0.5239819288253784, + 0.5262262225151062, + 0.5261353850364685 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.01485531684011221, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 4 + ], + "candidate_oracle_potentials": [ + 0.01485531684011221, + -0.10895097255706787, + -0.11811786890029907, + -0.17487338185310364 + ], + "candidate_oracle_progress": 0.5264427065849304, + "candidate_oracle_regret": 1.4735572934150696, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5264427065849304, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5264427065849304, + "candidate_oracle_selected_branch_score": 0.5264427065849304, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0a4c4442237909d5f7b7;ms-0b7f8ba789c00b37caa0;ms-56ad75c28031e049a3dd;ms-9a1de6130828dc946a51;ms-578e24198ed828a74485;ms-0cc80a2933abf1b4853f", + "expert_regret": 1.4735572934150696, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-362ba7cebb2bab1421e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4735572934150696, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5264427065849304, + "restore_error": 1.1920928955078125e-07, + "score": 0.5264427065849304, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7760211825370789, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.10190217941999435, + 0.5494920611381531, + 0.5463757514953613, + 0.5645176768302917 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.4475898742675781, + 0.4444735646247864, + 0.4626154899597168 + ], + "candidate_oracle_branch_scores": [ + 0.10190217941999435, + 0.5494920611381531, + 0.5463757514953613, + 0.5645176768302917 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.4796125888824463, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 24, + 40 + ], + "candidate_oracle_potentials": [ + -0.4537637233734131, + -0.45445096492767334, + -0.4758455753326416, + -0.4796125888824463 + ], + "candidate_oracle_progress": 0.5645176768302917, + "candidate_oracle_regret": 1.4354823231697083, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5645176768302917, + "candidate_oracle_score_gain_over_selected": 0.4626154899597168, + "candidate_oracle_selected_branch_progress": 0.10190217941999435, + "candidate_oracle_selected_branch_score": 0.10190217941999435, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6f1db8895d5164cc5ae5;ms-b786173f210fcaa65a6e;ms-a76ae18568c88af1da6b;ms-ed9addab41f3298db7bc;ms-b481531ab787e3d6fb1e;ms-0a4c4442237909d5f7b7", + "expert_regret": 0.49243295192718506, + "expert_score": 0.594340980052948, + "expert_success": false, + "group_id": "ms-70bc2fe01ba217676b26", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.898091971874237, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10190802812576294, + "restore_error": 1.1920928955078125e-07, + "score": 0.10190802812576294, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12156490981578827, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.12097448110580444, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 8, + 1 + ], + "candidate_oracle_potentials": [ + -0.12097448110580444, + -0.16175782680511475, + -0.3432410955429077, + -0.4226970374584198 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-88bdd8987f890af7e9ea;ms-99ecd2226d7187416316;ms-b8276cb9b6cb9a9b302f;ms-4385e9c56007fdaa94b5;ms-8a74cf665984273be00d;ms-c1ac63fb3644e3a2ae06", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c70be4072fb4e49ac106", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12574522197246552, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5480183959007263, + 0.5477327108383179, + 0.5474126935005188, + 0.5441376566886902 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00028568506240844727, + -0.0006057024002075195, + -0.003880739212036133 + ], + "candidate_oracle_branch_scores": [ + 0.5480183959007263, + 0.5477327108383179, + 0.5474126935005188, + 0.5441376566886902 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.15298159420490265, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.15298159420490265, + -0.15603585541248322, + -0.1594633013010025, + -0.2026403248310089 + ], + "candidate_oracle_progress": 0.5480183959007263, + "candidate_oracle_regret": 1.4519816040992737, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5480183959007263, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5480183959007263, + "candidate_oracle_selected_branch_score": 0.5480183959007263, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d6b2d805dc063382ade2;ms-39450dbba738dbd8a764;ms-b97cb4ec02e8234b08c5;ms-c7f427f37d47501932e8;ms-cafa65eeb953aff47f30;ms-2d995e39f2b95fed1a67", + "expert_regret": 1.451981008052826, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0f219ce35aff264455e2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.451981008052826, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5480189919471741, + "restore_error": 1.1920928955078125e-07, + "score": 0.5480189919471741, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9311683773994446, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.0786353126168251, + 0.07865488529205322, + 0.07862839847803116, + 0.07862990349531174 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.9572675228118896e-05, + -6.9141387939453125e-06, + -5.409121513366699e-06 + ], + "candidate_oracle_branch_scores": [ + 0.0786353126168251, + 0.07865488529205322, + 0.07862839847803116, + 0.07862990349531174 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3833158016204834, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 36, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -1.362547755241394, + -1.3833158016204834, + -1.3913201093673706, + -1.427731990814209 + ], + "candidate_oracle_progress": 0.07865488529205322, + "candidate_oracle_regret": 1.9213451147079468, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.07865488529205322, + "candidate_oracle_score_gain_over_selected": 1.9572675228118896e-05, + "candidate_oracle_selected_branch_progress": 0.0786353126168251, + "candidate_oracle_selected_branch_score": 0.0786353126168251, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a76ae18568c88af1da6b;ms-b481531ab787e3d6fb1e;ms-ed9addab41f3298db7bc;ms-b786173f210fcaa65a6e;ms-b9e46b7345a63ded4397;ms-319a6c0cef0ac1a872d5", + "expert_regret": 1.9213648065924644, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d9e3a187dcadb9ad26b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9213648065924644, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07863519340753555, + "restore_error": 1.1920928955078125e-07, + "score": 0.07863519340753555, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.722796618938446, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.532736599445343, + 0.5325657725334167, + 0.04241306707262993, + 0.5328416228294373 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00017082691192626953, + -0.490323543548584, + 0.00010502338409423828 + ], + "candidate_oracle_branch_scores": [ + 0.532736599445343, + 0.5325657725334167, + 0.04241306707262993, + 0.5328416228294373 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.4522933959960938, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 36, + 0 + ], + "candidate_oracle_potentials": [ + -2.341350793838501, + -2.356841802597046, + -2.4127368927001953, + -2.4522933959960938 + ], + "candidate_oracle_progress": 0.5328416228294373, + "candidate_oracle_regret": 1.4671583771705627, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5328416228294373, + "candidate_oracle_score_gain_over_selected": 0.00010502338409423828, + "candidate_oracle_selected_branch_progress": 0.532736599445343, + "candidate_oracle_selected_branch_score": 0.532736599445343, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2d995e39f2b95fed1a67;ms-02ab2e7a74d970154eb7;ms-b7e7fe66a6c86898eec2;ms-c7f427f37d47501932e8;ms-4f833710c2706ee077af;ms-8b972386cfdf0158a0a3", + "expert_regret": 1.467263400554657, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7e6493bb6b1ff650d6de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.467263400554657, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.532736599445343, + "restore_error": 1.1920928955078125e-07, + "score": 0.532736599445343, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4353121221065521, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.09993431717157364, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 0, + 8, + 1 + ], + "candidate_oracle_potentials": [ + -0.09993431717157364, + -0.109107106924057, + -0.2037927359342575, + -0.21648485958576202 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b97cb4ec02e8234b08c5;ms-625b5d55ca76cc565049;ms-a22fbce4503f088acb1f;ms-11bb3387454624de8143;ms-1bfca22d4af29f0e14b1;ms-a6273302894af3505ca8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4276f24b1b5dce771bff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2746349573135376, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.06763973087072372, + 0.06955428421497345, + 0.07160069793462753, + 0.03978068754076958 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0019145533442497253, + 0.003960967063903809, + -0.027859043329954147 + ], + "candidate_oracle_branch_scores": [ + 0.06763973087072372, + 0.06955428421497345, + 0.07160069793462753, + 0.03978068754076958 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.157571315765381, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 0 + ], + "candidate_oracle_potentials": [ + -2.1508307456970215, + -2.1554253101348877, + -2.157571315765381, + -2.1822900772094727 + ], + "candidate_oracle_progress": 0.07160069793462753, + "candidate_oracle_regret": 1.9283993020653725, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.07160069793462753, + "candidate_oracle_score_gain_over_selected": 0.003960967063903809, + "candidate_oracle_selected_branch_progress": 0.06763973087072372, + "candidate_oracle_selected_branch_score": 0.06763973087072372, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1c0e2bb3a811fac6d567;ms-d305a11348461ae1622c;ms-a1d69e0b112064914357;ms-5415e349e8f9f2bce641;ms-52cdfff790d71133c5a0;ms-62b597990a3d637e5a8a", + "expert_regret": 1.932360626757145, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2e5c2f75d3f6311e0a1c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.932360626757145, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06763937324285507, + "restore_error": 1.1920928955078125e-07, + "score": 0.06763937324285507, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5267478823661804, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5431217551231384, + 0.5429098010063171, + 0.5428357720375061, + 0.5428650975227356 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00021195411682128906, + -0.0002859830856323242, + -0.00025665760040283203 + ], + "candidate_oracle_branch_scores": [ + 0.5431217551231384, + 0.5429098010063171, + 0.5428357720375061, + 0.5428650975227356 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.9780352711677551, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 33, + 17 + ], + "candidate_oracle_potentials": [ + 0.9780352711677551, + 0.9739211201667786, + 0.9737549424171448, + 0.9732480645179749 + ], + "candidate_oracle_progress": 0.5431217551231384, + "candidate_oracle_regret": 1.4568782448768616, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5431217551231384, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5431217551231384, + "candidate_oracle_selected_branch_score": 0.5431217551231384, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-66cc354bbf4e8bdd1051;ms-3aa864ead19c9cb9fb49;ms-c104c2ebba7bf9b34680;ms-4bc32bd893d0cff76423;ms-ee19bfbcb2f4fbf5a44d;ms-d4bde31fd7e7cee76b09", + "expert_regret": 1.4568787217140198, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bb60defa0d234da9e0bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4568787217140198, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5431212782859802, + "restore_error": 1.1920928955078125e-07, + "score": 0.5431212782859802, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1707674115896225, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.1563306301832199, + 0.13832980394363403, + 0.5328062176704407, + 0.1563587486743927 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.018000826239585876, + 0.37647557258605957, + 2.8118491172790527e-05 + ], + "candidate_oracle_branch_scores": [ + 0.1563306301832199, + 0.13832980394363403, + 0.5328062176704407, + 0.1563587486743927 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.7544775009155273, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 0, + 20 + ], + "candidate_oracle_potentials": [ + -1.6796821355819702, + -1.7229735851287842, + -1.7544775009155273, + -1.7685000896453857 + ], + "candidate_oracle_progress": 0.5328062176704407, + "candidate_oracle_regret": 1.4671937823295593, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5328062176704407, + "candidate_oracle_score_gain_over_selected": 0.37647557258605957, + "candidate_oracle_selected_branch_progress": 0.1563306301832199, + "candidate_oracle_selected_branch_score": 0.1563306301832199, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-91d86cba2602d1fa780d;ms-0b7f8ba789c00b37caa0;ms-56ad75c28031e049a3dd;ms-227fe0347d2ea57a66a3;ms-b7e7fe66a6c86898eec2;ms-4f833710c2706ee077af", + "expert_regret": 0.46119771897792816, + "expert_score": 0.6176263093948364, + "expert_success": false, + "group_id": "ms-a509a572b3871e591d26", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8435714095830917, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.15642859041690826, + "restore_error": 1.1920928955078125e-07, + "score": 0.15642859041690826, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7020055055618286, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.976962685585022, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 4, + 36, + 0 + ], + "candidate_oracle_potentials": [ + -1.976962685585022, + -1.9875317811965942, + -2.026599168777466, + -2.0817689895629883 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8b972386cfdf0158a0a3;ms-aea09fb002af52e12bd8;ms-319a6c0cef0ac1a872d5;ms-4f833710c2706ee077af;ms-b9e46b7345a63ded4397;ms-b481531ab787e3d6fb1e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5bae191ebad7c9f2687", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3812009394168854, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5462724566459656, + 0.5443345904350281, + 0.5471038222312927, + 0.5447821617126465 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0019378662109375, + 0.0008313655853271484, + -0.0014902949333190918 + ], + "candidate_oracle_branch_scores": [ + 0.5462724566459656, + 0.5443345904350281, + 0.5471038222312927, + 0.5447821617126465 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.18886032700538635, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.213512122631073, + 0.19416339695453644, + 0.18886032700538635, + 0.17449845373630524 + ], + "candidate_oracle_progress": 0.5471038222312927, + "candidate_oracle_regret": 1.4528961777687073, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5471038222312927, + "candidate_oracle_score_gain_over_selected": 0.0008313655853271484, + "candidate_oracle_selected_branch_progress": 0.5462724566459656, + "candidate_oracle_selected_branch_score": 0.5462724566459656, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cafa65eeb953aff47f30;ms-39450dbba738dbd8a764;ms-73e36360221b6732c688;ms-87f8bbc8d9e7f4dcaacf;ms-07e0726dedce0a0e4419;ms-87b44e6219279322a723", + "expert_regret": 1.4537261128425598, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-17330235d51598ebcb4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4537261128425598, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5462738871574402, + "restore_error": 1.1920928955078125e-07, + "score": 0.5462738871574402, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43828025460243225, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.9976462721824646, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 0.9976462721824646, + 0.9949536323547363, + 0.9931256771087646, + 0.9922115206718445 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-55ea22014575410563a4;ms-3a07c49566decfea04de;ms-29dd2cdbb66fe13ab877;ms-ff3f17774184180998f0;ms-11230e3aaabb1feec834;ms-d91cbe61314c18955b6b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-910364d2d86091c5e0cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4513537585735321, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5382063984870911, + 0.5383829474449158, + 0.5377076268196106, + 0.543512225151062 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00017654895782470703, + -0.0004987716674804688, + 0.005305826663970947 + ], + "candidate_oracle_branch_scores": [ + 0.5382063984870911, + 0.5383829474449158, + 0.5377076268196106, + 0.543512225151062 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.6284698247909546, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 36, + 0 + ], + "candidate_oracle_potentials": [ + -1.6081455945968628, + -1.6115421056747437, + -1.6115849018096924, + -1.6284698247909546 + ], + "candidate_oracle_progress": 0.543512225151062, + "candidate_oracle_regret": 1.456487774848938, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.543512225151062, + "candidate_oracle_score_gain_over_selected": 0.005305826663970947, + "candidate_oracle_selected_branch_progress": 0.5382063984870911, + "candidate_oracle_selected_branch_score": 0.5382063984870911, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-52cdfff790d71133c5a0;ms-5415e349e8f9f2bce641;ms-d305a11348461ae1622c;ms-bdd1924b44de2db5b07a;ms-1c0e2bb3a811fac6d567;ms-ac281cce8f6e42586359", + "expert_regret": 1.461793601512909, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6b9ede8946200ad0cd5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.461793601512909, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5382063984870911, + "restore_error": 1.1920928955078125e-07, + "score": 0.5382063984870911, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6187810897827148, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.6300638914108276, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + 0.6300638914108276, + 0.6116446256637573, + 0.6094468832015991, + 0.6020963191986084 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b97cb4ec02e8234b08c5;ms-625b5d55ca76cc565049;ms-a22fbce4503f088acb1f;ms-11bb3387454624de8143;ms-d6b2d805dc063382ade2;ms-943b5187cbe128b9b563", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5f98f13f17e8f41f7436", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4964123070240021, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5318200588226318, + 0.0365326888859272, + 0.05452456697821617, + 0.0638049840927124 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.49528735876083374, + -0.47729548811912537, + -0.46801507472991943 + ], + "candidate_oracle_branch_scores": [ + 0.5318200588226318, + 0.0365326888859272, + 0.05452456697821617, + 0.0638049840927124 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.9291582107543945, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 20, + 4, + 36 + ], + "candidate_oracle_potentials": [ + -1.9291582107543945, + -1.9419573545455933, + -1.9500716924667358, + -1.960534930229187 + ], + "candidate_oracle_progress": 0.5318200588226318, + "candidate_oracle_regret": 1.4681799411773682, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5318200588226318, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5318200588226318, + "candidate_oracle_selected_branch_score": 0.5318200588226318, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-de066fc4200163ebd06b;ms-c425c810f7865e9564ee;ms-1fb2f4c1e17e99767558;ms-c76158673d20b18c2622;ms-42edbdb8ff281fc33a99;ms-6558f35ae2a2871a4bfd", + "expert_regret": 1.4681814312934875, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cc0b33f92229d32bd84f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4681814312934875, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5318185687065125, + "restore_error": 1.1920928955078125e-07, + "score": 0.5318185687065125, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 1.0306156873703003, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.07683145254850388, + 0.07681198418140411, + 0.07680287212133408, + 0.06383291631937027 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.9468367099761963e-05, + -2.8580427169799805e-05, + -0.012998536229133606 + ], + "candidate_oracle_branch_scores": [ + 0.07683145254850388, + 0.07681198418140411, + 0.07680287212133408, + 0.06383291631937027 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.220461845397949, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 24 + ], + "candidate_oracle_potentials": [ + -2.220461845397949, + -2.2249395847320557, + -2.3477976322174072, + -2.4780309200286865 + ], + "candidate_oracle_progress": 0.07683145254850388, + "candidate_oracle_regret": 1.9231685474514961, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 3.501772880554199e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.07683145254850388, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.07683145254850388, + "candidate_oracle_selected_branch_score": 0.07683145254850388, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2d995e39f2b95fed1a67;ms-02ab2e7a74d970154eb7;ms-b7e7fe66a6c86898eec2;ms-4f833710c2706ee077af;ms-c7f427f37d47501932e8;ms-8b972386cfdf0158a0a3", + "expert_regret": 1.9231680259108543, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10cb98b0a1ca5429dd28", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9231680259108543, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07683197408914566, + "restore_error": 2.384185791015625e-07, + "score": 0.07683197408914566, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44413042068481445, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.544855535030365, + 0.5420611500740051, + 0.5421768426895142, + 0.5446377992630005 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0027943849563598633, + -0.00267869234085083, + -0.00021773576736450195 + ], + "candidate_oracle_branch_scores": [ + 0.544855535030365, + 0.5420611500740051, + 0.5421768426895142, + 0.5446377992630005 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.6436638832092285, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 0.6436638832092285, + 0.6387113928794861, + 0.5771657824516296, + 0.5768831968307495 + ], + "candidate_oracle_progress": 0.544855535030365, + "candidate_oracle_regret": 1.455144464969635, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 3.501772880554199e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.544855535030365, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.544855535030365, + "candidate_oracle_selected_branch_score": 0.544855535030365, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13b3c492538e5b3c7bdd;ms-dbb32d9fd6999e09f589;ms-7be1c6c8ef67031b1f90;ms-27b0553a5c49108e6a98;ms-7af1e453acf970f40546;ms-774e954ffdc5da041261", + "expert_regret": 1.4551751017570496, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5a651f9e28ea52016fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4551751017570496, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5448248982429504, + "restore_error": 2.384185791015625e-07, + "score": 0.5448248982429504, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.825387179851532, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.47771701216697693, + 0.4773366451263428, + 0.4837729036808014, + 0.4827854335308075 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0003803670406341553, + 0.006055891513824463, + 0.005068421363830566 + ], + "candidate_oracle_branch_scores": [ + 0.47771701216697693, + 0.4773366451263428, + 0.4837729036808014, + 0.4827854335308075 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.4869595468044281, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 24 + ], + "candidate_oracle_potentials": [ + -0.425510972738266, + -0.48182055354118347, + -0.4869595468044281, + -0.5438116192817688 + ], + "candidate_oracle_progress": 0.4837729036808014, + "candidate_oracle_regret": 1.5162270963191986, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 3.501772880554199e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4837729036808014, + "candidate_oracle_score_gain_over_selected": 0.006055891513824463, + "candidate_oracle_selected_branch_progress": 0.47771701216697693, + "candidate_oracle_selected_branch_score": 0.47771701216697693, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a8e6435948250f5e163d;ms-f3f6a1b34fdf35290a6c;ms-8f241450069e74460a40;ms-26e09c86be9068a34acf;ms-5780f9e1e9f9e740d474;ms-7057de70d36f5cc31472", + "expert_regret": 1.5221693813800812, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d849d754f346b826e052", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5221693813800812, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4778306186199188, + "restore_error": 2.384185791015625e-07, + "score": 0.4778306186199188, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39803940057754517, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5660238265991211, + 0.5660380721092224, + 0.5660274624824524, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.424551010131836e-05, + 3.635883331298828e-06, + 1.433976173400879 + ], + "candidate_oracle_branch_scores": [ + 0.5660238265991211, + 0.5660380721092224, + 0.5660274624824524, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6379736065864563, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 20, + 36, + 8 + ], + "candidate_oracle_potentials": [ + -0.49234721064567566, + -0.508098840713501, + -0.6077796220779419, + -0.6379736065864563 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 3.501772880554199e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.433976173400879, + "candidate_oracle_selected_branch_progress": 0.5660238265991211, + "candidate_oracle_selected_branch_score": 0.5660238265991211, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d88107eff1e361cdcc4c;ms-70342af6b601660d7c69;ms-b40ee5a75332685d5cec;ms-16d5b122db1824caf92b;ms-0e275939f12a9dcee0a0;ms-8f5255815f8b70b48734", + "expert_regret": 1.4339763522148132, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0c7dab7ee052231f3f57", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4339763522148132, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5660236477851868, + "restore_error": 2.384185791015625e-07, + "score": 0.5660236477851868, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.09315861761569977, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5613634586334229, + 0.561147153377533, + 0.5609258413314819, + 0.5596072673797607 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00021630525588989258, + -0.00043761730194091797, + -0.0017561912536621094 + ], + "candidate_oracle_branch_scores": [ + 0.5613634586334229, + 0.561147153377533, + 0.5609258413314819, + 0.5596072673797607 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.17997072637081146, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 24 + ], + "candidate_oracle_potentials": [ + -0.17997072637081146, + -0.18133006989955902, + -0.18309049308300018, + -0.1843484789133072 + ], + "candidate_oracle_progress": 0.5613634586334229, + "candidate_oracle_regret": 1.4386365413665771, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 3.501772880554199e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5613634586334229, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5613634586334229, + "candidate_oracle_selected_branch_score": 0.5613634586334229, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d6b2d805dc063382ade2;ms-cafa65eeb953aff47f30;ms-39450dbba738dbd8a764;ms-87f8bbc8d9e7f4dcaacf;ms-b97cb4ec02e8234b08c5;ms-6f1db8895d5164cc5ae5", + "expert_regret": 1.4386366605758667, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-76b9f40367a1ee020744", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4386366605758667, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5613633394241333, + "restore_error": 2.384185791015625e-07, + "score": 0.5613633394241333, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5755171179771423, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 1.2208621501922607, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 33, + 17 + ], + "candidate_oracle_potentials": [ + 1.2208621501922607, + 1.2131445407867432, + 1.212310791015625, + 1.2122323513031006 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 3.501772880554199e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-76c78750d7abc6570487;ms-a7f98a43ff113d74f009;ms-5fc884c238818acdde08;ms-c4cb99b887c88c707ba9;ms-11a2794efa24f4d93d83;ms-4c83412fa0aa5180ad89", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-66540aefd55a84b5088f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5323400497436523, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.6583598256111145, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + 0.6583598256111145, + 0.6302505135536194, + 0.6251447796821594, + 0.6196704506874084 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.501772880554199e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fb228a036fe5973bcad1;ms-26e09c86be9068a34acf;ms-a6273302894af3505ca8;ms-625b5d55ca76cc565049;ms-b97cb4ec02e8234b08c5;ms-a22fbce4503f088acb1f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8af87d14945da6a910e4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40008053183555603, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.9489434957504272, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + 0.9489434957504272, + 0.9454024434089661, + 0.94117671251297, + 0.9085315465927124 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 3.501772880554199e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6273302894af3505ca8;ms-11bb3387454624de8143;ms-a22fbce4503f088acb1f;ms-8d9b2a5ccd43461f827e;ms-41279eb586ca5e587474;ms-309c09cf5d782e9ba0a3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d962acc9cfbc27c599c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5739884972572327, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 1.2198437452316284, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 33, + 17 + ], + "candidate_oracle_potentials": [ + 1.2198437452316284, + 1.212625503540039, + 1.2113587856292725, + 1.2113442420959473 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-76c78750d7abc6570487;ms-a7f98a43ff113d74f009;ms-5fc884c238818acdde08;ms-11a2794efa24f4d93d83;ms-c4cb99b887c88c707ba9;ms-4c83412fa0aa5180ad89", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b6df140b235c8fe0eaad", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8182643055915833, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.08646183460950851, + 0.08636968582868576, + 0.07168115675449371, + 0.07398509979248047 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -9.21487808227539e-05, + -0.014780677855014801, + -0.012476734817028046 + ], + "candidate_oracle_branch_scores": [ + 0.08646183460950851, + 0.08636968582868576, + 0.07168115675449371, + 0.07398509979248047 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.850928544998169, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -1.850928544998169, + -1.883203148841858, + -1.9406291246414185, + -2.005650520324707 + ], + "candidate_oracle_progress": 0.08646183460950851, + "candidate_oracle_regret": 1.9135381653904915, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.08646183460950851, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.08646183460950851, + "candidate_oracle_selected_branch_score": 0.08646183460950851, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a76ae18568c88af1da6b;ms-b786173f210fcaa65a6e;ms-ed9addab41f3298db7bc;ms-b481531ab787e3d6fb1e;ms-b9e46b7345a63ded4397;ms-aea09fb002af52e12bd8", + "expert_regret": 1.913537211716175, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-547f4204888aee978bf0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.913537211716175, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08646278828382492, + "restore_error": 1.1920928955078125e-07, + "score": 0.08646278828382492, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5067166686058044, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5042778849601746, + 0.4930100440979004, + 0.5004100799560547, + 0.4906509518623352 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.01126784086227417, + -0.003867805004119873, + -0.013626933097839355 + ], + "candidate_oracle_branch_scores": [ + 0.5042778849601746, + 0.4930100440979004, + 0.5004100799560547, + 0.4906509518623352 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.385657548904419, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -2.385657548904419, + -2.407370090484619, + -2.4349331855773926, + -2.452782392501831 + ], + "candidate_oracle_progress": 0.5042778849601746, + "candidate_oracle_regret": 1.4957221150398254, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5042778849601746, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5042778849601746, + "candidate_oracle_selected_branch_score": 0.5042778849601746, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0cc80a2933abf1b4853f;ms-5316151a88a3282436ca;ms-91d86cba2602d1fa780d;ms-34495bfe34440ac63cf6;ms-56ad75c28031e049a3dd;ms-0a4c4442237909d5f7b7", + "expert_regret": 1.495789349079132, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-723a1f2e22afe15b6981", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.495789349079132, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5042106509208679, + "restore_error": 1.1920928955078125e-07, + "score": 0.5042106509208679, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6031787991523743, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3416962623596191, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 0, + 8 + ], + "candidate_oracle_potentials": [ + -1.3416962623596191, + -1.3626232147216797, + -1.3704384565353394, + -1.5207908153533936 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f947dbf28ad85666e2f1;ms-08c39d9cc9eb7578e6e9;ms-fbda7bc51ca269d1cda4;ms-6558f35ae2a2871a4bfd;ms-1fb2f4c1e17e99767558;ms-de066fc4200163ebd06b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10f2865bef6da7b66423", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.038452498614788055, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.591199517250061, + 0.5917128324508667, + 0.592282235622406, + 0.5981447100639343 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0005133152008056641, + 0.0010827183723449707, + 0.006945192813873291 + ], + "candidate_oracle_branch_scores": [ + 0.591199517250061, + 0.5917128324508667, + 0.592282235622406, + 0.5981447100639343 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8421577215194702, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.8064541220664978, + -0.8072120547294617, + -0.8084550499916077, + -0.8421577215194702 + ], + "candidate_oracle_progress": 0.5981447100639343, + "candidate_oracle_regret": 1.4018552899360657, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5981447100639343, + "candidate_oracle_score_gain_over_selected": 0.006945192813873291, + "candidate_oracle_selected_branch_progress": 0.591199517250061, + "candidate_oracle_selected_branch_score": 0.591199517250061, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dbb32d9fd6999e09f589;ms-11230e3aaabb1feec834;ms-7be1c6c8ef67031b1f90;ms-55ea22014575410563a4;ms-4b1561bd0029228fdbbe;ms-99b15d50660b77fe2fcb", + "expert_regret": 1.4088000655174255, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-351818a836474e594d3c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4088000655174255, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5911999344825745, + "restore_error": 1.1920928955078125e-07, + "score": 0.5911999344825745, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4250088334083557, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5404670238494873, + 0.5375043749809265, + 0.5402111411094666, + 0.5375440120697021 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002962648868560791, + -0.00025588274002075195, + -0.0029230117797851562 + ], + "candidate_oracle_branch_scores": [ + 0.5404670238494873, + 0.5375043749809265, + 0.5402111411094666, + 0.5375440120697021 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.461428701877594, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 0.461428701877594, + 0.4161894917488098, + 0.3339265286922455, + 0.2948381006717682 + ], + "candidate_oracle_progress": 0.5404670238494873, + "candidate_oracle_regret": 1.4595329761505127, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5404670238494873, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5404670238494873, + "candidate_oracle_selected_branch_score": 0.5404670238494873, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a7f98a43ff113d74f009;ms-12050326f623a94ae9e0;ms-5425964a186feaf6fd99;ms-d75a00b1388f50bf8919;ms-4bf0620f8d1294466596;ms-5fc884c238818acdde08", + "expert_regret": 1.4595329761505127, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-42117385b9e6e57c7e63", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4595329761505127, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5404670238494873, + "restore_error": 1.1920928955078125e-07, + "score": 0.5404670238494873, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.34752172231674194, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.9344646334648132, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + 0.9344646334648132, + 0.9342049360275269, + 0.7998323440551758, + 0.7968826293945312 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c4cb99b887c88c707ba9;ms-c8666cbd7e5a9d0fd036;ms-11a2794efa24f4d93d83;ms-6b8adb335c80e03d5cd5;ms-76c78750d7abc6570487;ms-2f57eadf546710065684", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-03cdc738473ac1df9dfc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6736761331558228, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.8983915448188782, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 4 + ], + "candidate_oracle_potentials": [ + 0.8983915448188782, + 0.8622400164604187, + 0.811421811580658, + 0.803564727306366 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-07e0726dedce0a0e4419;ms-87b44e6219279322a723;ms-bee62a6ef02134938aae;ms-1bfca22d4af29f0e14b1;ms-cafa65eeb953aff47f30;ms-943b5187cbe128b9b563", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb92a1e6b67121783fff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3202245533466339, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.9110333323478699, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + 0.9110333323478699, + 0.8881110548973083, + 0.8683815002441406, + 0.8426638841629028 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-166b7f66bf9f4eec432b;ms-bcc70292f404cd1c7f75;ms-e1972ebf2c5587a6fdf9;ms-2c68b2b895bdbedbaa08;ms-2ae57bab6d2ea11f6638;ms-935ff204de9424ec00a2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-759ba8b7be233ca47c30", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6634238362312317, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.05699124559760094, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.9430087804794312, + 1.9430087804794312, + 1.9430087804794312 + ], + "candidate_oracle_branch_scores": [ + 0.05699124559760094, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.18792632222175598, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 24 + ], + "candidate_oracle_potentials": [ + 0.19575965404510498, + 0.18792632222175598, + 0.1627664566040039, + 0.14722687005996704 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.9430087804794312, + "candidate_oracle_selected_branch_progress": 0.05699124559760094, + "candidate_oracle_selected_branch_score": 0.05699124559760094, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-578e24198ed828a74485;ms-5316151a88a3282436ca;ms-e058c0dba52df04b8642;ms-9a1de6130828dc946a51;ms-97598e118c5cc8c254a5;ms-0a4c4442237909d5f7b7", + "expert_regret": 1.9425367452204227, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c92e8da7621fbf50cd4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9425367452204227, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.057463254779577255, + "restore_error": 1.1920928955078125e-07, + "score": 0.057463254779577255, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3603573739528656, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.02668623998761177, + 0.026028240099549294, + 0.0253730658441782, + 0.02052844874560833 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0006579998880624771, + -0.0013131741434335709, + -0.006157791242003441 + ], + "candidate_oracle_branch_scores": [ + 0.02668623998761177, + 0.026028240099549294, + 0.0253730658441782, + 0.02052844874560833 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.5548553466796875, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -2.5548553466796875, + -2.584153652191162, + -2.61299991607666, + -2.738448143005371 + ], + "candidate_oracle_progress": 0.02668623998761177, + "candidate_oracle_regret": 1.9733137600123882, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.02668623998761177, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.02668623998761177, + "candidate_oracle_selected_branch_score": 0.02668623998761177, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-782893a3eb2e3dcfd15e;ms-e058c0dba52df04b8642;ms-71ef8f2cdc11d83250fa;ms-bdd1924b44de2db5b07a;ms-1b83fc0981e283975488;ms-c2bc492ab5eb87a73789", + "expert_regret": 1.9733137004077435, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-55c2bba961a327aa5260", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9733137004077435, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.026686299592256546, + "restore_error": 1.1920928955078125e-07, + "score": 0.026686299592256546, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8469933867454529, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5108811259269714, + 0.5104931592941284, + 0.5098525881767273, + 0.08068700134754181 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0003879666328430176, + -0.0010285377502441406, + -0.4301941394805908 + ], + "candidate_oracle_branch_scores": [ + 0.5108811259269714, + 0.5104931592941284, + 0.5098525881767273, + 0.08068700134754181 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.612397313117981, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -1.612397313117981, + -1.6130088567733765, + -1.6401020288467407, + -1.7059032917022705 + ], + "candidate_oracle_progress": 0.5108811259269714, + "candidate_oracle_regret": 1.4891188740730286, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5108811259269714, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5108811259269714, + "candidate_oracle_selected_branch_score": 0.5108811259269714, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8b972386cfdf0158a0a3;ms-aea09fb002af52e12bd8;ms-4f833710c2706ee077af;ms-319a6c0cef0ac1a872d5;ms-b9e46b7345a63ded4397;ms-02ab2e7a74d970154eb7", + "expert_regret": 1.4891197085380554, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ca1c25fddb7da05d80a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4891197085380554, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5108802914619446, + "restore_error": 1.1920928955078125e-07, + "score": 0.5108802914619446, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5741111040115356, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.6995930075645447, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + 0.6995930075645447, + 0.6554604172706604, + 0.5992645025253296, + 0.5271158814430237 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-023e021f079a8774c741;ms-d91cbe61314c18955b6b;ms-3c4ff3dae26217f22a8b;ms-29f1abb869ff206a4d52;ms-73e36360221b6732c688;ms-87f8bbc8d9e7f4dcaacf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f0e2c9caad14bd37ecf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6039810180664062, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5395662188529968, + 0.5432016253471375, + 0.5395974516868591, + 0.5436446070671082 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.003635406494140625, + 3.123283386230469e-05, + 0.004078388214111328 + ], + "candidate_oracle_branch_scores": [ + 0.5395662188529968, + 0.5432016253471375, + 0.5395974516868591, + 0.5436446070671082 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.770438551902771, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 24, + 20, + 40, + 36 + ], + "candidate_oracle_potentials": [ + -0.7287190556526184, + -0.7387230396270752, + -0.7658429741859436, + -0.770438551902771 + ], + "candidate_oracle_progress": 0.5436446070671082, + "candidate_oracle_regret": 1.4563553929328918, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5436446070671082, + "candidate_oracle_score_gain_over_selected": 0.004078388214111328, + "candidate_oracle_selected_branch_progress": 0.5395662188529968, + "candidate_oracle_selected_branch_score": 0.5395662188529968, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c2bc492ab5eb87a73789;ms-2cf1227610d4602f88ed;ms-1b83fc0981e283975488;ms-f9c00ba41392adec3fd1;ms-1f8e2d5d25706493821d;ms-e058c0dba52df04b8642", + "expert_regret": 1.4604337811470032, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68e331088400739273da", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4604337811470032, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5395662188529968, + "restore_error": 1.1920928955078125e-07, + "score": 0.5395662188529968, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3523629605770111, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5327287316322327, + 0.5304571390151978, + 0.5330606698989868, + 0.5323485732078552 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002271592617034912, + 0.0003319382667541504, + -0.0003801584243774414 + ], + "candidate_oracle_branch_scores": [ + 0.5327287316322327, + 0.5304571390151978, + 0.5330606698989868, + 0.5323485732078552 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.35101839900016785, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 24, + 20, + 40, + 8 + ], + "candidate_oracle_potentials": [ + 0.46492958068847656, + 0.44700077176094055, + 0.35101839900016785, + 0.3501303791999817 + ], + "candidate_oracle_progress": 0.5330606698989868, + "candidate_oracle_regret": 1.4669393301010132, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5330606698989868, + "candidate_oracle_score_gain_over_selected": 0.0003319382667541504, + "candidate_oracle_selected_branch_progress": 0.5327287316322327, + "candidate_oracle_selected_branch_score": 0.5327287316322327, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a7f98a43ff113d74f009;ms-12050326f623a94ae9e0;ms-d75a00b1388f50bf8919;ms-5425964a186feaf6fd99;ms-13af3f2f8e0b8444fe68;ms-76c78750d7abc6570487", + "expert_regret": 1.4672715663909912, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83d2b158041f4eed3646", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4672715663909912, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5327284336090088, + "restore_error": 1.1920928955078125e-07, + "score": 0.5327284336090088, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5488344430923462, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.018032610416412354, + 0.017847800627350807, + 0.01766502857208252, + 0.019375884905457497 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00018480978906154633, + -0.000367581844329834, + 0.0013432744890451431 + ], + "candidate_oracle_branch_scores": [ + 0.018032610416412354, + 0.017847800627350807, + 0.01766502857208252, + 0.019375884905457497 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.4333711862564087, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -1.415542721748352, + -1.415749430656433, + -1.41619074344635, + -1.4333711862564087 + ], + "candidate_oracle_progress": 0.019375884905457497, + "candidate_oracle_regret": 1.9806241150945425, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.019375884905457497, + "candidate_oracle_score_gain_over_selected": 0.0013432744890451431, + "candidate_oracle_selected_branch_progress": 0.018032610416412354, + "candidate_oracle_selected_branch_score": 0.018032610416412354, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9a1de6130828dc946a51;ms-0b7f8ba789c00b37caa0;ms-56ad75c28031e049a3dd;ms-b786173f210fcaa65a6e;ms-0a4c4442237909d5f7b7;ms-a76ae18568c88af1da6b", + "expert_regret": 1.9819674603641033, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ba156a5cdaf40cc85cc4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.9819674603641033, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.018032539635896683, + "restore_error": 1.1920928955078125e-07, + "score": 0.018032539635896683, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4932946562767029, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5140067934989929, + 0.5079981684684753, + 0.5139564871788025, + 0.513643741607666 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.006008625030517578, + -5.030632019042969e-05, + -0.0003630518913269043 + ], + "candidate_oracle_branch_scores": [ + 0.5140067934989929, + 0.5079981684684753, + 0.5139564871788025, + 0.513643741607666 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7843228578567505, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 0 + ], + "candidate_oracle_potentials": [ + 0.7843228578567505, + 0.7053661942481995, + 0.6672866344451904, + 0.5939054489135742 + ], + "candidate_oracle_progress": 0.5140067934989929, + "candidate_oracle_regret": 1.485993206501007, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5140067934989929, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5140067934989929, + "candidate_oracle_selected_branch_score": 0.5140067934989929, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e1972ebf2c5587a6fdf9;ms-1a4ecfbe9c97214d5c78;ms-166b7f66bf9f4eec432b;ms-bcc70292f404cd1c7f75;ms-e589f7d40c12eff1712e;ms-d73a2a984d5829e884f9", + "expert_regret": 1.4860572814941406, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2cc8c1975139989940f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4860572814941406, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5139427185058594, + "restore_error": 1.1920928955078125e-07, + "score": 0.5139427185058594, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5354446172714233, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5636205077171326 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.4363794326782227 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5636205077171326 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.8742470741271973, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 36, + 1 + ], + "candidate_oracle_potentials": [ + 0.8742470741271973, + 0.864715576171875, + 0.8496472835540771, + 0.4415341317653656 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e589f7d40c12eff1712e;ms-1a4ecfbe9c97214d5c78;ms-8420ccaff5986c85063f;ms-0ece7b8c91d9d82f244b;ms-2ae57bab6d2ea11f6638;ms-d73a2a984d5829e884f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-da46296bd4e9032570df", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.07414867728948593, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.12681858241558075, + 0.14199838042259216, + 0.12681427597999573, + 0.13814236223697662 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.015179798007011414, + -4.306435585021973e-06, + 0.011323779821395874 + ], + "candidate_oracle_branch_scores": [ + 0.12681858241558075, + 0.14199838042259216, + 0.12681427597999573, + 0.13814236223697662 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -2.0382983684539795, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -1.9697009325027466, + -2.0382983684539795, + -2.0799975395202637, + -2.14532208442688 + ], + "candidate_oracle_progress": 0.14199838042259216, + "candidate_oracle_regret": 0.016925156116485596, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.14199838042259216, + "candidate_oracle_score_gain_over_selected": 0.015179798007011414, + "candidate_oracle_selected_branch_progress": 0.12681858241558075, + "candidate_oracle_selected_branch_score": 0.12681858241558075, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6af227c07aaf7c0f0aea;ms-bdd1924b44de2db5b07a;ms-ac281cce8f6e42586359;ms-0377c81a67d9819ab96b;ms-227fe0347d2ea57a66a3;ms-e0b2e69a5ea0d0ad4fb5", + "expert_regret": 0.02175639569759369, + "expert_score": 0.14857541024684906, + "expert_success": false, + "group_id": "ms-0843bef6b0c13c3ede69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.03210452198982239, + "oracle_score": 0.15892353653907776, + "oracle_success": false, + "progress": 0.12681901454925537, + "restore_error": 1.1920928955078125e-07, + "score": 0.12681901454925537, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.05193229392170906, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5610600709915161 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.4389399290084839 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5610600709915161 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.5507904291152954, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.5507904291152954, + 0.43859800696372986, + 0.39222490787506104, + 0.338634729385376 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02ab2e7a74d970154eb7;ms-4f833710c2706ee077af;ms-2d995e39f2b95fed1a67;ms-b7e7fe66a6c86898eec2;ms-8b972386cfdf0158a0a3;ms-aea09fb002af52e12bd8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-642670f4bb658d32970b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7196517586708069, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.015683937817811966, + 0.015679432079195976, + 0.015688909217715263, + 0.014026057906448841 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -4.505738615989685e-06, + 4.971399903297424e-06, + -0.0016578799113631248 + ], + "candidate_oracle_branch_scores": [ + 0.015683937817811966, + 0.015679432079195976, + 0.015688909217715263, + 0.014026057906448841 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.410182237625122, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 36, + 8 + ], + "candidate_oracle_potentials": [ + -2.383986234664917, + -2.385624647140503, + -2.410182237625122, + -2.474466323852539 + ], + "candidate_oracle_progress": 0.015688909217715263, + "candidate_oracle_regret": 0.5792097318917513, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.015688909217715263, + "candidate_oracle_score_gain_over_selected": 4.971399903297424e-06, + "candidate_oracle_selected_branch_progress": 0.015683937817811966, + "candidate_oracle_selected_branch_score": 0.015683937817811966, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b786173f210fcaa65a6e;ms-a76ae18568c88af1da6b;ms-ed9addab41f3298db7bc;ms-b481531ab787e3d6fb1e;ms-b9e46b7345a63ded4397;ms-319a6c0cef0ac1a872d5", + "expert_regret": 0.5792148113250732, + "expert_score": 0.5948986411094666, + "expert_success": false, + "group_id": "ms-197fee321caebfd320f5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5792148113250732, + "oracle_score": 0.5948986411094666, + "oracle_success": false, + "progress": 0.01568382978439331, + "restore_error": 1.1920928955078125e-07, + "score": 0.01568382978439331, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40876683592796326, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5537607073783875, + 0.5572265386581421, + 0.5555611848831177, + 0.5592125058174133 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0034658312797546387, + 0.0018004775047302246, + 0.005451798439025879 + ], + "candidate_oracle_branch_scores": [ + 0.5537607073783875, + 0.5572265386581421, + 0.5555611848831177, + 0.5592125058174133 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.7709026336669922, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -0.621581494808197, + -0.6633433699607849, + -0.7564237117767334, + -0.7709026336669922 + ], + "candidate_oracle_progress": 0.5592125058174133, + "candidate_oracle_regret": 1.4407874941825867, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5592125058174133, + "candidate_oracle_score_gain_over_selected": 0.005451798439025879, + "candidate_oracle_selected_branch_progress": 0.5537607073783875, + "candidate_oracle_selected_branch_score": 0.5537607073783875, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6af227c07aaf7c0f0aea;ms-227fe0347d2ea57a66a3;ms-e0b2e69a5ea0d0ad4fb5;ms-c7f427f37d47501932e8;ms-844b753810c45699d501;ms-87fd37bcc6b666e220ef", + "expert_regret": 1.4462392926216125, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7571c367fe683b0f1cf9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4462392926216125, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5537607073783875, + "restore_error": 1.1920928955078125e-07, + "score": 0.5537607073783875, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5758358240127563, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.899396538734436, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + 0.899396538734436, + 0.8941085338592529, + 0.8896937370300293, + 0.8878173828125 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6273302894af3505ca8;ms-11bb3387454624de8143;ms-a22fbce4503f088acb1f;ms-625b5d55ca76cc565049;ms-b97cb4ec02e8234b08c5;ms-8d9b2a5ccd43461f827e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13192a27f5fcf4fd24d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.38949722051620483, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.06201779842376709, + 0.05730158090591431, + 0.0541696660220623, + 0.04248598963022232 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.004716217517852783, + -0.007848132401704788, + -0.01953180879354477 + ], + "candidate_oracle_branch_scores": [ + 0.06201779842376709, + 0.05730158090591431, + 0.0541696660220623, + 0.04248598963022232 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.3779547214508057, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 40 + ], + "candidate_oracle_potentials": [ + -2.3779547214508057, + -2.45158052444458, + -2.5340352058410645, + -2.6761837005615234 + ], + "candidate_oracle_progress": 0.06201779842376709, + "candidate_oracle_regret": 1.937982201576233, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.06201779842376709, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.06201779842376709, + "candidate_oracle_selected_branch_score": 0.06201779842376709, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0a4c4442237909d5f7b7;ms-5316151a88a3282436ca;ms-578e24198ed828a74485;ms-97598e118c5cc8c254a5;ms-9a1de6130828dc946a51;ms-34495bfe34440ac63cf6", + "expert_regret": 1.9379819855093956, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bfda95ffffd5d1a2683a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9379819855093956, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0620180144906044, + "restore_error": 1.1920928955078125e-07, + "score": 0.0620180144906044, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7830014824867249, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5856650471687317 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.414335012435913 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5856650471687317 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.2790300250053406, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -0.2790300250053406, + -0.2805413007736206, + -0.38863804936408997, + -0.3901991546154022 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-eac0d7dd54b1e797fdbd;ms-69962cd1c448094e4fb0;ms-417cab1470cf46273b02;ms-732819b0c220a4c06870;ms-486572c62484eb4d73db;ms-6c39b520dca0a325535f", + "expert_regret": 0.0004343986511230469, + "expert_score": 0.5829448699951172, + "expert_success": false, + "group_id": "ms-4ca84594a789c9abd5d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0004343986511230469, + "oracle_score": 0.5829448699951172, + "oracle_success": false, + "progress": 0.5825104713439941, + "restore_error": 1.1920928955078125e-07, + "score": 0.5825104713439941, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41295740008354187, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5633183717727661, + 0.5648497939109802, + 0.5649081468582153, + 0.562764585018158 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0015314221382141113, + 0.0015897750854492188, + -0.0005537867546081543 + ], + "candidate_oracle_branch_scores": [ + 0.5633183717727661, + 0.5648497939109802, + 0.5649081468582153, + 0.562764585018158 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.2671702206134796, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 8, + 20 + ], + "candidate_oracle_potentials": [ + -0.17823946475982666, + -0.2294130027294159, + -0.2671702206134796, + -0.2978228032588959 + ], + "candidate_oracle_progress": 0.5649081468582153, + "candidate_oracle_regret": 1.4350918531417847, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5649081468582153, + "candidate_oracle_score_gain_over_selected": 0.0015897750854492188, + "candidate_oracle_selected_branch_progress": 0.5633183717727661, + "candidate_oracle_selected_branch_score": 0.5633183717727661, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-88bdd8987f890af7e9ea;ms-99ecd2226d7187416316;ms-b8276cb9b6cb9a9b302f;ms-a3c53708416dbfb9fbc5;ms-8a74cf665984273be00d;ms-4385e9c56007fdaa94b5", + "expert_regret": 1.4366816282272339, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c5d026dffb39f2f1d38a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4366816282272339, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5633183717727661, + "restore_error": 1.1920928955078125e-07, + "score": 0.5633183717727661, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5172058939933777, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5564625263214111, + 1.0, + 0.5561732053756714, + 0.03535877540707588 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.4435374736785889, + -0.0002893209457397461, + -0.5211037397384644 + ], + "candidate_oracle_branch_scores": [ + 0.5564625263214111, + 2.0, + 0.5561732053756714, + 0.03535877540707588 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.5138041973114014, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 36, + 24 + ], + "candidate_oracle_potentials": [ + 0.5468692779541016, + 0.5138041973114014, + 0.48463258147239685, + 0.4813249409198761 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4435374736785889, + "candidate_oracle_selected_branch_progress": 0.5564625263214111, + "candidate_oracle_selected_branch_score": 0.5564625263214111, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0a4c4442237909d5f7b7;ms-578e24198ed828a74485;ms-5316151a88a3282436ca;ms-9a1de6130828dc946a51;ms-56ad75c28031e049a3dd;ms-97598e118c5cc8c254a5", + "expert_regret": 1.4435378909111023, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-91ad1a5f945470b4346e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4435378909111023, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5564621090888977, + "restore_error": 1.1920928955078125e-07, + "score": 0.5564621090888977, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6868947148323059, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.026604628190398216, + 0.026524782180786133, + 0.02675093524158001, + 0.02644902467727661 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -7.984600961208344e-05, + 0.0001463070511817932, + -0.00015560351312160492 + ], + "candidate_oracle_branch_scores": [ + 0.026604628190398216, + 0.026524782180786133, + 0.02675093524158001, + 0.02644902467727661 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.5537240505218506, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 20, + 0, + 36 + ], + "candidate_oracle_potentials": [ + -2.493391275405884, + -2.517336368560791, + -2.5537240505218506, + -2.563748598098755 + ], + "candidate_oracle_progress": 0.02675093524158001, + "candidate_oracle_regret": 1.97324906475842, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.02675093524158001, + "candidate_oracle_score_gain_over_selected": 0.0001463070511817932, + "candidate_oracle_selected_branch_progress": 0.026604628190398216, + "candidate_oracle_selected_branch_score": 0.026604628190398216, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02ab2e7a74d970154eb7;ms-b7e7fe66a6c86898eec2;ms-2d995e39f2b95fed1a67;ms-4f833710c2706ee077af;ms-c7f427f37d47501932e8;ms-8b972386cfdf0158a0a3", + "expert_regret": 1.9729227665811777, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-263556e167dc363ebc42", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9729227665811777, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02707723341882229, + "restore_error": 1.1920928955078125e-07, + "score": 0.02707723341882229, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5933099389076233, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.12730643153190613, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 0, + 8, + 1 + ], + "candidate_oracle_potentials": [ + 0.12730643153190613, + 0.11178784817457199, + 0.1019214317202568, + 0.08338014036417007 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d6305829d7ca1c68a3ce;ms-1add4cf84fdadf5703d6;ms-e15eeda61ed4064a5c9f;ms-9044026b69850d12d05b;ms-ce8d2ef7d19bed381822;ms-5780f9e1e9f9e740d474", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e07f80b44faf328c5e58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.418912410736084, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5458577275276184, + 0.5396575331687927, + 0.53985196352005, + 0.5464446544647217 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.006200194358825684, + -0.006005764007568359, + 0.0005869269371032715 + ], + "candidate_oracle_branch_scores": [ + 0.5458577275276184, + 0.5396575331687927, + 0.53985196352005, + 0.5464446544647217 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.2656331062316895, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -2.1022133827209473, + -2.1130805015563965, + -2.259660482406616, + -2.2656331062316895 + ], + "candidate_oracle_progress": 0.5464446544647217, + "candidate_oracle_regret": 1.4535553455352783, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5464446544647217, + "candidate_oracle_score_gain_over_selected": 0.0005869269371032715, + "candidate_oracle_selected_branch_progress": 0.5458577275276184, + "candidate_oracle_selected_branch_score": 0.5458577275276184, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-97598e118c5cc8c254a5;ms-34495bfe34440ac63cf6;ms-1f8e2d5d25706493821d;ms-844b753810c45699d501;ms-f9c00ba41392adec3fd1;ms-5316151a88a3282436ca", + "expert_regret": 1.4541422724723816, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4cd1ceea2dda2732110a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4541422724723816, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5458577275276184, + "restore_error": 1.1920928955078125e-07, + "score": 0.5458577275276184, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14223013818264008, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.776940107345581, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.776940107345581, + 0.7340750694274902, + 0.723818302154541, + 0.7128605842590332 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8f6d30c2ade00e451dc2;ms-a45ed89f5b95d1e7ab07;ms-a10d8368c33b56390f77;ms-ca25b016439a98198434;ms-478b7b8b729f9212a522;ms-6c39b520dca0a325535f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dc2a8fa76e1ceb0d8925", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5377710461616516, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5425499677658081, + 0.5423831939697266, + 0.5401674509048462, + 0.5399965047836304 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00016677379608154297, + -0.002382516860961914, + -0.0025534629821777344 + ], + "candidate_oracle_branch_scores": [ + 0.5425499677658081, + 0.5423831939697266, + 0.5401674509048462, + 0.5399965047836304 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.5524103045463562, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 24, + 40 + ], + "candidate_oracle_potentials": [ + 0.5524103045463562, + 0.5518536567687988, + 0.5487678050994873, + 0.5472986698150635 + ], + "candidate_oracle_progress": 0.5425499677658081, + "candidate_oracle_regret": 1.457450032234192, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5425499677658081, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5425499677658081, + "candidate_oracle_selected_branch_score": 0.5425499677658081, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b4af4c8b9dcd6976546c;ms-16d5b122db1824caf92b;ms-d4bde31fd7e7cee76b09;ms-70342af6b601660d7c69;ms-d807915e233a0c74b809;ms-8f5255815f8b70b48734", + "expert_regret": 1.4574514031410217, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-746436cac05100783ad7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4574514031410217, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5425485968589783, + "restore_error": 1.1920928955078125e-07, + "score": 0.5425485968589783, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44769662618637085, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5594424605369568, + 0.558520495891571, + 0.5588633418083191, + 0.5580779910087585 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0009219646453857422, + -0.0005791187286376953, + -0.0013644695281982422 + ], + "candidate_oracle_branch_scores": [ + 0.5594424605369568, + 0.558520495891571, + 0.5588633418083191, + 0.5580779910087585 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.3289699852466583, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.3289699852466583, + 0.32144537568092346, + 0.29221802949905396, + 0.2862604260444641 + ], + "candidate_oracle_progress": 0.5594424605369568, + "candidate_oracle_regret": 1.4405575394630432, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.3213367462158203e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5594424605369568, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5594424605369568, + "candidate_oracle_selected_branch_score": 0.5594424605369568, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-39450dbba738dbd8a764;ms-cafa65eeb953aff47f30;ms-d6b2d805dc063382ade2;ms-87f8bbc8d9e7f4dcaacf;ms-b97cb4ec02e8234b08c5;ms-625b5d55ca76cc565049", + "expert_regret": 1.4406453371047974, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-486ff31b7a04a7e9e8f9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4406453371047974, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5593546628952026, + "restore_error": 1.9371509552001953e-07, + "score": 0.5593546628952026, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48445746302604675, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.49972254037857056, + 0.5055558085441589, + 0.5051141381263733, + 0.4901905953884125 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.005833268165588379, + 0.005391597747802734, + -0.009531944990158081 + ], + "candidate_oracle_branch_scores": [ + 0.49972254037857056, + 0.5055558085441589, + 0.5051141381263733, + 0.4901905953884125 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.3577170372009277, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -2.3465938568115234, + -2.3577170372009277, + -2.4741623401641846, + -2.4758942127227783 + ], + "candidate_oracle_progress": 0.5055558085441589, + "candidate_oracle_regret": 1.494444191455841, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.3213367462158203e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5055558085441589, + "candidate_oracle_score_gain_over_selected": 0.005833268165588379, + "candidate_oracle_selected_branch_progress": 0.49972254037857056, + "candidate_oracle_selected_branch_score": 0.49972254037857056, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-72cf68c15631675b063f;ms-c2e07545267c612a022c;ms-8adf1cf09ddabdc5fe5f;ms-6558f35ae2a2871a4bfd;ms-1fb2f4c1e17e99767558;ms-c425c810f7865e9564ee", + "expert_regret": 1.500278890132904, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-793a98188fd57ed5291f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.500278890132904, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49972110986709595, + "restore_error": 1.9371509552001953e-07, + "score": 0.49972110986709595, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3083578646183014, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5678166747093201, + 0.5626563429832458, + 0.5681240558624268, + 0.5679659843444824 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.005160331726074219, + 0.00030738115310668945, + 0.00014930963516235352 + ], + "candidate_oracle_branch_scores": [ + 0.5678166747093201, + 0.5626563429832458, + 0.5681240558624268, + 0.5679659843444824 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.4279628098011017, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 36, + 0, + 4 + ], + "candidate_oracle_potentials": [ + 0.45739665627479553, + 0.43409961462020874, + 0.4279628098011017, + 0.42292651534080505 + ], + "candidate_oracle_progress": 0.5681240558624268, + "candidate_oracle_regret": 1.4318759441375732, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.3213367462158203e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5681240558624268, + "candidate_oracle_score_gain_over_selected": 0.00030738115310668945, + "candidate_oracle_selected_branch_progress": 0.5678166747093201, + "candidate_oracle_selected_branch_score": 0.5678166747093201, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13b3c492538e5b3c7bdd;ms-dbb32d9fd6999e09f589;ms-8f5255815f8b70b48734;ms-99b15d50660b77fe2fcb;ms-0e275939f12a9dcee0a0;ms-7af1e453acf970f40546", + "expert_regret": 1.4321829676628113, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2af09f91e05d19f7f181", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4321829676628113, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5678170323371887, + "restore_error": 1.9371509552001953e-07, + "score": 0.5678170323371887, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8157674670219421, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.0661994144320488, + 0.5419777035713196, + 0.5436519980430603, + 0.04143872484564781 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.4757782816886902, + 0.4774525761604309, + -0.024760689586400986 + ], + "candidate_oracle_branch_scores": [ + 0.0661994144320488, + 0.5419777035713196, + 0.5436519980430603, + 0.04143872484564781 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.7260489463806152, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 40 + ], + "candidate_oracle_potentials": [ + -2.659531354904175, + -2.673753499984741, + -2.7260489463806152, + -2.7815465927124023 + ], + "candidate_oracle_progress": 0.5436519980430603, + "candidate_oracle_regret": 1.4563480019569397, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.3213367462158203e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5436519980430603, + "candidate_oracle_score_gain_over_selected": 0.4774525761604309, + "candidate_oracle_selected_branch_progress": 0.0661994144320488, + "candidate_oracle_selected_branch_score": 0.0661994144320488, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a76ae18568c88af1da6b;ms-b481531ab787e3d6fb1e;ms-ed9addab41f3298db7bc;ms-b9e46b7345a63ded4397;ms-319a6c0cef0ac1a872d5;ms-b786173f210fcaa65a6e", + "expert_regret": 1.9338056221604347, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-999a8c1454dd4597a834", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9338056221604347, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06619437783956528, + "restore_error": 1.9371509552001953e-07, + "score": 0.06619437783956528, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5525808930397034, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.23634816706180573, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 1, + 17 + ], + "candidate_oracle_potentials": [ + 0.23634816706180573, + 0.22572216391563416, + 0.040590181946754456, + 0.038143813610076904 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.3213367462158203e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3a07c49566decfea04de;ms-55ea22014575410563a4;ms-29dd2cdbb66fe13ab877;ms-3c4ff3dae26217f22a8b;ms-ff3f17774184180998f0;ms-29f1abb869ff206a4d52", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbb609a3f2a334986245", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9371509552001953e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1889069378376007, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.5548977851867676, + 0.5545327663421631, + 0.5541455149650574 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.4451022148132324, + -1.445467233657837, + -1.4458544254302979 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.5548977851867676, + 0.5545327663421631, + 0.5541455149650574 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0386052131652832, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.0386052131652832, + -1.093002200126648, + -1.1039186716079712, + -1.1152960062026978 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.3213367462158203e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-34495bfe34440ac63cf6;ms-97598e118c5cc8c254a5;ms-1f8e2d5d25706493821d;ms-e0b2e69a5ea0d0ad4fb5;ms-5316151a88a3282436ca;ms-227fe0347d2ea57a66a3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7849511ad9b8262adae7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9371509552001953e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1601308435201645, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.23905909061431885, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 20, + 4, + 24 + ], + "candidate_oracle_potentials": [ + 0.23905909061431885, + 0.19056575000286102, + 0.07657965272665024, + -0.08109240233898163 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.3213367462158203e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1a4ecfbe9c97214d5c78;ms-e589f7d40c12eff1712e;ms-2ae57bab6d2ea11f6638;ms-e1972ebf2c5587a6fdf9;ms-8420ccaff5986c85063f;ms-d73a2a984d5829e884f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28b1f1e4380d434605de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9371509552001953e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5643991827964783, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5400611758232117, + 0.5392808318138123, + 0.539197564125061, + 0.5385386943817139 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0007803440093994141, + -0.0008636116981506348, + -0.0015224814414978027 + ], + "candidate_oracle_branch_scores": [ + 0.5400611758232117, + 0.5392808318138123, + 0.539197564125061, + 0.5385386943817139 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.6083160042762756, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.6083160042762756, + 0.5940024256706238, + 0.5231480598449707, + 0.5084428191184998 + ], + "candidate_oracle_progress": 0.5400611758232117, + "candidate_oracle_regret": 1.4599388241767883, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.3213367462158203e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5400611758232117, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5400611758232117, + "candidate_oracle_selected_branch_score": 0.5400611758232117, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6b8adb335c80e03d5cd5;ms-11a2794efa24f4d93d83;ms-01db5970aec167a8ee1d;ms-c8666cbd7e5a9d0fd036;ms-2f57eadf546710065684;ms-76c78750d7abc6570487", + "expert_regret": 1.4599374532699585, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c35a083df7c08225af3b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4599374532699585, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5400625467300415, + "restore_error": 1.9371509552001953e-07, + "score": 0.5400625467300415, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5625177621841431, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5700321197509766, + 0.5696029663085938, + 0.572028398513794, + 0.5548002123832703 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0004291534423828125, + 0.001996278762817383, + -0.015231907367706299 + ], + "candidate_oracle_branch_scores": [ + 0.5700321197509766, + 0.5696029663085938, + 0.572028398513794, + 0.5548002123832703 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.892909288406372, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.8655641078948975, + -1.8872642517089844, + -1.892909288406372, + -1.954129695892334 + ], + "candidate_oracle_progress": 0.572028398513794, + "candidate_oracle_regret": 1.427971601486206, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.572028398513794, + "candidate_oracle_score_gain_over_selected": 0.001996278762817383, + "candidate_oracle_selected_branch_progress": 0.5700321197509766, + "candidate_oracle_selected_branch_score": 0.5700321197509766, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2d995e39f2b95fed1a67;ms-02ab2e7a74d970154eb7;ms-b7e7fe66a6c86898eec2;ms-4f833710c2706ee077af;ms-c7f427f37d47501932e8;ms-8b972386cfdf0158a0a3", + "expert_regret": 1.429973304271698, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-14c40aa19f7b9307511d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.429973304271698, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.570026695728302, + "restore_error": 1.1920928955078125e-07, + "score": 0.570026695728302, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.08749280869960785, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.7071841955184937, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + 0.7071841955184937, + 0.6451371908187866, + 0.6314422488212585, + 0.6143162846565247 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c104c2ebba7bf9b34680;ms-4bc32bd893d0cff76423;ms-a10d8368c33b56390f77;ms-d807915e233a0c74b809;ms-a45ed89f5b95d1e7ab07;ms-ca25b016439a98198434", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ae6d60345612be32478c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3137774169445038, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5527886748313904, + 0.5530192255973816, + 0.5532700419425964, + 0.5524107217788696 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00023055076599121094, + 0.0004813671112060547, + -0.00037795305252075195 + ], + "candidate_oracle_branch_scores": [ + 0.5527886748313904, + 0.5530192255973816, + 0.5532700419425964, + 0.5524107217788696 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.9290950894355774, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 20, + 36, + 0 + ], + "candidate_oracle_potentials": [ + 0.9441735148429871, + 0.9355902075767517, + 0.9290950894355774, + 0.9131467342376709 + ], + "candidate_oracle_progress": 0.5532700419425964, + "candidate_oracle_regret": 1.4467299580574036, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5532700419425964, + "candidate_oracle_score_gain_over_selected": 0.0004813671112060547, + "candidate_oracle_selected_branch_progress": 0.5527886748313904, + "candidate_oracle_selected_branch_score": 0.5527886748313904, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8f5255815f8b70b48734;ms-b40ee5a75332685d5cec;ms-d807915e233a0c74b809;ms-b4af4c8b9dcd6976546c;ms-4d43fb19477b7ab848bc;ms-13b3c492538e5b3c7bdd", + "expert_regret": 1.4472100138664246, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f77305a344da6a4ccc84", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4472100138664246, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5527899861335754, + "restore_error": 1.1920928955078125e-07, + "score": 0.5527899861335754, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15277068316936493, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.8469154834747314, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.8469154834747314, + 0.8418765664100647, + 0.8383471369743347, + 0.8343833088874817 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-023e021f079a8774c741;ms-d91cbe61314c18955b6b;ms-3c4ff3dae26217f22a8b;ms-29f1abb869ff206a4d52;ms-5425964a186feaf6fd99;ms-12050326f623a94ae9e0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fd6deac5a281d169bc75", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1857997626066208, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5332018136978149, + 0.5336743593215942, + 0.5341448783874512, + 0.5331383943557739 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0004725456237792969, + 0.0009430646896362305, + -6.341934204101562e-05 + ], + "candidate_oracle_branch_scores": [ + 0.5332018136978149, + 0.5336743593215942, + 0.5341448783874512, + 0.5331383943557739 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 1.0482511520385742, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 24 + ], + "candidate_oracle_potentials": [ + 1.0494170188903809, + 1.0488842725753784, + 1.0482511520385742, + 1.0429834127426147 + ], + "candidate_oracle_progress": 0.5341448783874512, + "candidate_oracle_regret": 1.4658551216125488, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5341448783874512, + "candidate_oracle_score_gain_over_selected": 0.0009430646896362305, + "candidate_oracle_selected_branch_progress": 0.5332018136978149, + "candidate_oracle_selected_branch_score": 0.5332018136978149, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3a07c49566decfea04de;ms-a196fc3a729550509b18;ms-4b1561bd0029228fdbbe;ms-30ad687dc1bc8318fa45;ms-bef9b88ae40ca98647aa;ms-b786173f210fcaa65a6e", + "expert_regret": 1.4667980074882507, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c335deaaa5c63478701", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4667980074882507, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5332019925117493, + "restore_error": 1.1920928955078125e-07, + "score": 0.5332019925117493, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5321479439735413, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5587981343269348, + 1.0, + 0.5590595602989197, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.44120192527771, + 0.0002614259719848633, + 1.44120192527771 + ], + "candidate_oracle_branch_scores": [ + 0.5587981343269348, + 2.0, + 0.5590595602989197, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7920523285865784, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + 0.7954981923103333, + 0.7920523285865784, + 0.7844632863998413, + 0.7791556715965271 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.44120192527771, + "candidate_oracle_selected_branch_progress": 0.5587981343269348, + "candidate_oracle_selected_branch_score": 0.5587981343269348, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e15eeda61ed4064a5c9f;ms-704fee4c9fb9941a26e7;ms-486572c62484eb4d73db;ms-6c39b520dca0a325535f;ms-417cab1470cf46273b02;ms-1add4cf84fdadf5703d6", + "expert_regret": 1.4412018656730652, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-15ef6ee70a8df3cfa578", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4412018656730652, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5587981343269348, + "restore_error": 1.1920928955078125e-07, + "score": 0.5587981343269348, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5668391585350037, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.11288527399301529, + 0.11174831539392471, + 0.1141417995095253, + 0.10493415594100952 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0011369585990905762, + 0.0012565255165100098, + -0.007951118052005768 + ], + "candidate_oracle_branch_scores": [ + 0.11288527399301529, + 0.11174831539392471, + 0.1141417995095253, + 0.10493415594100952 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0762361288070679, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 20, + 36, + 8 + ], + "candidate_oracle_potentials": [ + -0.9363353252410889, + -0.9550725221633911, + -1.0762361288070679, + -1.232288122177124 + ], + "candidate_oracle_progress": 0.1141417995095253, + "candidate_oracle_regret": 1.8858582004904747, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.1141417995095253, + "candidate_oracle_score_gain_over_selected": 0.0012565255165100098, + "candidate_oracle_selected_branch_progress": 0.11288527399301529, + "candidate_oracle_selected_branch_score": 0.11288527399301529, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c2e07545267c612a022c;ms-8adf1cf09ddabdc5fe5f;ms-72cf68c15631675b063f;ms-08c39d9cc9eb7578e6e9;ms-6558f35ae2a2871a4bfd;ms-1fb2f4c1e17e99767558", + "expert_regret": 1.8871174082159996, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5e23219a8e2aadd039c7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8871174082159996, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1128825917840004, + "restore_error": 1.1920928955078125e-07, + "score": 0.1128825917840004, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47700533270835876, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.9567909240722656, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 0, + 4, + 36 + ], + "candidate_oracle_potentials": [ + 0.9567909240722656, + 0.9505836963653564, + 0.9499560594558716, + 0.934159517288208 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ca25b016439a98198434;ms-478b7b8b729f9212a522;ms-a45ed89f5b95d1e7ab07;ms-6c39b520dca0a325535f;ms-486572c62484eb4d73db;ms-417cab1470cf46273b02", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d26a60e383a2e822615a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4774782359600067, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.8140829801559448, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + 0.8140829801559448, + 0.8088897466659546, + 0.8088419437408447, + 0.7908473610877991 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-01db5970aec167a8ee1d;ms-76c78750d7abc6570487;ms-a7f98a43ff113d74f009;ms-2f57eadf546710065684;ms-5425964a186feaf6fd99;ms-4bf0620f8d1294466596", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4ddda51b1c6809c3531d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5902401208877563, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5634355545043945, + 0.5629473328590393, + 0.5634698867797852, + 0.5628935694694519 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0004882216453552246, + 3.4332275390625e-05, + -0.000541985034942627 + ], + "candidate_oracle_branch_scores": [ + 0.5634355545043945, + 0.5629473328590393, + 0.5634698867797852, + 0.5628935694694519 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7101280093193054, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 36, + 40 + ], + "candidate_oracle_potentials": [ + 0.7286589741706848, + 0.7143812775611877, + 0.7101280093193054, + 0.6956115365028381 + ], + "candidate_oracle_progress": 0.5634698867797852, + "candidate_oracle_regret": 1.4365301132202148, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5634698867797852, + "candidate_oracle_score_gain_over_selected": 3.4332275390625e-05, + "candidate_oracle_selected_branch_progress": 0.5634355545043945, + "candidate_oracle_selected_branch_score": 0.5634355545043945, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-417cab1470cf46273b02;ms-69962cd1c448094e4fb0;ms-eac0d7dd54b1e797fdbd;ms-6c39b520dca0a325535f;ms-486572c62484eb4d73db;ms-a45ed89f5b95d1e7ab07", + "expert_regret": 1.4367199540138245, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5e85dc3760eef8a53a67", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4367199540138245, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5632800459861755, + "restore_error": 1.1920928955078125e-07, + "score": 0.5632800459861755, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7004489898681641, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.8267826437950134, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + 0.8267826437950134, + 0.8244907259941101, + 0.8232939839363098, + 0.8218281865119934 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3aa864ead19c9cb9fb49;ms-66cc354bbf4e8bdd1051;ms-ee19bfbcb2f4fbf5a44d;ms-842e179244eddac303a5;ms-d4bde31fd7e7cee76b09;ms-b4af4c8b9dcd6976546c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-95320371ce6b820c85f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6480417251586914, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5680740475654602 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.4319260120391846 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5680740475654602 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.9311572909355164, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 36, + 1 + ], + "candidate_oracle_potentials": [ + 0.9311572909355164, + 0.9277539849281311, + 0.916786253452301, + 0.6268660426139832 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1a4ecfbe9c97214d5c78;ms-2ae57bab6d2ea11f6638;ms-d73a2a984d5829e884f9;ms-e589f7d40c12eff1712e;ms-8420ccaff5986c85063f;ms-935ff204de9424ec00a2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-910d27b58a0585327a27", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6284993290901184, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.31625601649284363, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 1 + ], + "candidate_oracle_potentials": [ + 0.31625601649284363, + 0.3088715970516205, + 0.3068920969963074, + 0.12907856702804565 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1a4ecfbe9c97214d5c78;ms-d73a2a984d5829e884f9;ms-8420ccaff5986c85063f;ms-2ae57bab6d2ea11f6638;ms-935ff204de9424ec00a2;ms-e589f7d40c12eff1712e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8fcc78fba7b3bec0fab6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6573165059089661, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.38452041149139404, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 4, + 0, + 24 + ], + "candidate_oracle_potentials": [ + -0.38452041149139404, + -0.38547128438949585, + -0.3909550607204437, + -0.400577574968338 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-29dd2cdbb66fe13ab877;ms-d91cbe61314c18955b6b;ms-55ea22014575410563a4;ms-3c4ff3dae26217f22a8b;ms-29f1abb869ff206a4d52;ms-ff3f17774184180998f0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-348af0b70d3e679f40a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4266745150089264, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.5666338801383972, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + 0.5666338801383972, + 0.5521990656852722, + 0.5497191548347473, + 0.5469650626182556 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ca25b016439a98198434;ms-a45ed89f5b95d1e7ab07;ms-8f6d30c2ade00e451dc2;ms-f4b95f2b569e3f1bf086;ms-478b7b8b729f9212a522;ms-6c39b520dca0a325535f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-25839c690d85a4f5b986", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6502895951271057, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5731731057167053, + 0.5741522908210754, + 0.5723658800125122, + 0.5725606083869934 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0009791851043701172, + -0.0008072257041931152, + -0.0006124973297119141 + ], + "candidate_oracle_branch_scores": [ + 0.5731731057167053, + 0.5741522908210754, + 0.5723658800125122, + 0.5725606083869934 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.27781951427459717, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 36, + 33, + 17 + ], + "candidate_oracle_potentials": [ + 0.291570246219635, + 0.27781951427459717, + 0.2639557719230652, + 0.2628685534000397 + ], + "candidate_oracle_progress": 0.5741522908210754, + "candidate_oracle_regret": 1.4258477091789246, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5741522908210754, + "candidate_oracle_score_gain_over_selected": 0.0009791851043701172, + "candidate_oracle_selected_branch_progress": 0.5731731057167053, + "candidate_oracle_selected_branch_score": 0.5731731057167053, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-29f1abb869ff206a4d52;ms-11230e3aaabb1feec834;ms-3c4ff3dae26217f22a8b;ms-ff3f17774184180998f0;ms-d88107eff1e361cdcc4c;ms-3a07c49566decfea04de", + "expert_regret": 1.4268264174461365, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a0e07d6e4725342ffff2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4268264174461365, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5731735825538635, + "restore_error": 1.1920928955078125e-07, + "score": 0.5731735825538635, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.049555618315935135, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.3738347887992859, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + 0.3738347887992859, + 0.34395918250083923, + 0.34300005435943604, + 0.3368527293205261 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a22fbce4503f088acb1f;ms-11bb3387454624de8143;ms-b97cb4ec02e8234b08c5;ms-a6273302894af3505ca8;ms-d6b2d805dc063382ade2;ms-8d9b2a5ccd43461f827e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d965f63e091a5d6dd6d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6651703119277954, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.5672172904014587, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.4327826499938965, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.5672172904014587, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.4448443353176117, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 0 + ], + "candidate_oracle_potentials": [ + 0.4448443353176117, + 0.29762789607048035, + 0.16282916069030762, + 0.10362807661294937 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-99b15d50660b77fe2fcb;ms-16d5b122db1824caf92b;ms-70342af6b601660d7c69;ms-0e275939f12a9dcee0a0;ms-dbb32d9fd6999e09f589;ms-b4af4c8b9dcd6976546c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-64ab703e7a82799a47dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4244430661201477, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5364168286323547, + 0.5340997576713562, + 0.5340340733528137, + 0.5320267081260681 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002317070960998535, + -0.0023827552795410156, + -0.004390120506286621 + ], + "candidate_oracle_branch_scores": [ + 0.5364168286323547, + 0.5340997576713562, + 0.5340340733528137, + 0.5320267081260681 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.2858072519302368, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -0.2858072519302368, + -0.3131515383720398, + -0.4893151819705963, + -0.5314763188362122 + ], + "candidate_oracle_progress": 0.5364168286323547, + "candidate_oracle_regret": 1.4635831713676453, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5364168286323547, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5364168286323547, + "candidate_oracle_selected_branch_score": 0.5364168286323547, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9ff81e54049443a0f3d3;ms-a934ef3c442100d9cc58;ms-a6273302894af3505ca8;ms-8f241450069e74460a40;ms-8d9b2a5ccd43461f827e;ms-3aa864ead19c9cb9fb49", + "expert_regret": 1.4638140797615051, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4e395d53889980b05784", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4638140797615051, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5361859202384949, + "restore_error": 1.1920928955078125e-07, + "score": 0.5361859202384949, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28223976492881775, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5560541152954102, + 0.5547885894775391, + 0.5548369288444519, + 0.5582534670829773 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0012655258178710938, + -0.001217186450958252, + 0.0021993517875671387 + ], + "candidate_oracle_branch_scores": [ + 0.5560541152954102, + 0.5547885894775391, + 0.5548369288444519, + 0.5582534670829773 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9705886840820312, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 0 + ], + "candidate_oracle_potentials": [ + -0.9184597730636597, + -0.9385975003242493, + -0.9568575620651245, + -0.9705886840820312 + ], + "candidate_oracle_progress": 0.5582534670829773, + "candidate_oracle_regret": 1.4417465329170227, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5582534670829773, + "candidate_oracle_score_gain_over_selected": 0.0021993517875671387, + "candidate_oracle_selected_branch_progress": 0.5560541152954102, + "candidate_oracle_selected_branch_score": 0.5560541152954102, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5fc884c238818acdde08;ms-c4cb99b887c88c707ba9;ms-4c83412fa0aa5180ad89;ms-166b7f66bf9f4eec432b;ms-bcc70292f404cd1c7f75;ms-e1972ebf2c5587a6fdf9", + "expert_regret": 1.4439435601234436, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a3d0c460532de2d801ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4439435601234436, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5560564398765564, + "restore_error": 1.1920928955078125e-07, + "score": 0.5560564398765564, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5254644751548767, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.526864767074585, + 0.5171427130699158, + 0.5263033509254456, + 0.5154628753662109 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00972205400466919, + -0.0005614161491394043, + -0.011401891708374023 + ], + "candidate_oracle_branch_scores": [ + 0.526864767074585, + 0.5171427130699158, + 0.5263033509254456, + 0.5154628753662109 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.44088536500930786, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 36, + 4, + 24 + ], + "candidate_oracle_potentials": [ + -0.44088536500930786, + -0.4446430802345276, + -0.47541195154190063, + -0.5154340267181396 + ], + "candidate_oracle_progress": 0.526864767074585, + "candidate_oracle_regret": 1.473135232925415, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.526864767074585, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.526864767074585, + "candidate_oracle_selected_branch_score": 0.526864767074585, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-227fe0347d2ea57a66a3;ms-97598e118c5cc8c254a5;ms-56ad75c28031e049a3dd;ms-91d86cba2602d1fa780d;ms-0b7f8ba789c00b37caa0;ms-0a4c4442237909d5f7b7", + "expert_regret": 1.4733207821846008, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dea17c1c383f54d05636", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4733207821846008, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5266792178153992, + "restore_error": 1.1920928955078125e-07, + "score": 0.5266792178153992, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6800438761711121, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 1.0420020818710327, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 1.0420020818710327, + 1.034334421157837, + 1.0308797359466553, + 1.025801658630371 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13af3f2f8e0b8444fe68;ms-d75a00b1388f50bf8919;ms-76c78750d7abc6570487;ms-5fc884c238818acdde08;ms-c4cb99b887c88c707ba9;ms-61d4dd4acc03b8d30f19", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-85eef30b36b044b33f60", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5657280087471008, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5558515787124634, + 0.5551172494888306, + 0.5811232924461365, + 0.5544255375862122 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0007343292236328125, + 0.025271713733673096, + -0.0014260411262512207 + ], + "candidate_oracle_branch_scores": [ + 0.5558515787124634, + 0.5551172494888306, + 0.5811232924461365, + 0.5544255375862122 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.0997142493724823, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 4 + ], + "candidate_oracle_potentials": [ + -0.056066837161779404, + -0.09721679240465164, + -0.0997142493724823, + -0.13673657178878784 + ], + "candidate_oracle_progress": 0.5811232924461365, + "candidate_oracle_regret": 1.4188767075538635, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5811232924461365, + "candidate_oracle_score_gain_over_selected": 0.025271713733673096, + "candidate_oracle_selected_branch_progress": 0.5558515787124634, + "candidate_oracle_selected_branch_score": 0.5558515787124634, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-97598e118c5cc8c254a5;ms-844b753810c45699d501;ms-227fe0347d2ea57a66a3;ms-e058c0dba52df04b8642;ms-34495bfe34440ac63cf6;ms-0a4c4442237909d5f7b7", + "expert_regret": 1.4441447854042053, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-81729abe5d83a1ca280d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4441447854042053, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5558552145957947, + "restore_error": 1.1920928955078125e-07, + "score": 0.5558552145957947, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5105388760566711, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 1.2495802640914917, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + 1.2495802640914917, + 1.234287142753601, + 1.2201048135757446, + 1.2003467082977295 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d75a00b1388f50bf8919;ms-5fc884c238818acdde08;ms-12050326f623a94ae9e0;ms-76c78750d7abc6570487;ms-935ff204de9424ec00a2;ms-13af3f2f8e0b8444fe68", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4d6099258a3a6e037aff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.263674259185791, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.043763626366853714, + 0.04165182262659073, + 0.039740778505802155, + 0.027508676052093506 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0021118037402629852, + -0.0040228478610515594, + -0.016254950314760208 + ], + "candidate_oracle_branch_scores": [ + 0.043763626366853714, + 0.04165182262659073, + 0.039740778505802155, + 0.027508676052093506 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.338111400604248, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 8 + ], + "candidate_oracle_potentials": [ + -2.338111400604248, + -2.365964651107788, + -2.386928081512451, + -2.534456729888916 + ], + "candidate_oracle_progress": 0.043763626366853714, + "candidate_oracle_regret": 1.9562363736331463, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.043763626366853714, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.043763626366853714, + "candidate_oracle_selected_branch_score": 0.043763626366853714, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d305a11348461ae1622c;ms-1c0e2bb3a811fac6d567;ms-52cdfff790d71133c5a0;ms-5415e349e8f9f2bce641;ms-a1d69e0b112064914357;ms-bdd1924b44de2db5b07a", + "expert_regret": 0.5605158321559429, + "expert_score": 0.6042797565460205, + "expert_success": false, + "group_id": "ms-307f9067d5b66f55b3a6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9562360756099224, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04376392439007759, + "restore_error": 1.1920928955078125e-07, + "score": 0.04376392439007759, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48022133111953735, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5794054865837097, + 0.5628302693367004, + 0.5908762812614441, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.016575217247009277, + 0.011470794677734375, + 1.4205944538116455 + ], + "candidate_oracle_branch_scores": [ + 0.5794054865837097, + 0.5628302693367004, + 0.5908762812614441, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.23255668580532074, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + 0.014156841672956944, + -0.01490598265081644, + -0.16419506072998047, + -0.23255668580532074 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4205944538116455, + "candidate_oracle_selected_branch_progress": 0.5794054865837097, + "candidate_oracle_selected_branch_score": 0.5794054865837097, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d6305829d7ca1c68a3ce;ms-1add4cf84fdadf5703d6;ms-5780f9e1e9f9e740d474;ms-a8e6435948250f5e163d;ms-f3f6a1b34fdf35290a6c;ms-7057de70d36f5cc31472", + "expert_regret": 1.4205710887908936, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ae5421846020d2765f82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4205710887908936, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5794289112091064, + "restore_error": 1.1920928955078125e-07, + "score": 0.5794289112091064, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5829700827598572, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.9378381967544556, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 0, + 4, + 36 + ], + "candidate_oracle_potentials": [ + 0.9378381967544556, + 0.9297152757644653, + 0.9267600774765015, + 0.8926984071731567 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-478b7b8b729f9212a522;ms-ce8d2ef7d19bed381822;ms-e15eeda61ed4064a5c9f;ms-1add4cf84fdadf5703d6;ms-486572c62484eb4d73db;ms-6c39b520dca0a325535f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b33f1d4ddb6a531d2a71", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3773794174194336, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5570698380470276, + 0.5562455058097839, + 0.5572878122329712, + 0.5563405156135559 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0008243322372436523, + 0.00021797418594360352, + -0.0007293224334716797 + ], + "candidate_oracle_branch_scores": [ + 0.5570698380470276, + 0.5562455058097839, + 0.5572878122329712, + 0.5563405156135559 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.08394645154476166, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 36, + 0 + ], + "candidate_oracle_potentials": [ + 0.09346022456884384, + 0.08666583895683289, + 0.08394645154476166, + 0.08312227576971054 + ], + "candidate_oracle_progress": 0.5572878122329712, + "candidate_oracle_regret": 0.04269438982009888, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5572878122329712, + "candidate_oracle_score_gain_over_selected": 0.00021797418594360352, + "candidate_oracle_selected_branch_progress": 0.5570698380470276, + "candidate_oracle_selected_branch_score": 0.5570698380470276, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0e275939f12a9dcee0a0;ms-4d43fb19477b7ab848bc;ms-b40ee5a75332685d5cec;ms-d88107eff1e361cdcc4c;ms-16d5b122db1824caf92b;ms-70342af6b601660d7c69", + "expert_regret": 0.04291248321533203, + "expert_score": 0.5999822020530701, + "expert_success": false, + "group_id": "ms-1b9f208b8780cb33b9a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.04291248321533203, + "oracle_score": 0.5999822020530701, + "oracle_success": false, + "progress": 0.557069718837738, + "restore_error": 1.1920928955078125e-07, + "score": 0.557069718837738, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2507498264312744, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5363362431526184, + 0.5375697016716003, + 0.5261573195457458, + 0.5373296141624451 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0012334585189819336, + -0.010178923606872559, + 0.0009933710098266602 + ], + "candidate_oracle_branch_scores": [ + 0.5363362431526184, + 0.5375697016716003, + 0.5261573195457458, + 0.5373296141624451 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.25232312083244324, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + 0.3292008340358734, + 0.25232312083244324, + 0.2437887340784073, + 0.22639977931976318 + ], + "candidate_oracle_progress": 0.5375697016716003, + "candidate_oracle_regret": 1.4624302983283997, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5375697016716003, + "candidate_oracle_score_gain_over_selected": 0.0012334585189819336, + "candidate_oracle_selected_branch_progress": 0.5363362431526184, + "candidate_oracle_selected_branch_score": 0.5363362431526184, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-578e24198ed828a74485;ms-5316151a88a3282436ca;ms-0a4c4442237909d5f7b7;ms-9a1de6130828dc946a51;ms-97598e118c5cc8c254a5;ms-34495bfe34440ac63cf6", + "expert_regret": 1.4636635184288025, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-80d5c509e83845ab1bc7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4636635184288025, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5363364815711975, + "restore_error": 1.1920928955078125e-07, + "score": 0.5363364815711975, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4629674255847931, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.038018833845853806, + 0.03784196451306343, + 0.00376642937771976, + 0.046619463711977005 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00017686933279037476, + -0.03425240516662598, + 0.0086006298661232 + ], + "candidate_oracle_branch_scores": [ + 0.038018833845853806, + 0.03784196451306343, + 0.00376642937771976, + 0.046619463711977005 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.352607011795044, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 35 + ], + "candidate_oracle_potentials": [ + -2.3021323680877686, + -2.3104701042175293, + -2.3393144607543945, + -2.352607011795044 + ], + "candidate_oracle_progress": 0.046619463711977005, + "candidate_oracle_regret": 1.953380536288023, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.046619463711977005, + "candidate_oracle_score_gain_over_selected": 0.0086006298661232, + "candidate_oracle_selected_branch_progress": 0.038018833845853806, + "candidate_oracle_selected_branch_score": 0.038018833845853806, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f9c00ba41392adec3fd1;ms-c2bc492ab5eb87a73789;ms-2cf1227610d4602f88ed;ms-1b83fc0981e283975488;ms-1f8e2d5d25706493821d;ms-adfe268e473c03b72c65", + "expert_regret": 1.9619811661541462, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-578537600f7a649c2dd5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9619811661541462, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.038018833845853806, + "restore_error": 1.1920928955078125e-07, + "score": 0.038018833845853806, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4095008671283722, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5680055022239685, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.4319944381713867, + 1.4319944381713867, + 1.4319944381713867 + ], + "candidate_oracle_branch_scores": [ + 0.5680055022239685, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 1.3195096254348755, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 24, + 17, + 40 + ], + "candidate_oracle_potentials": [ + 1.3273383378982544, + 1.3195096254348755, + 1.3185316324234009, + 1.3142378330230713 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4319944381713867, + "candidate_oracle_selected_branch_progress": 0.5680055022239685, + "candidate_oracle_selected_branch_score": 0.5680055022239685, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b97cb4ec02e8234b08c5;ms-a22fbce4503f088acb1f;ms-d6b2d805dc063382ade2;ms-4f833710c2706ee077af;ms-02ab2e7a74d970154eb7;ms-b7e7fe66a6c86898eec2", + "expert_regret": 1.4319942593574524, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-295de2ad6c52ab50de1a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4319942593574524, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5680057406425476, + "restore_error": 1.1920928955078125e-07, + "score": 0.5680057406425476, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5267109274864197, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5501970648765564, + 0.5505284667015076, + 0.034113943576812744, + 0.03367896005511284 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0003314018249511719, + -0.5160831212997437, + -0.5165181159973145 + ], + "candidate_oracle_branch_scores": [ + 0.5501970648765564, + 0.5505284667015076, + 0.034113943576812744, + 0.03367896005511284 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7386661171913147, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 24 + ], + "candidate_oracle_potentials": [ + -0.7138845324516296, + -0.7386661171913147, + -0.7846944332122803, + -0.8086353540420532 + ], + "candidate_oracle_progress": 0.5505284667015076, + "candidate_oracle_regret": 1.4494715332984924, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5505284667015076, + "candidate_oracle_score_gain_over_selected": 0.0003314018249511719, + "candidate_oracle_selected_branch_progress": 0.5501970648765564, + "candidate_oracle_selected_branch_score": 0.5501970648765564, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-227fe0347d2ea57a66a3;ms-97598e118c5cc8c254a5;ms-844b753810c45699d501;ms-e0b2e69a5ea0d0ad4fb5;ms-0a4c4442237909d5f7b7;ms-6af227c07aaf7c0f0aea", + "expert_regret": 1.4498037695884705, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-59cc3cdf6918248d7f78", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4498037695884705, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5501962304115295, + "restore_error": 1.1920928955078125e-07, + "score": 0.5501962304115295, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45814186334609985, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5280551910400391, + 0.5262234807014465, + 0.528219997882843, + 0.5266088843345642 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0018317103385925293, + 0.00016480684280395508, + -0.0014463067054748535 + ], + "candidate_oracle_branch_scores": [ + 0.5280551910400391, + 0.5262234807014465, + 0.528219997882843, + 0.5266088843345642 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 1.0490295886993408, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + 1.1288888454437256, + 1.1240277290344238, + 1.0490295886993408, + 1.0428385734558105 + ], + "candidate_oracle_progress": 0.528219997882843, + "candidate_oracle_regret": 1.471780002117157, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.7881393432617188e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.528219997882843, + "candidate_oracle_score_gain_over_selected": 0.00016480684280395508, + "candidate_oracle_selected_branch_progress": 0.5280551910400391, + "candidate_oracle_selected_branch_score": 0.5280551910400391, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8f241450069e74460a40;ms-11bb3387454624de8143;ms-309c09cf5d782e9ba0a3;ms-a6273302894af3505ca8;ms-5780f9e1e9f9e740d474;ms-7057de70d36f5cc31472", + "expert_regret": 1.4718979001045227, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08858c7ba8d4a3357e05", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4718979001045227, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5281020998954773, + "restore_error": 1.1920928955078125e-07, + "score": 0.5281020998954773, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15602461993694305, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5413841009140015, + 0.5416263937950134, + 0.5418657660484314, + 0.5396074652671814 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0002422928810119629, + 0.00048166513442993164, + -0.0017766356468200684 + ], + "candidate_oracle_branch_scores": [ + 0.5413841009140015, + 0.5416263937950134, + 0.5418657660484314, + 0.5396074652671814 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.66997891664505, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + 0.6718689799308777, + 0.6710590720176697, + 0.66997891664505, + 0.6588971614837646 + ], + "candidate_oracle_progress": 0.5418657660484314, + "candidate_oracle_regret": 1.4581342339515686, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.7881393432617188e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5418657660484314, + "candidate_oracle_score_gain_over_selected": 0.00048166513442993164, + "candidate_oracle_selected_branch_progress": 0.5413841009140015, + "candidate_oracle_selected_branch_score": 0.5413841009140015, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ff3f17774184180998f0;ms-27b0553a5c49108e6a98;ms-774e954ffdc5da041261;ms-fb98254adaa23dc128df;ms-2b3e081263ed25d45dc8;ms-55ea22014575410563a4", + "expert_regret": 1.4586837887763977, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5b122bd43e749623ebe0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4586837887763977, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5413162112236023, + "restore_error": 1.1920928955078125e-07, + "score": 0.5413162112236023, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6691442131996155, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.11666331440210342, + 0.12884202599525452, + 0.13740281760692596, + 0.5764942169189453 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.012178711593151093, + 0.02073950320482254, + 0.4598309099674225 + ], + "candidate_oracle_branch_scores": [ + 0.11666331440210342, + 0.12884202599525452, + 0.13740281760692596, + 0.5764942169189453 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.5770078897476196, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -1.5450304746627808, + -1.548354148864746, + -1.552178144454956, + -1.5770078897476196 + ], + "candidate_oracle_progress": 0.5764942169189453, + "candidate_oracle_regret": 1.4235057830810547, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.7881393432617188e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5764942169189453, + "candidate_oracle_score_gain_over_selected": 0.4598309099674225, + "candidate_oracle_selected_branch_progress": 0.11666331440210342, + "candidate_oracle_selected_branch_score": 0.11666331440210342, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-52cdfff790d71133c5a0;ms-5415e349e8f9f2bce641;ms-d305a11348461ae1622c;ms-1c0e2bb3a811fac6d567;ms-bdd1924b44de2db5b07a;ms-a1d69e0b112064914357", + "expert_regret": 1.8833631724119186, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4d03463bb4536a28d67a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8833631724119186, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11663682758808136, + "restore_error": 1.1920928955078125e-07, + "score": 0.11663682758808136, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5867997407913208, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5529069900512695, + 0.5544066429138184, + 0.5510085821151733, + 0.5533889532089233 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0014996528625488281, + -0.0018984079360961914, + 0.0004819631576538086 + ], + "candidate_oracle_branch_scores": [ + 0.5529069900512695, + 0.5544066429138184, + 0.5510085821151733, + 0.5533889532089233 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.16885599493980408, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 0, + 24, + 4 + ], + "candidate_oracle_potentials": [ + -0.13840609788894653, + -0.16885599493980408, + -0.1823292225599289, + -0.18322548270225525 + ], + "candidate_oracle_progress": 0.5544066429138184, + "candidate_oracle_regret": 1.4455933570861816, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.7881393432617188e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5544066429138184, + "candidate_oracle_score_gain_over_selected": 0.0014996528625488281, + "candidate_oracle_selected_branch_progress": 0.5529069900512695, + "candidate_oracle_selected_branch_score": 0.5529069900512695, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-26e09c86be9068a34acf;ms-fb228a036fe5973bcad1;ms-a6273302894af3505ca8;ms-1bfca22d4af29f0e14b1;ms-8f241450069e74460a40;ms-b97cb4ec02e8234b08c5", + "expert_regret": 1.447091281414032, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1abd8c7cc1c683f88d3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.447091281414032, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.552908718585968, + "restore_error": 1.1920928955078125e-07, + "score": 0.552908718585968, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5799445509910583, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.49031466245651245, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 40 + ], + "candidate_oracle_potentials": [ + 0.49031466245651245, + 0.38038450479507446, + 0.3525394797325134, + 0.33835360407829285 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.7881393432617188e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-26e09c86be9068a34acf;ms-fb228a036fe5973bcad1;ms-a6273302894af3505ca8;ms-b97cb4ec02e8234b08c5;ms-625b5d55ca76cc565049;ms-1bfca22d4af29f0e14b1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b82cc8ce5d9d348ba6b4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12675364315509796, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5665342211723328, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.4334657192230225, + 1.4334657192230225, + 1.4334657192230225 + ], + "candidate_oracle_branch_scores": [ + 0.5665342211723328, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.24746756255626678, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.22435572743415833, + -0.24746756255626678, + -0.25678765773773193, + -0.26721587777137756 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.7881393432617188e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4334657192230225, + "candidate_oracle_selected_branch_progress": 0.5665342211723328, + "candidate_oracle_selected_branch_score": 0.5665342211723328, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ff3f17774184180998f0;ms-774e954ffdc5da041261;ms-27b0553a5c49108e6a98;ms-55ea22014575410563a4;ms-2b3e081263ed25d45dc8;ms-fb98254adaa23dc128df", + "expert_regret": 1.4334657788276672, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4d9cef437c77474dc62d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4334657788276672, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5665342211723328, + "restore_error": 1.1920928955078125e-07, + "score": 0.5665342211723328, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6350136995315552, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.5575722455978394, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + 0.5575722455978394, + 0.5179535150527954, + 0.50487220287323, + 0.5036410093307495 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.7881393432617188e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b4af4c8b9dcd6976546c;ms-16d5b122db1824caf92b;ms-d807915e233a0c74b809;ms-d4bde31fd7e7cee76b09;ms-3aa864ead19c9cb9fb49;ms-b40ee5a75332685d5cec", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-99a5ffff5b73cf604b3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4558616280555725, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.9584959149360657, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 4, + 0, + 24 + ], + "candidate_oracle_potentials": [ + 0.9584959149360657, + 0.9543022513389587, + 0.9146593809127808, + 0.8878936767578125 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.7881393432617188e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2c68b2b895bdbedbaa08;ms-2ae57bab6d2ea11f6638;ms-e1972ebf2c5587a6fdf9;ms-2b56888f10733707f14b;ms-bcc70292f404cd1c7f75;ms-166b7f66bf9f4eec432b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4a0ae3deadb8560fd315", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3180040717124939, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5560315251350403, + 0.5479401350021362, + 0.546768307685852, + 0.5561003684997559 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.008091390132904053, + -0.009263217449188232, + 6.884336471557617e-05 + ], + "candidate_oracle_branch_scores": [ + 0.5560315251350403, + 0.5479401350021362, + 0.546768307685852, + 0.5561003684997559 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7220392823219299, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 0.7388576865196228, + 0.7376234531402588, + 0.7221835851669312, + 0.7220392823219299 + ], + "candidate_oracle_progress": 0.5561003684997559, + "candidate_oracle_regret": 1.4438996315002441, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5561003684997559, + "candidate_oracle_score_gain_over_selected": 6.884336471557617e-05, + "candidate_oracle_selected_branch_progress": 0.5560315251350403, + "candidate_oracle_selected_branch_score": 0.5560315251350403, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8420ccaff5986c85063f;ms-935ff204de9424ec00a2;ms-29653e236de96058ef6d;ms-d73a2a984d5829e884f9;ms-8522a9364bf70311450d;ms-fd225482b96686f51dc8", + "expert_regret": 1.4439597725868225, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5daa8575a80e98a83170", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4439597725868225, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5560402274131775, + "restore_error": 1.1920928955078125e-07, + "score": 0.5560402274131775, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.86761474609375, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5428957343101501, + 0.5454162955284119, + 1.0, + 0.5483216643333435 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0025205612182617188, + 1.457104206085205, + 0.005425930023193359 + ], + "candidate_oracle_branch_scores": [ + 0.5428957343101501, + 0.5454162955284119, + 2.0, + 0.5483216643333435 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.7043440341949463, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 36, + 0 + ], + "candidate_oracle_potentials": [ + -1.6882060766220093, + -1.6904205083847046, + -1.7043440341949463, + -1.7305654287338257 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.457104206085205, + "candidate_oracle_selected_branch_progress": 0.5428957343101501, + "candidate_oracle_selected_branch_score": 0.5428957343101501, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b481531ab787e3d6fb1e;ms-a76ae18568c88af1da6b;ms-ed9addab41f3298db7bc;ms-b9e46b7345a63ded4397;ms-319a6c0cef0ac1a872d5;ms-aea09fb002af52e12bd8", + "expert_regret": 1.457107126712799, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d8b4090565126a66d13e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.457107126712799, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5428928732872009, + "restore_error": 1.1920928955078125e-07, + "score": 0.5428928732872009, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4170530438423157, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.4763857424259186, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 1 + ], + "candidate_oracle_potentials": [ + 0.4763857424259186, + 0.4721558392047882, + 0.45548731088638306, + 0.38290733098983765 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9eb40f856528204bbcfd;ms-8522a9364bf70311450d;ms-2b3e081263ed25d45dc8;ms-4385e9c56007fdaa94b5;ms-c1ac63fb3644e3a2ae06;ms-fd225482b96686f51dc8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9af03b651b5e36ac2ae3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5671485066413879, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.8529551029205322, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 4, + 20, + 0 + ], + "candidate_oracle_potentials": [ + 0.8529551029205322, + 0.8513544797897339, + 0.8473979234695435, + 0.8306565284729004 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4d43fb19477b7ab848bc;ms-ffef7730418c831245b3;ms-8f5255815f8b70b48734;ms-b8276cb9b6cb9a9b302f;ms-88bdd8987f890af7e9ea;ms-8a74cf665984273be00d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-50f62a61a82a96061d9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6977699995040894, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.15216663479804993, + 0.14564786851406097, + 0.15410378575325012, + 0.1415010243654251 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.006518766283988953, + 0.0019371509552001953, + -0.010665610432624817 + ], + "candidate_oracle_branch_scores": [ + 0.15216663479804993, + 0.14564786851406097, + 0.15410378575325012, + 0.1415010243654251 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.6562564373016357, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.6137735843658447, + -1.6423438787460327, + -1.6562564373016357, + -1.7238792181015015 + ], + "candidate_oracle_progress": 0.15410378575325012, + "candidate_oracle_regret": 1.8458962142467499, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.15410378575325012, + "candidate_oracle_score_gain_over_selected": 0.0019371509552001953, + "candidate_oracle_selected_branch_progress": 0.15216663479804993, + "candidate_oracle_selected_branch_score": 0.15216663479804993, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c7f427f37d47501932e8;ms-2d995e39f2b95fed1a67;ms-b7e7fe66a6c86898eec2;ms-02ab2e7a74d970154eb7;ms-4f833710c2706ee077af;ms-8b972386cfdf0158a0a3", + "expert_regret": 1.8470392674207687, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-19e6e6e341aebb7ec693", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8470392674207687, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.15296073257923126, + "restore_error": 1.1920928955078125e-07, + "score": 0.15296073257923126, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2897018790245056, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.7861217856407166, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + 0.7861217856407166, + 0.785979688167572, + 0.7855533957481384, + 0.7691879272460938 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6c39b520dca0a325535f;ms-486572c62484eb4d73db;ms-704fee4c9fb9941a26e7;ms-8f6d30c2ade00e451dc2;ms-f4b95f2b569e3f1bf086;ms-478b7b8b729f9212a522", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a6b029a958e91306966a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33024877309799194, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5335639119148254, + 0.5311199426651001, + 0.5318126082420349, + 0.5330854654312134 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002443969249725342, + -0.0017513036727905273, + -0.00047844648361206055 + ], + "candidate_oracle_branch_scores": [ + 0.5335639119148254, + 0.5311199426651001, + 0.5318126082420349, + 0.5330854654312134 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.3237231373786926, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 24, + 8, + 20 + ], + "candidate_oracle_potentials": [ + 0.3237231373786926, + 0.32322028279304504, + 0.3215019404888153, + 0.3196297287940979 + ], + "candidate_oracle_progress": 0.5335639119148254, + "candidate_oracle_regret": 1.4664360880851746, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5335639119148254, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5335639119148254, + "candidate_oracle_selected_branch_score": 0.5335639119148254, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a934ef3c442100d9cc58;ms-4b1561bd0029228fdbbe;ms-30ad687dc1bc8318fa45;ms-8adf1cf09ddabdc5fe5f;ms-bef9b88ae40ca98647aa;ms-2d995e39f2b95fed1a67", + "expert_regret": 1.4664365649223328, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d4c3c235768529c33843", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4664365649223328, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5335634350776672, + "restore_error": 1.1920928955078125e-07, + "score": 0.5335634350776672, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5304674506187439, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5610517859458923, + 0.5613832473754883, + 0.5608208775520325, + 0.5611470937728882 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00033146142959594727, + -0.00023090839385986328, + 9.530782699584961e-05 + ], + "candidate_oracle_branch_scores": [ + 0.5610517859458923, + 0.5613832473754883, + 0.5608208775520325, + 0.5611470937728882 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.22485658526420593, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.218649223446846, + -0.22485658526420593, + -0.26683151721954346, + -0.2741624712944031 + ], + "candidate_oracle_progress": 0.5613832473754883, + "candidate_oracle_regret": 1.4386167526245117, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5613832473754883, + "candidate_oracle_score_gain_over_selected": 0.00033146142959594727, + "candidate_oracle_selected_branch_progress": 0.5610517859458923, + "candidate_oracle_selected_branch_score": 0.5610517859458923, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5425964a186feaf6fd99;ms-12050326f623a94ae9e0;ms-d75a00b1388f50bf8919;ms-a7f98a43ff113d74f009;ms-4bf0620f8d1294466596;ms-e8fbdbddd9200f5091d6", + "expert_regret": 1.4389474987983704, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-570c074dbf28b5faae58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4389474987983704, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5610525012016296, + "restore_error": 1.1920928955078125e-07, + "score": 0.5610525012016296, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7966122627258301, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.44471341371536255, + 0.44402867555618286, + 0.44447585940361023, + 0.4435185492038727 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0006847381591796875, + -0.00023755431175231934, + -0.0011948645114898682 + ], + "candidate_oracle_branch_scores": [ + 0.44471341371536255, + 0.44402867555618286, + 0.44447585940361023, + 0.4435185492038727 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.37880277633667, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 4 + ], + "candidate_oracle_potentials": [ + -1.37880277633667, + -1.4332802295684814, + -1.458857774734497, + -1.4819724559783936 + ], + "candidate_oracle_progress": 0.44471341371536255, + "candidate_oracle_regret": 1.5552865862846375, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.44471341371536255, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.44471341371536255, + "candidate_oracle_selected_branch_score": 0.44471341371536255, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-309c09cf5d782e9ba0a3;ms-f3f6a1b34fdf35290a6c;ms-7057de70d36f5cc31472;ms-8f241450069e74460a40;ms-11bb3387454624de8143;ms-66cc354bbf4e8bdd1051", + "expert_regret": 1.5554812252521515, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b05147302972dfd7b450", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5554812252521515, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4445187747478485, + "restore_error": 1.1920928955078125e-07, + "score": 0.4445187747478485, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3863990008831024, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5485069751739502, + 0.5492579936981201, + 0.5454041361808777, + 0.5455707311630249 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0007510185241699219, + -0.0031028389930725098, + -0.002936244010925293 + ], + "candidate_oracle_branch_scores": [ + 0.5485069751739502, + 0.5492579936981201, + 0.5454041361808777, + 0.5455707311630249 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.626000165939331, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 20, + 8, + 24 + ], + "candidate_oracle_potentials": [ + -0.581537127494812, + -0.626000165939331, + -0.6419928073883057, + -0.6933410167694092 + ], + "candidate_oracle_progress": 0.5492579936981201, + "candidate_oracle_regret": 1.4507420063018799, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5492579936981201, + "candidate_oracle_score_gain_over_selected": 0.0007510185241699219, + "candidate_oracle_selected_branch_progress": 0.5485069751739502, + "candidate_oracle_selected_branch_score": 0.5485069751739502, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-227fe0347d2ea57a66a3;ms-97598e118c5cc8c254a5;ms-9a1de6130828dc946a51;ms-0a4c4442237909d5f7b7;ms-844b753810c45699d501;ms-578e24198ed828a74485", + "expert_regret": 1.4517019391059875, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c2fde2d79cdf38555865", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4517019391059875, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5482980608940125, + "restore_error": 1.1920928955078125e-07, + "score": 0.5482980608940125, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3897687494754791, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7597336173057556, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 4, + 36, + 0 + ], + "candidate_oracle_potentials": [ + -0.7597336173057556, + -0.7650501132011414, + -0.7670401930809021, + -0.7757569551467896 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-166b7f66bf9f4eec432b;ms-bcc70292f404cd1c7f75;ms-9a2d8f0085e6740cf5b0;ms-e1972ebf2c5587a6fdf9;ms-4c83412fa0aa5180ad89;ms-5fc884c238818acdde08", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1781d9c562b4425df7c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4745609164237976, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5541257858276367, + 0.5548840761184692, + 0.5552279353141785, + 0.5552193522453308 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0007582902908325195, + 0.001102149486541748, + 0.0010935664176940918 + ], + "candidate_oracle_branch_scores": [ + 0.5541257858276367, + 0.5548840761184692, + 0.5552279353141785, + 0.5552193522453308 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.1108423471450806, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 8 + ], + "candidate_oracle_potentials": [ + -1.0776022672653198, + -1.0945643186569214, + -1.1108423471450806, + -1.1164031028747559 + ], + "candidate_oracle_progress": 0.5552279353141785, + "candidate_oracle_regret": 1.4447720646858215, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5552279353141785, + "candidate_oracle_score_gain_over_selected": 0.001102149486541748, + "candidate_oracle_selected_branch_progress": 0.5541257858276367, + "candidate_oracle_selected_branch_score": 0.5541257858276367, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-227fe0347d2ea57a66a3;ms-c7f427f37d47501932e8;ms-91d86cba2602d1fa780d;ms-2d995e39f2b95fed1a67;ms-6af227c07aaf7c0f0aea;ms-b7e7fe66a6c86898eec2", + "expert_regret": 1.4458779096603394, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-78da3efba7a739dcad14", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4458779096603394, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5541220903396606, + "restore_error": 1.1920928955078125e-07, + "score": 0.5541220903396606, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44759148359298706, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.09505140781402588, + 0.10277118533849716, + 0.07257652282714844, + 0.09577802568674088 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.007719777524471283, + -0.02247488498687744, + 0.0007266178727149963 + ], + "candidate_oracle_branch_scores": [ + 0.09505140781402588, + 0.10277118533849716, + 0.07257652282714844, + 0.09577802568674088 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.136833667755127, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -2.1338980197906494, + -2.136833667755127, + -2.1439921855926514, + -2.1665875911712646 + ], + "candidate_oracle_progress": 0.10277118533849716, + "candidate_oracle_regret": 0.4763435497879982, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.10277118533849716, + "candidate_oracle_score_gain_over_selected": 0.007719777524471283, + "candidate_oracle_selected_branch_progress": 0.09505140781402588, + "candidate_oracle_selected_branch_score": 0.09505140781402588, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-de066fc4200163ebd06b;ms-42edbdb8ff281fc33a99;ms-c76158673d20b18c2622;ms-1fb2f4c1e17e99767558;ms-c425c810f7865e9564ee;ms-81f48d29d0404300ea93", + "expert_regret": 0.48410607129335403, + "expert_score": 0.5791147351264954, + "expert_success": false, + "group_id": "ms-f763382872d8e89017c2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.48410607129335403, + "oracle_score": 0.5791147351264954, + "oracle_success": false, + "progress": 0.09500866383314133, + "restore_error": 1.1920928955078125e-07, + "score": 0.09500866383314133, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5590723156929016, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5818669199943542, + 0.5823480486869812, + 0.581218421459198, + 0.5552484393119812 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0004811286926269531, + -0.00064849853515625, + -0.026618480682373047 + ], + "candidate_oracle_branch_scores": [ + 0.5818669199943542, + 0.5823480486869812, + 0.581218421459198, + 0.5552484393119812 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.6048175692558289, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 36, + 4, + 24 + ], + "candidate_oracle_potentials": [ + 0.6427443623542786, + 0.6048175692558289, + 0.5710827708244324, + 0.555911123752594 + ], + "candidate_oracle_progress": 0.5823480486869812, + "candidate_oracle_regret": 1.4176519513130188, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5823480486869812, + "candidate_oracle_score_gain_over_selected": 0.0004811286926269531, + "candidate_oracle_selected_branch_progress": 0.5818669199943542, + "candidate_oracle_selected_branch_score": 0.5818669199943542, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0a4c4442237909d5f7b7;ms-578e24198ed828a74485;ms-9a1de6130828dc946a51;ms-56ad75c28031e049a3dd;ms-5316151a88a3282436ca;ms-0b7f8ba789c00b37caa0", + "expert_regret": 1.4181330800056458, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-982922e263d07c54c136", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4181330800056458, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5818669199943542, + "restore_error": 1.1920928955078125e-07, + "score": 0.5818669199943542, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14249040186405182, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5522958636283875, + 0.552293598651886, + 0.5522903800010681, + 0.5522780418395996 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -2.2649765014648438e-06, + -5.4836273193359375e-06, + -1.7821788787841797e-05 + ], + "candidate_oracle_branch_scores": [ + 0.5522958636283875, + 0.552293598651886, + 0.5522903800010681, + 0.5522780418395996 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.2745607793331146, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -0.2745607793331146, + -0.2748843729496002, + -0.2753816843032837, + -0.2875589430332184 + ], + "candidate_oracle_progress": 0.5522958636283875, + "candidate_oracle_regret": 1.4477041363716125, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5522958636283875, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5522958636283875, + "candidate_oracle_selected_branch_score": 0.5522958636283875, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3aa864ead19c9cb9fb49;ms-66cc354bbf4e8bdd1051;ms-309c09cf5d782e9ba0a3;ms-842e179244eddac303a5;ms-ee19bfbcb2f4fbf5a44d;ms-4bc32bd893d0cff76423", + "expert_regret": 1.4477034211158752, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61b1188974f35233b883", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4477034211158752, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5522965788841248, + "restore_error": 1.1920928955078125e-07, + "score": 0.5522965788841248, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7553828358650208, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5114101767539978, + 0.5130236744880676, + 0.511082649230957, + 0.5126791596412659 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0016134977340698242, + -0.0003275275230407715, + 0.0012689828872680664 + ], + "candidate_oracle_branch_scores": [ + 0.5114101767539978, + 0.5130236744880676, + 0.511082649230957, + 0.5126791596412659 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.5809342265129089, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.5879654884338379, + 0.5809342265129089, + 0.46328508853912354, + 0.45586514472961426 + ], + "candidate_oracle_progress": 0.5130236744880676, + "candidate_oracle_regret": 1.4869763255119324, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5130236744880676, + "candidate_oracle_score_gain_over_selected": 0.0016134977340698242, + "candidate_oracle_selected_branch_progress": 0.5114101767539978, + "candidate_oracle_selected_branch_score": 0.5114101767539978, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-486572c62484eb4d73db;ms-6c39b520dca0a325535f;ms-417cab1470cf46273b02;ms-ca25b016439a98198434;ms-704fee4c9fb9941a26e7;ms-a45ed89f5b95d1e7ab07", + "expert_regret": 1.4885907173156738, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-763c73c94818a090d358", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4885907173156738, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5114092826843262, + "restore_error": 1.1920928955078125e-07, + "score": 0.5114092826843262, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5754294991493225, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.3114551305770874, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + 0.3114551305770874, + 0.2457105666399002, + 0.22406066954135895, + 0.20184127986431122 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 3.948807716369629e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-21155188bc35f0f021d3;ms-fbcc714230de2c097d0d;ms-87f8bbc8d9e7f4dcaacf;ms-3a07c49566decfea04de;ms-4b1561bd0029228fdbbe;ms-2d995e39f2b95fed1a67", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ae33e3afb57e61026d72", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.574327290058136, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5679948329925537 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.4320051670074463 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5679948329925537 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.801099419593811, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 36, + 1 + ], + "candidate_oracle_potentials": [ + 0.801099419593811, + 0.7937979698181152, + 0.7868691682815552, + 0.45795774459838867 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 3.948807716369629e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8a74cf665984273be00d;ms-88bdd8987f890af7e9ea;ms-b8276cb9b6cb9a9b302f;ms-4d43fb19477b7ab848bc;ms-0e275939f12a9dcee0a0;ms-ffef7730418c831245b3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-479aa7d4248a0ebd94e1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4875929653644562, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.48985669016838074, + 0.4898006021976471, + 0.49000754952430725, + 0.4902292788028717 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -5.608797073364258e-05, + 0.00015085935592651367, + 0.0003725886344909668 + ], + "candidate_oracle_branch_scores": [ + 0.48985669016838074, + 0.4898006021976471, + 0.49000754952430725, + 0.4902292788028717 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.3316506147384644, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 36, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.2230591773986816, + -1.2305480241775513, + -1.2325884103775024, + -1.3316506147384644 + ], + "candidate_oracle_progress": 0.4902292788028717, + "candidate_oracle_regret": 1.5097707211971283, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 3.948807716369629e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4902292788028717, + "candidate_oracle_score_gain_over_selected": 0.0003725886344909668, + "candidate_oracle_selected_branch_progress": 0.48985669016838074, + "candidate_oracle_selected_branch_score": 0.48985669016838074, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-943b5187cbe128b9b563;ms-39450dbba738dbd8a764;ms-b97cb4ec02e8234b08c5;ms-625b5d55ca76cc565049;ms-07e0726dedce0a0e4419;ms-d6b2d805dc063382ade2", + "expert_regret": 1.5100296437740326, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7fa68a6085e0b973ce6b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5100296437740326, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4899703562259674, + "restore_error": 1.1920928955078125e-07, + "score": 0.4899703562259674, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8236598968505859, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.03143332153558731, + 0.030440663918852806, + 0.032563794404268265, + 0.030699027702212334 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0009926576167345047, + 0.001130472868680954, + -0.0007342938333749771 + ], + "candidate_oracle_branch_scores": [ + 0.03143332153558731, + 0.030440663918852806, + 0.032563794404268265, + 0.030699027702212334 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.8364064693450928, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 4, + 8 + ], + "candidate_oracle_potentials": [ + -2.7934770584106445, + -2.795664072036743, + -2.8364064693450928, + -2.845183849334717 + ], + "candidate_oracle_progress": 0.032563794404268265, + "candidate_oracle_regret": 1.9674362055957317, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.948807716369629e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.032563794404268265, + "candidate_oracle_score_gain_over_selected": 0.001130472868680954, + "candidate_oracle_selected_branch_progress": 0.03143332153558731, + "candidate_oracle_selected_branch_score": 0.03143332153558731, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c2e07545267c612a022c;ms-72cf68c15631675b063f;ms-1fb2f4c1e17e99767558;ms-6558f35ae2a2871a4bfd;ms-c425c810f7865e9564ee;ms-81f48d29d0404300ea93", + "expert_regret": 1.9685789830982685, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c8198e44eea32f98ca7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9685789830982685, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03142101690173149, + "restore_error": 1.1920928955078125e-07, + "score": 0.03142101690173149, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.606266975402832, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.498220831155777, + 0.4979008734226227, + 0.4982587993144989, + 0.4979645907878876 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0003199577331542969, + 3.796815872192383e-05, + -0.0002562403678894043 + ], + "candidate_oracle_branch_scores": [ + 0.498220831155777, + 0.4979008734226227, + 0.4982587993144989, + 0.4979645907878876 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7414143681526184, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + 0.765994131565094, + 0.76581871509552, + 0.7414143681526184, + 0.7397035360336304 + ], + "candidate_oracle_progress": 0.4982587993144989, + "candidate_oracle_regret": 1.501741200685501, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.948807716369629e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4982587993144989, + "candidate_oracle_score_gain_over_selected": 3.796815872192383e-05, + "candidate_oracle_selected_branch_progress": 0.498220831155777, + "candidate_oracle_selected_branch_score": 0.498220831155777, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-732819b0c220a4c06870;ms-6c39b520dca0a325535f;ms-486572c62484eb4d73db;ms-a10d8368c33b56390f77;ms-8f6d30c2ade00e451dc2;ms-417cab1470cf46273b02", + "expert_regret": 1.5017802119255066, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b7800060cd4a8c3cb6b9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5017802119255066, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4982197880744934, + "restore_error": 1.1920928955078125e-07, + "score": 0.4982197880744934, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6139988303184509, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.8166247606277466, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 36, + 4, + 24 + ], + "candidate_oracle_potentials": [ + 0.8166247606277466, + 0.7557966709136963, + 0.7366217374801636, + 0.7292442321777344 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 3.948807716369629e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6273302894af3505ca8;ms-26e09c86be9068a34acf;ms-fb228a036fe5973bcad1;ms-8f241450069e74460a40;ms-11bb3387454624de8143;ms-a22fbce4503f088acb1f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b570fe64df70560c8ab6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7967750430107117, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5848574042320251, + 1.0, + 0.5840098261833191, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.41514253616333, + -0.0008475780487060547, + 1.41514253616333 + ], + "candidate_oracle_branch_scores": [ + 0.5848574042320251, + 2.0, + 0.5840098261833191, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 1.0568755865097046, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 24, + 33, + 17 + ], + "candidate_oracle_potentials": [ + 1.130937099456787, + 1.0568755865097046, + 1.0535533428192139, + 1.0350697040557861 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 3.948807716369629e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.41514253616333, + "candidate_oracle_selected_branch_progress": 0.5848574042320251, + "candidate_oracle_selected_branch_score": 0.5848574042320251, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8d9b2a5ccd43461f827e;ms-2d995e39f2b95fed1a67;ms-b7e7fe66a6c86898eec2;ms-02ab2e7a74d970154eb7;ms-c7f427f37d47501932e8;ms-41279eb586ca5e587474", + "expert_regret": 1.4151421189308167, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e4af96af7d344ec47a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4151421189308167, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5848578810691833, + "restore_error": 1.1920928955078125e-07, + "score": 0.5848578810691833, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5309953093528748, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5456976294517517, + 0.5453425049781799, + 0.5505417585372925, + 0.5460402369499207 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00035512447357177734, + 0.0048441290855407715, + 0.0003426074981689453 + ], + "candidate_oracle_branch_scores": [ + 0.5456976294517517, + 0.5453425049781799, + 0.5505417585372925, + 0.5460402369499207 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.23908816277980804, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 24, + 36 + ], + "candidate_oracle_potentials": [ + -0.1675383299589157, + -0.20713405311107635, + -0.23908816277980804, + -0.25775450468063354 + ], + "candidate_oracle_progress": 0.5505417585372925, + "candidate_oracle_regret": 1.4494582414627075, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.948807716369629e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5505417585372925, + "candidate_oracle_score_gain_over_selected": 0.0048441290855407715, + "candidate_oracle_selected_branch_progress": 0.5456976294517517, + "candidate_oracle_selected_branch_score": 0.5456976294517517, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-227fe0347d2ea57a66a3;ms-91d86cba2602d1fa780d;ms-0b7f8ba789c00b37caa0;ms-56ad75c28031e049a3dd;ms-97598e118c5cc8c254a5;ms-6af227c07aaf7c0f0aea", + "expert_regret": 1.4543028473854065, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a2c5c9fd35d9fda5ce9e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4543028473854065, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5456971526145935, + "restore_error": 1.1920928955078125e-07, + "score": 0.5456971526145935, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5309087634086609, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5256476402282715, + 0.040677763521671295, + 0.527005672454834, + 0.5158158540725708 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4849698841571808, + 0.0013580322265625, + -0.009831786155700684 + ], + "candidate_oracle_branch_scores": [ + 0.5256476402282715, + 0.040677763521671295, + 0.527005672454834, + 0.5158158540725708 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6170046329498291, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + -0.5439479351043701, + -0.5505098700523376, + -0.6170046329498291, + -0.6185935139656067 + ], + "candidate_oracle_progress": 0.527005672454834, + "candidate_oracle_regret": 1.472994327545166, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.527005672454834, + "candidate_oracle_score_gain_over_selected": 0.0013580322265625, + "candidate_oracle_selected_branch_progress": 0.5256476402282715, + "candidate_oracle_selected_branch_score": 0.5256476402282715, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c2bc492ab5eb87a73789;ms-2cf1227610d4602f88ed;ms-f9c00ba41392adec3fd1;ms-1b83fc0981e283975488;ms-1f8e2d5d25706493821d;ms-4fad1f976cc64cc06826", + "expert_regret": 1.4743546843528748, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7fd4a05174dcc8eaff38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4743546843528748, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5256453156471252, + "restore_error": 1.1920928955078125e-07, + "score": 0.5256453156471252, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.36857298016548157, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.5859156847000122, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 8 + ], + "candidate_oracle_potentials": [ + 0.5859156847000122, + 0.4921300411224365, + 0.4626222550868988, + 0.4219430387020111 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1bfca22d4af29f0e14b1;ms-87b44e6219279322a723;ms-07e0726dedce0a0e4419;ms-943b5187cbe128b9b563;ms-b97cb4ec02e8234b08c5;ms-625b5d55ca76cc565049", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61068da67676a95e5065", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4443638026714325, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.03723016008734703, + 0.03577015548944473, + 0.02504185400903225, + 0.03431086614727974 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.001460004597902298, + -0.012188306078314781, + -0.0029192939400672913 + ], + "candidate_oracle_branch_scores": [ + 0.03723016008734703, + 0.03577015548944473, + 0.02504185400903225, + 0.03431086614727974 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.5050859451293945, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 40, + 3 + ], + "candidate_oracle_potentials": [ + -2.5050859451293945, + -2.527195453643799, + -2.5379085540771484, + -2.5512773990631104 + ], + "candidate_oracle_progress": 0.03723016008734703, + "candidate_oracle_regret": 1.962769839912653, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.03723016008734703, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.03723016008734703, + "candidate_oracle_selected_branch_score": 0.03723016008734703, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1f8e2d5d25706493821d;ms-34495bfe34440ac63cf6;ms-4fad1f976cc64cc06826;ms-97598e118c5cc8c254a5;ms-c2bc492ab5eb87a73789;ms-844b753810c45699d501", + "expert_regret": 1.9627705328166485, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-351c397795d9af204ec6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9627705328166485, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03722946718335152, + "restore_error": 1.1920928955078125e-07, + "score": 0.03722946718335152, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40013059973716736, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.3772589862346649, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 4, + 24, + 8 + ], + "candidate_oracle_potentials": [ + 0.3772589862346649, + 0.3502853810787201, + 0.27430590987205505, + 0.26349061727523804 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e1972ebf2c5587a6fdf9;ms-bcc70292f404cd1c7f75;ms-166b7f66bf9f4eec432b;ms-9a2d8f0085e6740cf5b0;ms-6995d4366e7c20010126;ms-c4cb99b887c88c707ba9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e793d78eaff3fb28deb6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.31456518173217773, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.9603068232536316, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 0, + 8, + 1 + ], + "candidate_oracle_potentials": [ + 0.9603068232536316, + 0.917557954788208, + 0.916721761226654, + 0.8688174486160278 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2ae57bab6d2ea11f6638;ms-d73a2a984d5829e884f9;ms-935ff204de9424ec00a2;ms-8420ccaff5986c85063f;ms-1a4ecfbe9c97214d5c78;ms-166b7f66bf9f4eec432b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-48d490ed21088bb5ba85", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41323354840278625, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.574415385723114, + 0.5517439246177673, + 0.09586121886968613, + 0.0297646876424551 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.02267146110534668, + -0.4785541594028473, + -0.544650673866272 + ], + "candidate_oracle_branch_scores": [ + 0.574415385723114, + 0.5517439246177673, + 0.09586121886968613, + 0.0297646876424551 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.581784725189209, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 20, + 36, + 4 + ], + "candidate_oracle_potentials": [ + -2.581784725189209, + -2.6725008487701416, + -2.6797070503234863, + -2.682081699371338 + ], + "candidate_oracle_progress": 0.574415385723114, + "candidate_oracle_regret": 1.425584614276886, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.574415385723114, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.574415385723114, + "candidate_oracle_selected_branch_score": 0.574415385723114, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8b972386cfdf0158a0a3;ms-319a6c0cef0ac1a872d5;ms-aea09fb002af52e12bd8;ms-b9e46b7345a63ded4397;ms-b481531ab787e3d6fb1e;ms-ed9addab41f3298db7bc", + "expert_regret": 1.425584614276886, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0915b75e9fd1468d464e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.425584614276886, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.574415385723114, + "restore_error": 1.1920928955078125e-07, + "score": 0.574415385723114, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7769366502761841, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.020669270306825638, + 0.027532124891877174, + 0.019795656204223633, + 0.01458821352571249 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0068628545850515366, + -0.000873614102602005, + -0.006081056781113148 + ], + "candidate_oracle_branch_scores": [ + 0.020669270306825638, + 0.027532124891877174, + 0.019795656204223633, + 0.01458821352571249 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.745981216430664, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 36, + 24 + ], + "candidate_oracle_potentials": [ + -2.738463878631592, + -2.745981216430664, + -2.7465877532958984, + -2.754709243774414 + ], + "candidate_oracle_progress": 0.027532124891877174, + "candidate_oracle_regret": 1.9724678751081228, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.027532124891877174, + "candidate_oracle_score_gain_over_selected": 0.0068628545850515366, + "candidate_oracle_selected_branch_progress": 0.020669270306825638, + "candidate_oracle_selected_branch_score": 0.020669270306825638, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1fb2f4c1e17e99767558;ms-de066fc4200163ebd06b;ms-42edbdb8ff281fc33a99;ms-81f48d29d0404300ea93;ms-f947dbf28ad85666e2f1;ms-6558f35ae2a2871a4bfd", + "expert_regret": 1.979338550940156, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d988976b029886d18476", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.979338550940156, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.020661449059844017, + "restore_error": 1.1920928955078125e-07, + "score": 0.020661449059844017, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.36829668283462524, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5178166627883911, + 0.5118796825408936, + 0.5182234644889832, + 0.5108464360237122 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.005936980247497559, + 0.000406801700592041, + -0.006970226764678955 + ], + "candidate_oracle_branch_scores": [ + 0.5178166627883911, + 0.5118796825408936, + 0.5182234644889832, + 0.5108464360237122 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.1279802769422531, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.1439516544342041, + 0.13165180385112762, + 0.1279802769422531, + 0.11619654297828674 + ], + "candidate_oracle_progress": 0.5182234644889832, + "candidate_oracle_regret": 1.4817765355110168, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5182234644889832, + "candidate_oracle_score_gain_over_selected": 0.000406801700592041, + "candidate_oracle_selected_branch_progress": 0.5178166627883911, + "candidate_oracle_selected_branch_score": 0.5178166627883911, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-227fe0347d2ea57a66a3;ms-97598e118c5cc8c254a5;ms-844b753810c45699d501;ms-6af227c07aaf7c0f0aea;ms-e0b2e69a5ea0d0ad4fb5;ms-bdd1924b44de2db5b07a", + "expert_regret": 1.4821828603744507, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ffa71e2ef6c284477c5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4821828603744507, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5178171396255493, + "restore_error": 1.1920928955078125e-07, + "score": 0.5178171396255493, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4282345473766327, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5385230779647827, + 0.03292875364422798, + 0.04580133035778999, + 0.03611412271857262 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.5055943131446838, + -0.4927217364311218, + -0.5024089813232422 + ], + "candidate_oracle_branch_scores": [ + 0.5385230779647827, + 0.03292875364422798, + 0.04580133035778999, + 0.03611412271857262 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.1110087633132935, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -1.1110087633132935, + -1.1498427391052246, + -1.3124147653579712, + -1.369490146636963 + ], + "candidate_oracle_progress": 0.5385230779647827, + "candidate_oracle_regret": 1.4614769220352173, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.647299647331238e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5385230779647827, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5385230779647827, + "candidate_oracle_selected_branch_score": 0.5385230779647827, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6af227c07aaf7c0f0aea;ms-227fe0347d2ea57a66a3;ms-e0b2e69a5ea0d0ad4fb5;ms-87fd37bcc6b666e220ef;ms-0377c81a67d9819ab96b;ms-844b753810c45699d501", + "expert_regret": 1.461478054523468, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a1846ef1f00eb54e2d60", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.461478054523468, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.538521945476532, + "restore_error": 2.384185791015625e-07, + "score": 0.538521945476532, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.23407398164272308, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 1.0502556562423706, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 36, + 8 + ], + "candidate_oracle_potentials": [ + 1.0502556562423706, + 1.0450998544692993, + 1.0441584587097168, + 1.0403612852096558 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.647299647331238e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d807915e233a0c74b809;ms-d4bde31fd7e7cee76b09;ms-ee19bfbcb2f4fbf5a44d;ms-b40ee5a75332685d5cec;ms-c104c2ebba7bf9b34680;ms-4bc32bd893d0cff76423", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2ee00a97b477ba241dba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2772059738636017, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5711316466331482, + 0.5718487501144409, + 0.5716425180435181, + 0.5666024088859558 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0007171034812927246, + 0.000510871410369873, + -0.004529237747192383 + ], + "candidate_oracle_branch_scores": [ + 0.5711316466331482, + 0.5718487501144409, + 0.5716425180435181, + 0.5666024088859558 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.09349838644266129, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 36, + 20, + 1 + ], + "candidate_oracle_potentials": [ + 0.13226959109306335, + 0.09349838644266129, + -0.0880594402551651, + -0.1419728696346283 + ], + "candidate_oracle_progress": 0.5718487501144409, + "candidate_oracle_regret": 1.428151249885559, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.647299647331238e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5718487501144409, + "candidate_oracle_score_gain_over_selected": 0.0007171034812927246, + "candidate_oracle_selected_branch_progress": 0.5711316466331482, + "candidate_oracle_selected_branch_score": 0.5711316466331482, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ffef7730418c831245b3;ms-4d43fb19477b7ab848bc;ms-b40ee5a75332685d5cec;ms-d807915e233a0c74b809;ms-8f5255815f8b70b48734;ms-8a74cf665984273be00d", + "expert_regret": 1.428868055343628, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-38841d5926ac5f2467e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.428868055343628, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5711319446563721, + "restore_error": 2.384185791015625e-07, + "score": 0.5711319446563721, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4149891436100006, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5521659255027771, + 0.015852535143494606, + 0.5549100637435913, + 0.02520904503762722 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.5363134145736694, + 0.002744138240814209, + -0.5269568562507629 + ], + "candidate_oracle_branch_scores": [ + 0.5521659255027771, + 0.015852535143494606, + 0.5549100637435913, + 0.02520904503762722 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.6815369129180908, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -1.6101394891738892, + -1.6434091329574585, + -1.6815369129180908, + -1.7154321670532227 + ], + "candidate_oracle_progress": 0.5549100637435913, + "candidate_oracle_regret": 1.4450899362564087, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.647299647331238e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5549100637435913, + "candidate_oracle_score_gain_over_selected": 0.002744138240814209, + "candidate_oracle_selected_branch_progress": 0.5521659255027771, + "candidate_oracle_selected_branch_score": 0.5521659255027771, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-87fd37bcc6b666e220ef;ms-e0b2e69a5ea0d0ad4fb5;ms-6af227c07aaf7c0f0aea;ms-0377c81a67d9819ab96b;ms-227fe0347d2ea57a66a3;ms-4fad1f976cc64cc06826", + "expert_regret": 1.4478339552879333, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2259a78b2187e22f9f37", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4478339552879333, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5521660447120667, + "restore_error": 2.384185791015625e-07, + "score": 0.5521660447120667, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.707965075969696, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 1.1100115776062012, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 1.1100115776062012, + 1.0828588008880615, + 1.0800273418426514, + 1.0444060564041138 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.647299647331238e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0b7f8ba789c00b37caa0;ms-56ad75c28031e049a3dd;ms-91d86cba2602d1fa780d;ms-0a4c4442237909d5f7b7;ms-0cc80a2933abf1b4853f;ms-9a1de6130828dc946a51", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-60a28a9b282e7586d4d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6268620491027832, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 1.1571476459503174, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 33, + 17 + ], + "candidate_oracle_potentials": [ + 1.1571476459503174, + 1.1502628326416016, + 1.054541826248169, + 1.0540413856506348 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.647299647331238e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d91cbe61314c18955b6b;ms-ff3f17774184180998f0;ms-023e021f079a8774c741;ms-55ea22014575410563a4;ms-3c4ff3dae26217f22a8b;ms-8522a9364bf70311450d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-44252df6095f31d8b26e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5562003254890442, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.21746909618377686, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 24, + 8 + ], + "candidate_oracle_potentials": [ + 0.21746909618377686, + 0.15461952984333038, + 0.09493804723024368, + 0.0914178341627121 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.647299647331238e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-41279eb586ca5e587474;ms-b481531ab787e3d6fb1e;ms-a76ae18568c88af1da6b;ms-ed9addab41f3298db7bc;ms-b9e46b7345a63ded4397;ms-319a6c0cef0ac1a872d5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbcca760f5e16aa5c776", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4941171109676361, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.047920238226652145, + 0.5439527034759521, + 0.04584956169128418, + 0.5326244235038757 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.4960324764251709, + -0.0020706765353679657, + 0.4847041964530945 + ], + "candidate_oracle_branch_scores": [ + 0.047920238226652145, + 0.5439527034759521, + 0.04584956169128418, + 0.5326244235038757 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.48350191116333, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 8, + 1 + ], + "candidate_oracle_potentials": [ + -2.4576587677001953, + -2.48350191116333, + -2.4902193546295166, + -2.5091664791107178 + ], + "candidate_oracle_progress": 0.5439527034759521, + "candidate_oracle_regret": 1.4560472965240479, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.647299647331238e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5439527034759521, + "candidate_oracle_score_gain_over_selected": 0.4960324764251709, + "candidate_oracle_selected_branch_progress": 0.047920238226652145, + "candidate_oracle_selected_branch_score": 0.047920238226652145, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-de066fc4200163ebd06b;ms-1fb2f4c1e17e99767558;ms-f947dbf28ad85666e2f1;ms-42edbdb8ff281fc33a99;ms-6558f35ae2a2871a4bfd;ms-c425c810f7865e9564ee", + "expert_regret": 1.952079627662897, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-18fb80871b8e11d1ae9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.952079627662897, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04792037233710289, + "restore_error": 2.384185791015625e-07, + "score": 0.04792037233710289, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5472124218940735, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.23940107226371765, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 0, + 8, + 1 + ], + "candidate_oracle_potentials": [ + 0.23940107226371765, + 0.16619575023651123, + 0.1373472958803177, + 0.00515789445489645 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-023e021f079a8774c741;ms-d91cbe61314c18955b6b;ms-73e36360221b6732c688;ms-3c4ff3dae26217f22a8b;ms-29f1abb869ff206a4d52;ms-e8fbdbddd9200f5091d6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-561f4f913d7b4991d81a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.31714120507240295, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7091350555419922, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 4, + 24, + 8 + ], + "candidate_oracle_potentials": [ + 0.7091350555419922, + 0.6678268909454346, + 0.6096841096878052, + 0.5763041973114014 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2b56888f10733707f14b;ms-2c68b2b895bdbedbaa08;ms-fd225482b96686f51dc8;ms-2ae57bab6d2ea11f6638;ms-d73a2a984d5829e884f9;ms-8420ccaff5986c85063f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11930c353a2b4fefab82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6864690184593201, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.529403030872345, + 0.529553234577179, + 0.5302870869636536, + 0.07585755735635757 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00015020370483398438, + 0.0008840560913085938, + -0.453545480966568 + ], + "candidate_oracle_branch_scores": [ + 0.529403030872345, + 0.529553234577179, + 0.5302870869636536, + 0.07585755735635757 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.150200366973877, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 36, + 0 + ], + "candidate_oracle_potentials": [ + -2.1141164302825928, + -2.1400794982910156, + -2.150200366973877, + -2.280242681503296 + ], + "candidate_oracle_progress": 0.5302870869636536, + "candidate_oracle_regret": 1.4697129130363464, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5302870869636536, + "candidate_oracle_score_gain_over_selected": 0.0008840560913085938, + "candidate_oracle_selected_branch_progress": 0.529403030872345, + "candidate_oracle_selected_branch_score": 0.529403030872345, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8b972386cfdf0158a0a3;ms-aea09fb002af52e12bd8;ms-319a6c0cef0ac1a872d5;ms-b9e46b7345a63ded4397;ms-b481531ab787e3d6fb1e;ms-4f833710c2706ee077af", + "expert_regret": 1.470595896244049, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-706943f06888dd5bbb3a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.470595896244049, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5294041037559509, + "restore_error": 1.1920928955078125e-07, + "score": 0.5294041037559509, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18100084364414215, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5571653246879578, + 0.5557133555412292, + 0.5549997687339783, + 0.5550630688667297 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0014519691467285156, + -0.002165555953979492, + -0.0021022558212280273 + ], + "candidate_oracle_branch_scores": [ + 0.5571653246879578, + 0.5557133555412292, + 0.5549997687339783, + 0.5550630688667297 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.42420682311058044, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -0.42420682311058044, + -0.44363370537757874, + -0.4494580030441284, + -0.4513534605503082 + ], + "candidate_oracle_progress": 0.5571653246879578, + "candidate_oracle_regret": 1.4428346753120422, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5571653246879578, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5571653246879578, + "candidate_oracle_selected_branch_score": 0.5571653246879578, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-21155188bc35f0f021d3;ms-fbcc714230de2c097d0d;ms-73e36360221b6732c688;ms-e0b2e69a5ea0d0ad4fb5;ms-6af227c07aaf7c0f0aea;ms-227fe0347d2ea57a66a3", + "expert_regret": 1.4428340196609497, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d69b907e65875420bab7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4428340196609497, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5571659803390503, + "restore_error": 1.1920928955078125e-07, + "score": 0.5571659803390503, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4418790340423584, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.4966585636138916, + 0.49347755312919617, + 0.49750494956970215, + 0.49421119689941406 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0031810104846954346, + 0.0008463859558105469, + -0.002447366714477539 + ], + "candidate_oracle_branch_scores": [ + 0.4966585636138916, + 0.49347755312919617, + 0.49750494956970215, + 0.49421119689941406 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8919157981872559, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -0.7890422344207764, + -0.8883010745048523, + -0.8919157981872559, + -0.9910850524902344 + ], + "candidate_oracle_progress": 0.49750494956970215, + "candidate_oracle_regret": 1.5024950504302979, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.49750494956970215, + "candidate_oracle_score_gain_over_selected": 0.0008463859558105469, + "candidate_oracle_selected_branch_progress": 0.4966585636138916, + "candidate_oracle_selected_branch_score": 0.4966585636138916, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-227fe0347d2ea57a66a3;ms-844b753810c45699d501;ms-e0b2e69a5ea0d0ad4fb5;ms-97598e118c5cc8c254a5;ms-6af227c07aaf7c0f0aea;ms-0377c81a67d9819ab96b", + "expert_regret": 1.5033409893512726, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cdd69b5acc8119e600c7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5033409893512726, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4966590106487274, + "restore_error": 1.1920928955078125e-07, + "score": 0.4966590106487274, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5464707016944885, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5635775923728943, + 0.5636386871337891, + 0.5653673410415649, + 0.5655962824821472 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 6.109476089477539e-05, + 0.0017897486686706543, + 0.0020186901092529297 + ], + "candidate_oracle_branch_scores": [ + 0.5635775923728943, + 0.5636386871337891, + 0.5653673410415649, + 0.5655962824821472 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.09500671178102493, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 20, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.01694376952946186, + -0.0462329126894474, + -0.08324340730905533, + -0.09500671178102493 + ], + "candidate_oracle_progress": 0.5655962824821472, + "candidate_oracle_regret": 1.4344037175178528, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5655962824821472, + "candidate_oracle_score_gain_over_selected": 0.0020186901092529297, + "candidate_oracle_selected_branch_progress": 0.5635775923728943, + "candidate_oracle_selected_branch_score": 0.5635775923728943, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4385e9c56007fdaa94b5;ms-88bdd8987f890af7e9ea;ms-7a460f3c1b67817c19de;ms-0adce283894b0a2b7b94;ms-c1ac63fb3644e3a2ae06;ms-bc30ca6b7675f4de5041", + "expert_regret": 1.4364224076271057, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ffba357213945be5f9f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4364224076271057, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5635775923728943, + "restore_error": 1.1920928955078125e-07, + "score": 0.5635775923728943, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7560453414916992, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 1.219712734222412, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 8, + 36 + ], + "candidate_oracle_potentials": [ + 1.219712734222412, + 1.218431830406189, + 1.2033936977386475, + 1.1976909637451172 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ff3f17774184180998f0;ms-55ea22014575410563a4;ms-27b0553a5c49108e6a98;ms-774e954ffdc5da041261;ms-3c4ff3dae26217f22a8b;ms-29f1abb869ff206a4d52", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-43ce9f798efb923a120c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48439711332321167, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.9228779077529907, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 36, + 1 + ], + "candidate_oracle_potentials": [ + 0.9228779077529907, + 0.9131455421447754, + 0.8944282531738281, + 0.8289979696273804 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8a74cf665984273be00d;ms-a3c53708416dbfb9fbc5;ms-2b3e081263ed25d45dc8;ms-fb98254adaa23dc128df;ms-7af1e453acf970f40546;ms-774e954ffdc5da041261", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a3a13ba6243be437d674", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6524507403373718, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.08048694580793381, + 0.08369391411542892, + 0.5262866020202637, + 0.08420801162719727 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.003206968307495117, + 0.44579964876174927, + 0.0037210658192634583 + ], + "candidate_oracle_branch_scores": [ + 0.08048694580793381, + 0.08369391411542892, + 0.5262866020202637, + 0.08420801162719727 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.7291008234024048, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 0, + 4 + ], + "candidate_oracle_potentials": [ + -1.6958253383636475, + -1.7214019298553467, + -1.7291008234024048, + -1.7376474142074585 + ], + "candidate_oracle_progress": 0.5262866020202637, + "candidate_oracle_regret": 0.0732114315032959, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5262866020202637, + "candidate_oracle_score_gain_over_selected": 0.44579964876174927, + "candidate_oracle_selected_branch_progress": 0.08048694580793381, + "candidate_oracle_selected_branch_score": 0.08048694580793381, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-782893a3eb2e3dcfd15e;ms-71ef8f2cdc11d83250fa;ms-5415e349e8f9f2bce641;ms-1b83fc0981e283975488;ms-e058c0dba52df04b8642;ms-1c0e2bb3a811fac6d567", + "expert_regret": 0.5190098881721497, + "expert_score": 0.5994980335235596, + "expert_success": false, + "group_id": "ms-9ffeb1600c04f08bdfcb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5190098881721497, + "oracle_score": 0.5994980335235596, + "oracle_success": false, + "progress": 0.08048814535140991, + "restore_error": 1.1920928955078125e-07, + "score": 0.08048814535140991, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4814720153808594, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7646439075469971, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 0, + 4 + ], + "candidate_oracle_potentials": [ + 0.7646439075469971, + 0.7412204742431641, + 0.6873723268508911, + 0.687212347984314 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-12050326f623a94ae9e0;ms-d75a00b1388f50bf8919;ms-935ff204de9424ec00a2;ms-dfc737e32df79e1fc429;ms-d73a2a984d5829e884f9;ms-5425964a186feaf6fd99", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f1fb6cdb836269adb2cc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.633967936038971, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5428628325462341, + 0.5398508906364441, + 0.5344560146331787, + 0.5334980487823486 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.003011941909790039, + -0.00840681791305542, + -0.009364783763885498 + ], + "candidate_oracle_branch_scores": [ + 0.5428628325462341, + 0.5398508906364441, + 0.5344560146331787, + 0.5334980487823486 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.2673842906951904, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 36, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -2.2673842906951904, + -2.2799572944641113, + -2.2875351905822754, + -2.3003060817718506 + ], + "candidate_oracle_progress": 0.5428628325462341, + "candidate_oracle_regret": 1.4571371674537659, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5428628325462341, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5428628325462341, + "candidate_oracle_selected_branch_score": 0.5428628325462341, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c7f427f37d47501932e8;ms-2d995e39f2b95fed1a67;ms-b7e7fe66a6c86898eec2;ms-02ab2e7a74d970154eb7;ms-4f833710c2706ee077af;ms-8b972386cfdf0158a0a3", + "expert_regret": 1.4571384191513062, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5e621c9ae7bcca8e596", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4571384191513062, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5428615808486938, + "restore_error": 1.1920928955078125e-07, + "score": 0.5428615808486938, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4494030177593231, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5645336508750916, + 0.5620161890983582, + 0.5608677864074707, + 0.5587091445922852 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0025174617767333984, + -0.0036658644676208496, + -0.0058245062828063965 + ], + "candidate_oracle_branch_scores": [ + 0.5645336508750916, + 0.5620161890983582, + 0.5608677864074707, + 0.5587091445922852 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.1240650936961174, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + 0.1240650936961174, + 0.11753525584936142, + -0.05000799894332886, + -0.061091963201761246 + ], + "candidate_oracle_progress": 0.5645336508750916, + "candidate_oracle_regret": 1.4354663491249084, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5645336508750916, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5645336508750916, + "candidate_oracle_selected_branch_score": 0.5645336508750916, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cafa65eeb953aff47f30;ms-73e36360221b6732c688;ms-39450dbba738dbd8a764;ms-87f8bbc8d9e7f4dcaacf;ms-07e0726dedce0a0e4419;ms-21155188bc35f0f021d3", + "expert_regret": 1.4354652762413025, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b5b5e5f9237c41e0fe9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4354652762413025, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5645347237586975, + "restore_error": 1.1920928955078125e-07, + "score": 0.5645347237586975, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7825420498847961, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.02351984940469265, + 0.02640252187848091, + 0.02321145497262478, + 0.026018142700195312 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0028826724737882614, + -0.0003083944320678711, + 0.0024982932955026627 + ], + "candidate_oracle_branch_scores": [ + 0.02351984940469265, + 0.02640252187848091, + 0.02321145497262478, + 0.026018142700195312 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.7120728492736816, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -2.707674026489258, + -2.7120728492736816, + -2.7215826511383057, + -2.731563091278076 + ], + "candidate_oracle_progress": 0.02640252187848091, + "candidate_oracle_regret": 1.973597478121519, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.02640252187848091, + "candidate_oracle_score_gain_over_selected": 0.0028826724737882614, + "candidate_oracle_selected_branch_progress": 0.02351984940469265, + "candidate_oracle_selected_branch_score": 0.02351984940469265, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f947dbf28ad85666e2f1;ms-08c39d9cc9eb7578e6e9;ms-1fb2f4c1e17e99767558;ms-de066fc4200163ebd06b;ms-fbda7bc51ca269d1cda4;ms-42edbdb8ff281fc33a99", + "expert_regret": 1.9764800667762756, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-739a89fb4521bc481a9f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9764800667762756, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.023519933223724365, + "restore_error": 1.1920928955078125e-07, + "score": 0.023519933223724365, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6754801869392395, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5680411458015442, + 0.5685029029846191, + 0.5684314370155334, + 0.5688204765319824 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00046175718307495117, + 0.0003902912139892578, + 0.0007793307304382324 + ], + "candidate_oracle_branch_scores": [ + 0.5680411458015442, + 0.5685029029846191, + 0.5684314370155334, + 0.5688204765319824 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.2688741087913513, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 24, + 36, + 20 + ], + "candidate_oracle_potentials": [ + -0.2071552276611328, + -0.2337745726108551, + -0.2508179843425751, + -0.2688741087913513 + ], + "candidate_oracle_progress": 0.5688204765319824, + "candidate_oracle_regret": 1.4311795234680176, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5688204765319824, + "candidate_oracle_score_gain_over_selected": 0.0007793307304382324, + "candidate_oracle_selected_branch_progress": 0.5680411458015442, + "candidate_oracle_selected_branch_score": 0.5680411458015442, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-842e179244eddac303a5;ms-b4af4c8b9dcd6976546c;ms-d4bde31fd7e7cee76b09;ms-3aa864ead19c9cb9fb49;ms-41279eb586ca5e587474;ms-bef9b88ae40ca98647aa", + "expert_regret": 1.4319588541984558, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7de8743758ec505a3294", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4319588541984558, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5680411458015442, + "restore_error": 1.1920928955078125e-07, + "score": 0.5680411458015442, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5004129409790039, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5720254182815552 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.4279745817184448 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5720254182815552 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 1.1789230108261108, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 36, + 1 + ], + "candidate_oracle_potentials": [ + 1.1789230108261108, + 1.1728992462158203, + 1.1638263463974, + 1.0249284505844116 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8522a9364bf70311450d;ms-2ae57bab6d2ea11f6638;ms-8420ccaff5986c85063f;ms-935ff204de9424ec00a2;ms-d73a2a984d5829e884f9;ms-29653e236de96058ef6d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b73e5dfa1f2a01e6017", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19005455076694489, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.3287113904953003, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.3287113904953003, + 0.28124549984931946, + 0.2694527208805084, + 0.2567163407802582 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b40ee5a75332685d5cec;ms-d807915e233a0c74b809;ms-d4bde31fd7e7cee76b09;ms-ee19bfbcb2f4fbf5a44d;ms-c104c2ebba7bf9b34680;ms-4bc32bd893d0cff76423", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-82e28eb350e21d43d3eb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4349103569984436, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.1589983105659485, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + 0.1589983105659485, + 0.12197349220514297, + 0.05344858765602112, + 0.021750053390860558 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cafa65eeb953aff47f30;ms-39450dbba738dbd8a764;ms-87f8bbc8d9e7f4dcaacf;ms-73e36360221b6732c688;ms-07e0726dedce0a0e4419;ms-6f1db8895d5164cc5ae5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-351844f358ea7564d27d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5858750939369202, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5257728695869446, + 0.5265595316886902, + 0.5271920561790466, + 0.5240287184715271 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0007866621017456055, + 0.0014191865921020508, + -0.0017441511154174805 + ], + "candidate_oracle_branch_scores": [ + 0.5257728695869446, + 0.5265595316886902, + 0.5271920561790466, + 0.5240287184715271 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.1479601413011551, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 0, + 36 + ], + "candidate_oracle_potentials": [ + 0.1532917469739914, + 0.14978718757629395, + 0.1479601413011551, + 0.12811613082885742 + ], + "candidate_oracle_progress": 0.5271920561790466, + "candidate_oracle_regret": 1.4728079438209534, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5271920561790466, + "candidate_oracle_score_gain_over_selected": 0.0014191865921020508, + "candidate_oracle_selected_branch_progress": 0.5257728695869446, + "candidate_oracle_selected_branch_score": 0.5257728695869446, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f3f6a1b34fdf35290a6c;ms-7057de70d36f5cc31472;ms-9ff81e54049443a0f3d3;ms-8f241450069e74460a40;ms-9044026b69850d12d05b;ms-5780f9e1e9f9e740d474", + "expert_regret": 1.4742270708084106, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f4fd59b4d1bce2d6b6a4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4742270708084106, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5257729291915894, + "restore_error": 1.1920928955078125e-07, + "score": 0.5257729291915894, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5400174260139465, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.5678011775016785, + 1.0, + 0.5680868029594421 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.4321987628936768, + 0.0, + -1.431913137435913 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.5678011775016785, + 2.0, + 0.5680868029594421 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.4982742667198181, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.4982742667198181, + 0.4512179493904114, + 0.43334752321243286, + 0.3912522792816162 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9e1f3c14116ebca6164d;ms-0ece7b8c91d9d82f244b;ms-9eb40f856528204bbcfd;ms-e589f7d40c12eff1712e;ms-1a4ecfbe9c97214d5c78;ms-fd225482b96686f51dc8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10f4c68dcad8285f4acd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.49480533599853516, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.920937180519104, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 4 + ], + "candidate_oracle_potentials": [ + 0.920937180519104, + 0.9192855358123779, + 0.9174795150756836, + 0.9163644909858704 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6c39b520dca0a325535f;ms-486572c62484eb4d73db;ms-8f6d30c2ade00e451dc2;ms-a10d8368c33b56390f77;ms-732819b0c220a4c06870;ms-a45ed89f5b95d1e7ab07", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b90d7926b23eabbbed04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5987969636917114, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.05174344778060913, + 0.025819409638643265, + 0.03756890445947647, + 0.034855153411626816 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.025924038141965866, + -0.01417454332113266, + -0.016888294368982315 + ], + "candidate_oracle_branch_scores": [ + 0.05174344778060913, + 0.025819409638643265, + 0.03756890445947647, + 0.034855153411626816 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.4337642192840576, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 0, + 8, + 1 + ], + "candidate_oracle_potentials": [ + -2.4337642192840576, + -2.4564414024353027, + -2.4674572944641113, + -2.489732265472412 + ], + "candidate_oracle_progress": 0.05174344778060913, + "candidate_oracle_regret": 1.9482565522193909, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.05174344778060913, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.05174344778060913, + "candidate_oracle_selected_branch_score": 0.05174344778060913, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c76158673d20b18c2622;ms-de066fc4200163ebd06b;ms-42edbdb8ff281fc33a99;ms-c425c810f7865e9564ee;ms-81f48d29d0404300ea93;ms-1fb2f4c1e17e99767558", + "expert_regret": 1.9482669830322266, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6e14cec49894dd329f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9482669830322266, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05173301696777344, + "restore_error": 1.1920928955078125e-07, + "score": 0.05173301696777344, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.32564860582351685, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5135342478752136, + 0.5104395151138306, + 0.5157071948051453, + 0.5125693678855896 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0030947327613830566, + 0.0021729469299316406, + -0.0009648799896240234 + ], + "candidate_oracle_branch_scores": [ + 0.5135342478752136, + 0.5104395151138306, + 0.5157071948051453, + 0.5125693678855896 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.1476789116859436, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + 0.23302380740642548, + 0.20158711075782776, + 0.1476789116859436, + 0.12179679423570633 + ], + "candidate_oracle_progress": 0.5157071948051453, + "candidate_oracle_regret": 1.4842928051948547, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5157071948051453, + "candidate_oracle_score_gain_over_selected": 0.0021729469299316406, + "candidate_oracle_selected_branch_progress": 0.5135342478752136, + "candidate_oracle_selected_branch_score": 0.5135342478752136, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a3c53708416dbfb9fbc5;ms-8a74cf665984273be00d;ms-7af1e453acf970f40546;ms-dbb32d9fd6999e09f589;ms-13b3c492538e5b3c7bdd;ms-8f5255815f8b70b48734", + "expert_regret": 1.4864657521247864, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9e31a19a776a861f9d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4864657521247864, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5135342478752136, + "restore_error": 1.1920928955078125e-07, + "score": 0.5135342478752136, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2911422550678253, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.8033368587493896, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 36, + 20, + 8 + ], + "candidate_oracle_potentials": [ + 0.8033368587493896, + 0.793328046798706, + 0.7889822721481323, + 0.7765814661979675 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d807915e233a0c74b809;ms-d4bde31fd7e7cee76b09;ms-ee19bfbcb2f4fbf5a44d;ms-b40ee5a75332685d5cec;ms-c104c2ebba7bf9b34680;ms-4bc32bd893d0cff76423", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7cab119c7b8019254ba4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7731032967567444, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.05618171766400337, + 0.05472004413604736, + 0.06031327322125435, + 0.057076405733823776 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.001461673527956009, + 0.0041315555572509766, + 0.000894688069820404 + ], + "candidate_oracle_branch_scores": [ + 0.05618171766400337, + 0.05472004413604736, + 0.06031327322125435, + 0.057076405733823776 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.584831714630127, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 36, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -2.5687077045440674, + -2.5688705444335938, + -2.584831714630127, + -2.608482837677002 + ], + "candidate_oracle_progress": 0.06031327322125435, + "candidate_oracle_regret": 1.9396867267787457, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.06031327322125435, + "candidate_oracle_score_gain_over_selected": 0.0041315555572509766, + "candidate_oracle_selected_branch_progress": 0.05618171766400337, + "candidate_oracle_selected_branch_score": 0.05618171766400337, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b786173f210fcaa65a6e;ms-a76ae18568c88af1da6b;ms-ed9addab41f3298db7bc;ms-b481531ab787e3d6fb1e;ms-b9e46b7345a63ded4397;ms-319a6c0cef0ac1a872d5", + "expert_regret": 1.9438282363116741, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7156b26670838d40934", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9438282363116741, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05617176368832588, + "restore_error": 1.1920928955078125e-07, + "score": 0.05617176368832588, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4508381187915802, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5198375582695007, + 0.5156380534172058, + 0.5200430154800415, + 0.5147537589073181 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.004199504852294922, + 0.00020545721054077148, + -0.005083799362182617 + ], + "candidate_oracle_branch_scores": [ + 0.5198375582695007, + 0.5156380534172058, + 0.5200430154800415, + 0.5147537589073181 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7603098750114441, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.6832539439201355, + -0.7366638779640198, + -0.7603098750114441, + -0.8321024775505066 + ], + "candidate_oracle_progress": 0.5200430154800415, + "candidate_oracle_regret": 1.4799569845199585, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 3.9674341678619385e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5200430154800415, + "candidate_oracle_score_gain_over_selected": 0.00020545721054077148, + "candidate_oracle_selected_branch_progress": 0.5198375582695007, + "candidate_oracle_selected_branch_score": 0.5198375582695007, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-227fe0347d2ea57a66a3;ms-844b753810c45699d501;ms-97598e118c5cc8c254a5;ms-6af227c07aaf7c0f0aea;ms-e0b2e69a5ea0d0ad4fb5;ms-ac281cce8f6e42586359", + "expert_regret": 1.4802827835083008, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-96da3b7a3c2a2411fa66", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4802827835083008, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5197172164916992, + "restore_error": 2.384185791015625e-07, + "score": 0.5197172164916992, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7089238166809082, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.09484484046697617, + 0.09975148737430573, + 0.09954766184091568, + 0.08728382736444473 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.004906646907329559, + 0.004702821373939514, + -0.007561013102531433 + ], + "candidate_oracle_branch_scores": [ + 0.09484484046697617, + 0.09975148737430573, + 0.09954766184091568, + 0.08728382736444473 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.110671281814575, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 0, + 36 + ], + "candidate_oracle_potentials": [ + -2.1094045639038086, + -2.110671281814575, + -2.119502305984497, + -2.139474868774414 + ], + "candidate_oracle_progress": 0.09975148737430573, + "candidate_oracle_regret": 1.9002485126256943, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 3.9674341678619385e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.09975148737430573, + "candidate_oracle_score_gain_over_selected": 0.004906646907329559, + "candidate_oracle_selected_branch_progress": 0.09484484046697617, + "candidate_oracle_selected_branch_score": 0.09484484046697617, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0cc80a2933abf1b4853f;ms-6558f35ae2a2871a4bfd;ms-de066fc4200163ebd06b;ms-c425c810f7865e9564ee;ms-c76158673d20b18c2622;ms-1fb2f4c1e17e99767558", + "expert_regret": 1.9051476940512657, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e7f2d1f0de50c6fcccb4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9051476940512657, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09485230594873428, + "restore_error": 2.384185791015625e-07, + "score": 0.09485230594873428, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.538909375667572, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.786624550819397, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 0 + ], + "candidate_oracle_potentials": [ + 0.786624550819397, + 0.7386608719825745, + 0.6872961521148682, + 0.6863857507705688 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 3.9674341678619385e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e8fbdbddd9200f5091d6;ms-5425964a186feaf6fd99;ms-a7f98a43ff113d74f009;ms-01db5970aec167a8ee1d;ms-2f57eadf546710065684;ms-12050326f623a94ae9e0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5367a8bae4304851384e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5683327913284302, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5329334139823914, + 0.035370972007513046, + 0.5242752432823181, + 0.03271602466702461 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.497562438249588, + -0.008658170700073242, + -0.5002173781394958 + ], + "candidate_oracle_branch_scores": [ + 0.5329334139823914, + 0.035370972007513046, + 0.5242752432823181, + 0.03271602466702461 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.6677143573760986, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 0, + 36 + ], + "candidate_oracle_potentials": [ + -2.6677143573760986, + -2.6833012104034424, + -2.7195186614990234, + -2.7290518283843994 + ], + "candidate_oracle_progress": 0.5329334139823914, + "candidate_oracle_regret": 1.4670665860176086, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 3.9674341678619385e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5329334139823914, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5329334139823914, + "candidate_oracle_selected_branch_score": 0.5329334139823914, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8b972386cfdf0158a0a3;ms-4f833710c2706ee077af;ms-319a6c0cef0ac1a872d5;ms-aea09fb002af52e12bd8;ms-02ab2e7a74d970154eb7;ms-b7e7fe66a6c86898eec2", + "expert_regret": 1.4670653939247131, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c679fdafdd776a14b66f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4670653939247131, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5329346060752869, + "restore_error": 2.384185791015625e-07, + "score": 0.5329346060752869, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6061459183692932, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.520178496837616, + 0.5195956826210022, + 0.5120229125022888, + 0.5121753811836243 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0005828142166137695, + -0.008155584335327148, + -0.0080031156539917 + ], + "candidate_oracle_branch_scores": [ + 0.520178496837616, + 0.5195956826210022, + 0.5120229125022888, + 0.5121753811836243 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.18236348032951355, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 24 + ], + "candidate_oracle_potentials": [ + 0.18236348032951355, + 0.1510438770055771, + 0.11986787617206573, + 0.08252494037151337 + ], + "candidate_oracle_progress": 0.520178496837616, + "candidate_oracle_regret": 1.479821503162384, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 3.9674341678619385e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.520178496837616, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.520178496837616, + "candidate_oracle_selected_branch_score": 0.520178496837616, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-227fe0347d2ea57a66a3;ms-0b7f8ba789c00b37caa0;ms-91d86cba2602d1fa780d;ms-56ad75c28031e049a3dd;ms-0a4c4442237909d5f7b7;ms-97598e118c5cc8c254a5", + "expert_regret": 1.4798218607902527, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-03ed7e57992354e27896", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4798218607902527, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5201781392097473, + "restore_error": 2.384185791015625e-07, + "score": 0.5201781392097473, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5032431483268738, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.6014590859413147, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 4, + 36, + 0 + ], + "candidate_oracle_potentials": [ + 0.6014590859413147, + 0.5646863579750061, + 0.5072723031044006, + 0.46474432945251465 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 3.9674341678619385e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c4cb99b887c88c707ba9;ms-bcc70292f404cd1c7f75;ms-166b7f66bf9f4eec432b;ms-9a2d8f0085e6740cf5b0;ms-e1972ebf2c5587a6fdf9;ms-c8666cbd7e5a9d0fd036", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b4483fb034248fe882d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6232972145080566, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.8364328742027283, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + 0.8364328742027283, + 0.8161503076553345, + 0.7272924780845642, + 0.7126412391662598 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.9674341678619385e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-486572c62484eb4d73db;ms-6c39b520dca0a325535f;ms-ce8d2ef7d19bed381822;ms-e15eeda61ed4064a5c9f;ms-478b7b8b729f9212a522;ms-417cab1470cf46273b02", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d81f3e8b6a42695871d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4933512508869171, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5306640863418579, + 0.5287507772445679, + 0.5304989814758301, + 0.5282346606254578 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.001913309097290039, + -0.00016510486602783203, + -0.0024294257164001465 + ], + "candidate_oracle_branch_scores": [ + 0.5306640863418579, + 0.5287507772445679, + 0.5304989814758301, + 0.5282346606254578 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.1209724023938179, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.1209724023938179, + -0.1783873438835144, + -0.22085803747177124, + -0.29961809515953064 + ], + "candidate_oracle_progress": 0.5306640863418579, + "candidate_oracle_regret": 1.469335913658142, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 3.9674341678619385e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5306640863418579, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5306640863418579, + "candidate_oracle_selected_branch_score": 0.5306640863418579, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-578e24198ed828a74485;ms-5316151a88a3282436ca;ms-0a4c4442237909d5f7b7;ms-9a1de6130828dc946a51;ms-e058c0dba52df04b8642;ms-97598e118c5cc8c254a5", + "expert_regret": 1.4693354368209839, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b15f9c696a2661346cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4693354368209839, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5306645631790161, + "restore_error": 2.384185791015625e-07, + "score": 0.5306645631790161, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28476181626319885, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7925584316253662, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + 0.7925584316253662, + 0.7911207675933838, + 0.7409855723381042, + 0.7403268218040466 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c8666cbd7e5a9d0fd036;ms-9e53ca6bc5ddb9133ffa;ms-6b8adb335c80e03d5cd5;ms-c4cb99b887c88c707ba9;ms-6995d4366e7c20010126;ms-11a2794efa24f4d93d83", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1fec069b4a095dd0425a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5772662162780762, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.03283017873764038, + 0.02910538949072361, + 0.0071211340837180614, + 0.02153540961444378 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.003724789246916771, + -0.025709044188261032, + -0.011294769123196602 + ], + "candidate_oracle_branch_scores": [ + 0.03283017873764038, + 0.02910538949072361, + 0.0071211340837180614, + 0.02153540961444378 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -2.4970433712005615, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 40, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -2.4970433712005615, + -2.499178886413574, + -2.5105743408203125, + -2.513739824295044 + ], + "candidate_oracle_progress": 0.03283017873764038, + "candidate_oracle_regret": 1.9671698212623596, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.03283017873764038, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.03283017873764038, + "candidate_oracle_selected_branch_score": 0.03283017873764038, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4fad1f976cc64cc06826;ms-1f8e2d5d25706493821d;ms-cf274fbe4c657d04d7c4;ms-62b597990a3d637e5a8a;ms-a1d69e0b112064914357;ms-0377c81a67d9819ab96b", + "expert_regret": 1.9671703316271305, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f682952c6ecb2b833c35", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9671703316271305, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03282966837286949, + "restore_error": 1.1920928955078125e-07, + "score": 0.03282966837286949, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6592947840690613, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.5657837986946106, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.4342162609100342, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.5657837986946106, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 1.2559559345245361, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 4 + ], + "candidate_oracle_potentials": [ + 1.2559559345245361, + 1.124902606010437, + 1.1197147369384766, + 0.9781387448310852 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b786173f210fcaa65a6e;ms-a196fc3a729550509b18;ms-a76ae18568c88af1da6b;ms-ed9addab41f3298db7bc;ms-b481531ab787e3d6fb1e;ms-b9e46b7345a63ded4397", + "expert_regret": 0.0, + "expert_score": 0.5876509547233582, + "expert_success": false, + "group_id": "ms-51873059990aa55691a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.5876509547233582, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5091302990913391, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.552675187587738, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 20, + 1, + 17 + ], + "candidate_oracle_potentials": [ + 0.552675187587738, + 0.5459890961647034, + 0.48242437839508057, + 0.48173144459724426 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cafa65eeb953aff47f30;ms-d6b2d805dc063382ade2;ms-39450dbba738dbd8a764;ms-87f8bbc8d9e7f4dcaacf;ms-6f1db8895d5164cc5ae5;ms-b97cb4ec02e8234b08c5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d7a32da3ed5d010654a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6370478868484497, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.018137633800506592, + 0.01775263622403145, + 0.01712195947766304, + 0.01821042411029339 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00038499757647514343, + -0.0010156743228435516, + 7.279030978679657e-05 + ], + "candidate_oracle_branch_scores": [ + 0.018137633800506592, + 0.01775263622403145, + 0.01712195947766304, + 0.01821042411029339 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.8319528102874756, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 20, + 36, + 0 + ], + "candidate_oracle_potentials": [ + -2.724613666534424, + -2.7399890422821045, + -2.7775094509124756, + -2.8319528102874756 + ], + "candidate_oracle_progress": 0.01821042411029339, + "candidate_oracle_regret": 0.5695841778069735, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.01821042411029339, + "candidate_oracle_score_gain_over_selected": 7.279030978679657e-05, + "candidate_oracle_selected_branch_progress": 0.018137633800506592, + "candidate_oracle_selected_branch_score": 0.018137633800506592, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c7f427f37d47501932e8;ms-2d995e39f2b95fed1a67;ms-02ab2e7a74d970154eb7;ms-b7e7fe66a6c86898eec2;ms-4f833710c2706ee077af;ms-8b972386cfdf0158a0a3", + "expert_regret": 0.5696584451943636, + "expert_score": 0.5877946019172668, + "expert_success": false, + "group_id": "ms-4c7138016830a563fb1b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5696584451943636, + "oracle_score": 0.5877946019172668, + "oracle_success": false, + "progress": 0.01813615672290325, + "restore_error": 1.1920928955078125e-07, + "score": 0.01813615672290325, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43254750967025757, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5557035207748413, + 0.5545887351036072, + 0.5550024509429932, + 0.554032027721405 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0011147856712341309, + -0.0007010698318481445, + -0.0016714930534362793 + ], + "candidate_oracle_branch_scores": [ + 0.5557035207748413, + 0.5545887351036072, + 0.5550024509429932, + 0.554032027721405 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 1.1245392560958862, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + 1.1245392560958862, + 1.1196094751358032, + 1.0568498373031616, + 1.049467921257019 + ], + "candidate_oracle_progress": 0.5557035207748413, + "candidate_oracle_regret": 1.4442964792251587, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5557035207748413, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5557035207748413, + "candidate_oracle_selected_branch_score": 0.5557035207748413, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4bc32bd893d0cff76423;ms-c104c2ebba7bf9b34680;ms-ee19bfbcb2f4fbf5a44d;ms-66cc354bbf4e8bdd1051;ms-3aa864ead19c9cb9fb49;ms-d4bde31fd7e7cee76b09", + "expert_regret": 1.4442964792251587, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-519fb779d24a0bdf3809", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4442964792251587, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5557035207748413, + "restore_error": 1.1920928955078125e-07, + "score": 0.5557035207748413, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44002994894981384, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.6504770517349243, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + 0.6504770517349243, + 0.6392284631729126, + 0.5853372812271118, + 0.5074220895767212 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02ab2e7a74d970154eb7;ms-4f833710c2706ee077af;ms-b7e7fe66a6c86898eec2;ms-2d995e39f2b95fed1a67;ms-8b972386cfdf0158a0a3;ms-aea09fb002af52e12bd8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a01f0549a18d924d31c0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48448941111564636, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5133917331695557, + 0.5142858624458313, + 0.5193184614181519, + 0.09226661920547485 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0008941292762756348, + 0.005926728248596191, + -0.4211251139640808 + ], + "candidate_oracle_branch_scores": [ + 0.5133917331695557, + 0.5142858624458313, + 0.5193184614181519, + 0.09226661920547485 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.020411491394043, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 0, + 3 + ], + "candidate_oracle_potentials": [ + -1.9969849586486816, + -2.004098892211914, + -2.020411491394043, + -2.0307066440582275 + ], + "candidate_oracle_progress": 0.5193184614181519, + "candidate_oracle_regret": 1.4806815385818481, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5193184614181519, + "candidate_oracle_score_gain_over_selected": 0.005926728248596191, + "candidate_oracle_selected_branch_progress": 0.5133917331695557, + "candidate_oracle_selected_branch_score": 0.5133917331695557, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a1d69e0b112064914357;ms-1c0e2bb3a811fac6d567;ms-62b597990a3d637e5a8a;ms-5415e349e8f9f2bce641;ms-2cf1227610d4602f88ed;ms-d305a11348461ae1622c", + "expert_regret": 1.4866085648536682, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8af2224cc82636ef1dd7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4866085648536682, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5133914351463318, + "restore_error": 1.1920928955078125e-07, + "score": 0.5133914351463318, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46741724014282227, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.8443789482116699, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 0.8443789482116699, + 0.8423674702644348, + 0.8168949484825134, + 0.8163008689880371 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8d9b2a5ccd43461f827e;ms-41279eb586ca5e587474;ms-11bb3387454624de8143;ms-a22fbce4503f088acb1f;ms-bef9b88ae40ca98647aa;ms-842e179244eddac303a5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-70381721e736d44afeaf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5721331238746643, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.05155808851122856, + 0.04496181011199951, + 0.05046522617340088, + 0.055531930178403854 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00659627839922905, + -0.0010928623378276825, + 0.003973841667175293 + ], + "candidate_oracle_branch_scores": [ + 0.05155808851122856, + 0.04496181011199951, + 0.05046522617340088, + 0.055531930178403854 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.7277870178222656, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -2.694427967071533, + -2.7091755867004395, + -2.7121872901916504, + -2.7277870178222656 + ], + "candidate_oracle_progress": 0.055531930178403854, + "candidate_oracle_regret": 1.9444680698215961, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.055531930178403854, + "candidate_oracle_score_gain_over_selected": 0.003973841667175293, + "candidate_oracle_selected_branch_progress": 0.05155808851122856, + "candidate_oracle_selected_branch_score": 0.05155808851122856, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8b972386cfdf0158a0a3;ms-319a6c0cef0ac1a872d5;ms-aea09fb002af52e12bd8;ms-4f833710c2706ee077af;ms-b9e46b7345a63ded4397;ms-b481531ab787e3d6fb1e", + "expert_regret": 1.9484354965388775, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-98427ae2d94c1f85811a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9484354965388775, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05156450346112251, + "restore_error": 1.1920928955078125e-07, + "score": 0.05156450346112251, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6577330827713013, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5362141132354736, + 0.5363222360610962, + 0.5360366702079773, + 0.5358547568321228 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0001081228256225586, + -0.0001774430274963379, + -0.0003593564033508301 + ], + "candidate_oracle_branch_scores": [ + 0.5362141132354736, + 0.5363222360610962, + 0.5360366702079773, + 0.5358547568321228 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.1463896781206131, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 24, + 17, + 1 + ], + "candidate_oracle_potentials": [ + 0.15309317409992218, + 0.1463896781206131, + 0.14474180340766907, + 0.1362813115119934 + ], + "candidate_oracle_progress": 0.5363222360610962, + "candidate_oracle_regret": 1.4636777639389038, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5363222360610962, + "candidate_oracle_score_gain_over_selected": 0.0001081228256225586, + "candidate_oracle_selected_branch_progress": 0.5362141132354736, + "candidate_oracle_selected_branch_score": 0.5362141132354736, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-023e021f079a8774c741;ms-e8fbdbddd9200f5091d6;ms-5425964a186feaf6fd99;ms-12050326f623a94ae9e0;ms-3d095a49ed03de972849;ms-d91cbe61314c18955b6b", + "expert_regret": 1.463744580745697, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1df0775c4ef08d0cf1bf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.463744580745697, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.536255419254303, + "restore_error": 1.1920928955078125e-07, + "score": 0.536255419254303, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3787795901298523, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.5667478442192078, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.4332520961761475, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.5667478442192078, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.21493202447891235, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 4, + 24, + 0 + ], + "candidate_oracle_potentials": [ + 0.21493202447891235, + 0.1423564851284027, + 0.1194765493273735, + 0.10028573870658875 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e1972ebf2c5587a6fdf9;ms-166b7f66bf9f4eec432b;ms-bcc70292f404cd1c7f75;ms-9a2d8f0085e6740cf5b0;ms-935ff204de9424ec00a2;ms-1a4ecfbe9c97214d5c78", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9c8a90334c3b933c8976", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3281204402446747, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.28893062472343445, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.28893062472343445, + 0.26715731620788574, + 0.26142823696136475, + 0.25534752011299133 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6273302894af3505ca8;ms-11bb3387454624de8143;ms-a22fbce4503f088acb1f;ms-8d9b2a5ccd43461f827e;ms-a934ef3c442100d9cc58;ms-41279eb586ca5e587474", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7241a1c25af41f4c0b5a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8159208297729492, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.02030128240585327, + 0.01828247308731079, + 0.020754147320985794, + 0.0187528133392334 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0020188093185424805, + 0.0004528649151325226, + -0.001548469066619873 + ], + "candidate_oracle_branch_scores": [ + 0.02030128240585327, + 0.01828247308731079, + 0.020754147320985794, + 0.0187528133392334 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.7439494132995605, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 4, + 8 + ], + "candidate_oracle_potentials": [ + -2.7237677574157715, + -2.727102041244507, + -2.7439494132995605, + -2.7471418380737305 + ], + "candidate_oracle_progress": 0.020754147320985794, + "candidate_oracle_regret": 1.9792458526790142, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.020754147320985794, + "candidate_oracle_score_gain_over_selected": 0.0004528649151325226, + "candidate_oracle_selected_branch_progress": 0.02030128240585327, + "candidate_oracle_selected_branch_score": 0.02030128240585327, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-72cf68c15631675b063f;ms-c2e07545267c612a022c;ms-c425c810f7865e9564ee;ms-81f48d29d0404300ea93;ms-1fb2f4c1e17e99767558;ms-c76158673d20b18c2622", + "expert_regret": 1.9796987175941467, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cdcdb32d7c02c49869ef", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9796987175941467, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02030128240585327, + "restore_error": 1.1920928955078125e-07, + "score": 0.02030128240585327, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6189141869544983, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 1.282041072845459, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 1, + 17 + ], + "candidate_oracle_potentials": [ + 1.282041072845459, + 1.2798688411712646, + 1.2554336786270142, + 1.2539399862289429 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-12050326f623a94ae9e0;ms-d75a00b1388f50bf8919;ms-5425964a186feaf6fd99;ms-a7f98a43ff113d74f009;ms-76c78750d7abc6570487;ms-e8fbdbddd9200f5091d6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4746e04d636d13cfbe6c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5549314618110657, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5399163365364075, + 0.5425838232040405, + 0.5404762625694275, + 0.5435686111450195 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0026674866676330566, + 0.0005599260330200195, + 0.0036522746086120605 + ], + "candidate_oracle_branch_scores": [ + 0.5399163365364075, + 0.5425838232040405, + 0.5404762625694275, + 0.5435686111450195 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.12596964836120605, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 0.20975074172019958, + 0.18375369906425476, + 0.15307503938674927, + 0.12596964836120605 + ], + "candidate_oracle_progress": 0.5435686111450195, + "candidate_oracle_regret": 1.4564313888549805, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5435686111450195, + "candidate_oracle_score_gain_over_selected": 0.0036522746086120605, + "candidate_oracle_selected_branch_progress": 0.5399163365364075, + "candidate_oracle_selected_branch_score": 0.5399163365364075, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-66cc354bbf4e8bdd1051;ms-3aa864ead19c9cb9fb49;ms-9ff81e54049443a0f3d3;ms-309c09cf5d782e9ba0a3;ms-842e179244eddac303a5;ms-7057de70d36f5cc31472", + "expert_regret": 1.460082769393921, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-478f754a15221314d15e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.460082769393921, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5399172306060791, + "restore_error": 1.1920928955078125e-07, + "score": 0.5399172306060791, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9386358261108398, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5169098377227783, + 0.5167382955551147, + 0.5193254351615906, + 0.5189889073371887 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00017154216766357422, + 0.002415597438812256, + 0.0020790696144104004 + ], + "candidate_oracle_branch_scores": [ + 0.5169098377227783, + 0.5167382955551147, + 0.5193254351615906, + 0.5189889073371887 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5624933242797852, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 24 + ], + "candidate_oracle_potentials": [ + -0.45426270365715027, + -0.5368796586990356, + -0.5624933242797852, + -0.6430015563964844 + ], + "candidate_oracle_progress": 0.5193254351615906, + "candidate_oracle_regret": 1.4806745648384094, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5193254351615906, + "candidate_oracle_score_gain_over_selected": 0.002415597438812256, + "candidate_oracle_selected_branch_progress": 0.5169098377227783, + "candidate_oracle_selected_branch_score": 0.5169098377227783, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-309c09cf5d782e9ba0a3;ms-7057de70d36f5cc31472;ms-f3f6a1b34fdf35290a6c;ms-66cc354bbf4e8bdd1051;ms-9ff81e54049443a0f3d3;ms-3aa864ead19c9cb9fb49", + "expert_regret": 1.4831637740135193, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9184c93267b4bbfa4cae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4831637740135193, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5168362259864807, + "restore_error": 2.384185791015625e-07, + "score": 0.5168362259864807, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46053510904312134, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 1.0002673864364624, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 0, + 1 + ], + "candidate_oracle_potentials": [ + 1.0002673864364624, + 0.9968235492706299, + 0.9955847263336182, + 0.9481357336044312 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d6305829d7ca1c68a3ce;ms-1add4cf84fdadf5703d6;ms-9044026b69850d12d05b;ms-5780f9e1e9f9e740d474;ms-f3f6a1b34fdf35290a6c;ms-7057de70d36f5cc31472", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2df0b9d5fa91156e430a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20486964285373688, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 1.40213143825531, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 24 + ], + "candidate_oracle_potentials": [ + 1.40213143825531, + 1.3826006650924683, + 1.3600274324417114, + 1.3028703927993774 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bef9b88ae40ca98647aa;ms-30ad687dc1bc8318fa45;ms-02ab2e7a74d970154eb7;ms-4f833710c2706ee077af;ms-b7e7fe66a6c86898eec2;ms-41279eb586ca5e587474", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c81880a77c4d978a0b7a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42075490951538086, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7837047576904297, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 4, + 20, + 8 + ], + "candidate_oracle_potentials": [ + 0.7837047576904297, + 0.7820236682891846, + 0.7798904180526733, + 0.7525536417961121 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d807915e233a0c74b809;ms-d4bde31fd7e7cee76b09;ms-ee19bfbcb2f4fbf5a44d;ms-b40ee5a75332685d5cec;ms-4bc32bd893d0cff76423;ms-c104c2ebba7bf9b34680", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6b750c1bef91c5d15526", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4734768867492676, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 1.179260492324829, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + 1.179260492324829, + 1.170749545097351, + 1.1662476062774658, + 1.161338210105896 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-61d4dd4acc03b8d30f19;ms-2c68b2b895bdbedbaa08;ms-13af3f2f8e0b8444fe68;ms-d75a00b1388f50bf8919;ms-309d2258d275ae304857;ms-bcc70292f404cd1c7f75", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f219d526891ae3c2dea", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6107369065284729, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 1.1606050729751587, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 4 + ], + "candidate_oracle_potentials": [ + 1.1606050729751587, + 1.1381019353866577, + 1.1273133754730225, + 1.1137233972549438 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c4cb99b887c88c707ba9;ms-c8666cbd7e5a9d0fd036;ms-4c83412fa0aa5180ad89;ms-5fc884c238818acdde08;ms-76c78750d7abc6570487;ms-bcc70292f404cd1c7f75", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6f1ec735350c81ef9fca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39240947365760803, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.9136537909507751, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 20 + ], + "candidate_oracle_potentials": [ + 0.9136537909507751, + 0.8753063678741455, + 0.796410322189331, + 0.7846766114234924 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6995d4366e7c20010126;ms-9a2d8f0085e6740cf5b0;ms-9e53ca6bc5ddb9133ffa;ms-c4cb99b887c88c707ba9;ms-c8666cbd7e5a9d0fd036;ms-bcc70292f404cd1c7f75", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6d7b10e8b2b0a516b786", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8097750544548035, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 7.915497008070815e-06, + 0.0285181887447834, + 0.027518082410097122, + 0.0002934575022663921 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.02851027250289917, + 0.02751016616821289, + 0.0002855420170817524 + ], + "candidate_oracle_branch_scores": [ + 7.915497008070815e-06, + 0.0285181887447834, + 0.027518082410097122, + 0.0002934575022663921 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.9216153621673584, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 3, + 19, + 20 + ], + "candidate_oracle_potentials": [ + -2.836223840713501, + -2.9216153621673584, + -2.9238827228546143, + -2.92391037940979 + ], + "candidate_oracle_progress": 0.0285181887447834, + "candidate_oracle_regret": 1.9714818112552166, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.0285181887447834, + "candidate_oracle_score_gain_over_selected": 0.02851027250289917, + "candidate_oracle_selected_branch_progress": 7.915497008070815e-06, + "candidate_oracle_selected_branch_score": 7.915497008070815e-06, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c7f427f37d47501932e8;ms-2d995e39f2b95fed1a67;ms-b7e7fe66a6c86898eec2;ms-02ab2e7a74d970154eb7;ms-4f833710c2706ee077af;ms-8b972386cfdf0158a0a3", + "expert_regret": 1.999993646144958, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c0b600aef5393f929cd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.999993646144958, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 6.3538550421071704e-06, + "restore_error": 2.384185791015625e-07, + "score": 6.3538550421071704e-06, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5527141690254211, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.611577033996582, + 1.0, + 0.6145418286323547 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.388422966003418, + 0.0, + -1.38545823097229 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.611577033996582, + 2.0, + 0.6145418286323547 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.4581088721752167, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -0.4581088721752167, + -0.48554667830467224, + -0.7878546714782715, + -0.8053218722343445 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-87f8bbc8d9e7f4dcaacf;ms-21155188bc35f0f021d3;ms-fbcc714230de2c097d0d;ms-39450dbba738dbd8a764;ms-3c4ff3dae26217f22a8b;ms-6f1db8895d5164cc5ae5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4082ce1f04dbacd6a5b9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5324676632881165, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5006616711616516, + 0.4995534121990204, + 0.500305712223053, + 0.49946171045303345 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0011082589626312256, + -0.0003559589385986328, + -0.001199960708618164 + ], + "candidate_oracle_branch_scores": [ + 0.5006616711616516, + 0.4995534121990204, + 0.500305712223053, + 0.49946171045303345 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.948363721370697, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 0, + 1 + ], + "candidate_oracle_potentials": [ + 0.948363721370697, + 0.9309546947479248, + 0.9022367000579834, + 0.8924768567085266 + ], + "candidate_oracle_progress": 0.5006616711616516, + "candidate_oracle_regret": 1.4993383288383484, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5006616711616516, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5006616711616516, + "candidate_oracle_selected_branch_score": 0.5006616711616516, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b8276cb9b6cb9a9b302f;ms-88bdd8987f890af7e9ea;ms-99ecd2226d7187416316;ms-a3c53708416dbfb9fbc5;ms-fb98254adaa23dc128df;ms-4385e9c56007fdaa94b5", + "expert_regret": 1.4993747472763062, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0c9c39c462522b25ef2b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4993747472763062, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5006252527236938, + "restore_error": 1.1920928955078125e-07, + "score": 0.5006252527236938, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4102584421634674, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.9090500473976135, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 40, + 17, + 24 + ], + "candidate_oracle_potentials": [ + 0.9090500473976135, + 0.9010204672813416, + 0.8951287865638733, + 0.8876509070396423 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a22fbce4503f088acb1f;ms-d6b2d805dc063382ade2;ms-11bb3387454624de8143;ms-bef9b88ae40ca98647aa;ms-2d995e39f2b95fed1a67;ms-b7e7fe66a6c86898eec2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eb48573b3e330e44504d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5990485548973083, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 1.1023458242416382, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 1, + 36, + 17 + ], + "candidate_oracle_potentials": [ + 1.1023458242416382, + 1.0951873064041138, + 1.0951019525527954, + 1.0950719118118286 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-76c78750d7abc6570487;ms-11a2794efa24f4d93d83;ms-4c83412fa0aa5180ad89;ms-c4cb99b887c88c707ba9;ms-5fc884c238818acdde08;ms-a7f98a43ff113d74f009", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61ac2be70a9798adeda0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45155858993530273, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.02685876004397869, + 0.023496020585298538, + 0.021348489448428154, + 0.026504410430788994 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.003362739458680153, + -0.005510270595550537, + -0.00035434961318969727 + ], + "candidate_oracle_branch_scores": [ + 0.02685876004397869, + 0.023496020585298538, + 0.021348489448428154, + 0.026504410430788994 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.536261558532715, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 20, + 4, + 36 + ], + "candidate_oracle_potentials": [ + -2.536261558532715, + -2.593600034713745, + -2.5993270874023438, + -2.602353572845459 + ], + "candidate_oracle_progress": 0.02685876004397869, + "candidate_oracle_regret": 1.9731412399560213, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.02685876004397869, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.02685876004397869, + "candidate_oracle_selected_branch_score": 0.02685876004397869, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a76ae18568c88af1da6b;ms-ed9addab41f3298db7bc;ms-b481531ab787e3d6fb1e;ms-b9e46b7345a63ded4397;ms-b786173f210fcaa65a6e;ms-319a6c0cef0ac1a872d5", + "expert_regret": 1.973146677017212, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7670f25745871759e69e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.973146677017212, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.026853322982788086, + "restore_error": 1.1920928955078125e-07, + "score": 0.026853322982788086, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2713053226470947, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.7014191746711731, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 0, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.7014191746711731, + 0.7001657485961914, + 0.6992025971412659, + 0.6967107653617859 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-69962cd1c448094e4fb0;ms-417cab1470cf46273b02;ms-eac0d7dd54b1e797fdbd;ms-6c39b520dca0a325535f;ms-486572c62484eb4d73db;ms-732819b0c220a4c06870", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c774aeee2c4066edd668", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3042299449443817, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.511676013469696, + 0.5122121572494507, + 0.5113170146942139, + 0.5047503113746643 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0005361437797546387, + -0.00035899877548217773, + -0.006925702095031738 + ], + "candidate_oracle_branch_scores": [ + 0.511676013469696, + 0.5122121572494507, + 0.5113170146942139, + 0.5047503113746643 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.8608931303024292, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.8155052661895752, + -1.8608931303024292, + -1.868888258934021, + -1.8767811059951782 + ], + "candidate_oracle_progress": 0.5122121572494507, + "candidate_oracle_regret": 1.4877878427505493, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5122121572494507, + "candidate_oracle_score_gain_over_selected": 0.0005361437797546387, + "candidate_oracle_selected_branch_progress": 0.511676013469696, + "candidate_oracle_selected_branch_score": 0.511676013469696, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1b83fc0981e283975488;ms-adfe268e473c03b72c65;ms-2cf1227610d4602f88ed;ms-c2bc492ab5eb87a73789;ms-f9c00ba41392adec3fd1;ms-a1d69e0b112064914357", + "expert_regret": 1.4883151650428772, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b98e8aa8ecee10bea27", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4883151650428772, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5116848349571228, + "restore_error": 1.1920928955078125e-07, + "score": 0.5116848349571228, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7817659378051758, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5451927781105042, + 0.5447364449501038, + 0.5445951819419861, + 0.544590413570404 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0004563331604003906, + -0.0005975961685180664, + -0.0006023645401000977 + ], + "candidate_oracle_branch_scores": [ + 0.5451927781105042, + 0.5447364449501038, + 0.5445951819419861, + 0.544590413570404 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6053951978683472, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -0.6053951978683472, + -0.6405454874038696, + -0.6903194189071655, + -0.6921185255050659 + ], + "candidate_oracle_progress": 0.5451927781105042, + "candidate_oracle_regret": 1.4548072218894958, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5451927781105042, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5451927781105042, + "candidate_oracle_selected_branch_score": 0.5451927781105042, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f3f6a1b34fdf35290a6c;ms-7057de70d36f5cc31472;ms-5780f9e1e9f9e740d474;ms-9044026b69850d12d05b;ms-9ff81e54049443a0f3d3;ms-8f241450069e74460a40", + "expert_regret": 1.454807162284851, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f28fbb82a51d4de7811b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.454807162284851, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5451928377151489, + "restore_error": 1.1920928955078125e-07, + "score": 0.5451928377151489, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5581548810005188, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.5692675709724426, + 0.569223940372467, + 0.5692153573036194 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.4307324886322021, + -1.4307761192321777, + -1.4307847023010254 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.5692675709724426, + 0.569223940372467, + 0.5692153573036194 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.1217661052942276, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + 0.1217661052942276, + 0.10281313955783844, + 0.09002599120140076, + 0.0839446410536766 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8a74cf665984273be00d;ms-0e275939f12a9dcee0a0;ms-a3c53708416dbfb9fbc5;ms-99ecd2226d7187416316;ms-88bdd8987f890af7e9ea;ms-dbb32d9fd6999e09f589", + "expert_regret": 1.430796205997467, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-772768ec2f9792127251", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.430796205997467, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.569203794002533, + "restore_error": 1.1920928955078125e-07, + "score": 0.569203794002533, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.30405622720718384, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.4107140004634857, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + 0.4107140004634857, + 0.37794041633605957, + 0.3001457154750824, + 0.2631426453590393 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9e53ca6bc5ddb9133ffa;ms-c8666cbd7e5a9d0fd036;ms-9a2d8f0085e6740cf5b0;ms-6995d4366e7c20010126;ms-c4cb99b887c88c707ba9;ms-4c83412fa0aa5180ad89", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7fa85a7251186eb18d0b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3875097632408142, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5581778883934021, + 0.5515933036804199, + 0.024138856679201126, + 0.027156054973602295 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.006584584712982178, + -0.5340390205383301, + -0.5310218334197998 + ], + "candidate_oracle_branch_scores": [ + 0.5581778883934021, + 0.5515933036804199, + 0.024138856679201126, + 0.027156054973602295 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7681074142456055, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.7681074142456055, + 0.7302854657173157, + 0.6025247573852539, + 0.5531308650970459 + ], + "candidate_oracle_progress": 0.5581778883934021, + "candidate_oracle_regret": 1.441822111606598, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5581778883934021, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5581778883934021, + "candidate_oracle_selected_branch_score": 0.5581778883934021, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5780f9e1e9f9e740d474;ms-7057de70d36f5cc31472;ms-8f241450069e74460a40;ms-f3f6a1b34fdf35290a6c;ms-9ff81e54049443a0f3d3;ms-9044026b69850d12d05b", + "expert_regret": 1.441900908946991, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2b556c4c1b55a20b14c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.441900908946991, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.558099091053009, + "restore_error": 1.1920928955078125e-07, + "score": 0.558099091053009, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2823221981525421, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5593461394309998, + 0.559133768081665, + 0.5589150190353394, + 0.5608083605766296 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0002123713493347168, + -0.0004311203956604004, + 0.0014622211456298828 + ], + "candidate_oracle_branch_scores": [ + 0.5593461394309998, + 0.559133768081665, + 0.5589150190353394, + 0.5608083605766296 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.7741823196411133, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + 0.7819311618804932, + 0.7796415090560913, + 0.7768396139144897, + 0.7741823196411133 + ], + "candidate_oracle_progress": 0.5608083605766296, + "candidate_oracle_regret": 1.4391916394233704, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5608083605766296, + "candidate_oracle_score_gain_over_selected": 0.0014622211456298828, + "candidate_oracle_selected_branch_progress": 0.5593461394309998, + "candidate_oracle_selected_branch_score": 0.5593461394309998, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-478b7b8b729f9212a522;ms-9044026b69850d12d05b;ms-ce8d2ef7d19bed381822;ms-f4b95f2b569e3f1bf086;ms-a45ed89f5b95d1e7ab07;ms-6c39b520dca0a325535f", + "expert_regret": 1.4406554102897644, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97140da7cf409922f6ce", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4406554102897644, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5593445897102356, + "restore_error": 1.1920928955078125e-07, + "score": 0.5593445897102356, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.71943598985672, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5315152406692505, + 0.52991783618927, + 0.5293572545051575, + 0.5220152139663696 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0015974044799804688, + -0.0021579861640930176, + -0.00950002670288086 + ], + "candidate_oracle_branch_scores": [ + 0.5315152406692505, + 0.52991783618927, + 0.5293572545051575, + 0.5220152139663696 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.34760320186615, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -1.34760320186615, + -1.392412781715393, + -1.4027551412582397, + -1.4051625728607178 + ], + "candidate_oracle_progress": 0.5315152406692505, + "candidate_oracle_regret": 1.4684847593307495, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5315152406692505, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5315152406692505, + "candidate_oracle_selected_branch_score": 0.5315152406692505, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-56ad75c28031e049a3dd;ms-91d86cba2602d1fa780d;ms-0b7f8ba789c00b37caa0;ms-0a4c4442237909d5f7b7;ms-578e24198ed828a74485;ms-9a1de6130828dc946a51", + "expert_regret": 1.4684846997261047, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de0321d0ece4c58bc224", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4684846997261047, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5315153002738953, + "restore_error": 1.1920928955078125e-07, + "score": 0.5315153002738953, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.36150747537612915, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.8270599842071533, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 0, + 8 + ], + "candidate_oracle_potentials": [ + 0.8270599842071533, + 0.7957550287246704, + 0.7438117265701294, + 0.6738384366035461 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e589f7d40c12eff1712e;ms-1a4ecfbe9c97214d5c78;ms-2ae57bab6d2ea11f6638;ms-8420ccaff5986c85063f;ms-0ece7b8c91d9d82f244b;ms-d73a2a984d5829e884f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d33444117889b5aa9cfb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.31130313873291016, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5669695734977722, + 0.5666432976722717, + 0.5670934319496155, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0003262758255004883, + 0.00012385845184326172, + 1.433030366897583 + ], + "candidate_oracle_branch_scores": [ + 0.5669695734977722, + 0.5666432976722717, + 0.5670934319496155, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2143676280975342, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 8 + ], + "candidate_oracle_potentials": [ + -1.1728612184524536, + -1.2044228315353394, + -1.2116833925247192, + -1.2143676280975342 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.433030366897583, + "candidate_oracle_selected_branch_progress": 0.5669695734977722, + "candidate_oracle_selected_branch_score": 0.5669695734977722, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-935ff204de9424ec00a2;ms-d73a2a984d5829e884f9;ms-dfc737e32df79e1fc429;ms-1a4ecfbe9c97214d5c78;ms-8420ccaff5986c85063f;ms-29653e236de96058ef6d", + "expert_regret": 1.4330299496650696, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d5bfdabc97e56c680680", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4330299496650696, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5669700503349304, + "restore_error": 1.1920928955078125e-07, + "score": 0.5669700503349304, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.05731746181845665, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.5880470275878906, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + 0.5880470275878906, + 0.5863882303237915, + 0.5844868421554565, + 0.5818175077438354 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9eb40f856528204bbcfd;ms-8522a9364bf70311450d;ms-774e954ffdc5da041261;ms-ff3f17774184180998f0;ms-2b3e081263ed25d45dc8;ms-fb98254adaa23dc128df", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-51f2c34d5f8f132af1ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7883103489875793, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.12165854126214981, + 0.5253806710243225, + 0.12915028631687164, + 0.5257865786552429 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.4037221372127533, + 0.007491745054721832, + 0.4041280448436737 + ], + "candidate_oracle_branch_scores": [ + 0.12165854126214981, + 0.5253806710243225, + 0.12915028631687164, + 0.5257865786552429 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.5331207513809204, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 4 + ], + "candidate_oracle_potentials": [ + -1.4848161935806274, + -1.5020030736923218, + -1.533016562461853, + -1.5331207513809204 + ], + "candidate_oracle_progress": 0.5257865786552429, + "candidate_oracle_regret": 1.474213421344757, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5257865786552429, + "candidate_oracle_score_gain_over_selected": 0.4041280448436737, + "candidate_oracle_selected_branch_progress": 0.12165854126214981, + "candidate_oracle_selected_branch_score": 0.12165854126214981, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-782893a3eb2e3dcfd15e;ms-e058c0dba52df04b8642;ms-71ef8f2cdc11d83250fa;ms-bdd1924b44de2db5b07a;ms-97598e118c5cc8c254a5;ms-9a1de6130828dc946a51", + "expert_regret": 1.87834944576025, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bcd9be34f050d97499bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.87834944576025, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.12165055423974991, + "restore_error": 1.1920928955078125e-07, + "score": 0.12165055423974991, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7175558805465698, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.0789787545800209, + 0.0990600511431694, + 0.06374476104974747, + 0.06371726840734482 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0200812965631485, + -0.015233993530273438, + -0.015261486172676086 + ], + "candidate_oracle_branch_scores": [ + 0.0789787545800209, + 0.0990600511431694, + 0.06374476104974747, + 0.06371726840734482 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.907069444656372, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 36, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -1.8997714519500732, + -1.907069444656372, + -1.926520824432373, + -1.943692684173584 + ], + "candidate_oracle_progress": 0.0990600511431694, + "candidate_oracle_regret": 0.5181548669934273, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.0990600511431694, + "candidate_oracle_score_gain_over_selected": 0.0200812965631485, + "candidate_oracle_selected_branch_progress": 0.0789787545800209, + "candidate_oracle_selected_branch_score": 0.0789787545800209, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2d995e39f2b95fed1a67;ms-b7e7fe66a6c86898eec2;ms-02ab2e7a74d970154eb7;ms-4f833710c2706ee077af;ms-c7f427f37d47501932e8;ms-8b972386cfdf0158a0a3", + "expert_regret": 0.5382398590445518, + "expert_score": 0.6172149181365967, + "expert_success": false, + "group_id": "ms-8bb2d8cb7c0d33fa0c1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5382398590445518, + "oracle_score": 0.6172149181365967, + "oracle_success": false, + "progress": 0.07897505909204483, + "restore_error": 1.1920928955078125e-07, + "score": 0.07897505909204483, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6103572845458984, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5686452388763428, + 0.5693632960319519, + 0.5646727085113525, + 0.5708186030387878 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0007180571556091309, + -0.003972530364990234, + 0.0021733641624450684 + ], + "candidate_oracle_branch_scores": [ + 0.5686452388763428, + 0.5693632960319519, + 0.5646727085113525, + 0.5708186030387878 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.018772006034851074, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 0 + ], + "candidate_oracle_potentials": [ + 0.294367253780365, + 0.09288588911294937, + 0.0892440602183342, + -0.018772006034851074 + ], + "candidate_oracle_progress": 0.5708186030387878, + "candidate_oracle_regret": 1.4291813969612122, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5708186030387878, + "candidate_oracle_score_gain_over_selected": 0.0021733641624450684, + "candidate_oracle_selected_branch_progress": 0.5686452388763428, + "candidate_oracle_selected_branch_score": 0.5686452388763428, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a10d8368c33b56390f77;ms-a45ed89f5b95d1e7ab07;ms-ca25b016439a98198434;ms-8f6d30c2ade00e451dc2;ms-6c39b520dca0a325535f;ms-4bc32bd893d0cff76423", + "expert_regret": 1.4312573075294495, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-339ae3ec9482aa259eec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4312573075294495, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5687426924705505, + "restore_error": 1.1920928955078125e-07, + "score": 0.5687426924705505, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6392596364021301, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 1.0983171463012695, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 1, + 36, + 17 + ], + "candidate_oracle_potentials": [ + 1.0983171463012695, + 1.098122000694275, + 1.097999095916748, + 1.0955379009246826 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-478b7b8b729f9212a522;ms-ca25b016439a98198434;ms-a45ed89f5b95d1e7ab07;ms-9044026b69850d12d05b;ms-c104c2ebba7bf9b34680;ms-4bc32bd893d0cff76423", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cb99eeafec52800f3b77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4498845636844635, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.530723512172699, + 0.528453528881073, + 0.5310689210891724, + 0.5294687151908875 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0022699832916259766, + 0.00034540891647338867, + -0.0012547969818115234 + ], + "candidate_oracle_branch_scores": [ + 0.530723512172699, + 0.528453528881073, + 0.5310689210891724, + 0.5294687151908875 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.2279488444328308, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 0 + ], + "candidate_oracle_potentials": [ + -0.10216744989156723, + -0.12579979002475739, + -0.2279488444328308, + -0.2552032172679901 + ], + "candidate_oracle_progress": 0.5310689210891724, + "candidate_oracle_regret": 1.4689310789108276, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5310689210891724, + "candidate_oracle_score_gain_over_selected": 0.00034540891647338867, + "candidate_oracle_selected_branch_progress": 0.530723512172699, + "candidate_oracle_selected_branch_score": 0.530723512172699, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-625b5d55ca76cc565049;ms-b97cb4ec02e8234b08c5;ms-a22fbce4503f088acb1f;ms-a6273302894af3505ca8;ms-11bb3387454624de8143;ms-1bfca22d4af29f0e14b1", + "expert_regret": 1.469275951385498, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cddf387bbcd6aed98fca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.469275951385498, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.530724048614502, + "restore_error": 1.1920928955078125e-07, + "score": 0.530724048614502, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6821864247322083, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5638023614883423, + 0.5639505386352539, + 0.5635560750961304, + 0.5637328624725342 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0001481771469116211, + -0.00024628639221191406, + -6.949901580810547e-05 + ], + "candidate_oracle_branch_scores": [ + 0.5638023614883423, + 0.5639505386352539, + 0.5635560750961304, + 0.5637328624725342 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.4713588356971741, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.4845595955848694, + 0.4713588356971741, + 0.47099214792251587, + 0.4591292440891266 + ], + "candidate_oracle_progress": 0.5639505386352539, + "candidate_oracle_regret": 1.436049461364746, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5639505386352539, + "candidate_oracle_score_gain_over_selected": 0.0001481771469116211, + "candidate_oracle_selected_branch_progress": 0.5638023614883423, + "candidate_oracle_selected_branch_score": 0.5638023614883423, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8d9b2a5ccd43461f827e;ms-309c09cf5d782e9ba0a3;ms-41279eb586ca5e587474;ms-11bb3387454624de8143;ms-a22fbce4503f088acb1f;ms-bef9b88ae40ca98647aa", + "expert_regret": 1.4361976385116577, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5a7891a58bac94796178", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4361976385116577, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5638023614883423, + "restore_error": 1.1920928955078125e-07, + "score": 0.5638023614883423, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.30900317430496216, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.8452512621879578, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 0 + ], + "candidate_oracle_potentials": [ + 0.8452512621879578, + 0.7818524241447449, + 0.7377128005027771, + 0.721787691116333 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6995d4366e7c20010126;ms-e1972ebf2c5587a6fdf9;ms-bcc70292f404cd1c7f75;ms-166b7f66bf9f4eec432b;ms-9a2d8f0085e6740cf5b0;ms-c4cb99b887c88c707ba9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a2908e99b0a12a9980cc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48884302377700806, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5426284074783325, + 0.5393730401992798, + 0.5433642268180847, + 0.5405779480934143 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0032553672790527344, + 0.0007358193397521973, + -0.002050459384918213 + ], + "candidate_oracle_branch_scores": [ + 0.5426284074783325, + 0.5393730401992798, + 0.5433642268180847, + 0.5405779480934143 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3227364122867584, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 20 + ], + "candidate_oracle_potentials": [ + -0.19586671888828278, + -0.27999043464660645, + -0.3227364122867584, + -0.4411018490791321 + ], + "candidate_oracle_progress": 0.5433642268180847, + "candidate_oracle_regret": 1.4566357731819153, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5433642268180847, + "candidate_oracle_score_gain_over_selected": 0.0007358193397521973, + "candidate_oracle_selected_branch_progress": 0.5426284074783325, + "candidate_oracle_selected_branch_score": 0.5426284074783325, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d6305829d7ca1c68a3ce;ms-1add4cf84fdadf5703d6;ms-e15eeda61ed4064a5c9f;ms-704fee4c9fb9941a26e7;ms-a8e6435948250f5e163d;ms-ce8d2ef7d19bed381822", + "expert_regret": 1.457371711730957, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1c4ab2b6f004fc8fa66d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.457371711730957, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.542628288269043, + "restore_error": 1.1920928955078125e-07, + "score": 0.542628288269043, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5407577157020569, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2289233207702637, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -1.2289233207702637, + -1.2403571605682373, + -1.2424583435058594, + -1.2499608993530273 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-87b44e6219279322a723;ms-07e0726dedce0a0e4419;ms-1bfca22d4af29f0e14b1;ms-283da8c8dae2e161c439;ms-74517e19dfdee44d2f81;ms-bee62a6ef02134938aae", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-09de52dad7e40970c938", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.580298900604248, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5290824174880981, + 0.5289157032966614, + 0.5287310481071472, + 0.5165781378746033 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00016671419143676758, + -0.00035136938095092773, + -0.012504279613494873 + ], + "candidate_oracle_branch_scores": [ + 0.5290824174880981, + 0.5289157032966614, + 0.5287310481071472, + 0.5165781378746033 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.38902413845062256, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 40 + ], + "candidate_oracle_potentials": [ + -0.38902413845062256, + -0.4086229205131531, + -0.45097482204437256, + -0.5354571342468262 + ], + "candidate_oracle_progress": 0.5290824174880981, + "candidate_oracle_regret": 1.4709175825119019, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5290824174880981, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5290824174880981, + "candidate_oracle_selected_branch_score": 0.5290824174880981, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-97598e118c5cc8c254a5;ms-34495bfe34440ac63cf6;ms-844b753810c45699d501;ms-227fe0347d2ea57a66a3;ms-578e24198ed828a74485;ms-0a4c4442237909d5f7b7", + "expert_regret": 1.4709171056747437, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2073841ae01f224365a1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4709171056747437, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5290828943252563, + "restore_error": 1.1920928955078125e-07, + "score": 0.5290828943252563, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5996271967887878, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 1.1846487522125244, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + 1.1846487522125244, + 1.1842113733291626, + 1.1431418657302856, + 1.141294240951538 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13af3f2f8e0b8444fe68;ms-309d2258d275ae304857;ms-f39e1d7a2d636e39a02f;ms-61d4dd4acc03b8d30f19;ms-5fc884c238818acdde08;ms-76c78750d7abc6570487", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c6e41e7542bc6924a1f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5183207988739014, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.5424180030822754, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.4575819969177246, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.5424180030822754, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6529273390769958, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 4 + ], + "candidate_oracle_potentials": [ + -0.6529273390769958, + -0.7098060250282288, + -0.7345999479293823, + -0.7737619280815125 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-97598e118c5cc8c254a5;ms-227fe0347d2ea57a66a3;ms-0a4c4442237909d5f7b7;ms-56ad75c28031e049a3dd;ms-9a1de6130828dc946a51;ms-0b7f8ba789c00b37caa0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-382000b79932b7c68326", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15035663545131683, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.36970221996307373, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.36970221996307373, + 0.36178916692733765, + 0.3557727634906769, + 0.34874096512794495 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-023e021f079a8774c741;ms-d91cbe61314c18955b6b;ms-3c4ff3dae26217f22a8b;ms-29f1abb869ff206a4d52;ms-5425964a186feaf6fd99;ms-12050326f623a94ae9e0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-753929cfdc4aaa652b32", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6999220252037048, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.2018032670021057, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + 0.2018032670021057, + 0.13989762961864471, + 0.12794704735279083, + 0.12040664255619049 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fb228a036fe5973bcad1;ms-26e09c86be9068a34acf;ms-a6273302894af3505ca8;ms-1bfca22d4af29f0e14b1;ms-625b5d55ca76cc565049;ms-8f241450069e74460a40", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b7ed399f40d2d554b16d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6307896971702576, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.07739274948835373, + 0.07268426567316055, + 0.07525620609521866, + 0.07679679244756699 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.004708483815193176, + -0.002136543393135071, + -0.0005959570407867432 + ], + "candidate_oracle_branch_scores": [ + 0.07739274948835373, + 0.07268426567316055, + 0.07525620609521866, + 0.07679679244756699 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.3321986198425293, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 0, + 4, + 36 + ], + "candidate_oracle_potentials": [ + -2.3321986198425293, + -2.3324317932128906, + -2.3366665840148926, + -2.3447999954223633 + ], + "candidate_oracle_progress": 0.07739274948835373, + "candidate_oracle_regret": 1.9226072505116463, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.07739274948835373, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.07739274948835373, + "candidate_oracle_selected_branch_score": 0.07739274948835373, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8adf1cf09ddabdc5fe5f;ms-c7f427f37d47501932e8;ms-2d995e39f2b95fed1a67;ms-b7e7fe66a6c86898eec2;ms-02ab2e7a74d970154eb7;ms-0b7f8ba789c00b37caa0", + "expert_regret": 1.9226194247603416, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fcbac5ac63b87452c719", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9226194247603416, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07738057523965836, + "restore_error": 1.1920928955078125e-07, + "score": 0.07738057523965836, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18668587505817413, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.6125021576881409, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + 0.6125021576881409, + 0.60182785987854, + 0.5558458566665649, + 0.5531849265098572 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5fc884c238818acdde08;ms-166b7f66bf9f4eec432b;ms-bcc70292f404cd1c7f75;ms-935ff204de9424ec00a2;ms-d75a00b1388f50bf8919;ms-e1972ebf2c5587a6fdf9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cca07eb504a242633931", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3900294899940491, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5539439916610718, + 0.5540580749511719, + 0.5545396208763123, + 0.5545951724052429 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00011408329010009766, + 0.0005956292152404785, + 0.0006511807441711426 + ], + "candidate_oracle_branch_scores": [ + 0.5539439916610718, + 0.5540580749511719, + 0.5545396208763123, + 0.5545951724052429 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.0942025184631348, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -1.0395034551620483, + -1.045975685119629, + -1.0755454301834106, + -1.0942025184631348 + ], + "candidate_oracle_progress": 0.5545951724052429, + "candidate_oracle_regret": 1.445404827594757, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5545951724052429, + "candidate_oracle_score_gain_over_selected": 0.0006511807441711426, + "candidate_oracle_selected_branch_progress": 0.5539439916610718, + "candidate_oracle_selected_branch_score": 0.5539439916610718, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1bfca22d4af29f0e14b1;ms-87b44e6219279322a723;ms-07e0726dedce0a0e4419;ms-26e09c86be9068a34acf;ms-74517e19dfdee44d2f81;ms-b97cb4ec02e8234b08c5", + "expert_regret": 1.445959210395813, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-48cdfa31865ed70997c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.445959210395813, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.554040789604187, + "restore_error": 1.1920928955078125e-07, + "score": 0.554040789604187, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8220585584640503, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.28194519877433777, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.28194519877433777, + -0.3277857005596161, + -0.5327725410461426, + -0.5973483920097351 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4385e9c56007fdaa94b5;ms-c1ac63fb3644e3a2ae06;ms-0adce283894b0a2b7b94;ms-bc30ca6b7675f4de5041;ms-7a460f3c1b67817c19de;ms-99ecd2226d7187416316", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-45ed57caa698d87a99cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.31072431802749634, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.9546472430229187, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + 0.9546472430229187, + 0.9541451334953308, + 0.9535933136940002, + 0.9451059103012085 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c2bc492ab5eb87a73789;ms-1f8e2d5d25706493821d;ms-f9c00ba41392adec3fd1;ms-2cf1227610d4602f88ed;ms-34495bfe34440ac63cf6;ms-4fad1f976cc64cc06826", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-326f54ae8f73791c49e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46640095114707947, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5135700106620789, + 0.5131274461746216, + 0.5130448341369629, + 0.5137256979942322 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0004425644874572754, + -0.0005251765251159668, + 0.0001556873321533203 + ], + "candidate_oracle_branch_scores": [ + 0.5135700106620789, + 0.5131274461746216, + 0.5130448341369629, + 0.5137256979942322 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7725405693054199, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 40 + ], + "candidate_oracle_potentials": [ + -0.7213343381881714, + -0.7387673854827881, + -0.7447077035903931, + -0.7725405693054199 + ], + "candidate_oracle_progress": 0.5137256979942322, + "candidate_oracle_regret": 0.06771254539489746, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5137256979942322, + "candidate_oracle_score_gain_over_selected": 0.0001556873321533203, + "candidate_oracle_selected_branch_progress": 0.5135700106620789, + "candidate_oracle_selected_branch_score": 0.5135700106620789, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a45ed89f5b95d1e7ab07;ms-ca25b016439a98198434;ms-69962cd1c448094e4fb0;ms-4bc32bd893d0cff76423;ms-c104c2ebba7bf9b34680;ms-d807915e233a0c74b809", + "expert_regret": 0.06786894798278809, + "expert_score": 0.5814382433891296, + "expert_success": false, + "group_id": "ms-ec498d0c649d108513c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.06786894798278809, + "oracle_score": 0.5814382433891296, + "oracle_success": false, + "progress": 0.5135692954063416, + "restore_error": 1.1920928955078125e-07, + "score": 0.5135692954063416, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1151868924498558, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5568504929542542, + 0.556745707988739, + 0.5567208528518677, + 0.5567124485969543 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00010478496551513672, + -0.0001296401023864746, + -0.0001380443572998047 + ], + "candidate_oracle_branch_scores": [ + 0.5568504929542542, + 0.556745707988739, + 0.5567208528518677, + 0.5567124485969543 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.021763384342193604, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -0.021763384342193604, + -0.09024879336357117, + -0.11287529766559601, + -0.1263403594493866 + ], + "candidate_oracle_progress": 0.5568504929542542, + "candidate_oracle_regret": 1.4431495070457458, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5568504929542542, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5568504929542542, + "candidate_oracle_selected_branch_score": 0.5568504929542542, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1add4cf84fdadf5703d6;ms-d6305829d7ca1c68a3ce;ms-e15eeda61ed4064a5c9f;ms-f3f6a1b34fdf35290a6c;ms-5780f9e1e9f9e740d474;ms-9044026b69850d12d05b", + "expert_regret": 0.038056910037994385, + "expert_score": 0.5949071645736694, + "expert_success": false, + "group_id": "ms-b6fd2931116c15db0f0a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.443149745464325, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.556850254535675, + "restore_error": 1.1920928955078125e-07, + "score": 0.556850254535675, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2252524197101593, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 1.0721702575683594, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 40 + ], + "candidate_oracle_potentials": [ + 1.0721702575683594, + 1.0591996908187866, + 1.0457242727279663, + 0.9575017690658569 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bef9b88ae40ca98647aa;ms-30ad687dc1bc8318fa45;ms-41279eb586ca5e587474;ms-a196fc3a729550509b18;ms-4b1561bd0029228fdbbe;ms-02ab2e7a74d970154eb7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1451f536f2ac0df844f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.13613261282444, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.5644891262054443, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.5644891262054443, + 0.5326915383338928, + 0.5227053761482239, + 0.5116846561431885 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c104c2ebba7bf9b34680;ms-4bc32bd893d0cff76423;ms-d807915e233a0c74b809;ms-ee19bfbcb2f4fbf5a44d;ms-3aa864ead19c9cb9fb49;ms-a45ed89f5b95d1e7ab07", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08c75f74bf7813b1c257", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.38450542092323303, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.48859378695487976, + 0.4880093038082123, + 0.49013373255729675, + 0.4895484447479248 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0005844831466674805, + 0.0015399456024169922, + 0.0009546577930450439 + ], + "candidate_oracle_branch_scores": [ + 0.48859378695487976, + 0.4880093038082123, + 0.49013373255729675, + 0.4895484447479248 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.16289022564888, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -0.09865569323301315, + -0.11334860324859619, + -0.16289022564888, + -0.18311788141727448 + ], + "candidate_oracle_progress": 0.49013373255729675, + "candidate_oracle_regret": 1.5098662674427032, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.49013373255729675, + "candidate_oracle_score_gain_over_selected": 0.0015399456024169922, + "candidate_oracle_selected_branch_progress": 0.48859378695487976, + "candidate_oracle_selected_branch_score": 0.48859378695487976, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-127908707208e993527d;ms-3d095a49ed03de972849;ms-29653e236de96058ef6d;ms-9eb40f856528204bbcfd;ms-dfc737e32df79e1fc429;ms-9eea613e8158816f3193", + "expert_regret": 1.5114074647426605, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bdc942e2c7fb26b79162", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5114074647426605, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4885925352573395, + "restore_error": 1.1920928955078125e-07, + "score": 0.4885925352573395, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5351187586784363, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.550178050994873, + 0.5501805543899536, + 0.5501424670219421, + 0.5501022338867188 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 2.5033950805664062e-06, + -3.55839729309082e-05, + -7.581710815429688e-05 + ], + "candidate_oracle_branch_scores": [ + 0.550178050994873, + 0.5501805543899536, + 0.5501424670219421, + 0.5501022338867188 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 1.011594295501709, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 40, + 17, + 1 + ], + "candidate_oracle_potentials": [ + 1.0162110328674316, + 1.011594295501709, + 1.0111548900604248, + 1.0057801008224487 + ], + "candidate_oracle_progress": 0.5501805543899536, + "candidate_oracle_regret": 1.4498194456100464, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 3.166496753692627e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5501805543899536, + "candidate_oracle_score_gain_over_selected": 2.5033950805664062e-06, + "candidate_oracle_selected_branch_progress": 0.550178050994873, + "candidate_oracle_selected_branch_score": 0.550178050994873, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-55ea22014575410563a4;ms-11230e3aaabb1feec834;ms-3a07c49566decfea04de;ms-7be1c6c8ef67031b1f90;ms-4b1561bd0029228fdbbe;ms-99b15d50660b77fe2fcb", + "expert_regret": 1.449946939945221, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ce992c1fa0bcc38512b7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.449946939945221, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.550053060054779, + "restore_error": 2.384185791015625e-07, + "score": 0.550053060054779, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1098361536860466, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5665918588638306, + 0.023283088579773903, + 0.5594000816345215, + 0.5583640336990356 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.5433087944984436, + -0.007191777229309082, + -0.008227825164794922 + ], + "candidate_oracle_branch_scores": [ + 0.5665918588638306, + 0.023283088579773903, + 0.5594000816345215, + 0.5583640336990356 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.1377989947795868, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.1377989947795868, + -0.31084468960762024, + -0.4071502387523651, + -0.4542044699192047 + ], + "candidate_oracle_progress": 0.5665918588638306, + "candidate_oracle_regret": 1.4334081411361694, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 3.166496753692627e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5665918588638306, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5665918588638306, + "candidate_oracle_selected_branch_score": 0.5665918588638306, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5780f9e1e9f9e740d474;ms-8f241450069e74460a40;ms-7057de70d36f5cc31472;ms-9ff81e54049443a0f3d3;ms-f3f6a1b34fdf35290a6c;ms-26e09c86be9068a34acf", + "expert_regret": 1.4335364699363708, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-488a34fe7b7e84250616", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4335364699363708, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5664635300636292, + "restore_error": 2.384185791015625e-07, + "score": 0.5664635300636292, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5568211674690247, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7892100811004639, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + 0.7892100811004639, + 0.7873560190200806, + 0.7485301494598389, + 0.7452641725540161 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.166496753692627e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e1972ebf2c5587a6fdf9;ms-bcc70292f404cd1c7f75;ms-166b7f66bf9f4eec432b;ms-9a2d8f0085e6740cf5b0;ms-c4cb99b887c88c707ba9;ms-dfc737e32df79e1fc429", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97aebe1dd42939e3b340", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5193536877632141, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.563836395740509, + 0.563046395778656, + 0.5627409815788269, + 0.5627352595329285 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0007899999618530273, + -0.001095414161682129, + -0.0011011362075805664 + ], + "candidate_oracle_branch_scores": [ + 0.563836395740509, + 0.563046395778656, + 0.5627409815788269, + 0.5627352595329285 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.9202377796173096, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + 0.9202377796173096, + 0.9074287414550781, + 0.8962663412094116, + 0.8956788778305054 + ], + "candidate_oracle_progress": 0.563836395740509, + "candidate_oracle_regret": 1.436163604259491, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.166496753692627e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.563836395740509, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.563836395740509, + "candidate_oracle_selected_branch_score": 0.563836395740509, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b8276cb9b6cb9a9b302f;ms-88bdd8987f890af7e9ea;ms-99ecd2226d7187416316;ms-fb98254adaa23dc128df;ms-4385e9c56007fdaa94b5;ms-2b3e081263ed25d45dc8", + "expert_regret": 1.4361628293991089, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5f5bf12b5ebb67eeb361", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4361628293991089, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5638371706008911, + "restore_error": 2.384185791015625e-07, + "score": 0.5638371706008911, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.07076318562030792, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.6852086782455444, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.6852086782455444, + 0.6620441675186157, + 0.6558078527450562, + 0.649155855178833 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.166496753692627e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-478b7b8b729f9212a522;ms-ce8d2ef7d19bed381822;ms-9044026b69850d12d05b;ms-e15eeda61ed4064a5c9f;ms-f4b95f2b569e3f1bf086;ms-6c39b520dca0a325535f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-64e28ad134f73fdce800", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.23513109982013702, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5608137249946594, + 0.5580679178237915, + 0.5570523142814636, + 0.5548092722892761 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00274580717086792, + -0.0037614107131958008, + -0.006004452705383301 + ], + "candidate_oracle_branch_scores": [ + 0.5608137249946594, + 0.5580679178237915, + 0.5570523142814636, + 0.5548092722892761 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.1158381998538971, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 8 + ], + "candidate_oracle_potentials": [ + -0.1158381998538971, + -0.14204561710357666, + -0.17261478304862976, + -0.17575083673000336 + ], + "candidate_oracle_progress": 0.5608137249946594, + "candidate_oracle_regret": 1.4391862750053406, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.166496753692627e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5608137249946594, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5608137249946594, + "candidate_oracle_selected_branch_score": 0.5608137249946594, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-97598e118c5cc8c254a5;ms-e058c0dba52df04b8642;ms-9a1de6130828dc946a51;ms-578e24198ed828a74485;ms-0a4c4442237909d5f7b7;ms-34495bfe34440ac63cf6", + "expert_regret": 1.4391862750053406, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d94c7c692c91a962f25", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4391862750053406, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5608137249946594, + "restore_error": 2.384185791015625e-07, + "score": 0.5608137249946594, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.13661465048789978, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5674062371253967, + 0.5671852231025696, + 0.5634075403213501, + 0.5673185586929321 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00022101402282714844, + -0.003998696804046631, + -8.767843246459961e-05 + ], + "candidate_oracle_branch_scores": [ + 0.5674062371253967, + 0.5671852231025696, + 0.5634075403213501, + 0.5673185586929321 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 1.0098973512649536, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 20, + 1, + 4 + ], + "candidate_oracle_potentials": [ + 1.0098973512649536, + 1.0003644227981567, + 0.9956449866294861, + 0.9927398562431335 + ], + "candidate_oracle_progress": 0.5674062371253967, + "candidate_oracle_regret": 1.4325937628746033, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.166496753692627e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5674062371253967, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5674062371253967, + "candidate_oracle_selected_branch_score": 0.5674062371253967, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8f241450069e74460a40;ms-9ff81e54049443a0f3d3;ms-a6273302894af3505ca8;ms-842e179244eddac303a5;ms-7057de70d36f5cc31472;ms-11bb3387454624de8143", + "expert_regret": 1.4325911402702332, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-71452ba714a10880870b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4325911402702332, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5674088597297668, + "restore_error": 2.384185791015625e-07, + "score": 0.5674088597297668, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6188569068908691, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.018881333991885185, + 0.015911294147372246, + 0.018880153074860573, + 0.01583733595907688 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0029700398445129395, + -1.1809170246124268e-06, + -0.003043998032808304 + ], + "candidate_oracle_branch_scores": [ + 0.018881333991885185, + 0.015911294147372246, + 0.018880153074860573, + 0.01583733595907688 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.644085705280304, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.644085705280304, + -0.6502009034156799, + -0.7319714426994324, + -0.740702211856842 + ], + "candidate_oracle_progress": 0.018881333991885185, + "candidate_oracle_regret": 1.9811186660081148, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 3.166496753692627e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.018881333991885185, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.018881333991885185, + "candidate_oracle_selected_branch_score": 0.018881333991885185, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4fad1f976cc64cc06826;ms-0377c81a67d9819ab96b;ms-87fd37bcc6b666e220ef;ms-844b753810c45699d501;ms-1f8e2d5d25706493821d;ms-cf274fbe4c657d04d7c4", + "expert_regret": 1.981118904426694, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28817fe297f38fd9550a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.981118904426694, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.018881095573306084, + "restore_error": 2.384185791015625e-07, + "score": 0.018881095573306084, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7644582390785217, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.01870284043252468, + 0.018697012215852737, + 0.01870262622833252, + 0.018685758113861084 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -5.8282166719436646e-06, + -2.1420419216156006e-07, + -1.7082318663597107e-05 + ], + "candidate_oracle_branch_scores": [ + 0.01870284043252468, + 0.018697012215852737, + 0.01870262622833252, + 0.018685758113861084 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.464214324951172, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 4, + 36, + 0 + ], + "candidate_oracle_potentials": [ + -2.464214324951172, + -2.487626552581787, + -2.52681565284729, + -2.6397032737731934 + ], + "candidate_oracle_progress": 0.01870284043252468, + "candidate_oracle_regret": 1.9812971595674753, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.01870284043252468, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.01870284043252468, + "candidate_oracle_selected_branch_score": 0.01870284043252468, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4f833710c2706ee077af;ms-02ab2e7a74d970154eb7;ms-b7e7fe66a6c86898eec2;ms-8b972386cfdf0158a0a3;ms-2d995e39f2b95fed1a67;ms-aea09fb002af52e12bd8", + "expert_regret": 1.9812972787767649, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d32f6b32c14e33b1eb1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9812972787767649, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.01870272122323513, + "restore_error": 1.1920928955078125e-07, + "score": 0.01870272122323513, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48188990354537964, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.9573452472686768, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 0, + 4, + 36 + ], + "candidate_oracle_potentials": [ + 0.9573452472686768, + 0.9519509077072144, + 0.951179027557373, + 0.9339911937713623 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-478b7b8b729f9212a522;ms-ca25b016439a98198434;ms-a45ed89f5b95d1e7ab07;ms-6c39b520dca0a325535f;ms-486572c62484eb4d73db;ms-417cab1470cf46273b02", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f4967102c7b10057ab9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2744870185852051, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.031671345233917236, + 0.030798638239502907, + 0.030042385682463646, + 0.023423349484801292 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0008727069944143295, + -0.0016289595514535904, + -0.008247995749115944 + ], + "candidate_oracle_branch_scores": [ + 0.031671345233917236, + 0.030798638239502907, + 0.030042385682463646, + 0.023423349484801292 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.927170753479004, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 8 + ], + "candidate_oracle_potentials": [ + -1.927170753479004, + -1.9519248008728027, + -1.9802331924438477, + -2.0399672985076904 + ], + "candidate_oracle_progress": 0.031671345233917236, + "candidate_oracle_regret": 0.5568004846572876, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.031671345233917236, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.031671345233917236, + "candidate_oracle_selected_branch_score": 0.031671345233917236, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-71ef8f2cdc11d83250fa;ms-782893a3eb2e3dcfd15e;ms-1c0e2bb3a811fac6d567;ms-5415e349e8f9f2bce641;ms-bdd1924b44de2db5b07a;ms-a1d69e0b112064914357", + "expert_regret": 0.5562583692371845, + "expert_score": 0.587929368019104, + "expert_success": false, + "group_id": "ms-cdfe8f580576f4c577b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5568008311092854, + "oracle_score": 0.5884718298912048, + "oracle_success": false, + "progress": 0.03167099878191948, + "restore_error": 1.1920928955078125e-07, + "score": 0.03167099878191948, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2996290624141693, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.49025407433509827, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 36, + 20, + 8 + ], + "candidate_oracle_potentials": [ + 0.49025407433509827, + 0.4856049716472626, + 0.48552048206329346, + 0.435054212808609 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d73a2a984d5829e884f9;ms-8420ccaff5986c85063f;ms-935ff204de9424ec00a2;ms-29653e236de96058ef6d;ms-2ae57bab6d2ea11f6638;ms-fd225482b96686f51dc8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f101cf5cc8575be3c201", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6885673403739929, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.017754947766661644, + 0.025571584701538086, + 0.018031883984804153, + 0.024459971114993095 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.007816636934876442, + 0.00027693621814250946, + 0.006705023348331451 + ], + "candidate_oracle_branch_scores": [ + 0.017754947766661644, + 0.025571584701538086, + 0.018031883984804153, + 0.024459971114993095 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.776113748550415, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 35 + ], + "candidate_oracle_potentials": [ + -2.760637044906616, + -2.776113748550415, + -2.869058847427368, + -2.8791518211364746 + ], + "candidate_oracle_progress": 0.025571584701538086, + "candidate_oracle_regret": 1.974428415298462, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.025571584701538086, + "candidate_oracle_score_gain_over_selected": 0.007816636934876442, + "candidate_oracle_selected_branch_progress": 0.017754947766661644, + "candidate_oracle_selected_branch_score": 0.017754947766661644, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-87fd37bcc6b666e220ef;ms-0377c81a67d9819ab96b;ms-4fad1f976cc64cc06826;ms-e0b2e69a5ea0d0ad4fb5;ms-1f8e2d5d25706493821d;ms-6af227c07aaf7c0f0aea", + "expert_regret": 1.9822450522333384, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c458f671129e1ebe7b4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9822450522333384, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.017754947766661644, + "restore_error": 1.1920928955078125e-07, + "score": 0.017754947766661644, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5988472700119019, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.49048709869384766, + 0.48741331696510315, + 0.49011191725730896, + 0.48743391036987305 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.003073781728744507, + -0.0003751814365386963, + -0.0030531883239746094 + ], + "candidate_oracle_branch_scores": [ + 0.49048709869384766, + 0.48741331696510315, + 0.49011191725730896, + 0.48743391036987305 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.12284614145755768, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + -0.12284614145755768, + -0.12737245857715607, + -0.15288737416267395, + -0.1584780365228653 + ], + "candidate_oracle_progress": 0.49048709869384766, + "candidate_oracle_regret": 1.5095129013061523, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.49048709869384766, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.49048709869384766, + "candidate_oracle_selected_branch_score": 0.49048709869384766, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-943b5187cbe128b9b563;ms-1bfca22d4af29f0e14b1;ms-87b44e6219279322a723;ms-07e0726dedce0a0e4419;ms-b97cb4ec02e8234b08c5;ms-625b5d55ca76cc565049", + "expert_regret": 1.5095129013061523, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f6591d52d6824c6d2909", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5095129013061523, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49048709869384766, + "restore_error": 1.1920928955078125e-07, + "score": 0.49048709869384766, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.09979572147130966, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5600900650024414, + 0.5581458210945129, + 0.5578632354736328, + 0.5575792193412781 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0019442439079284668, + -0.0022268295288085938, + -0.00251084566116333 + ], + "candidate_oracle_branch_scores": [ + 0.5600900650024414, + 0.5581458210945129, + 0.5578632354736328, + 0.5575792193412781 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.599758505821228, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.599758505821228, + 0.5787367820739746, + 0.5715879201889038, + 0.5637103319168091 + ], + "candidate_oracle_progress": 0.5600900650024414, + "candidate_oracle_regret": 1.4399099349975586, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5600900650024414, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5600900650024414, + "candidate_oracle_selected_branch_score": 0.5600900650024414, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-478b7b8b729f9212a522;ms-6c39b520dca0a325535f;ms-a45ed89f5b95d1e7ab07;ms-486572c62484eb4d73db;ms-ca25b016439a98198434;ms-417cab1470cf46273b02", + "expert_regret": 1.4399107694625854, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4a7b774ee02339c4ca19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4399107694625854, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5600892305374146, + "restore_error": 1.1920928955078125e-07, + "score": 0.5600892305374146, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3170935809612274, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.042859163135290146, + 0.04107484966516495, + 0.03935074806213379, + 0.027042580768465996 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0017843134701251984, + -0.003508415073156357, + -0.01581658236682415 + ], + "candidate_oracle_branch_scores": [ + 0.042859163135290146, + 0.04107484966516495, + 0.03935074806213379, + 0.027042580768465996 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.8661611080169678, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 40 + ], + "candidate_oracle_potentials": [ + -2.8661611080169678, + -2.905630350112915, + -2.935701608657837, + -3.0235109329223633 + ], + "candidate_oracle_progress": 0.042859163135290146, + "candidate_oracle_regret": 1.9571408368647099, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.042859163135290146, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.042859163135290146, + "candidate_oracle_selected_branch_score": 0.042859163135290146, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a1d69e0b112064914357;ms-62b597990a3d637e5a8a;ms-4fad1f976cc64cc06826;ms-cf274fbe4c657d04d7c4;ms-d305a11348461ae1622c;ms-5415e349e8f9f2bce641", + "expert_regret": 1.957140777260065, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7e94769c30229d5cc7b8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.957140777260065, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04285922273993492, + "restore_error": 1.1920928955078125e-07, + "score": 0.04285922273993492, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2352106124162674, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5468378067016602, + 0.5414862632751465, + 0.5406330823898315, + 0.5394224524497986 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.005351543426513672, + -0.006204724311828613, + -0.007415354251861572 + ], + "candidate_oracle_branch_scores": [ + 0.5468378067016602, + 0.5414862632751465, + 0.5406330823898315, + 0.5394224524497986 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.9115571975708008, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.9115571975708008, + -1.9155265092849731, + -1.9190388917922974, + -1.9226888418197632 + ], + "candidate_oracle_progress": 0.5468378067016602, + "candidate_oracle_regret": 1.4531621932983398, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5468378067016602, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5468378067016602, + "candidate_oracle_selected_branch_score": 0.5468378067016602, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c2e07545267c612a022c;ms-6558f35ae2a2871a4bfd;ms-1fb2f4c1e17e99767558;ms-72cf68c15631675b063f;ms-c425c810f7865e9564ee;ms-de066fc4200163ebd06b", + "expert_regret": 1.4531915783882141, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3abfb4c309360a304d54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4531915783882141, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5468084216117859, + "restore_error": 2.0116567611694336e-07, + "score": 0.5468084216117859, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3344225287437439, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5710023045539856, + 0.026515770703554153, + 1.0, + 0.5450387001037598 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.5444865226745605, + 1.4289977550506592, + -0.02596360445022583 + ], + "candidate_oracle_branch_scores": [ + 0.5710023045539856, + 0.026515770703554153, + 2.0, + 0.5450387001037598 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.06967837363481522, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 20, + 8, + 24 + ], + "candidate_oracle_potentials": [ + -0.0019450071267783642, + -0.05582432821393013, + -0.06967837363481522, + -0.1292847841978073 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4289977550506592, + "candidate_oracle_selected_branch_progress": 0.5710023045539856, + "candidate_oracle_selected_branch_score": 0.5710023045539856, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d73a2a984d5829e884f9;ms-8420ccaff5986c85063f;ms-1a4ecfbe9c97214d5c78;ms-e589f7d40c12eff1712e;ms-2ae57bab6d2ea11f6638;ms-fd225482b96686f51dc8", + "expert_regret": 1.4289533495903015, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0d1db6695acdf1ec3eaf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4289533495903015, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5710466504096985, + "restore_error": 2.0116567611694336e-07, + "score": 0.5710466504096985, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14549827575683594, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5112248063087463, + 0.5111031532287598, + 0.5110144019126892, + 0.5109883546829224 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00012165307998657227, + -0.0002104043960571289, + -0.0002364516258239746 + ], + "candidate_oracle_branch_scores": [ + 0.5112248063087463, + 0.5111031532287598, + 0.5110144019126892, + 0.5109883546829224 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.617588996887207, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.617588996887207, + 0.6168771982192993, + 0.6143922805786133, + 0.6116388440132141 + ], + "candidate_oracle_progress": 0.5112248063087463, + "candidate_oracle_regret": 1.4887751936912537, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5112248063087463, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5112248063087463, + "candidate_oracle_selected_branch_score": 0.5112248063087463, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4385e9c56007fdaa94b5;ms-9eb40f856528204bbcfd;ms-c1ac63fb3644e3a2ae06;ms-99ecd2226d7187416316;ms-9e1f3c14116ebca6164d;ms-0adce283894b0a2b7b94", + "expert_regret": 1.4888399839401245, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-caeb59971565b08f2513", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4888399839401245, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5111600160598755, + "restore_error": 2.0116567611694336e-07, + "score": 0.5111600160598755, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5593050122261047, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 1.352004051208496, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 33 + ], + "candidate_oracle_potentials": [ + 1.352004051208496, + 1.293295979499817, + 1.259647011756897, + 1.2577788829803467 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b4af4c8b9dcd6976546c;ms-d4bde31fd7e7cee76b09;ms-16d5b122db1824caf92b;ms-70342af6b601660d7c69;ms-30ad687dc1bc8318fa45;ms-bef9b88ae40ca98647aa", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-49219cb8ed7dad70c897", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.0116567611694336e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5891436338424683, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.8128505945205688, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + 0.8128505945205688, + 0.7986725568771362, + 0.7925635576248169, + 0.7861809730529785 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b97cb4ec02e8234b08c5;ms-625b5d55ca76cc565049;ms-a22fbce4503f088acb1f;ms-11bb3387454624de8143;ms-943b5187cbe128b9b563;ms-d6b2d805dc063382ade2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d19c9e3ab1d7daf06344", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.0116567611694336e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8002075552940369, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5315136313438416, + 0.5297777056694031, + 0.530539333820343, + 0.5305482745170593 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0017359256744384766, + -0.0009742975234985352, + -0.0009653568267822266 + ], + "candidate_oracle_branch_scores": [ + 0.5315136313438416, + 0.5297777056694031, + 0.530539333820343, + 0.5305482745170593 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.15391485393047333, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 4 + ], + "candidate_oracle_potentials": [ + -0.15391485393047333, + -0.2232942134141922, + -0.3079144358634949, + -0.31508320569992065 + ], + "candidate_oracle_progress": 0.5315136313438416, + "candidate_oracle_regret": 1.4684863686561584, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5315136313438416, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5315136313438416, + "candidate_oracle_selected_branch_score": 0.5315136313438416, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-39450dbba738dbd8a764;ms-21155188bc35f0f021d3;ms-87f8bbc8d9e7f4dcaacf;ms-cafa65eeb953aff47f30;ms-fbcc714230de2c097d0d;ms-6f1db8895d5164cc5ae5", + "expert_regret": 1.4684863686561584, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dd1311efb8ab2a0a2d23", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4684863686561584, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5315136313438416, + "restore_error": 2.0116567611694336e-07, + "score": 0.5315136313438416, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4478084444999695, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.022087669000029564, + 1.0, + 0.022716021165251732, + 0.0237734317779541 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.9779123067855835, + 0.000628352165222168, + 0.0016857627779245377 + ], + "candidate_oracle_branch_scores": [ + 0.022087669000029564, + 2.0, + 0.022716021165251732, + 0.0237734317779541 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6829091310501099, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 8, + 1 + ], + "candidate_oracle_potentials": [ + -0.6593844890594482, + -0.6829091310501099, + -0.689092218875885, + -0.7425240278244019 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.9779123067855835, + "candidate_oracle_selected_branch_progress": 0.022087669000029564, + "candidate_oracle_selected_branch_score": 0.022087669000029564, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6af227c07aaf7c0f0aea;ms-227fe0347d2ea57a66a3;ms-e0b2e69a5ea0d0ad4fb5;ms-ac281cce8f6e42586359;ms-87fd37bcc6b666e220ef;ms-97598e118c5cc8c254a5", + "expert_regret": 1.9779253713786602, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-950df0830b2e57010248", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9779253713786602, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.022074628621339798, + "restore_error": 2.0116567611694336e-07, + "score": 0.022074628621339798, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.10240372270345688, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.737171471118927, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + 0.737171471118927, + 0.7358438372612, + 0.7341765761375427, + 0.6997510194778442 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-99b15d50660b77fe2fcb;ms-16d5b122db1824caf92b;ms-7be1c6c8ef67031b1f90;ms-dbb32d9fd6999e09f589;ms-70342af6b601660d7c69;ms-4b1561bd0029228fdbbe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-813cac6d08ed5af48b12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.0116567611694336e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44313064217567444, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.8321061730384827, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 0, + 8, + 1 + ], + "candidate_oracle_potentials": [ + 0.8321061730384827, + 0.8250744342803955, + 0.8006546497344971, + 0.7942167520523071 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-478b7b8b729f9212a522;ms-9044026b69850d12d05b;ms-ce8d2ef7d19bed381822;ms-a45ed89f5b95d1e7ab07;ms-ca25b016439a98198434;ms-f4b95f2b569e3f1bf086", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bcfeba2af1e844c22aed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6310572028160095, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5397395491600037, + 0.5407965183258057, + 0.5390716195106506, + 0.5401332378387451 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.001056969165802002, + -0.0006679296493530273, + 0.0003936886787414551 + ], + "candidate_oracle_branch_scores": [ + 0.5397395491600037, + 0.5407965183258057, + 0.5390716195106506, + 0.5401332378387451 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.23325109481811523, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.13416787981987, + -0.23325109481811523, + -0.26715895533561707, + -0.3617149293422699 + ], + "candidate_oracle_progress": 0.5407965183258057, + "candidate_oracle_regret": 0.05724996328353882, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5407965183258057, + "candidate_oracle_score_gain_over_selected": 0.001056969165802002, + "candidate_oracle_selected_branch_progress": 0.5397395491600037, + "candidate_oracle_selected_branch_score": 0.5397395491600037, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1add4cf84fdadf5703d6;ms-e15eeda61ed4064a5c9f;ms-f3f6a1b34fdf35290a6c;ms-5780f9e1e9f9e740d474;ms-7057de70d36f5cc31472;ms-478b7b8b729f9212a522", + "expert_regret": 0.05873370170593262, + "expert_score": 0.5980464816093445, + "expert_success": false, + "group_id": "ms-af0341467b22ec51e557", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.05873370170593262, + "oracle_score": 0.5980464816093445, + "oracle_success": false, + "progress": 0.5393127799034119, + "restore_error": 1.1920928955078125e-07, + "score": 0.5393127799034119, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45390602946281433, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5106024742126465, + 0.5078685879707336, + 0.07308175414800644, + 0.5046225786209106 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002733886241912842, + -0.43752071261405945, + -0.00597989559173584 + ], + "candidate_oracle_branch_scores": [ + 0.5106024742126465, + 0.5078685879707336, + 0.07308175414800644, + 0.5046225786209106 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.7070672512054443, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 8, + 36 + ], + "candidate_oracle_potentials": [ + -1.7070672512054443, + -1.7255958318710327, + -1.7770956754684448, + -1.7913011312484741 + ], + "candidate_oracle_progress": 0.5106024742126465, + "candidate_oracle_regret": 1.4893975257873535, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5106024742126465, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5106024742126465, + "candidate_oracle_selected_branch_score": 0.5106024742126465, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6558f35ae2a2871a4bfd;ms-0b7f8ba789c00b37caa0;ms-91d86cba2602d1fa780d;ms-fbda7bc51ca269d1cda4;ms-56ad75c28031e049a3dd;ms-8adf1cf09ddabdc5fe5f", + "expert_regret": 1.4893930554389954, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-175375383979526d80b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4893930554389954, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5106069445610046, + "restore_error": 1.1920928955078125e-07, + "score": 0.5106069445610046, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2624588906764984, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.554691731929779, + 0.5568242073059082, + 0.5534335374832153, + 0.5559080243110657 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0021324753761291504, + -0.0012581944465637207, + 0.001216292381286621 + ], + "candidate_oracle_branch_scores": [ + 0.554691731929779, + 0.5568242073059082, + 0.5534335374832153, + 0.5559080243110657 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8451786041259766, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -0.8359176516532898, + -0.8451786041259766, + -0.8571847081184387, + -0.8657362461090088 + ], + "candidate_oracle_progress": 0.5568242073059082, + "candidate_oracle_regret": 1.4431757926940918, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5568242073059082, + "candidate_oracle_score_gain_over_selected": 0.0021324753761291504, + "candidate_oracle_selected_branch_progress": 0.554691731929779, + "candidate_oracle_selected_branch_score": 0.554691731929779, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2b3e081263ed25d45dc8;ms-fb98254adaa23dc128df;ms-a3c53708416dbfb9fbc5;ms-774e954ffdc5da041261;ms-7af1e453acf970f40546;ms-27b0553a5c49108e6a98", + "expert_regret": 1.4453087449073792, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-53fdabb5d8ef20778214", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4453087449073792, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5546912550926208, + "restore_error": 1.1920928955078125e-07, + "score": 0.5546912550926208, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5625666975975037, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5339645743370056, + 0.5341063141822815, + 0.5322573184967041, + 0.5322991609573364 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0001417398452758789, + -0.0017072558403015137, + -0.0016654133796691895 + ], + "candidate_oracle_branch_scores": [ + 0.5339645743370056, + 0.5341063141822815, + 0.5322573184967041, + 0.5322991609573364 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.2934623658657074, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 33, + 17 + ], + "candidate_oracle_potentials": [ + 0.3081822395324707, + 0.2934623658657074, + 0.1571401208639145, + 0.15624676644802094 + ], + "candidate_oracle_progress": 0.5341063141822815, + "candidate_oracle_regret": 1.4658936858177185, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5341063141822815, + "candidate_oracle_score_gain_over_selected": 0.0001417398452758789, + "candidate_oracle_selected_branch_progress": 0.5339645743370056, + "candidate_oracle_selected_branch_score": 0.5339645743370056, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-309c09cf5d782e9ba0a3;ms-8d9b2a5ccd43461f827e;ms-41279eb586ca5e587474;ms-842e179244eddac303a5;ms-3aa864ead19c9cb9fb49;ms-11bb3387454624de8143", + "expert_regret": 1.4660356640815735, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6e4cc893fcbca1b385e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4660356640815735, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5339643359184265, + "restore_error": 1.1920928955078125e-07, + "score": 0.5339643359184265, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.05051007121801376, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.648222804069519, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.648222804069519, + -0.7340608835220337, + -0.7504105567932129, + -0.7674152851104736 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a22fbce4503f088acb1f;ms-11bb3387454624de8143;ms-b97cb4ec02e8234b08c5;ms-a6273302894af3505ca8;ms-8d9b2a5ccd43461f827e;ms-625b5d55ca76cc565049", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5fb668380b64d4f1e74", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6828535795211792, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.17376743257045746, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 0.17376743257045746, + 0.1511210799217224, + 0.0791005790233612, + 0.06122775748372078 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f39e1d7a2d636e39a02f;ms-309d2258d275ae304857;ms-13af3f2f8e0b8444fe68;ms-61d4dd4acc03b8d30f19;ms-ed419c64a6693cb8998b;ms-2f57eadf546710065684", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5e6d18ccfcf923f52f8e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.08233455568552017, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.6007692217826843, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + 0.6007692217826843, + 0.5996766686439514, + 0.5984408259391785, + 0.5752260684967041 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-76c78750d7abc6570487;ms-13af3f2f8e0b8444fe68;ms-d75a00b1388f50bf8919;ms-a7f98a43ff113d74f009;ms-5fc884c238818acdde08;ms-c4cb99b887c88c707ba9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61781d30cb05657c5f5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6220431923866272, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5445833206176758, + 0.5437309145927429, + 0.5446183681488037, + 0.5446192622184753 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0008524060249328613, + 3.504753112792969e-05, + 3.594160079956055e-05 + ], + "candidate_oracle_branch_scores": [ + 0.5445833206176758, + 0.5437309145927429, + 0.5446183681488037, + 0.5446192622184753 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.6177456974983215, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 4 + ], + "candidate_oracle_potentials": [ + 0.695145308971405, + 0.6803500652313232, + 0.6189689040184021, + 0.6177456974983215 + ], + "candidate_oracle_progress": 0.5446192622184753, + "candidate_oracle_regret": 1.4553807377815247, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5446192622184753, + "candidate_oracle_score_gain_over_selected": 3.594160079956055e-05, + "candidate_oracle_selected_branch_progress": 0.5445833206176758, + "candidate_oracle_selected_branch_score": 0.5445833206176758, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3aa864ead19c9cb9fb49;ms-c104c2ebba7bf9b34680;ms-66cc354bbf4e8bdd1051;ms-4bc32bd893d0cff76423;ms-ee19bfbcb2f4fbf5a44d;ms-d807915e233a0c74b809", + "expert_regret": 1.4556522965431213, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-af16712eadcaebf175ff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4556522965431213, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5443477034568787, + "restore_error": 1.1920928955078125e-07, + "score": 0.5443477034568787, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5847800970077515, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.012578079476952553, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.012578079476952553, + -0.02302011288702488, + -0.11257944256067276, + -0.11445023119449615 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cafa65eeb953aff47f30;ms-39450dbba738dbd8a764;ms-87f8bbc8d9e7f4dcaacf;ms-07e0726dedce0a0e4419;ms-d6b2d805dc063382ade2;ms-87b44e6219279322a723", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dc5a883a3e28b90ebf1a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7131680250167847, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5689825415611267, + 0.5686870813369751, + 0.5686567425727844, + 0.5685727000236511 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00029546022415161133, + -0.00032579898834228516, + -0.00040984153747558594 + ], + "candidate_oracle_branch_scores": [ + 0.5689825415611267, + 0.5686870813369751, + 0.5686567425727844, + 0.5685727000236511 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.600300669670105, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.600300669670105, + 0.48072507977485657, + 0.45962274074554443, + 0.43789684772491455 + ], + "candidate_oracle_progress": 0.5689825415611267, + "candidate_oracle_regret": 1.4310174584388733, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5689825415611267, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5689825415611267, + "candidate_oracle_selected_branch_score": 0.5689825415611267, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d807915e233a0c74b809;ms-b40ee5a75332685d5cec;ms-4bc32bd893d0cff76423;ms-c104c2ebba7bf9b34680;ms-ee19bfbcb2f4fbf5a44d;ms-3aa864ead19c9cb9fb49", + "expert_regret": 1.4310179352760315, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-867fd9318b2445dcefb5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4310179352760315, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5689820647239685, + "restore_error": 1.1920928955078125e-07, + "score": 0.5689820647239685, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.617195188999176, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5628384947776794, + 0.5624803900718689, + 0.5623313784599304, + 0.5622637867927551 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0003581047058105469, + -0.0005071163177490234, + -0.0005747079849243164 + ], + "candidate_oracle_branch_scores": [ + 0.5628384947776794, + 0.5624803900718689, + 0.5623313784599304, + 0.5622637867927551 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7721228003501892, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -0.7721228003501892, + -0.7784615159034729, + -0.8434585928916931, + -0.880403995513916 + ], + "candidate_oracle_progress": 0.5628384947776794, + "candidate_oracle_regret": 1.4371615052223206, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5628384947776794, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5628384947776794, + "candidate_oracle_selected_branch_score": 0.5628384947776794, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fd225482b96686f51dc8;ms-8522a9364bf70311450d;ms-0ece7b8c91d9d82f244b;ms-8420ccaff5986c85063f;ms-9eb40f856528204bbcfd;ms-e589f7d40c12eff1712e", + "expert_regret": 1.4371614456176758, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d111990da24dde1403b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4371614456176758, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5628385543823242, + "restore_error": 1.1920928955078125e-07, + "score": 0.5628385543823242, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1864689737558365, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.52909916639328, + 0.5280468463897705, + 0.5265874266624451, + 0.525265634059906 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0010523200035095215, + -0.002511739730834961, + -0.0038335323333740234 + ], + "candidate_oracle_branch_scores": [ + 0.52909916639328, + 0.5280468463897705, + 0.5265874266624451, + 0.525265634059906 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6114492416381836, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.6114492416381836, + -0.6335207223892212, + -0.6404626369476318, + -0.6507846117019653 + ], + "candidate_oracle_progress": 0.52909916639328, + "candidate_oracle_regret": 1.47090083360672, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.52909916639328, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.52909916639328, + "candidate_oracle_selected_branch_score": 0.52909916639328, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0b7f8ba789c00b37caa0;ms-91d86cba2602d1fa780d;ms-56ad75c28031e049a3dd;ms-6558f35ae2a2871a4bfd;ms-0cc80a2933abf1b4853f;ms-8adf1cf09ddabdc5fe5f", + "expert_regret": 1.470898687839508, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-54a7c3d32b6a267d81a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.470898687839508, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5291013121604919, + "restore_error": 1.1920928955078125e-07, + "score": 0.5291013121604919, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6311793923377991, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7070821523666382, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 4 + ], + "candidate_oracle_potentials": [ + 0.7070821523666382, + 0.6310948133468628, + 0.6056064367294312, + 0.5482631921768188 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-01db5970aec167a8ee1d;ms-2f57eadf546710065684;ms-a7f98a43ff113d74f009;ms-76c78750d7abc6570487;ms-11a2794efa24f4d93d83;ms-e8fbdbddd9200f5091d6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-829156e8e688a433bf4f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47732898592948914, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.030061149969697, + 0.0314784049987793, + 0.029975151643157005, + 0.0314779058098793 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0014172550290822983, + -8.599832653999329e-05, + 0.0014167558401823044 + ], + "candidate_oracle_branch_scores": [ + 0.030061149969697, + 0.0314784049987793, + 0.029975151643157005, + 0.0314779058098793 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -2.1480140686035156, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -2.100672483444214, + -2.1480140686035156, + -2.288764715194702, + -2.343092441558838 + ], + "candidate_oracle_progress": 0.0314784049987793, + "candidate_oracle_regret": 1.9685215950012207, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.0314784049987793, + "candidate_oracle_score_gain_over_selected": 0.0014172550290822983, + "candidate_oracle_selected_branch_progress": 0.030061149969697, + "candidate_oracle_selected_branch_score": 0.030061149969697, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-227fe0347d2ea57a66a3;ms-91d86cba2602d1fa780d;ms-0b7f8ba789c00b37caa0;ms-56ad75c28031e049a3dd;ms-2d995e39f2b95fed1a67;ms-02ab2e7a74d970154eb7", + "expert_regret": 1.969938850030303, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4bc023d8d1f7748b0e12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.969938850030303, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.030061149969697, + "restore_error": 1.1920928955078125e-07, + "score": 0.030061149969697, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4533047676086426, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7155346870422363, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 24, + 36, + 40 + ], + "candidate_oracle_potentials": [ + 0.7155346870422363, + 0.7112380266189575, + 0.644341230392456, + 0.6432050466537476 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3a07c49566decfea04de;ms-55ea22014575410563a4;ms-29dd2cdbb66fe13ab877;ms-11230e3aaabb1feec834;ms-4b1561bd0029228fdbbe;ms-ff3f17774184180998f0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-054a02413d31389d1b7f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45664602518081665, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.48179754614830017, + 0.4828709661960602, + 0.4830075800418854, + 0.4831392467021942 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0010734200477600098, + 0.001210033893585205, + 0.001341700553894043 + ], + "candidate_oracle_branch_scores": [ + 0.48179754614830017, + 0.4828709661960602, + 0.4830075800418854, + 0.4831392467021942 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.5128908753395081, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 24, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + 0.5170413255691528, + 0.5140054821968079, + 0.5135107636451721, + 0.5128908753395081 + ], + "candidate_oracle_progress": 0.4831392467021942, + "candidate_oracle_regret": 1.5168607532978058, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4831392467021942, + "candidate_oracle_score_gain_over_selected": 0.001341700553894043, + "candidate_oracle_selected_branch_progress": 0.48179754614830017, + "candidate_oracle_selected_branch_score": 0.48179754614830017, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5425964a186feaf6fd99;ms-12050326f623a94ae9e0;ms-a7f98a43ff113d74f009;ms-e8fbdbddd9200f5091d6;ms-023e021f079a8774c741;ms-d75a00b1388f50bf8919", + "expert_regret": 1.5182603895664215, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-382717cd5bfad063ddf3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5182603895664215, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4817396104335785, + "restore_error": 2.3096799850463867e-07, + "score": 0.4817396104335785, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4533826410770416, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5571187138557434, + 0.557026743888855, + 0.5570909380912781, + 0.5569159984588623 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -9.196996688842773e-05, + -2.777576446533203e-05, + -0.00020271539688110352 + ], + "candidate_oracle_branch_scores": [ + 0.5571187138557434, + 0.557026743888855, + 0.5570909380912781, + 0.5569159984588623 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.26913341879844666, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 4, + 20, + 0 + ], + "candidate_oracle_potentials": [ + 0.26913341879844666, + 0.26200270652770996, + 0.25780028104782104, + 0.24313223361968994 + ], + "candidate_oracle_progress": 0.5571187138557434, + "candidate_oracle_regret": 1.4428812861442566, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5571187138557434, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5571187138557434, + "candidate_oracle_selected_branch_score": 0.5571187138557434, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1a4ecfbe9c97214d5c78;ms-d73a2a984d5829e884f9;ms-e1972ebf2c5587a6fdf9;ms-935ff204de9424ec00a2;ms-166b7f66bf9f4eec432b;ms-e589f7d40c12eff1712e", + "expert_regret": 1.442873775959015, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-da855323619ebf257b19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.442873775959015, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5571262240409851, + "restore_error": 2.3096799850463867e-07, + "score": 0.5571262240409851, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5006012916564941, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5459409952163696, + 0.5483830571174622, + 0.5468509793281555, + 0.5496829152107239 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0024420619010925293, + 0.0009099841117858887, + 0.003741919994354248 + ], + "candidate_oracle_branch_scores": [ + 0.5459409952163696, + 0.5483830571174622, + 0.5468509793281555, + 0.5496829152107239 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7353761196136475, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.688395619392395, + -0.690972089767456, + -0.7345503568649292, + -0.7353761196136475 + ], + "candidate_oracle_progress": 0.5496829152107239, + "candidate_oracle_regret": 1.4503170847892761, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5496829152107239, + "candidate_oracle_score_gain_over_selected": 0.003741919994354248, + "candidate_oracle_selected_branch_progress": 0.5459409952163696, + "candidate_oracle_selected_branch_score": 0.5459409952163696, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-11bb3387454624de8143;ms-309c09cf5d782e9ba0a3;ms-a22fbce4503f088acb1f;ms-8d9b2a5ccd43461f827e;ms-41279eb586ca5e587474;ms-b97cb4ec02e8234b08c5", + "expert_regret": 1.454095184803009, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f34c69fb0bf1b1055163", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.454095184803009, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.545904815196991, + "restore_error": 2.3096799850463867e-07, + "score": 0.545904815196991, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.558858335018158, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.556104838848114, + 0.5565372705459595, + 0.5566943287849426, + 0.5553926825523376 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.000432431697845459, + 0.0005894899368286133, + -0.0007121562957763672 + ], + "candidate_oracle_branch_scores": [ + 0.556104838848114, + 0.5565372705459595, + 0.5566943287849426, + 0.5553926825523376 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1441657543182373, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 0, + 36 + ], + "candidate_oracle_potentials": [ + -1.114038109779358, + -1.120151400566101, + -1.1441657543182373, + -1.1924612522125244 + ], + "candidate_oracle_progress": 0.5566943287849426, + "candidate_oracle_regret": 1.4433056712150574, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5566943287849426, + "candidate_oracle_score_gain_over_selected": 0.0005894899368286133, + "candidate_oracle_selected_branch_progress": 0.556104838848114, + "candidate_oracle_selected_branch_score": 0.556104838848114, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-91d86cba2602d1fa780d;ms-0b7f8ba789c00b37caa0;ms-227fe0347d2ea57a66a3;ms-56ad75c28031e049a3dd;ms-0a4c4442237909d5f7b7;ms-9a1de6130828dc946a51", + "expert_regret": 1.4438950419425964, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2c9685cffc73e47cc8cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4438950419425964, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5561049580574036, + "restore_error": 2.3096799850463867e-07, + "score": 0.5561049580574036, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3621548116207123, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.030027925968170166, + 0.029616905376315117, + 0.02925114706158638, + 0.0172747615724802 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00041102059185504913, + -0.000776778906583786, + -0.012753164395689964 + ], + "candidate_oracle_branch_scores": [ + 0.030027925968170166, + 0.029616905376315117, + 0.02925114706158638, + 0.0172747615724802 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.5966869592666626, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -1.5966869592666626, + -1.6301757097244263, + -1.658922791481018, + -1.7658120393753052 + ], + "candidate_oracle_progress": 0.030027925968170166, + "candidate_oracle_regret": 1.9699720740318298, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.030027925968170166, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.030027925968170166, + "candidate_oracle_selected_branch_score": 0.030027925968170166, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1b83fc0981e283975488;ms-2cf1227610d4602f88ed;ms-c2bc492ab5eb87a73789;ms-adfe268e473c03b72c65;ms-f9c00ba41392adec3fd1;ms-a1d69e0b112064914357", + "expert_regret": 1.969972014427185, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cd71a93dcab09ba15592", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.969972014427185, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03002798557281494, + "restore_error": 2.3096799850463867e-07, + "score": 0.03002798557281494, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5510466694831848, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.41416969895362854, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 24 + ], + "candidate_oracle_potentials": [ + -0.41416969895362854, + -0.4143172800540924, + -0.41476157307624817, + -0.41823118925094604 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6273302894af3505ca8;ms-11bb3387454624de8143;ms-8d9b2a5ccd43461f827e;ms-a22fbce4503f088acb1f;ms-41279eb586ca5e587474;ms-81f48d29d0404300ea93", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-92a126060ec4a40e2c19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4116411805152893, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4964967668056488, + 0.4937179684638977, + 0.4958322048187256, + 0.4926900863647461 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0027787983417510986, + -0.0006645619869232178, + -0.00380668044090271 + ], + "candidate_oracle_branch_scores": [ + 0.4964967668056488, + 0.4937179684638977, + 0.4958322048187256, + 0.4926900863647461 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.22035323083400726, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.22035323083400726, + -0.23805969953536987, + -0.2641766667366028, + -0.2769918143749237 + ], + "candidate_oracle_progress": 0.4964967668056488, + "candidate_oracle_regret": 1.5035032331943512, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4964967668056488, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4964967668056488, + "candidate_oracle_selected_branch_score": 0.4964967668056488, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-26e09c86be9068a34acf;ms-a8e6435948250f5e163d;ms-fb228a036fe5973bcad1;ms-8f241450069e74460a40;ms-a6273302894af3505ca8;ms-5780f9e1e9f9e740d474", + "expert_regret": 1.5035045444965363, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3ea30989082ec714e12d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5035045444965363, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49649545550346375, + "restore_error": 2.3096799850463867e-07, + "score": 0.49649545550346375, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3325629234313965, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5202736258506775, + 0.5185031890869141, + 0.07995045185089111, + 7.152557657263969e-08 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0017704367637634277, + -0.4403231739997864, + -0.5202735662460327 + ], + "candidate_oracle_branch_scores": [ + 0.5202736258506775, + 0.5185031890869141, + 0.07995045185089111, + 7.152557657263969e-08 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5427954196929932, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 8 + ], + "candidate_oracle_potentials": [ + -0.5427954196929932, + -0.5661553144454956, + -0.5850096940994263, + -0.5903725028038025 + ], + "candidate_oracle_progress": 0.5202736258506775, + "candidate_oracle_regret": 1.4797263741493225, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5202736258506775, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5202736258506775, + "candidate_oracle_selected_branch_score": 0.5202736258506775, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-97598e118c5cc8c254a5;ms-1f8e2d5d25706493821d;ms-844b753810c45699d501;ms-34495bfe34440ac63cf6;ms-e058c0dba52df04b8642;ms-4fad1f976cc64cc06826", + "expert_regret": 1.4797266125679016, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-80fbba5636cb4f9c64a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4797266125679016, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5202733874320984, + "restore_error": 2.3096799850463867e-07, + "score": 0.5202733874320984, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12733714282512665, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5427823066711426, + 0.5427523255348206, + 0.5427228808403015, + 0.5424969792366028 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -2.9981136322021484e-05, + -5.942583084106445e-05, + -0.0002853274345397949 + ], + "candidate_oracle_branch_scores": [ + 0.5427823066711426, + 0.5427523255348206, + 0.5427228808403015, + 0.5424969792366028 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.7511464953422546, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + 0.7511464953422546, + 0.7506906390190125, + 0.7501237988471985, + 0.73991858959198 + ], + "candidate_oracle_progress": 0.5427823066711426, + "candidate_oracle_regret": 1.4572176933288574, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5427823066711426, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5427823066711426, + "candidate_oracle_selected_branch_score": 0.5427823066711426, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-27b0553a5c49108e6a98;ms-774e954ffdc5da041261;ms-ff3f17774184180998f0;ms-2b3e081263ed25d45dc8;ms-fb98254adaa23dc128df;ms-7af1e453acf970f40546", + "expert_regret": 1.457094967365265, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-978bbf0a6fc563f745ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.457094967365265, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5429050326347351, + "restore_error": 1.1920928955078125e-07, + "score": 0.5429050326347351, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5835123062133789, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.8812103867530823, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 40 + ], + "candidate_oracle_potentials": [ + 0.8812103867530823, + 0.8698830008506775, + 0.8691391348838806, + 0.8227947950363159 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2b56888f10733707f14b;ms-2c68b2b895bdbedbaa08;ms-2ae57bab6d2ea11f6638;ms-fd225482b96686f51dc8;ms-8522a9364bf70311450d;ms-61d4dd4acc03b8d30f19", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-62ece8fe2f85092ca96f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7143269777297974, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.0336969755589962, + 0.03581557422876358, + 0.03319953754544258, + 0.025655223056674004 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0021185986697673798, + -0.0004974380135536194, + -0.008041752502322197 + ], + "candidate_oracle_branch_scores": [ + 0.0336969755589962, + 0.03581557422876358, + 0.03319953754544258, + 0.025655223056674004 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.4762277603149414, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 36, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -2.4635281562805176, + -2.4762277603149414, + -2.485100269317627, + -2.5280909538269043 + ], + "candidate_oracle_progress": 0.03581557422876358, + "candidate_oracle_regret": 1.9641844257712364, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.03581557422876358, + "candidate_oracle_score_gain_over_selected": 0.0021185986697673798, + "candidate_oracle_selected_branch_progress": 0.0336969755589962, + "candidate_oracle_selected_branch_score": 0.0336969755589962, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b786173f210fcaa65a6e;ms-a76ae18568c88af1da6b;ms-ed9addab41f3298db7bc;ms-b481531ab787e3d6fb1e;ms-b9e46b7345a63ded4397;ms-319a6c0cef0ac1a872d5", + "expert_regret": 1.9662327766418457, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ac53e56b4852c85ca2e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9662327766418457, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0337672233581543, + "restore_error": 1.1920928955078125e-07, + "score": 0.0337672233581543, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3966040015220642, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.839631974697113, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + 0.839631974697113, + 0.824151337146759, + 0.8052184581756592, + 0.7827370762825012 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7be1c6c8ef67031b1f90;ms-774e954ffdc5da041261;ms-55ea22014575410563a4;ms-11230e3aaabb1feec834;ms-a3c53708416dbfb9fbc5;ms-8a74cf665984273be00d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-25a8e32c071be83d913b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.35694628953933716, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.6445382833480835, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 8 + ], + "candidate_oracle_potentials": [ + 0.6445382833480835, + 0.5911934971809387, + 0.5429668426513672, + 0.5307138562202454 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e589f7d40c12eff1712e;ms-1a4ecfbe9c97214d5c78;ms-8420ccaff5986c85063f;ms-2ae57bab6d2ea11f6638;ms-d73a2a984d5829e884f9;ms-0ece7b8c91d9d82f244b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-36e8cb2e7f34f8dceb05", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5789636969566345, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5087727904319763, + 0.515228807926178, + 0.5163688063621521, + 0.5192772746086121 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00645601749420166, + 0.007596015930175781, + 0.010504484176635742 + ], + "candidate_oracle_branch_scores": [ + 0.5087727904319763, + 0.515228807926178, + 0.5163688063621521, + 0.5192772746086121 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.8797872066497803, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -1.810101866722107, + -1.8410788774490356, + -1.8797156810760498, + -1.8797872066497803 + ], + "candidate_oracle_progress": 0.5192772746086121, + "candidate_oracle_regret": 1.480722725391388, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5192772746086121, + "candidate_oracle_score_gain_over_selected": 0.010504484176635742, + "candidate_oracle_selected_branch_progress": 0.5087727904319763, + "candidate_oracle_selected_branch_score": 0.5087727904319763, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a1d69e0b112064914357;ms-d305a11348461ae1622c;ms-62b597990a3d637e5a8a;ms-1c0e2bb3a811fac6d567;ms-5415e349e8f9f2bce641;ms-52cdfff790d71133c5a0", + "expert_regret": 1.4912272095680237, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5c8b50523e0de37d80b8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4912272095680237, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5087727904319763, + "restore_error": 1.1920928955078125e-07, + "score": 0.5087727904319763, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14901188015937805, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.7330435514450073, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + 0.7330435514450073, + 0.7329343557357788, + 0.732437014579773, + 0.7068730592727661 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f4b95f2b569e3f1bf086;ms-ca25b016439a98198434;ms-a45ed89f5b95d1e7ab07;ms-8f6d30c2ade00e451dc2;ms-478b7b8b729f9212a522;ms-486572c62484eb4d73db", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f4d6da245d340cd16d30", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4970700442790985, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.9569100737571716, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.9569100737571716, + 0.947797417640686, + 0.905376136302948, + 0.8941863775253296 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-01db5970aec167a8ee1d;ms-76c78750d7abc6570487;ms-2f57eadf546710065684;ms-a7f98a43ff113d74f009;ms-11a2794efa24f4d93d83;ms-4bf0620f8d1294466596", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5db8a7cf17e5fa84dd5b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7241026163101196, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.11007970571517944, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 1, + 17, + 24 + ], + "candidate_oracle_potentials": [ + 0.11007970571517944, + 0.11007100343704224, + 0.11006996035575867, + 0.10106819123029709 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b4af4c8b9dcd6976546c;ms-d4bde31fd7e7cee76b09;ms-16d5b122db1824caf92b;ms-d88107eff1e361cdcc4c;ms-70342af6b601660d7c69;ms-ee19bfbcb2f4fbf5a44d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-191a2180e4ad5bbeb3b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4610476493835449, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.5723302960395813, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.4276697635650635, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.5723302960395813, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.20692798495292664, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 4, + 24, + 0 + ], + "candidate_oracle_potentials": [ + 0.20692798495292664, + 0.013523600064218044, + -0.03368788957595825, + -0.04134327173233032 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ffef7730418c831245b3;ms-8a74cf665984273be00d;ms-4d43fb19477b7ab848bc;ms-8f5255815f8b70b48734;ms-b40ee5a75332685d5cec;ms-88bdd8987f890af7e9ea", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6a6a41baedceb27ad888", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6239660382270813, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.12387162446975708, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 36, + 1, + 17 + ], + "candidate_oracle_potentials": [ + 0.12387162446975708, + 0.12001504004001617, + -0.01132919080555439, + -0.03312559425830841 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ca25b016439a98198434;ms-a45ed89f5b95d1e7ab07;ms-a10d8368c33b56390f77;ms-478b7b8b729f9212a522;ms-6c39b520dca0a325535f;ms-8f6d30c2ade00e451dc2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-50d83ce148904504ec50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.07238008826971054, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.7065954804420471, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 0, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.7065954804420471, + 0.7064336538314819, + 0.7041806578636169, + 0.7015114426612854 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-704fee4c9fb9941a26e7;ms-6c39b520dca0a325535f;ms-486572c62484eb4d73db;ms-8f6d30c2ade00e451dc2;ms-732819b0c220a4c06870;ms-417cab1470cf46273b02", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-663aa9934c0f923cc125", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6780944466590881, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.6889330744743347, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + 0.6889330744743347, + 0.6812618374824524, + 0.6796202063560486, + 0.6696332097053528 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-023e021f079a8774c741;ms-d91cbe61314c18955b6b;ms-8522a9364bf70311450d;ms-ff3f17774184180998f0;ms-29653e236de96058ef6d;ms-fd225482b96686f51dc8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d84a4cea86526971b83a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47466227412223816, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5362036228179932, + 0.5379568934440613, + 0.535413920879364, + 0.5329834818840027 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0017532706260681152, + -0.0007897019386291504, + -0.0032201409339904785 + ], + "candidate_oracle_branch_scores": [ + 0.5362036228179932, + 0.5379568934440613, + 0.535413920879364, + 0.5329834818840027 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.5697185397148132, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 0 + ], + "candidate_oracle_potentials": [ + 0.590914249420166, + 0.5697185397148132, + 0.5555393695831299, + 0.539697527885437 + ], + "candidate_oracle_progress": 0.5379568934440613, + "candidate_oracle_regret": 1.4620431065559387, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5379568934440613, + "candidate_oracle_score_gain_over_selected": 0.0017532706260681152, + "candidate_oracle_selected_branch_progress": 0.5362036228179932, + "candidate_oracle_selected_branch_score": 0.5362036228179932, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7057de70d36f5cc31472;ms-842e179244eddac303a5;ms-8f241450069e74460a40;ms-309c09cf5d782e9ba0a3;ms-f3f6a1b34fdf35290a6c;ms-5780f9e1e9f9e740d474", + "expert_regret": 1.4637963771820068, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7185c6986fed4eee76b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4637963771820068, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5362036228179932, + "restore_error": 2.384185791015625e-07, + "score": 0.5362036228179932, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.11936748772859573, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.8300727605819702, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.8300727605819702, + 0.7775856852531433, + 0.7659614682197571, + 0.753564178943634 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e15eeda61ed4064a5c9f;ms-704fee4c9fb9941a26e7;ms-486572c62484eb4d73db;ms-6c39b520dca0a325535f;ms-417cab1470cf46273b02;ms-ce8d2ef7d19bed381822", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-116bd511ce8862ab73b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5189819931983948, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.566127598285675, + 0.566426694393158, + 0.5690988302230835, + 0.5690158009529114 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00029909610748291016, + 0.0029712319374084473, + 0.002888202667236328 + ], + "candidate_oracle_branch_scores": [ + 0.566127598285675, + 0.566426694393158, + 0.5690988302230835, + 0.5690158009529114 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5529677271842957, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 24, + 8 + ], + "candidate_oracle_potentials": [ + -0.5181017518043518, + -0.5203226208686829, + -0.5529677271842957, + -0.5531081557273865 + ], + "candidate_oracle_progress": 0.5690988302230835, + "candidate_oracle_regret": 1.4309011697769165, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5690988302230835, + "candidate_oracle_score_gain_over_selected": 0.0029712319374084473, + "candidate_oracle_selected_branch_progress": 0.566127598285675, + "candidate_oracle_selected_branch_score": 0.566127598285675, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-21155188bc35f0f021d3;ms-fbcc714230de2c097d0d;ms-227fe0347d2ea57a66a3;ms-6af227c07aaf7c0f0aea;ms-844b753810c45699d501;ms-e0b2e69a5ea0d0ad4fb5", + "expert_regret": 1.4338716268539429, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-31782020143c24b4271b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4338716268539429, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5661283731460571, + "restore_error": 2.384185791015625e-07, + "score": 0.5661283731460571, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6416635513305664, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5599872469902039, + 0.5595855116844177, + 1.0, + 0.5666980147361755 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0004017353057861328, + 1.4400126934051514, + 0.00671076774597168 + ], + "candidate_oracle_branch_scores": [ + 0.5599872469902039, + 0.5595855116844177, + 2.0, + 0.5666980147361755 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.4331614077091217, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 24 + ], + "candidate_oracle_potentials": [ + -0.33093884587287903, + -0.39249759912490845, + -0.4331614077091217, + -0.4914970099925995 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4400126934051514, + "candidate_oracle_selected_branch_progress": 0.5599872469902039, + "candidate_oracle_selected_branch_score": 0.5599872469902039, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-227fe0347d2ea57a66a3;ms-97598e118c5cc8c254a5;ms-56ad75c28031e049a3dd;ms-9a1de6130828dc946a51;ms-0a4c4442237909d5f7b7;ms-0b7f8ba789c00b37caa0", + "expert_regret": 1.4403609037399292, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b36673c3905a123cbd50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4403609037399292, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5596390962600708, + "restore_error": 1.1920928955078125e-07, + "score": 0.5596390962600708, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48734965920448303, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5618900656700134, + 0.5619681477546692, + 0.5512568354606628, + 0.5620163083076477 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 7.808208465576172e-05, + -0.010633230209350586, + 0.00012624263763427734 + ], + "candidate_oracle_branch_scores": [ + 0.5618900656700134, + 0.5619681477546692, + 0.5512568354606628, + 0.5620163083076477 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5423485636711121, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 4 + ], + "candidate_oracle_potentials": [ + -0.48661044239997864, + -0.5144907832145691, + -0.5373111963272095, + -0.5423485636711121 + ], + "candidate_oracle_progress": 0.5620163083076477, + "candidate_oracle_regret": 1.4379836916923523, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5620163083076477, + "candidate_oracle_score_gain_over_selected": 0.00012624263763427734, + "candidate_oracle_selected_branch_progress": 0.5618900656700134, + "candidate_oracle_selected_branch_score": 0.5618900656700134, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e0b2e69a5ea0d0ad4fb5;ms-227fe0347d2ea57a66a3;ms-87fd37bcc6b666e220ef;ms-97598e118c5cc8c254a5;ms-844b753810c45699d501;ms-6af227c07aaf7c0f0aea", + "expert_regret": 1.4380978345870972, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0019f809318a077c3910", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4380978345870972, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5619021654129028, + "restore_error": 1.1920928955078125e-07, + "score": 0.5619021654129028, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5179069638252258, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.48696714639663696, + 0.4856923520565033, + 0.48626428842544556, + 0.4861108362674713 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.001274794340133667, + -0.0007028579711914062, + -0.0008563101291656494 + ], + "candidate_oracle_branch_scores": [ + 0.48696714639663696, + 0.4856923520565033, + 0.48626428842544556, + 0.4861108362674713 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.9316643476486206, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 24, + 1, + 17 + ], + "candidate_oracle_potentials": [ + 0.9316643476486206, + 0.9278433322906494, + 0.8477584719657898, + 0.8465749621391296 + ], + "candidate_oracle_progress": 0.48696714639663696, + "candidate_oracle_regret": 1.513032853603363, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.48696714639663696, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.48696714639663696, + "candidate_oracle_selected_branch_score": 0.48696714639663696, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a10d8368c33b56390f77;ms-a45ed89f5b95d1e7ab07;ms-ca25b016439a98198434;ms-8f6d30c2ade00e451dc2;ms-6c39b520dca0a325535f;ms-486572c62484eb4d73db", + "expert_regret": 1.513114869594574, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-53cfcc878e30fc078bba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.513114869594574, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.486885130405426, + "restore_error": 1.1920928955078125e-07, + "score": 0.486885130405426, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5886479616165161, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.9296073913574219, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 1, + 17 + ], + "candidate_oracle_potentials": [ + 0.9296073913574219, + 0.9224922060966492, + 0.8806031346321106, + 0.8799734711647034 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2f57eadf546710065684;ms-76c78750d7abc6570487;ms-01db5970aec167a8ee1d;ms-a7f98a43ff113d74f009;ms-11a2794efa24f4d93d83;ms-13af3f2f8e0b8444fe68", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a7179e4e4e2a0d5335b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1558651626110077, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5284344553947449, + 0.5317764282226562, + 0.531574010848999, + 0.5313526391983032 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.003341972827911377, + 0.0031395554542541504, + 0.0029181838035583496 + ], + "candidate_oracle_branch_scores": [ + 0.5284344553947449, + 0.5317764282226562, + 0.531574010848999, + 0.5313526391983032 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.06589923799037933, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.074835404753685, + 0.06589923799037933, + 0.059330932796001434, + 0.05232580006122589 + ], + "candidate_oracle_progress": 0.5317764282226562, + "candidate_oracle_regret": 1.4682235717773438, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5317764282226562, + "candidate_oracle_score_gain_over_selected": 0.003341972827911377, + "candidate_oracle_selected_branch_progress": 0.5284344553947449, + "candidate_oracle_selected_branch_score": 0.5284344553947449, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2d995e39f2b95fed1a67;ms-02ab2e7a74d970154eb7;ms-b7e7fe66a6c86898eec2;ms-4f833710c2706ee077af;ms-c7f427f37d47501932e8;ms-4b1561bd0029228fdbbe", + "expert_regret": 1.4715656638145447, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6905c1d3bc8157697499", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4715656638145447, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5284343361854553, + "restore_error": 1.1920928955078125e-07, + "score": 0.5284343361854553, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4226081669330597, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5275983214378357, + 0.5259288549423218, + 0.5292359590530396, + 0.5276320576667786 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.001669466495513916, + 0.0016376376152038574, + 3.3736228942871094e-05 + ], + "candidate_oracle_branch_scores": [ + 0.5275983214378357, + 0.5259288549423218, + 0.5292359590530396, + 0.5276320576667786 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.31510022282600403, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -0.2408696413040161, + -0.2594872713088989, + -0.31510022282600403, + -0.3382102847099304 + ], + "candidate_oracle_progress": 0.5292359590530396, + "candidate_oracle_regret": 1.4707640409469604, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5292359590530396, + "candidate_oracle_score_gain_over_selected": 0.0016376376152038574, + "candidate_oracle_selected_branch_progress": 0.5275983214378357, + "candidate_oracle_selected_branch_score": 0.5275983214378357, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6273302894af3505ca8;ms-fb228a036fe5973bcad1;ms-26e09c86be9068a34acf;ms-11bb3387454624de8143;ms-625b5d55ca76cc565049;ms-a22fbce4503f088acb1f", + "expert_regret": 1.4724016785621643, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-386220c339b7de7f222b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4724016785621643, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5275983214378357, + "restore_error": 1.1920928955078125e-07, + "score": 0.5275983214378357, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1435839980840683, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.7507064342498779, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.7507064342498779, + 0.6976537704467773, + 0.6857893466949463, + 0.6731847524642944 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8f6d30c2ade00e451dc2;ms-a45ed89f5b95d1e7ab07;ms-a10d8368c33b56390f77;ms-ca25b016439a98198434;ms-478b7b8b729f9212a522;ms-6c39b520dca0a325535f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f80ae137a8d9981f8c98", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.13230668008327484, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.7739547491073608, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 36, + 20, + 4 + ], + "candidate_oracle_potentials": [ + 0.7739547491073608, + 0.7675398588180542, + 0.7661031484603882, + 0.7254338264465332 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a22fbce4503f088acb1f;ms-b97cb4ec02e8234b08c5;ms-d6b2d805dc063382ade2;ms-625b5d55ca76cc565049;ms-11bb3387454624de8143;ms-943b5187cbe128b9b563", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3e51a1bdc3a2cc4eb06d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6690927147865295, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7233549356460571, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + 0.7233549356460571, + 0.6799303293228149, + 0.6505340337753296, + 0.6404637098312378 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7057de70d36f5cc31472;ms-f3f6a1b34fdf35290a6c;ms-5780f9e1e9f9e740d474;ms-9ff81e54049443a0f3d3;ms-8f241450069e74460a40;ms-9044026b69850d12d05b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fffe378a3bad31bbed52", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6006451845169067, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.8072103261947632, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 0, + 1 + ], + "candidate_oracle_potentials": [ + 0.8072103261947632, + 0.8011701703071594, + 0.4739654064178467, + 0.4605867862701416 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d91cbe61314c18955b6b;ms-023e021f079a8774c741;ms-29dd2cdbb66fe13ab877;ms-3c4ff3dae26217f22a8b;ms-29f1abb869ff206a4d52;ms-ff3f17774184180998f0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c6ec8ef5145ff6274e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5886563062667847, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.09688705205917358, + 0.10136479139328003, + 0.5211756825447083, + 0.10293684154748917 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.004477739334106445, + 0.42428863048553467, + 0.006049789488315582 + ], + "candidate_oracle_branch_scores": [ + 0.09688705205917358, + 0.10136479139328003, + 0.5211756825447083, + 0.10293684154748917 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.6202198266983032, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 0, + 4 + ], + "candidate_oracle_potentials": [ + -1.5914162397384644, + -1.6042487621307373, + -1.6202198266983032, + -1.623086929321289 + ], + "candidate_oracle_progress": 0.5211756825447083, + "candidate_oracle_regret": 1.4788243174552917, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5211756825447083, + "candidate_oracle_score_gain_over_selected": 0.42428863048553467, + "candidate_oracle_selected_branch_progress": 0.09688705205917358, + "candidate_oracle_selected_branch_score": 0.09688705205917358, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-71ef8f2cdc11d83250fa;ms-782893a3eb2e3dcfd15e;ms-e058c0dba52df04b8642;ms-bdd1924b44de2db5b07a;ms-ac281cce8f6e42586359;ms-97598e118c5cc8c254a5", + "expert_regret": 1.903114639222622, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-169b1786513146593ea8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.903114639222622, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09688536077737808, + "restore_error": 1.1920928955078125e-07, + "score": 0.09688536077737808, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4344213306903839, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5444318652153015, + 0.5451306700706482, + 0.5447534918785095, + 0.5456026196479797 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0006988048553466797, + 0.0003216266632080078, + 0.0011707544326782227 + ], + "candidate_oracle_branch_scores": [ + 0.5444318652153015, + 0.5451306700706482, + 0.5447534918785095, + 0.5456026196479797 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.45239585638046265, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 0.605549156665802, + 0.6015989780426025, + 0.45550620555877686, + 0.45239585638046265 + ], + "candidate_oracle_progress": 0.5456026196479797, + "candidate_oracle_regret": 1.4543973803520203, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5456026196479797, + "candidate_oracle_score_gain_over_selected": 0.0011707544326782227, + "candidate_oracle_selected_branch_progress": 0.5444318652153015, + "candidate_oracle_selected_branch_score": 0.5444318652153015, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-eac0d7dd54b1e797fdbd;ms-69962cd1c448094e4fb0;ms-417cab1470cf46273b02;ms-486572c62484eb4d73db;ms-ca25b016439a98198434;ms-732819b0c220a4c06870", + "expert_regret": 1.4555670022964478, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9cdebdcdad56bd8d87cc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4555670022964478, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5444329977035522, + "restore_error": 1.1920928955078125e-07, + "score": 0.5444329977035522, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.32630443572998047, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.023787641897797585, + 0.023262513801455498, + 0.022756267338991165, + 0.018154168501496315 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0005251280963420868, + -0.0010313745588064194, + -0.0056334733963012695 + ], + "candidate_oracle_branch_scores": [ + 0.023787641897797585, + 0.023262513801455498, + 0.022756267338991165, + 0.018154168501496315 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.7848864793777466, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + -1.7848864793777466, + -1.8286875486373901, + -1.8810454607009888, + -2.084878444671631 + ], + "candidate_oracle_progress": 0.023787641897797585, + "candidate_oracle_regret": 1.9762123581022024, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.023787641897797585, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.023787641897797585, + "candidate_oracle_selected_branch_score": 0.023787641897797585, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a1d69e0b112064914357;ms-2cf1227610d4602f88ed;ms-1c0e2bb3a811fac6d567;ms-1b83fc0981e283975488;ms-62b597990a3d637e5a8a;ms-adfe268e473c03b72c65", + "expert_regret": 0.5840373989194632, + "expert_score": 0.6078249216079712, + "expert_success": false, + "group_id": "ms-4015c296239564108da2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.976212477311492, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.023787522688508034, + "restore_error": 1.1920928955078125e-07, + "score": 0.023787522688508034, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5032137632369995, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.024691438302397728, + 0.024690819904208183, + 0.028490066528320312, + 0.028087710961699486 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -6.183981895446777e-07, + 0.0037986282259225845, + 0.003396272659301758 + ], + "candidate_oracle_branch_scores": [ + 0.024691438302397728, + 0.024690819904208183, + 0.028490066528320312, + 0.028087710961699486 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.48109015822410583, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 24, + 8 + ], + "candidate_oracle_potentials": [ + -0.4360584318637848, + -0.4562216103076935, + -0.48109015822410583, + -0.49662357568740845 + ], + "candidate_oracle_progress": 0.028490066528320312, + "candidate_oracle_regret": 1.9715099334716797, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.028490066528320312, + "candidate_oracle_score_gain_over_selected": 0.0037986282259225845, + "candidate_oracle_selected_branch_progress": 0.024691438302397728, + "candidate_oracle_selected_branch_score": 0.024691438302397728, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-227fe0347d2ea57a66a3;ms-97598e118c5cc8c254a5;ms-844b753810c45699d501;ms-0a4c4442237909d5f7b7;ms-e0b2e69a5ea0d0ad4fb5;ms-91d86cba2602d1fa780d", + "expert_regret": 1.9753085616976023, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c0ef0ef8b493232246c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9753085616976023, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.024691438302397728, + "restore_error": 1.1920928955078125e-07, + "score": 0.024691438302397728, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.08687902987003326, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.41449472308158875, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 4 + ], + "candidate_oracle_potentials": [ + 0.41449472308158875, + 0.3195684850215912, + 0.29890161752700806, + 0.2874070107936859 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e589f7d40c12eff1712e;ms-8420ccaff5986c85063f;ms-1a4ecfbe9c97214d5c78;ms-2ae57bab6d2ea11f6638;ms-d73a2a984d5829e884f9;ms-fd225482b96686f51dc8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e45b5de01eafae73e492", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4808872640132904, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5110084414482117, + 0.10711721330881119, + 0.1188664585351944, + 0.09354054182767868 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4038912355899811, + -0.39214199781417847, + -0.4174678921699524 + ], + "candidate_oracle_branch_scores": [ + 0.5110084414482117, + 0.10711721330881119, + 0.1188664585351944, + 0.09354054182767868 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.639052391052246, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 8 + ], + "candidate_oracle_potentials": [ + -1.639052391052246, + -1.6462398767471313, + -1.7311530113220215, + -1.7851104736328125 + ], + "candidate_oracle_progress": 0.5110084414482117, + "candidate_oracle_regret": 1.4889915585517883, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5110084414482117, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5110084414482117, + "candidate_oracle_selected_branch_score": 0.5110084414482117, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-de066fc4200163ebd06b;ms-1fb2f4c1e17e99767558;ms-42edbdb8ff281fc33a99;ms-81f48d29d0404300ea93;ms-f947dbf28ad85666e2f1;ms-c425c810f7865e9564ee", + "expert_regret": 1.488990843296051, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8e741ca11a7fbe85ba1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.488990843296051, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.511009156703949, + "restore_error": 1.1920928955078125e-07, + "score": 0.511009156703949, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19573816657066345, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.6970810890197754, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + 0.6970810890197754, + 0.5783054232597351, + 0.4196814000606537, + 0.3613951504230499 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7057de70d36f5cc31472;ms-5780f9e1e9f9e740d474;ms-9ff81e54049443a0f3d3;ms-8f241450069e74460a40;ms-f3f6a1b34fdf35290a6c;ms-66cc354bbf4e8bdd1051", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d19573dc65181befd83d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15144820511341095, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.6984161734580994, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + 0.6984161734580994, + 0.6952541470527649, + 0.6917576193809509, + 0.6467908620834351 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-55ea22014575410563a4;ms-ff3f17774184180998f0;ms-d91cbe61314c18955b6b;ms-29dd2cdbb66fe13ab877;ms-774e954ffdc5da041261;ms-11230e3aaabb1feec834", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d0e4bdc60ab8ea52a320", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.407250314950943, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.026133298873901367, + 0.02549642324447632, + 0.025058960542082787, + 0.02121446095407009 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0006368756294250488, + -0.0010743383318185806, + -0.004918837919831276 + ], + "candidate_oracle_branch_scores": [ + 0.026133298873901367, + 0.02549642324447632, + 0.025058960542082787, + 0.02121446095407009 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.4930171966552734, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 20, + 36, + 4 + ], + "candidate_oracle_potentials": [ + -2.4930171966552734, + -2.497230052947998, + -2.4992611408233643, + -2.503878355026245 + ], + "candidate_oracle_progress": 0.026133298873901367, + "candidate_oracle_regret": 0.5675996541976929, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.026133298873901367, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.026133298873901367, + "candidate_oracle_selected_branch_score": 0.026133298873901367, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8b972386cfdf0158a0a3;ms-319a6c0cef0ac1a872d5;ms-aea09fb002af52e12bd8;ms-b9e46b7345a63ded4397;ms-4f833710c2706ee077af;ms-ed9addab41f3298db7bc", + "expert_regret": 0.5671108830720186, + "expert_score": 0.5937329530715942, + "expert_success": false, + "group_id": "ms-19c0b893fda0e6bb05f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5671108830720186, + "oracle_score": 0.5937329530715942, + "oracle_success": false, + "progress": 0.026622069999575615, + "restore_error": 1.1920928955078125e-07, + "score": 0.026622069999575615, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.605141282081604, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7837952375411987, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + 0.7837952375411987, + 0.7323625087738037, + 0.7017439603805542, + 0.6968047618865967 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1bfca22d4af29f0e14b1;ms-07e0726dedce0a0e4419;ms-87b44e6219279322a723;ms-943b5187cbe128b9b563;ms-b97cb4ec02e8234b08c5;ms-625b5d55ca76cc565049", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-81085eba1dd49b17ec9c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5800700783729553, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.537357747554779, + 0.5354030132293701, + 0.025822794064879417, + 0.0259674321860075 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0019547343254089355, + -0.5115349292755127, + -0.5113903284072876 + ], + "candidate_oracle_branch_scores": [ + 0.537357747554779, + 0.5354030132293701, + 0.025822794064879417, + 0.0259674321860075 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.615574359893799, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -2.615574359893799, + -2.6208088397979736, + -2.6289591789245605, + -2.6405889987945557 + ], + "candidate_oracle_progress": 0.537357747554779, + "candidate_oracle_regret": 1.462642252445221, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.537357747554779, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.537357747554779, + "candidate_oracle_selected_branch_score": 0.537357747554779, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-de066fc4200163ebd06b;ms-1fb2f4c1e17e99767558;ms-81f48d29d0404300ea93;ms-c425c810f7865e9564ee;ms-42edbdb8ff281fc33a99;ms-c76158673d20b18c2622", + "expert_regret": 1.4626427292823792, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13557287cd450bc12c6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4626427292823792, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5373572707176208, + "restore_error": 1.1920928955078125e-07, + "score": 0.5373572707176208, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42300722002983093, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5388672351837158, + 0.5398795008659363, + 0.5383886694908142, + 0.5395397543907166 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.001012265682220459, + -0.00047856569290161133, + 0.0006725192070007324 + ], + "candidate_oracle_branch_scores": [ + 0.5388672351837158, + 0.5398795008659363, + 0.5383886694908142, + 0.5395397543907166 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.07616717368364334, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -0.06545667350292206, + -0.07616717368364334, + -0.0824129730463028, + -0.09666544944047928 + ], + "candidate_oracle_progress": 0.5398795008659363, + "candidate_oracle_regret": 1.4601204991340637, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5398795008659363, + "candidate_oracle_score_gain_over_selected": 0.001012265682220459, + "candidate_oracle_selected_branch_progress": 0.5388672351837158, + "candidate_oracle_selected_branch_score": 0.5388672351837158, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8522a9364bf70311450d;ms-d91cbe61314c18955b6b;ms-ff3f17774184180998f0;ms-023e021f079a8774c741;ms-774e954ffdc5da041261;ms-9eb40f856528204bbcfd", + "expert_regret": 1.4611327648162842, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ccc102ca65219d1e5f02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4611327648162842, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5388672351837158, + "restore_error": 1.1920928955078125e-07, + "score": 0.5388672351837158, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6278451085090637, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5375343561172485, + 0.5377615690231323, + 0.0917811319231987, + 0.09152419865131378 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00022721290588378906, + -0.44575321674346924, + -0.44601017236709595 + ], + "candidate_oracle_branch_scores": [ + 0.5375343561172485, + 0.5377615690231323, + 0.0917811319231987, + 0.09152419865131378 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.3174893856048584, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 36, + 0 + ], + "candidate_oracle_potentials": [ + -2.3003363609313965, + -2.3174893856048584, + -2.3175432682037354, + -2.371283769607544 + ], + "candidate_oracle_progress": 0.5377615690231323, + "candidate_oracle_regret": 1.4622384309768677, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5377615690231323, + "candidate_oracle_score_gain_over_selected": 0.00022721290588378906, + "candidate_oracle_selected_branch_progress": 0.5375343561172485, + "candidate_oracle_selected_branch_score": 0.5375343561172485, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02ab2e7a74d970154eb7;ms-b7e7fe66a6c86898eec2;ms-4f833710c2706ee077af;ms-2d995e39f2b95fed1a67;ms-8b972386cfdf0158a0a3;ms-aea09fb002af52e12bd8", + "expert_regret": 1.4624651074409485, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b85ebf659960395db9c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4624651074409485, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5375348925590515, + "restore_error": 1.1920928955078125e-07, + "score": 0.5375348925590515, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43304747343063354, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5491102337837219, + 0.5490281581878662, + 0.548969566822052, + 0.548995852470398 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -8.207559585571289e-05, + -0.00014066696166992188, + -0.00011438131332397461 + ], + "candidate_oracle_branch_scores": [ + 0.5491102337837219, + 0.5490281581878662, + 0.548969566822052, + 0.548995852470398 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 1.0137470960617065, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 1.0137470960617065, + 1.0135293006896973, + 0.9827279448509216, + 0.9824671149253845 + ], + "candidate_oracle_progress": 0.5491102337837219, + "candidate_oracle_regret": 1.450889766216278, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5491102337837219, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5491102337837219, + "candidate_oracle_selected_branch_score": 0.5491102337837219, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4bc32bd893d0cff76423;ms-c104c2ebba7bf9b34680;ms-ee19bfbcb2f4fbf5a44d;ms-ca25b016439a98198434;ms-d807915e233a0c74b809;ms-a45ed89f5b95d1e7ab07", + "expert_regret": 1.450889229774475, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-493f7fe7164e2c3e7616", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.450889229774475, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5491107702255249, + "restore_error": 1.1920928955078125e-07, + "score": 0.5491107702255249, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3001031279563904, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.03268920257687569, + 0.031991757452487946, + 0.03293037414550781, + 0.03217499330639839 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0006974451243877411, + 0.00024117156863212585, + -0.0005142092704772949 + ], + "candidate_oracle_branch_scores": [ + 0.03268920257687569, + 0.031991757452487946, + 0.03293037414550781, + 0.03217499330639839 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.6042721271514893, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -2.451359748840332, + -2.5826778411865234, + -2.6042721271514893, + -2.656768321990967 + ], + "candidate_oracle_progress": 0.03293037414550781, + "candidate_oracle_regret": 1.9670696258544922, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.03293037414550781, + "candidate_oracle_score_gain_over_selected": 0.00024117156863212585, + "candidate_oracle_selected_branch_progress": 0.03268920257687569, + "candidate_oracle_selected_branch_score": 0.03268920257687569, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02ab2e7a74d970154eb7;ms-2d995e39f2b95fed1a67;ms-b7e7fe66a6c86898eec2;ms-4f833710c2706ee077af;ms-c7f427f37d47501932e8;ms-8b972386cfdf0158a0a3", + "expert_regret": 1.9673238024115562, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ff3e5d72f3adf548d0a1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9673238024115562, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.032676197588443756, + "restore_error": 1.1920928955078125e-07, + "score": 0.032676197588443756, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7687586545944214, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.11954846233129501, + 0.1293632835149765, + 0.5062340497970581, + 0.1116541400551796 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.009814821183681488, + 0.3866855800151825, + -0.007894322276115417 + ], + "candidate_oracle_branch_scores": [ + 0.11954846233129501, + 0.1293632835149765, + 0.5062340497970581, + 0.1116541400551796 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.677100658416748, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -1.6226208209991455, + -1.6628751754760742, + -1.677100658416748, + -1.6795016527175903 + ], + "candidate_oracle_progress": 0.5062340497970581, + "candidate_oracle_regret": 1.493765950202942, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5062340497970581, + "candidate_oracle_score_gain_over_selected": 0.3866855800151825, + "candidate_oracle_selected_branch_progress": 0.11954846233129501, + "candidate_oracle_selected_branch_score": 0.11954846233129501, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-71ef8f2cdc11d83250fa;ms-782893a3eb2e3dcfd15e;ms-e058c0dba52df04b8642;ms-1b83fc0981e283975488;ms-5415e349e8f9f2bce641;ms-bdd1924b44de2db5b07a", + "expert_regret": 1.8804580196738243, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f6db4e8bed63ed868487", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8804580196738243, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11954198032617569, + "restore_error": 1.1920928955078125e-07, + "score": 0.11954198032617569, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 2.6548025608062744, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 1.3125351667404175, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 36, + 1, + 17 + ], + "candidate_oracle_potentials": [ + 1.3125351667404175, + 1.3114604949951172, + 1.2817144393920898, + 1.2750376462936401 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9e53ca6bc5ddb9133ffa;ms-c8666cbd7e5a9d0fd036;ms-9a2d8f0085e6740cf5b0;ms-6995d4366e7c20010126;ms-6b8adb335c80e03d5cd5;ms-c4cb99b887c88c707ba9", + "expert_regret": 0.0, + "expert_score": 0.6292594075202942, + "expert_success": false, + "group_id": "ms-b1bf2ab59a5385d22e54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6417507529258728, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.5574838519096375, + 0.558436393737793, + 0.5584461092948914 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.4425160884857178, + -1.441563606262207, + -1.4415538311004639 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.5574838519096375, + 0.558436393737793, + 0.5584461092948914 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.9304388165473938, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 4, + 20 + ], + "candidate_oracle_potentials": [ + 0.9304388165473938, + 0.9171696305274963, + 0.8685242533683777, + 0.8680301308631897 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-61d4dd4acc03b8d30f19;ms-309d2258d275ae304857;ms-13af3f2f8e0b8444fe68;ms-2c68b2b895bdbedbaa08;ms-f39e1d7a2d636e39a02f;ms-2b56888f10733707f14b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9c1649478107785e9d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4624345004558563, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5091068148612976, + 0.5091032385826111, + 0.5091057419776917, + 0.509106457233429 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -3.5762786865234375e-06, + -1.0728836059570312e-06, + -3.5762786865234375e-07 + ], + "candidate_oracle_branch_scores": [ + 0.5091068148612976, + 0.5091032385826111, + 0.5091057419776917, + 0.509106457233429 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.4528956711292267, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -0.4528956711292267, + -0.4825490415096283, + -0.5003936886787415, + -0.5174001455307007 + ], + "candidate_oracle_progress": 0.5091068148612976, + "candidate_oracle_regret": 1.4908931851387024, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5091068148612976, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5091068148612976, + "candidate_oracle_selected_branch_score": 0.5091068148612976, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6af227c07aaf7c0f0aea;ms-e0b2e69a5ea0d0ad4fb5;ms-227fe0347d2ea57a66a3;ms-844b753810c45699d501;ms-87fd37bcc6b666e220ef;ms-97598e118c5cc8c254a5", + "expert_regret": 1.4908936619758606, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3e971096794f04f325f2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4908936619758606, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5091063380241394, + "restore_error": 1.1920928955078125e-07, + "score": 0.5091063380241394, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47967883944511414, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5658634305000305, + 0.5654922723770142, + 0.5627670288085938, + 0.5628721117973328 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0003711581230163574, + -0.0030964016914367676, + -0.002991318702697754 + ], + "candidate_oracle_branch_scores": [ + 0.5658634305000305, + 0.5654922723770142, + 0.5627670288085938, + 0.5628721117973328 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7857570648193359, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 24 + ], + "candidate_oracle_potentials": [ + 0.7857570648193359, + 0.761939287185669, + 0.7580676674842834, + 0.7371007800102234 + ], + "candidate_oracle_progress": 0.5658634305000305, + "candidate_oracle_regret": 1.4341365694999695, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5658634305000305, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5658634305000305, + "candidate_oracle_selected_branch_score": 0.5658634305000305, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b8276cb9b6cb9a9b302f;ms-fb98254adaa23dc128df;ms-a3c53708416dbfb9fbc5;ms-88bdd8987f890af7e9ea;ms-2b3e081263ed25d45dc8;ms-99ecd2226d7187416316", + "expert_regret": 1.4341365694999695, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-60c7d1d3b5701e7f4e48", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4341365694999695, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5658634305000305, + "restore_error": 1.1920928955078125e-07, + "score": 0.5658634305000305, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.662363588809967, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.1449064016342163, + 0.14193744957447052, + 0.1579730063676834, + 0.14467103779315948 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0029689520597457886, + 0.013066604733467102, + -0.00023536384105682373 + ], + "candidate_oracle_branch_scores": [ + 0.1449064016342163, + 0.14193744957447052, + 0.1579730063676834, + 0.14467103779315948 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.8690388202667236, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 4 + ], + "candidate_oracle_potentials": [ + -1.8069660663604736, + -1.8521512746810913, + -1.8690388202667236, + -1.8803091049194336 + ], + "candidate_oracle_progress": 0.1579730063676834, + "candidate_oracle_regret": 1.8420269936323166, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.1579730063676834, + "candidate_oracle_score_gain_over_selected": 0.013066604733467102, + "candidate_oracle_selected_branch_progress": 0.1449064016342163, + "candidate_oracle_selected_branch_score": 0.1449064016342163, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cf274fbe4c657d04d7c4;ms-62b597990a3d637e5a8a;ms-a1d69e0b112064914357;ms-d305a11348461ae1622c;ms-4fad1f976cc64cc06826;ms-52cdfff790d71133c5a0", + "expert_regret": 1.8550908267498016, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3aaa0d68ca26b1fe6626", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8550908267498016, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.14490917325019836, + "restore_error": 1.1920928955078125e-07, + "score": 0.14490917325019836, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22593815624713898, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.01618635654449463, + 0.01573634147644043, + 0.016450906172394753, + 0.016485417261719704 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0004500150680541992, + 0.0002645496279001236, + 0.00029906071722507477 + ], + "candidate_oracle_branch_scores": [ + 0.01618635654449463, + 0.01573634147644043, + 0.016450906172394753, + 0.016485417261719704 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -2.5151896476745605, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -2.4792561531066895, + -2.503523826599121, + -2.5092525482177734, + -2.5151896476745605 + ], + "candidate_oracle_progress": 0.016485417261719704, + "candidate_oracle_regret": 1.9835145827382803, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.016485417261719704, + "candidate_oracle_score_gain_over_selected": 0.00029906071722507477, + "candidate_oracle_selected_branch_progress": 0.01618635654449463, + "candidate_oracle_selected_branch_score": 0.01618635654449463, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ac281cce8f6e42586359;ms-bdd1924b44de2db5b07a;ms-227fe0347d2ea57a66a3;ms-71ef8f2cdc11d83250fa;ms-6af227c07aaf7c0f0aea;ms-844b753810c45699d501", + "expert_regret": 1.983813727274537, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3b0639bfe64ecfd35594", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.983813727274537, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.016186272725462914, + "restore_error": 1.1920928955078125e-07, + "score": 0.016186272725462914, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6563977003097534, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5618449449539185, + 0.5608960390090942, + 0.5614699125289917, + 0.5613614916801453 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0009489059448242188, + -0.0003750324249267578, + -0.00048345327377319336 + ], + "candidate_oracle_branch_scores": [ + 0.5618449449539185, + 0.5608960390090942, + 0.5614699125289917, + 0.5613614916801453 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.8101746439933777, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 20, + 17, + 1 + ], + "candidate_oracle_potentials": [ + 0.8101746439933777, + 0.8052576184272766, + 0.7985302805900574, + 0.7985069155693054 + ], + "candidate_oracle_progress": 0.5618449449539185, + "candidate_oracle_regret": 1.4381550550460815, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5618449449539185, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5618449449539185, + "candidate_oracle_selected_branch_score": 0.5618449449539185, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-486572c62484eb4d73db;ms-6c39b520dca0a325535f;ms-417cab1470cf46273b02;ms-704fee4c9fb9941a26e7;ms-8f6d30c2ade00e451dc2;ms-732819b0c220a4c06870", + "expert_regret": 1.4384340643882751, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a44a2c9eee8baea5d29e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4384340643882751, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5615659356117249, + "restore_error": 1.1920928955078125e-07, + "score": 0.5615659356117249, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.06889979541301727, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.5085476636886597, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 8 + ], + "candidate_oracle_potentials": [ + 0.5085476636886597, + 0.49580246210098267, + 0.4293074905872345, + 0.42451927065849304 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e1972ebf2c5587a6fdf9;ms-bcc70292f404cd1c7f75;ms-166b7f66bf9f4eec432b;ms-1a4ecfbe9c97214d5c78;ms-e589f7d40c12eff1712e;ms-2ae57bab6d2ea11f6638", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8a00723a184a6ca740b2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6427611112594604, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 1.0501482486724854, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 36, + 1 + ], + "candidate_oracle_potentials": [ + 1.0501482486724854, + 1.0485703945159912, + 1.0395128726959229, + 0.8236473798751831 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2ae57bab6d2ea11f6638;ms-1a4ecfbe9c97214d5c78;ms-d73a2a984d5829e884f9;ms-8420ccaff5986c85063f;ms-e589f7d40c12eff1712e;ms-935ff204de9424ec00a2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b671fa9fcef84dbf2a13", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45323124527931213, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5449445843696594, + 0.5419571995735168, + 0.5456229448318481, + 0.5451648831367493 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002987384796142578, + 0.0006783604621887207, + 0.00022029876708984375 + ], + "candidate_oracle_branch_scores": [ + 0.5449445843696594, + 0.5419571995735168, + 0.5456229448318481, + 0.5451648831367493 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 1.1338515281677246, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 0, + 4 + ], + "candidate_oracle_potentials": [ + 1.2039450407028198, + 1.1931933164596558, + 1.1338515281677246, + 1.1310021877288818 + ], + "candidate_oracle_progress": 0.5456229448318481, + "candidate_oracle_regret": 1.4543770551681519, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5456229448318481, + "candidate_oracle_score_gain_over_selected": 0.0006783604621887207, + "candidate_oracle_selected_branch_progress": 0.5449445843696594, + "candidate_oracle_selected_branch_score": 0.5449445843696594, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8f241450069e74460a40;ms-11bb3387454624de8143;ms-a6273302894af3505ca8;ms-309c09cf5d782e9ba0a3;ms-5780f9e1e9f9e740d474;ms-7057de70d36f5cc31472", + "expert_regret": 1.4550557732582092, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b35643e98e1b846e27cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4550557732582092, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5449442267417908, + "restore_error": 1.1920928955078125e-07, + "score": 0.5449442267417908, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2513180673122406, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5437819361686707, + 0.5436785817146301, + 0.5363033413887024, + 0.5351288318634033 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00010335445404052734, + -0.007478594779968262, + -0.008653104305267334 + ], + "candidate_oracle_branch_scores": [ + 0.5437819361686707, + 0.5436785817146301, + 0.5363033413887024, + 0.5351288318634033 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.733540952205658, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 8, + 24 + ], + "candidate_oracle_potentials": [ + 0.733540952205658, + 0.7257434725761414, + 0.6765846610069275, + 0.6699102520942688 + ], + "candidate_oracle_progress": 0.5437819361686707, + "candidate_oracle_regret": 1.4562180638313293, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5437819361686707, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5437819361686707, + "candidate_oracle_selected_branch_score": 0.5437819361686707, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e589f7d40c12eff1712e;ms-0ece7b8c91d9d82f244b;ms-1a4ecfbe9c97214d5c78;ms-9e1f3c14116ebca6164d;ms-8420ccaff5986c85063f;ms-d73a2a984d5829e884f9", + "expert_regret": 1.4562168717384338, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cd25efec908bd600e45e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4562168717384338, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5437831282615662, + "restore_error": 1.1920928955078125e-07, + "score": 0.5437831282615662, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + } + ], + "seed": 0, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 416, + "retrieval_residual_residual_near_miss": 40, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 42, + "retrieval_residual_residual_no_op": 36, + "retrieval_residual_residual_wrong_gripper": 266 + }, + "selected_residual_scale_counts": { + "0.35": 546, + "0.4": 78, + "0.45": 176 + }, + "selection_margin": 0.0, + "selection_mode": "retrieval_residual", + "split": "train_groups" +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/oracle_selector_calibration_train800_k4_score_r0025_t0025.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/oracle_selector_calibration_train800_k4_score_r0025_t0025.json new file mode 100644 index 0000000000000000000000000000000000000000..cac5e6a91f86dd5ff7d6ebc63a3067efc12dbcc7 --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/oracle_selector_calibration_train800_k4_score_r0025_t0025.json @@ -0,0 +1,150 @@ +{ + "source_rollouts": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_trainsplit800_oraclek4.json" + ], + "calibration_source": "candidate_oracle_rollout", + "objective": "score", + "max_rank": 4, + "rank_scale": 0.025, + "type_scale": 0.025, + "min_count": 20, + "max_abs_rank_bias": 0.02, + "max_abs_type_bonus": 0.02, + "rows_seen": 800, + "rows_used": 800, + "skipped_branches": 0, + "field_rank_biases_by_task": { + "LiftPegUpright-v1": [ + 0.0, + -0.0037683930527178198, + -0.00364830308432573, + -0.004544825210820796 + ], + "PickCube-v1": [ + 0.0, + -3.977837694976727e-06, + 5.284984766327494e-05, + 0.00012017250783768475 + ], + "*": [ + 0.0, + -0.0018250136979622773, + -0.001737582883186406, + -0.0021365201385633555 + ] + }, + "rank_utility_means_by_task": { + "LiftPegUpright-v1": [ + 0.8868692456828839, + 0.7361335235741712, + 0.7409371223098548, + 0.7050762372500521 + ], + "PickCube-v1": [ + 0.8983855601219736, + 0.8982264466141745, + 0.9004995540285046, + 0.903192460435481 + ], + "*": [ + 0.892814543012064, + 0.8198139950935729, + 0.8233112276846077, + 0.8073537374695298 + ] + }, + "rank_counts_by_task": { + "LiftPegUpright-v1": [ + 387, + 387, + 387, + 387 + ], + "PickCube-v1": [ + 413, + 413, + 413, + 413 + ], + "*": [ + 800, + 800, + 800, + 800 + ] + }, + "candidate_type_bonuses_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.00027997450028154904, + "retrieval_residual_residual_near_miss": 0.00031390971426356606, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.019580812258257415, + "retrieval_residual_residual_no_op": -0.007752890111200961, + "retrieval_residual_residual_wrong_gripper": -0.002939944681434745 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": -0.0006561744390602393, + "retrieval_residual_residual_near_miss": 0.006218516536018665, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": -0.0012795120324145038, + "retrieval_residual_residual_no_op": 0.0005123574041270895, + "retrieval_residual_residual_wrong_gripper": -0.004249957666569218 + }, + "*": { + "retrieval_residual_policy_residual": -0.0006200735916264549, + "retrieval_residual_residual_near_miss": 0.0028921009646030228, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.005502475005351882, + "retrieval_residual_residual_no_op": -0.0011326769608536653, + "retrieval_residual_residual_wrong_gripper": -0.003732598423745473 + } + }, + "type_utility_means_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.7784530122155024, + "retrieval_residual_residual_near_miss": 0.7798104207747831, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.550486522534537, + "retrieval_residual_residual_no_op": 0.45713842775620206, + "retrieval_residual_residual_wrong_gripper": 0.6496562449468507 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 0.8738290277376238, + "retrieval_residual_residual_near_miss": 1.14881666674078, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.8488955240034533, + "retrieval_residual_residual_no_op": 0.920570301465117, + "retrieval_residual_residual_wrong_gripper": 0.7300776986372647 + }, + "*": { + "retrieval_residual_policy_residual": 0.8110204321498854, + "retrieval_residual_residual_near_miss": 0.9515074143990645, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.0559223760290188, + "retrieval_residual_residual_no_op": 0.790516297380797, + "retrieval_residual_residual_wrong_gripper": 0.6865194388651247 + } + }, + "type_counts_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 324, + "retrieval_residual_residual_near_miss": 416, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 126, + "retrieval_residual_residual_no_op": 142, + "retrieval_residual_residual_wrong_gripper": 540 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 168, + "retrieval_residual_residual_near_miss": 362, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 301, + "retrieval_residual_residual_no_op": 364, + "retrieval_residual_residual_wrong_gripper": 457 + }, + "*": { + "retrieval_residual_policy_residual": 492, + "retrieval_residual_residual_near_miss": 778, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 427, + "retrieval_residual_residual_no_op": 506, + "retrieval_residual_residual_wrong_gripper": 997 + } + }, + "type_baselines_by_task": { + "LiftPegUpright-v1": 0.7672540322042405, + "PickCube-v1": 0.9000760053000334, + "*": 0.8358233758149436 + } +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/oracle_selector_calibration_train800_k4_score_r005_t005_clip002.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/oracle_selector_calibration_train800_k4_score_r005_t005_clip002.json new file mode 100644 index 0000000000000000000000000000000000000000..3cc9651f7f01531b1241404e77b87c463dc5b3cb --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/oracle_selector_calibration_train800_k4_score_r005_t005_clip002.json @@ -0,0 +1,150 @@ +{ + "source_rollouts": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_trainsplit800_oraclek4.json" + ], + "calibration_source": "candidate_oracle_rollout", + "objective": "score", + "max_rank": 4, + "rank_scale": 0.05, + "type_scale": 0.05, + "min_count": 20, + "max_abs_rank_bias": 0.02, + "max_abs_type_bonus": 0.02, + "rows_seen": 800, + "rows_used": 800, + "skipped_branches": 0, + "field_rank_biases_by_task": { + "LiftPegUpright-v1": [ + 0.0, + -0.0075367861054356396, + -0.00729660616865146, + -0.009089650421641593 + ], + "PickCube-v1": [ + 0.0, + -7.955675389953454e-06, + 0.00010569969532654988, + 0.0002403450156753695 + ], + "*": [ + 0.0, + -0.0036500273959245546, + -0.003475165766372812, + -0.004273040277126711 + ] + }, + "rank_utility_means_by_task": { + "LiftPegUpright-v1": [ + 0.8868692456828839, + 0.7361335235741712, + 0.7409371223098548, + 0.7050762372500521 + ], + "PickCube-v1": [ + 0.8983855601219736, + 0.8982264466141745, + 0.9004995540285046, + 0.903192460435481 + ], + "*": [ + 0.892814543012064, + 0.8198139950935729, + 0.8233112276846077, + 0.8073537374695298 + ] + }, + "rank_counts_by_task": { + "LiftPegUpright-v1": [ + 387, + 387, + 387, + 387 + ], + "PickCube-v1": [ + 413, + 413, + 413, + 413 + ], + "*": [ + 800, + 800, + 800, + 800 + ] + }, + "candidate_type_bonuses_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.0005599490005630981, + "retrieval_residual_residual_near_miss": 0.0006278194285271321, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.02, + "retrieval_residual_residual_no_op": -0.015505780222401922, + "retrieval_residual_residual_wrong_gripper": -0.00587988936286949 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": -0.0013123488781204785, + "retrieval_residual_residual_near_miss": 0.01243703307203733, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": -0.0025590240648290076, + "retrieval_residual_residual_no_op": 0.001024714808254179, + "retrieval_residual_residual_wrong_gripper": -0.008499915333138435 + }, + "*": { + "retrieval_residual_policy_residual": -0.0012401471832529098, + "retrieval_residual_residual_near_miss": 0.0057842019292060455, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.011004950010703764, + "retrieval_residual_residual_no_op": -0.0022653539217073306, + "retrieval_residual_residual_wrong_gripper": -0.007465196847490946 + } + }, + "type_utility_means_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.7784530122155024, + "retrieval_residual_residual_near_miss": 0.7798104207747831, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.550486522534537, + "retrieval_residual_residual_no_op": 0.45713842775620206, + "retrieval_residual_residual_wrong_gripper": 0.6496562449468507 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 0.8738290277376238, + "retrieval_residual_residual_near_miss": 1.14881666674078, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.8488955240034533, + "retrieval_residual_residual_no_op": 0.920570301465117, + "retrieval_residual_residual_wrong_gripper": 0.7300776986372647 + }, + "*": { + "retrieval_residual_policy_residual": 0.8110204321498854, + "retrieval_residual_residual_near_miss": 0.9515074143990645, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.0559223760290188, + "retrieval_residual_residual_no_op": 0.790516297380797, + "retrieval_residual_residual_wrong_gripper": 0.6865194388651247 + } + }, + "type_counts_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 324, + "retrieval_residual_residual_near_miss": 416, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 126, + "retrieval_residual_residual_no_op": 142, + "retrieval_residual_residual_wrong_gripper": 540 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 168, + "retrieval_residual_residual_near_miss": 362, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 301, + "retrieval_residual_residual_no_op": 364, + "retrieval_residual_residual_wrong_gripper": 457 + }, + "*": { + "retrieval_residual_policy_residual": 492, + "retrieval_residual_residual_near_miss": 778, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 427, + "retrieval_residual_residual_no_op": 506, + "retrieval_residual_residual_wrong_gripper": 997 + } + }, + "type_baselines_by_task": { + "LiftPegUpright-v1": 0.7672540322042405, + "PickCube-v1": 0.9000760053000334, + "*": 0.8358233758149436 + } +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/oracle_selector_calibration_train800_k4_score_rank005.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/oracle_selector_calibration_train800_k4_score_rank005.json new file mode 100644 index 0000000000000000000000000000000000000000..c00062002d57c050772998274630aa710423500b --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/oracle_selector_calibration_train800_k4_score_rank005.json @@ -0,0 +1,150 @@ +{ + "source_rollouts": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_trainsplit800_oraclek4.json" + ], + "calibration_source": "candidate_oracle_rollout", + "objective": "score", + "max_rank": 4, + "rank_scale": 0.05, + "type_scale": 0.0, + "min_count": 20, + "max_abs_rank_bias": 0.02, + "max_abs_type_bonus": null, + "rows_seen": 800, + "rows_used": 800, + "skipped_branches": 0, + "field_rank_biases_by_task": { + "LiftPegUpright-v1": [ + 0.0, + -0.0075367861054356396, + -0.00729660616865146, + -0.009089650421641593 + ], + "PickCube-v1": [ + 0.0, + -7.955675389953454e-06, + 0.00010569969532654988, + 0.0002403450156753695 + ], + "*": [ + 0.0, + -0.0036500273959245546, + -0.003475165766372812, + -0.004273040277126711 + ] + }, + "rank_utility_means_by_task": { + "LiftPegUpright-v1": [ + 0.8868692456828839, + 0.7361335235741712, + 0.7409371223098548, + 0.7050762372500521 + ], + "PickCube-v1": [ + 0.8983855601219736, + 0.8982264466141745, + 0.9004995540285046, + 0.903192460435481 + ], + "*": [ + 0.892814543012064, + 0.8198139950935729, + 0.8233112276846077, + 0.8073537374695298 + ] + }, + "rank_counts_by_task": { + "LiftPegUpright-v1": [ + 387, + 387, + 387, + 387 + ], + "PickCube-v1": [ + 413, + 413, + 413, + 413 + ], + "*": [ + 800, + 800, + 800, + 800 + ] + }, + "candidate_type_bonuses_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.0, + "retrieval_residual_residual_near_miss": 0.0, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.0, + "retrieval_residual_residual_no_op": -0.0, + "retrieval_residual_residual_wrong_gripper": -0.0 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": -0.0, + "retrieval_residual_residual_near_miss": 0.0, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": -0.0, + "retrieval_residual_residual_no_op": 0.0, + "retrieval_residual_residual_wrong_gripper": -0.0 + }, + "*": { + "retrieval_residual_policy_residual": -0.0, + "retrieval_residual_residual_near_miss": 0.0, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.0, + "retrieval_residual_residual_no_op": -0.0, + "retrieval_residual_residual_wrong_gripper": -0.0 + } + }, + "type_utility_means_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.7784530122155024, + "retrieval_residual_residual_near_miss": 0.7798104207747831, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.550486522534537, + "retrieval_residual_residual_no_op": 0.45713842775620206, + "retrieval_residual_residual_wrong_gripper": 0.6496562449468507 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 0.8738290277376238, + "retrieval_residual_residual_near_miss": 1.14881666674078, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.8488955240034533, + "retrieval_residual_residual_no_op": 0.920570301465117, + "retrieval_residual_residual_wrong_gripper": 0.7300776986372647 + }, + "*": { + "retrieval_residual_policy_residual": 0.8110204321498854, + "retrieval_residual_residual_near_miss": 0.9515074143990645, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.0559223760290188, + "retrieval_residual_residual_no_op": 0.790516297380797, + "retrieval_residual_residual_wrong_gripper": 0.6865194388651247 + } + }, + "type_counts_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 324, + "retrieval_residual_residual_near_miss": 416, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 126, + "retrieval_residual_residual_no_op": 142, + "retrieval_residual_residual_wrong_gripper": 540 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 168, + "retrieval_residual_residual_near_miss": 362, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 301, + "retrieval_residual_residual_no_op": 364, + "retrieval_residual_residual_wrong_gripper": 457 + }, + "*": { + "retrieval_residual_policy_residual": 492, + "retrieval_residual_residual_near_miss": 778, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 427, + "retrieval_residual_residual_no_op": 506, + "retrieval_residual_residual_wrong_gripper": 997 + } + }, + "type_baselines_by_task": { + "LiftPegUpright-v1": 0.7672540322042405, + "PickCube-v1": 0.9000760053000334, + "*": 0.8358233758149436 + } +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/oracle_selector_calibration_train800_k4_score_type005.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/oracle_selector_calibration_train800_k4_score_type005.json new file mode 100644 index 0000000000000000000000000000000000000000..0d53a5c5bb9b3294aeb2560283fd6b576b819d3e --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/oracle_selector_calibration_train800_k4_score_type005.json @@ -0,0 +1,150 @@ +{ + "source_rollouts": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_trainsplit800_oraclek4.json" + ], + "calibration_source": "candidate_oracle_rollout", + "objective": "score", + "max_rank": 4, + "rank_scale": 0.0, + "type_scale": 0.05, + "min_count": 20, + "max_abs_rank_bias": null, + "max_abs_type_bonus": 0.02, + "rows_seen": 800, + "rows_used": 800, + "skipped_branches": 0, + "field_rank_biases_by_task": { + "LiftPegUpright-v1": [ + 0.0, + -0.0, + -0.0, + -0.0 + ], + "PickCube-v1": [ + 0.0, + -0.0, + 0.0, + 0.0 + ], + "*": [ + 0.0, + -0.0, + -0.0, + -0.0 + ] + }, + "rank_utility_means_by_task": { + "LiftPegUpright-v1": [ + 0.8868692456828839, + 0.7361335235741712, + 0.7409371223098548, + 0.7050762372500521 + ], + "PickCube-v1": [ + 0.8983855601219736, + 0.8982264466141745, + 0.9004995540285046, + 0.903192460435481 + ], + "*": [ + 0.892814543012064, + 0.8198139950935729, + 0.8233112276846077, + 0.8073537374695298 + ] + }, + "rank_counts_by_task": { + "LiftPegUpright-v1": [ + 387, + 387, + 387, + 387 + ], + "PickCube-v1": [ + 413, + 413, + 413, + 413 + ], + "*": [ + 800, + 800, + 800, + 800 + ] + }, + "candidate_type_bonuses_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.0005599490005630981, + "retrieval_residual_residual_near_miss": 0.0006278194285271321, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.02, + "retrieval_residual_residual_no_op": -0.015505780222401922, + "retrieval_residual_residual_wrong_gripper": -0.00587988936286949 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": -0.0013123488781204785, + "retrieval_residual_residual_near_miss": 0.01243703307203733, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": -0.0025590240648290076, + "retrieval_residual_residual_no_op": 0.001024714808254179, + "retrieval_residual_residual_wrong_gripper": -0.008499915333138435 + }, + "*": { + "retrieval_residual_policy_residual": -0.0012401471832529098, + "retrieval_residual_residual_near_miss": 0.0057842019292060455, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.011004950010703764, + "retrieval_residual_residual_no_op": -0.0022653539217073306, + "retrieval_residual_residual_wrong_gripper": -0.007465196847490946 + } + }, + "type_utility_means_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.7784530122155024, + "retrieval_residual_residual_near_miss": 0.7798104207747831, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.550486522534537, + "retrieval_residual_residual_no_op": 0.45713842775620206, + "retrieval_residual_residual_wrong_gripper": 0.6496562449468507 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 0.8738290277376238, + "retrieval_residual_residual_near_miss": 1.14881666674078, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.8488955240034533, + "retrieval_residual_residual_no_op": 0.920570301465117, + "retrieval_residual_residual_wrong_gripper": 0.7300776986372647 + }, + "*": { + "retrieval_residual_policy_residual": 0.8110204321498854, + "retrieval_residual_residual_near_miss": 0.9515074143990645, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.0559223760290188, + "retrieval_residual_residual_no_op": 0.790516297380797, + "retrieval_residual_residual_wrong_gripper": 0.6865194388651247 + } + }, + "type_counts_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 324, + "retrieval_residual_residual_near_miss": 416, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 126, + "retrieval_residual_residual_no_op": 142, + "retrieval_residual_residual_wrong_gripper": 540 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 168, + "retrieval_residual_residual_near_miss": 362, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 301, + "retrieval_residual_residual_no_op": 364, + "retrieval_residual_residual_wrong_gripper": 457 + }, + "*": { + "retrieval_residual_policy_residual": 492, + "retrieval_residual_residual_near_miss": 778, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 427, + "retrieval_residual_residual_no_op": 506, + "retrieval_residual_residual_wrong_gripper": 997 + } + }, + "type_baselines_by_task": { + "LiftPegUpright-v1": 0.7672540322042405, + "PickCube-v1": 0.9000760053000334, + "*": 0.8358233758149436 + } +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_r0025_t0025.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_r0025_t0025.json new file mode 100644 index 0000000000000000000000000000000000000000..ccea12ddb950f3e9cd40816624f87fb574892126 --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_r0025_t0025.json @@ -0,0 +1,12263 @@ +{ + "action_mse_to_best": 0.513896973307204, + "backbone_model": null, + "backbone_type": "native", + "candidate_oracle_rollouts": 0, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_sigma": 0.0, + "candidate_type_bonus_components": false, + "candidate_type_bonuses": {}, + "candidate_type_bonuses_by_task": { + "*": { + "retrieval_residual_policy_residual": -0.0006200735916264549, + "retrieval_residual_residual_near_miss": 0.0028921009646030228, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.005502475005351882, + "retrieval_residual_residual_no_op": -0.0011326769608536653, + "retrieval_residual_residual_wrong_gripper": -0.003732598423745473 + }, + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.00027997450028154904, + "retrieval_residual_residual_near_miss": 0.00031390971426356606, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.019580812258257415, + "retrieval_residual_residual_no_op": -0.007752890111200961, + "retrieval_residual_residual_wrong_gripper": -0.002939944681434745 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": -0.0006561744390602393, + "retrieval_residual_residual_near_miss": 0.006218516536018665, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": -0.0012795120324145038, + "retrieval_residual_residual_no_op": 0.0005123574041270895, + "retrieval_residual_residual_wrong_gripper": -0.004249957666569218 + } + }, + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/best_transport.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "expert_success_rate": 0.7704347826086957, + "field_optim_l2_penalty": 0.0, + "field_optim_step_size": 0.0, + "field_optim_steps": 0, + "field_optim_trust_radius": 0.0, + "field_rank_biases_by_task": { + "*": [ + 0.0, + -0.0018250136979622773, + -0.001737582883186406, + -0.0021365201385633555 + ], + "LiftPegUpright-v1": [ + 0.0, + -0.0037683930527178198, + -0.00364830308432573, + -0.004544825210820796 + ], + "PickCube-v1": [ + 0.0, + -3.977837694976727e-06, + 5.284984766327494e-05, + 0.00012017250783768475 + ] + }, + "group_batch_size": 8, + "lattice_exclude_type_tasks": {}, + "lattice_exclude_types": [ + "residual_random_negative", + "residual_wrong_direction", + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper" + ], + "num_candidates": 48, + "num_groups": 575, + "objective": "lattice_field", + "observation_mode": "state", + "oracle_success_rate": 0.8695652173913043, + "per_task": { + "LiftPegUpright-v1": { + "action_mse_to_best": 0.4154428023704847, + "expert_success_rate": 0.8584070796460177, + "num_groups": 113, + "oracle_success_rate": 0.9380530973451328, + "policy_expert_regret": 0.991370276803464, + "policy_oracle_regret": 1.0708220318882866, + "policy_rollout_progress": 0.6288485018025457, + "policy_rollout_success_rate": 0.22123893805309736, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "action_mse_to_best": 0.45423447567483655, + "expert_success_rate": 0.9402173913043478, + "num_groups": 184, + "oracle_success_rate": 0.9456521739130435, + "policy_expert_regret": 1.0321145778693988, + "policy_oracle_regret": 1.032138582344329, + "policy_rollout_progress": 0.580478575703202, + "policy_rollout_success_rate": 0.32608695652173914, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "action_mse_to_best": 0.6715160865140589, + "expert_success_rate": 0.25, + "num_groups": 76, + "oracle_success_rate": 0.40789473684210525, + "policy_expert_regret": 0.21520288871895327, + "policy_oracle_regret": 0.4112466308533361, + "policy_rollout_progress": 0.34072072044211, + "policy_rollout_success_rate": 0.2236842105263158, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "action_mse_to_best": 0.43095958300001985, + "expert_success_rate": 0.8198198198198198, + "num_groups": 111, + "oracle_success_rate": 1.0, + "policy_expert_regret": 0.26138654270687617, + "policy_oracle_regret": 0.27855410983970574, + "policy_rollout_progress": 0.8655900343044384, + "policy_rollout_success_rate": 0.8558558558558559, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "action_mse_to_best": 0.7263169579289772, + "expert_success_rate": 0.6923076923076923, + "num_groups": 91, + "oracle_success_rate": 0.8571428571428571, + "policy_expert_regret": 1.0031107187598616, + "policy_oracle_regret": 1.1629330451999391, + "policy_rollout_progress": 0.45074920503647775, + "policy_rollout_success_rate": 0.23076923076923078, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "policy_expert_regret": 0.7627588257339337, + "policy_oracle_regret": 0.8329000800086752, + "policy_rollout_progress": 0.5928024084396336, + "policy_rollout_success_rate": 0.3791304347826087, + "prepend_policy_candidate": false, + "proposal_lattice_types": [], + "proposal_types": [], + "restore_max_error": 2.384185791015625e-07, + "retrieval_metric": "raw", + "retrieval_neighbors": 6, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_anchor": "expert", + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_type_tasks": {}, + "retrieval_residual_challenger_types": [], + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_by_task": { + "*": 0.0, + "PickCube-v1": 0.01, + "StackCube-v1": 0.05 + }, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "rows": [ + { + "action_mse_to_best": 0.4245049059391022, + "candidate_source_group_id": "ms-4906f3adfda6dace862d;ms-131a98e2d4a78a9645f8;ms-03495469257613a802b4;ms-675833805d1139c2f2a0;ms-b3d9d9570bf9b64c18fe;ms-4c638b9bb924547f69cb", + "expert_regret": 1.6816423833370209, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29027a8e3742362fd477", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6816423833370209, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3183576166629791, + "restore_error": 1.1920928955078125e-07, + "score": 0.3183576166629791, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31471627950668335, + "candidate_source_group_id": "ms-c7677b8f230103dd3c51;ms-e705fef3e4caa4c49718;ms-64a755437c34f39cda2a;ms-0251a326271aa1cab82b;ms-619d3d285d2cae3abbb9;ms-88f7199271947fc4c7e8", + "expert_regret": 1.5994932055473328, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5dcf9054c3c1c4e1d50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5994932055473328, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.40050679445266724, + "restore_error": 1.1920928955078125e-07, + "score": 0.40050679445266724, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5471398234367371, + "candidate_source_group_id": "ms-cf44ae14778c60c36af0;ms-b04b489f4fbad93b65ca;ms-a5bd3a36c6fe41cd0b35;ms-22d006041320a4487c21;ms-9f4b47c80d59166302ab;ms-1a2d298bf9972ddc1a7e", + "expert_regret": 1.6204249858856201, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-851d25e7a1dde4242f33", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6204249858856201, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3795750141143799, + "restore_error": 1.1920928955078125e-07, + "score": 0.3795750141143799, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.28386732935905457, + "candidate_source_group_id": "ms-aa46bb6dc8e6274963b6;ms-118ba8926eda06ffc61e;ms-28c139f34a954b692962;ms-7334e620435d1f3545fd;ms-8bc7aa419d17368d81b5;ms-a1a99e83fb2868164e40", + "expert_regret": 1.2778228521347046, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b0302a41f75a827cd4e4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2778228521347046, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7221771478652954, + "restore_error": 1.1920928955078125e-07, + "score": 0.7221771478652954, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3326335549354553, + "candidate_source_group_id": "ms-b5b68468bf26d19252f0;ms-bb567fcac946f012535a;ms-92070f417bd9d14d6fc7;ms-debd7e5668e2acdf6bb0;ms-20cd6d8ccbf13e36dcdb;ms-aee5716b3e4fc47e46ba", + "expert_regret": 1.28260999917984, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6e2b02ee71a4a44bc325", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.28260999917984, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7173900008201599, + "restore_error": 1.1920928955078125e-07, + "score": 0.7173900008201599, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7238252758979797, + "candidate_source_group_id": "ms-35babd5f83dcf1561f9a;ms-051860c228aa5160d5a6;ms-062addb9da32a0c2ea97;ms-c7c812bb98308442d95b;ms-8fcf4d9d042de2f74d76;ms-1145e0f6add300eee9bd", + "expert_regret": 1.7758309990167618, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c7f34ae8218aa0952c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7758309990167618, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22416900098323822, + "restore_error": 1.1920928955078125e-07, + "score": 0.22416900098323822, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.24290931224823, + "candidate_source_group_id": "ms-44a607bf50304347ead8;ms-f3211ecde366ca9f6ac7;ms-0e48a13af39db4a58bbc;ms-3af721139694f7f3ec04;ms-c910a469460f71880556;ms-8c8cf210aa675c5db1fe", + "expert_regret": 1.7853140234947205, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0a8109ce7ab2ddc1bb1e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7853140234947205, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21468597650527954, + "restore_error": 1.1920928955078125e-07, + "score": 0.21468597650527954, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.49061158299446106, + "candidate_source_group_id": "ms-cc0b4a1deec28e53722a;ms-ac6e78b1c56d020d0c09;ms-8b18ea4e0982a1352696;ms-aee5716b3e4fc47e46ba;ms-5cc5e6359fc006559eae;ms-7272e1e33d4ecc07470c", + "expert_regret": 1.2860559225082397, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cc5f2a24e2571cb23050", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2860559225082397, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7139440774917603, + "restore_error": 1.1920928955078125e-07, + "score": 0.7139440774917603, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4215092062950134, + "candidate_source_group_id": "ms-1e41619ab39cf51b7822;ms-88f748134c3fd27fcf72;ms-6a03497f97765ffd444e;ms-e6ca7414c5035e80d0ac;ms-a4420cda0b159dda82a2;ms-c7c812bb98308442d95b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c1f3359c70d068a36081", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4542083740234375, + "candidate_source_group_id": "ms-b3d9d9570bf9b64c18fe;ms-22aaa483f5e7d381b63d;ms-0ef5d3238b33bdebae4d;ms-e4090b0b0c1739070201;ms-131a98e2d4a78a9645f8;ms-675833805d1139c2f2a0", + "expert_regret": 1.7675793319940567, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-295dab0e1d105e758827", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7675793319940567, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2324206680059433, + "restore_error": 1.1920928955078125e-07, + "score": 0.2324206680059433, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.341036856174469, + "candidate_source_group_id": "ms-5bbc4c4b1b51e2a088db;ms-502c195c0e4810814bac;ms-4906f3adfda6dace862d;ms-9f993a6e9bb26846d4f4;ms-3db845076f92a16d1840;ms-cdbfe4d3b05f4ed12db3", + "expert_regret": 1.710267573595047, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3661d65df223386f1be9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.710267573595047, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.289732426404953, + "restore_error": 1.1920928955078125e-07, + "score": 0.289732426404953, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4503609836101532, + "candidate_source_group_id": "ms-73c99a7a25cd025e5f2d;ms-98c8fcf4c9f098cebe8d;ms-6959fa589edc996753d7;ms-cf7bdf0776c928ee2342;ms-7ce799eb9d3b741e8960;ms-18ab33df290e3919a468", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-483520829af0d733cb2a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30870428681373596, + "candidate_source_group_id": "ms-3e0dbff4309ecbd35d36;ms-44e7935dbed5f3b3c739;ms-080e034927abe2f30d60;ms-a4ade4de51ca437ac432;ms-ebeb5587176e3877b98a;ms-f0d2ffde521e268efc83", + "expert_regret": 1.289667010307312, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-835bd462e505aa659d16", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.289667010307312, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.710332989692688, + "restore_error": 1.1920928955078125e-07, + "score": 0.710332989692688, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.44200700521469116, + "candidate_source_group_id": "ms-30e2d8b7825053276e0c;ms-af91167a0cf15457c6ba;ms-4b4cd12d70c0615e0930;ms-251c1dfd1010906f559f;ms-e12808f670338ca180c6;ms-c0ed69f549e56aa55f3d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-320d99264926ea029f95", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3915325999259949, + "candidate_source_group_id": "ms-aee5716b3e4fc47e46ba;ms-7272e1e33d4ecc07470c;ms-20cd6d8ccbf13e36dcdb;ms-92070f417bd9d14d6fc7;ms-8b18ea4e0982a1352696;ms-062a265cedee2107eb17", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6a4398375c43dbf887b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.15016743540763855, + "candidate_source_group_id": "ms-33294c8fed5a847bf149;ms-83019373a06eb384c886;ms-cbd6cc8b2708d5e3e4a9;ms-8e23d2d44e709420e46d;ms-83c62951219e6599b630;ms-f5ebbab81506fa27fc6d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9551db96b60a51ccf62a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6540576219558716, + "candidate_source_group_id": "ms-13d8bae55d3c3710138f;ms-c2b904f450b45e2a8c9a;ms-e1b6bcb41532a800d3cb;ms-29a11d7bdcf49c86bd7a;ms-28835618507e7bc71227;ms-9852b3671856321cecc8", + "expert_regret": 1.7917158603668213, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-36d1128e3bd512cffe18", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7917158603668213, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2082841396331787, + "restore_error": 1.1920928955078125e-07, + "score": 0.2082841396331787, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4507935047149658, + "candidate_source_group_id": "ms-7a3daad6772d2384ea66;ms-2f2b16367db3db120235;ms-1d728ae415a4d3cb782e;ms-01a86e5f5731af7002ab;ms-e91b824c3841686ed053;ms-8be46dac6fc06c6c928a", + "expert_regret": 1.545185625553131, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e56b37f0e3881a70ef54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.545185625553131, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4548143744468689, + "restore_error": 1.1920928955078125e-07, + "score": 0.4548143744468689, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.395370751619339, + "candidate_source_group_id": "ms-118ba8926eda06ffc61e;ms-a1a99e83fb2868164e40;ms-aa46bb6dc8e6274963b6;ms-aee5716b3e4fc47e46ba;ms-28c139f34a954b692962;ms-7272e1e33d4ecc07470c", + "expert_regret": 1.289462387561798, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9a72e47e2204fa794718", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.289462387561798, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7105376124382019, + "restore_error": 1.1920928955078125e-07, + "score": 0.7105376124382019, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.380025178194046, + "candidate_source_group_id": "ms-22aaa483f5e7d381b63d;ms-0ef5d3238b33bdebae4d;ms-8556e974064f31ae1468;ms-e4090b0b0c1739070201;ms-3a09e411ee6c882ef7df;ms-a20322ed13a2be7a99c6", + "expert_regret": 1.3035972118377686, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d26dc2146eb8ae9a5434", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3035972118377686, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6964027881622314, + "restore_error": 1.1920928955078125e-07, + "score": 0.6964027881622314, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38078659772872925, + "candidate_source_group_id": "ms-85e3feba1c0f3084cfa0;ms-6ca37421eb5405e1a9a5;ms-e467ecc93a4793286423;ms-577341cca32521f4045e;ms-b55ca348be8b64323714;ms-6a9c4c704edd84c21cda", + "expert_regret": 1.59490305185318, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c7bbc80458fce91a1ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.59490305185318, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.40509694814682007, + "restore_error": 1.1920928955078125e-07, + "score": 0.40509694814682007, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35227730870246887, + "candidate_source_group_id": "ms-b55ca348be8b64323714;ms-d8f42ed6b0b686d819ab;ms-a195f05e99bccc48907e;ms-80e3d8a34c3cb94cad65;ms-6a9c4c704edd84c21cda;ms-8be46dac6fc06c6c928a", + "expert_regret": 1.318571388721466, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ff012c1c8597c8db3cc7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.318571388721466, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6814286112785339, + "restore_error": 1.1920928955078125e-07, + "score": 0.6814286112785339, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3136642873287201, + "candidate_source_group_id": "ms-f6f0d14ef7c24b9e4621;ms-675833805d1139c2f2a0;ms-e89a3ba400f81d2795f3;ms-0a6bff8326e7e32702f3;ms-a40dee47c502e73949af;ms-a6e4ac1995198def96a8", + "expert_regret": 1.392489731311798, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-31fe1d98bc7adcd515db", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.392489731311798, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6075102686882019, + "restore_error": 1.1920928955078125e-07, + "score": 0.6075102686882019, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.233131542801857, + "candidate_source_group_id": "ms-fae3c6a2f1b575ddc3f7;ms-d2839c13649000454a65;ms-b383acd9844466b19579;ms-4b3a296acc66a14476c3;ms-ecb5cc61f0b736e3f06f;ms-662379c2c351807b9cdf", + "expert_regret": 0.005734145641326904, + "expert_score": 0.6959263682365417, + "expert_success": false, + "group_id": "ms-ed4f6388ae96f9da76fa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.033953070640563965, + "oracle_score": 0.7241452932357788, + "oracle_success": false, + "progress": 0.6901922225952148, + "restore_error": 1.1920928955078125e-07, + "score": 0.6901922225952148, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5815258026123047, + "candidate_source_group_id": "ms-ecb5cc61f0b736e3f06f;ms-662379c2c351807b9cdf;ms-80d8d8fc4a3308139975;ms-a40abdebe8a9c17de878;ms-7a1b60ea1461eb460bed;ms-6abc3749b5df33ea621e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ed30f8fbb80b2cf46fbc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3806097209453583, + "candidate_source_group_id": "ms-3a09e411ee6c882ef7df;ms-22aaa483f5e7d381b63d;ms-0ef5d3238b33bdebae4d;ms-e4090b0b0c1739070201;ms-2b59042e27453aff03a7;ms-b483cac145e16ccdf42a", + "expert_regret": 1.3006014823913574, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dd94921779f12b249579", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3006014823913574, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6993985176086426, + "restore_error": 1.1920928955078125e-07, + "score": 0.6993985176086426, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2843671143054962, + "candidate_source_group_id": "ms-01bef10a5ccfd38294fe;ms-125287f805d320b2eff7;ms-30e4ae59842091fe16b2;ms-f4060cdbe6d39b9215ac;ms-a905b84bd3ab703c025f;ms-14a2c3eb293175cb76f3", + "expert_regret": 1.613783597946167, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5fc588b9c9d52034f4c4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.613783597946167, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.386216402053833, + "restore_error": 1.1920928955078125e-07, + "score": 0.386216402053833, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2779662311077118, + "candidate_source_group_id": "ms-0251a326271aa1cab82b;ms-ee28aef4a7ee25ff7f7c;ms-b4af9d7c922b1676e516;ms-eeeff97e2c39be877cb0;ms-22d1b2dcc954dcdff384;ms-04cc31b72a8dc8a91911", + "expert_regret": 1.4527642726898193, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8fabc0ac20ec87ead026", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4527642726898193, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5472357273101807, + "restore_error": 1.1920928955078125e-07, + "score": 0.5472357273101807, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.06293687969446182, + "candidate_source_group_id": "ms-f5ebbab81506fa27fc6d;ms-83c62951219e6599b630;ms-83019373a06eb384c886;ms-cbd6cc8b2708d5e3e4a9;ms-a323215fb409ab3e9287;ms-8e23d2d44e709420e46d", + "expert_regret": 0.0, + "expert_score": 0.728268027305603, + "expert_success": false, + "group_id": "ms-8864796e31bbe93d7c5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3961597979068756, + "candidate_source_group_id": "ms-c663f7e73e7e8376a05c;ms-3c3fb1d170c1a7965ac4;ms-0bc111c5ce4e0052716b;ms-73e3079ce5eb7cd14ec8;ms-efbde8652e75274fbd69;ms-b0861c414f8690d62a82", + "expert_regret": 1.2838863134384155, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b37738e210bf33a45a1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2838863134384155, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7161136865615845, + "restore_error": 1.1920928955078125e-07, + "score": 0.7161136865615845, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2463909238576889, + "candidate_source_group_id": "ms-36f204d04ec4c4af3169;ms-caa0a38b7df789550f8a;ms-bdc14f3225a9c9f26513;ms-83c62951219e6599b630;ms-76b0b0463fdb323b6233;ms-83019373a06eb384c886", + "expert_regret": 0.0009024143218994141, + "expert_score": 0.6975592374801636, + "expert_success": false, + "group_id": "ms-f81ea99a1ec3423f3b6e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.019176781177520752, + "oracle_score": 0.7158336043357849, + "oracle_success": false, + "progress": 0.6966568231582642, + "restore_error": 1.1920928955078125e-07, + "score": 0.6966568231582642, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7101384997367859, + "candidate_source_group_id": "ms-a96ff9a1d5571ec4a6f2;ms-d8295b43b30ceea30907;ms-88fb2bebd038dc786c01;ms-ef2d84500e27679d22d9;ms-d2839c13649000454a65;ms-4b3a296acc66a14476c3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-957002faf092f769aa8e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.23149064183235168, + "candidate_source_group_id": "ms-fc9b4c94b51f8b2a521b;ms-ec4c6be448348c8021a9;ms-d8f42ed6b0b686d819ab;ms-e467ecc93a4793286423;ms-b025d8068f740557d630;ms-a195f05e99bccc48907e", + "expert_regret": 1.294361650943756, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3a97ee208c6be9ed8b74", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.294361650943756, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7056383490562439, + "restore_error": 1.1920928955078125e-07, + "score": 0.7056383490562439, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16457273066043854, + "candidate_source_group_id": "ms-59bff662e0ecb913ed81;ms-502dba1003c09ec60ba0;ms-605dbfbe6bef2b15b58c;ms-5cc5e6359fc006559eae;ms-f2c8835e8a162283a646;ms-ac6e78b1c56d020d0c09", + "expert_regret": 1.2948582768440247, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3d862f2a32d3404926c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2948582768440247, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7051417231559753, + "restore_error": 1.1920928955078125e-07, + "score": 0.7051417231559753, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39186471700668335, + "candidate_source_group_id": "ms-c910a469460f71880556;ms-e12808f670338ca180c6;ms-f3211ecde366ca9f6ac7;ms-8c8cf210aa675c5db1fe;ms-44a607bf50304347ead8;ms-251c1dfd1010906f559f", + "expert_regret": 1.3133373260498047, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83c0299c23fa800452c7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3133373260498047, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6866626739501953, + "restore_error": 1.1920928955078125e-07, + "score": 0.6866626739501953, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.17706002295017242, + "candidate_source_group_id": "ms-bbefdf03d0471be60f8f;ms-ea164b21572d39ffed58;ms-06cb0796d1097e6ca111;ms-0f02ff35b7fa1234c52e;ms-7334e620435d1f3545fd;ms-1cb9edbe8bd7ed4106c1", + "expert_regret": 1.2815313935279846, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4a86d570dabb0916f020", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2815313935279846, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7184686064720154, + "restore_error": 1.1920928955078125e-07, + "score": 0.7184686064720154, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.33610862493515015, + "candidate_source_group_id": "ms-8fcf4d9d042de2f74d76;ms-7dfc3684b46df95070e2;ms-13aa39b96923ad8c913a;ms-bc56601ca069f65cd08f;ms-5bbc4c4b1b51e2a088db;ms-4906f3adfda6dace862d", + "expert_regret": 1.687185525894165, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c871c1157a16e19e6150", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.687185525894165, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.31281447410583496, + "restore_error": 1.1920928955078125e-07, + "score": 0.31281447410583496, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3935496211051941, + "candidate_source_group_id": "ms-2f2b16367db3db120235;ms-6a9c4c704edd84c21cda;ms-a195f05e99bccc48907e;ms-b55ca348be8b64323714;ms-7a3daad6772d2384ea66;ms-d8f42ed6b0b686d819ab", + "expert_regret": 1.541308045387268, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-84264ef080ec4f3631df", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.541308045387268, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.45869195461273193, + "restore_error": 1.1920928955078125e-07, + "score": 0.45869195461273193, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.010319090448319912, + "candidate_source_group_id": "ms-9f993a6e9bb26846d4f4;ms-4c638b9bb924547f69cb;ms-ef8de99d917753ec603c;ms-502c195c0e4810814bac;ms-ff3256da4e1731651937;ms-7cd314f076bfe5c32088", + "expert_regret": 0.04230421781539917, + "expert_score": 0.7187107801437378, + "expert_success": false, + "group_id": "ms-caeb4c3d358f256799a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3235934376716614, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6764065623283386, + "restore_error": 1.1920928955078125e-07, + "score": 0.6764065623283386, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.23665443062782288, + "candidate_source_group_id": "ms-eeeff97e2c39be877cb0;ms-b4af9d7c922b1676e516;ms-0251a326271aa1cab82b;ms-ee28aef4a7ee25ff7f7c;ms-64a755437c34f39cda2a;ms-e705fef3e4caa4c49718", + "expert_regret": 1.4375720620155334, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f0c6556f6c7df39ec2d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4375720620155334, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5624279379844666, + "restore_error": 1.1920928955078125e-07, + "score": 0.5624279379844666, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.405322402715683, + "candidate_source_group_id": "ms-3996b923bb25440c29e3;ms-324a58dd51dfecb51fa8;ms-8c4a08985213114fffb7;ms-7b1a03be4a61ba27261c;ms-2590f9fd91265598fb45;ms-55e89d326b6531345902", + "expert_regret": 1.3049929738044739, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d602b7370c5b90f8a439", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3049929738044739, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6950070261955261, + "restore_error": 1.1920928955078125e-07, + "score": 0.6950070261955261, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3900124132633209, + "candidate_source_group_id": "ms-35babd5f83dcf1561f9a;ms-c7c812bb98308442d95b;ms-062addb9da32a0c2ea97;ms-a4420cda0b159dda82a2;ms-684a66885f21739d826b;ms-076246c4c5d1ca8ccd9d", + "expert_regret": 1.2739605903625488, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5a56eefeb2de0abe600", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2739605903625488, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7260394096374512, + "restore_error": 1.1920928955078125e-07, + "score": 0.7260394096374512, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.007675953675061464, + "candidate_source_group_id": "ms-26322bd4de52dbd5743c;ms-e2950dcb50ed2b955be6;ms-3f56672eac1c00e9c2b0;ms-fb329ccd569163c53415;ms-e3f38594991aafbffc23;ms-9156a9a9c1b829b742ad", + "expert_regret": 0.0, + "expert_score": 0.49721559882164, + "expert_success": false, + "group_id": "ms-059d7962a5f998edf668", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2845547199249268, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7154452800750732, + "restore_error": 1.1920928955078125e-07, + "score": 0.7154452800750732, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5271774530410767, + "candidate_source_group_id": "ms-c0142e4a5d15dd8d647a;ms-40392e5aeef63551f9ac;ms-49c99f285560483a85ee;ms-8a9e7d69f7ade362fe40;ms-9b687dc2de14c6813d44;ms-1955408aeb8a8a4d0847", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e2f90eb6c79dfd9ce6fd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5124027132987976, + "candidate_source_group_id": "ms-af91167a0cf15457c6ba;ms-30e2d8b7825053276e0c;ms-8c8cf210aa675c5db1fe;ms-251c1dfd1010906f559f;ms-89520c3ac8779d9e81e7;ms-4b4cd12d70c0615e0930", + "expert_regret": 1.7897977232933044, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e7573c5d29c3a1a3f228", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7897977232933044, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21020227670669556, + "restore_error": 1.1920928955078125e-07, + "score": 0.21020227670669556, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3556840717792511, + "candidate_source_group_id": "ms-aa46bb6dc8e6274963b6;ms-118ba8926eda06ffc61e;ms-28c139f34a954b692962;ms-a1a99e83fb2868164e40;ms-7334e620435d1f3545fd;ms-99f263cb3f383b1f6243", + "expert_regret": 0.001954317092895508, + "expert_score": 0.714394211769104, + "expert_success": false, + "group_id": "ms-c76aba3db8d4ce0062bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.001954317092895508, + "oracle_score": 0.714394211769104, + "oracle_success": false, + "progress": 0.7124398946762085, + "restore_error": 1.1920928955078125e-07, + "score": 0.7124398946762085, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36700984835624695, + "candidate_source_group_id": "ms-14a2c3eb293175cb76f3;ms-30e4ae59842091fe16b2;ms-a8eb841beb710c8fbfb1;ms-01bef10a5ccfd38294fe;ms-8054283375aeefc8f2c1;ms-f7169e27b3743aa48e77", + "expert_regret": 1.6275580525398254, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0fe7053483f72737eaec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6275580525398254, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.37244194746017456, + "restore_error": 1.1920928955078125e-07, + "score": 0.37244194746017456, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16099348664283752, + "candidate_source_group_id": "ms-c6c7803c56c24c460c7f;ms-f237f72fe3db2b4f8e12;ms-4abb3dced67d5a70fa38;ms-794706690fbf8c028bda;ms-33294c8fed5a847bf149;ms-761ab1e423462aa44e3d", + "expert_regret": 1.3017526268959045, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b8956f04f70d6eeecb07", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.3017526268959045, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6982473731040955, + "restore_error": 1.1920928955078125e-07, + "score": 0.6982473731040955, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6612639427185059, + "candidate_source_group_id": "ms-88fb2bebd038dc786c01;ms-d8295b43b30ceea30907;ms-ef2d84500e27679d22d9;ms-a96ff9a1d5571ec4a6f2;ms-fa077183f74add357112;ms-80d8d8fc4a3308139975", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ea41340182245326a218", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6521096229553223, + "candidate_source_group_id": "ms-3aa33c0fda88e08e75fa;ms-760c73ea34418ce7a006;ms-3efca8ee8623914a4faf;ms-b483cac145e16ccdf42a;ms-2b59042e27453aff03a7;ms-9fd14cc61816c2d4360e", + "expert_regret": 1.7458744645118713, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d3a7e3f163b142a3e56b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7458744645118713, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25412553548812866, + "restore_error": 2.384185791015625e-07, + "score": 0.25412553548812866, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.1237618923187256, + "candidate_source_group_id": "ms-f3211ecde366ca9f6ac7;ms-44a607bf50304347ead8;ms-ba9541c7192498a1d8bd;ms-3af721139694f7f3ec04;ms-68c63442972f322789b5;ms-e6478d71ed92dae06539", + "expert_regret": 0.5095877051353455, + "expert_score": 0.7226133346557617, + "expert_success": false, + "group_id": "ms-a103dfbc0567d05ade6e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5095877051353455, + "oracle_score": 0.7226133346557617, + "oracle_success": false, + "progress": 0.21302562952041626, + "restore_error": 2.384185791015625e-07, + "score": 0.21302562952041626, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40501219034194946, + "candidate_source_group_id": "ms-785fb44f1371895f7721;ms-dbad4f4d0df3c19c7bbb;ms-76b0b0463fdb323b6233;ms-dfc38c43e9a87f99ef7f;ms-83c62951219e6599b630;ms-83019373a06eb384c886", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-938b53ef53e669518a56", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.44034475088119507, + "candidate_source_group_id": "ms-261f6f6b578cee63be20;ms-8be46dac6fc06c6c928a;ms-48db1178206eee52434a;ms-e91b824c3841686ed053;ms-7a3daad6772d2384ea66;ms-fb131b52f94500da894b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-35d84da6eb1afcf8a811", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3418883681297302, + "candidate_source_group_id": "ms-619d3d285d2cae3abbb9;ms-64a755437c34f39cda2a;ms-88f7199271947fc4c7e8;ms-c7677b8f230103dd3c51;ms-40eb8d19498413d4e730;ms-69785feff08dbf9a50be", + "expert_regret": 1.290425181388855, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-865f9d670f806778ae61", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.290425181388855, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.709574818611145, + "restore_error": 2.384185791015625e-07, + "score": 0.709574818611145, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32544347643852234, + "candidate_source_group_id": "ms-e705fef3e4caa4c49718;ms-88f7199271947fc4c7e8;ms-894cd0e5dafb2d38831d;ms-c7677b8f230103dd3c51;ms-4c72a9ad08cbf51799fb;ms-55e89d326b6531345902", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0fe90299788e1f71f98a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22819410264492035, + "candidate_source_group_id": "ms-2e7fc6c97e5ce1f024e5;ms-32943eea3e70cd02f313;ms-73e3079ce5eb7cd14ec8;ms-3c3fb1d170c1a7965ac4;ms-efbde8652e75274fbd69;ms-507199452c6d42562a38", + "expert_regret": 1.6240392327308655, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d30b515ab0ee174afa58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6240392327308655, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3759607672691345, + "restore_error": 2.384185791015625e-07, + "score": 0.3759607672691345, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31272071599960327, + "candidate_source_group_id": "ms-faeff0379a053e9ea351;ms-3f56672eac1c00e9c2b0;ms-e2950dcb50ed2b955be6;ms-caa0a38b7df789550f8a;ms-2f1164357c9732e059d4;ms-26322bd4de52dbd5743c", + "expert_regret": 1.2875560522079468, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe790caba27d92511f71", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2875560522079468, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7124439477920532, + "restore_error": 1.1920928955078125e-07, + "score": 0.7124439477920532, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.452287495136261, + "candidate_source_group_id": "ms-aa46bb6dc8e6274963b6;ms-118ba8926eda06ffc61e;ms-28c139f34a954b692962;ms-a1a99e83fb2868164e40;ms-7334e620435d1f3545fd;ms-8bc7aa419d17368d81b5", + "expert_regret": 1.2904335260391235, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ec4accef21246e0c9213", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2904335260391235, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7095664739608765, + "restore_error": 1.1920928955078125e-07, + "score": 0.7095664739608765, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38081783056259155, + "candidate_source_group_id": "ms-3c1e7b47135487435fc1;ms-8b461b0929537fbc1d41;ms-f1529c9d823325056e8d;ms-131a98e2d4a78a9645f8;ms-e89a3ba400f81d2795f3;ms-a6e4ac1995198def96a8", + "expert_regret": 1.7432265281677246, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08dc71adea7d8efeb298", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7432265281677246, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2567734718322754, + "restore_error": 1.1920928955078125e-07, + "score": 0.2567734718322754, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3453432023525238, + "candidate_source_group_id": "ms-125287f805d320b2eff7;ms-f4060cdbe6d39b9215ac;ms-a905b84bd3ab703c025f;ms-01bef10a5ccfd38294fe;ms-9257b89b9b635a0fb174;ms-69cb3fa758f707a58076", + "expert_regret": 1.3002782464027405, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d799435b5f6b8fae2ffb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3002782464027405, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6997217535972595, + "restore_error": 1.1920928955078125e-07, + "score": 0.6997217535972595, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6271886229515076, + "candidate_source_group_id": "ms-7a1b60ea1461eb460bed;ms-a40abdebe8a9c17de878;ms-662379c2c351807b9cdf;ms-ecb5cc61f0b736e3f06f;ms-80d8d8fc4a3308139975;ms-89feb4366865cfaf2273", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-96e1562aaca7ef49db28", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.414641797542572, + "candidate_source_group_id": "ms-9b687dc2de14c6813d44;ms-917b0f051489227842f0;ms-1955408aeb8a8a4d0847;ms-8a9e7d69f7ade362fe40;ms-40392e5aeef63551f9ac;ms-17a5e9b7bd8c1f255307", + "expert_regret": 1.608191192150116, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-524ae7618ed9b6a272ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.608191192150116, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.39180880784988403, + "restore_error": 1.1920928955078125e-07, + "score": 0.39180880784988403, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5317721366882324, + "candidate_source_group_id": "ms-13d8bae55d3c3710138f;ms-29a11d7bdcf49c86bd7a;ms-c2b904f450b45e2a8c9a;ms-af91167a0cf15457c6ba;ms-4b4cd12d70c0615e0930;ms-30e2d8b7825053276e0c", + "expert_regret": 0.5251690149307251, + "expert_score": 0.7285350561141968, + "expert_success": false, + "group_id": "ms-33a0bdb4bcee42c79a2b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5251690149307251, + "oracle_score": 0.7285350561141968, + "oracle_success": false, + "progress": 0.20336604118347168, + "restore_error": 1.1920928955078125e-07, + "score": 0.20336604118347168, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31834229826927185, + "candidate_source_group_id": "ms-35babd5f83dcf1561f9a;ms-c7c812bb98308442d95b;ms-076246c4c5d1ca8ccd9d;ms-684a66885f21739d826b;ms-a4420cda0b159dda82a2;ms-062addb9da32a0c2ea97", + "expert_regret": 1.5644829273223877, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97c28a7584b35207bf84", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5644829273223877, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4355170726776123, + "restore_error": 1.1920928955078125e-07, + "score": 0.4355170726776123, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1275118738412857, + "candidate_source_group_id": "ms-5003e0cda1e13bd4850a;ms-472376eba1a5e1c706bf;ms-908213fef55ccf1dfda6;ms-dfc38c43e9a87f99ef7f;ms-785fb44f1371895f7721;ms-76b0b0463fdb323b6233", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-14dabc3ac1e1a339ebe4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39949655532836914, + "candidate_source_group_id": "ms-472376eba1a5e1c706bf;ms-dfc38c43e9a87f99ef7f;ms-908213fef55ccf1dfda6;ms-785fb44f1371895f7721;ms-76b0b0463fdb323b6233;ms-5003e0cda1e13bd4850a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-487d0fe2a13fb699dd7a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5158498883247375, + "candidate_source_group_id": "ms-7d68051ee4e3b8a5c9a4;ms-3c1e7b47135487435fc1;ms-8bab784ae53525967763;ms-d9ed0a9faf86ca5f5caa;ms-3aa33c0fda88e08e75fa;ms-675833805d1139c2f2a0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-76c7efad95ae67dba1ca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2694433927536011, + "candidate_source_group_id": "ms-ee28aef4a7ee25ff7f7c;ms-0251a326271aa1cab82b;ms-22d1b2dcc954dcdff384;ms-04cc31b72a8dc8a91911;ms-52ea0261959dfacdbcac;ms-b025d8068f740557d630", + "expert_regret": 1.2892059087753296, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cba95475cb68ea42b041", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2892059087753296, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7107940912246704, + "restore_error": 1.1920928955078125e-07, + "score": 0.7107940912246704, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5947832465171814, + "candidate_source_group_id": "ms-c0142e4a5d15dd8d647a;ms-40392e5aeef63551f9ac;ms-49c99f285560483a85ee;ms-8a9e7d69f7ade362fe40;ms-9b687dc2de14c6813d44;ms-1955408aeb8a8a4d0847", + "expert_regret": 1.7964310199022293, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf2603516869355b8b13", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7964310199022293, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2035689800977707, + "restore_error": 1.1920928955078125e-07, + "score": 0.2035689800977707, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6525471806526184, + "candidate_source_group_id": "ms-f237f72fe3db2b4f8e12;ms-794706690fbf8c028bda;ms-c6c7803c56c24c460c7f;ms-5b4f2522663bec742b02;ms-737e72810112f3246b05;ms-62b88f5cbc4f137e3bba", + "expert_regret": 1.3051927089691162, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f601aab1d8f7e4f1b97f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.3051927089691162, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6948072910308838, + "restore_error": 1.1920928955078125e-07, + "score": 0.6948072910308838, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3210226893424988, + "candidate_source_group_id": "ms-de8d6051e6ee74b62fec;ms-ba9541c7192498a1d8bd;ms-3af721139694f7f3ec04;ms-f3211ecde366ca9f6ac7;ms-251c1dfd1010906f559f;ms-a43b35c03282fe0c8464", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-35c12c467fb8a54f89f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.17787528038024902, + "candidate_source_group_id": "ms-bbefdf03d0471be60f8f;ms-06cb0796d1097e6ca111;ms-ea164b21572d39ffed58;ms-1cb9edbe8bd7ed4106c1;ms-73259d17883355f7fa88;ms-0f02ff35b7fa1234c52e", + "expert_regret": 1.2881348729133606, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-832f0e966173abd16c34", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2881348729133606, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7118651270866394, + "restore_error": 1.1920928955078125e-07, + "score": 0.7118651270866394, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.27671512961387634, + "candidate_source_group_id": "ms-a905b84bd3ab703c025f;ms-f4060cdbe6d39b9215ac;ms-9257b89b9b635a0fb174;ms-125287f805d320b2eff7;ms-cf8c5d9c874edc9f000d;ms-3176a570b75767d1d729", + "expert_regret": 1.3121393322944641, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9554f100dd5be3a4fa47", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3121393322944641, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6878606677055359, + "restore_error": 1.1920928955078125e-07, + "score": 0.6878606677055359, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3986041247844696, + "candidate_source_group_id": "ms-85e3feba1c0f3084cfa0;ms-6a9c4c704edd84c21cda;ms-b55ca348be8b64323714;ms-6ca37421eb5405e1a9a5;ms-577341cca32521f4045e;ms-a195f05e99bccc48907e", + "expert_regret": 1.7209884524345398, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e825996818ee6f2f7d26", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7209884524345398, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2790115475654602, + "restore_error": 1.1920928955078125e-07, + "score": 0.2790115475654602, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5514193773269653, + "candidate_source_group_id": "ms-6ceb341dfa656e485a13;ms-b2d1a5e132eaeb353782;ms-6f03b16858c35025503e;ms-27251a7c7f13bf165e21;ms-1a2d298bf9972ddc1a7e;ms-741e906eafd57d115b5d", + "expert_regret": 1.3031979203224182, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0d80d6d87a27a53951fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3031979203224182, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6968020796775818, + "restore_error": 1.1920928955078125e-07, + "score": 0.6968020796775818, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.20750446617603302, + "candidate_source_group_id": "ms-7272e1e33d4ecc07470c;ms-9ced92cccacfe4d157b0;ms-cc0b4a1deec28e53722a;ms-92070f417bd9d14d6fc7;ms-aee5716b3e4fc47e46ba;ms-8b18ea4e0982a1352696", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-145f60d5fff285e7d05b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.8588756918907166, + "candidate_source_group_id": "ms-76b0b0463fdb323b6233;ms-785fb44f1371895f7721;ms-dfc38c43e9a87f99ef7f;ms-472376eba1a5e1c706bf;ms-908213fef55ccf1dfda6;ms-3f56672eac1c00e9c2b0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-34f60c9a263bd0a5641f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4737146198749542, + "candidate_source_group_id": "ms-fc9b4c94b51f8b2a521b;ms-d8f42ed6b0b686d819ab;ms-b025d8068f740557d630;ms-3176a570b75767d1d729;ms-a195f05e99bccc48907e;ms-80e3d8a34c3cb94cad65", + "expert_regret": 1.6911925673484802, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fc3c8a3572fd96442723", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6911925673484802, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3088074326515198, + "restore_error": 1.1920928955078125e-07, + "score": 0.3088074326515198, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.46718165278434753, + "candidate_source_group_id": "ms-1955408aeb8a8a4d0847;ms-917b0f051489227842f0;ms-8a9e7d69f7ade362fe40;ms-9b687dc2de14c6813d44;ms-17a5e9b7bd8c1f255307;ms-85fcc6b4797417c3473f", + "expert_regret": 1.4186664819717407, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b15f77ad3436ac282ba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4186664819717407, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5813335180282593, + "restore_error": 1.1920928955078125e-07, + "score": 0.5813335180282593, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.19720086455345154, + "candidate_source_group_id": "ms-457db124a2f46a06175b;ms-340913cb08bfca09a4e3;ms-f0d2ffde521e268efc83;ms-b4281a37b8b48a0b4c54;ms-fdb2637276b27c46c757;ms-e536e40f6902c6ba0927", + "expert_regret": 1.6449675559997559, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01ab68aa5051226638ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6449675559997559, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.35503244400024414, + "restore_error": 1.1920928955078125e-07, + "score": 0.35503244400024414, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4464258551597595, + "candidate_source_group_id": "ms-4b4cd12d70c0615e0930;ms-e12808f670338ca180c6;ms-8c8cf210aa675c5db1fe;ms-c910a469460f71880556;ms-0e48a13af39db4a58bbc;ms-f3211ecde366ca9f6ac7", + "expert_regret": 0.052265703678131104, + "expert_score": 0.7284893989562988, + "expert_success": false, + "group_id": "ms-1bbd61ce613ae75c8bb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.052265703678131104, + "oracle_score": 0.7284893989562988, + "oracle_success": false, + "progress": 0.6762236952781677, + "restore_error": 1.862645149230957e-07, + "score": 0.6762236952781677, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.45750945806503296, + "candidate_source_group_id": "ms-91710558482886874dd7;ms-7614105b40956cc606ee;ms-490e2c471adbabec6304;ms-4f54ed10d332989ae524;ms-5b4f2522663bec742b02;ms-62b88f5cbc4f137e3bba", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-73906fdb1ffcfbe4aaf4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.862645149230957e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.447094589471817, + "candidate_source_group_id": "ms-0bc111c5ce4e0052716b;ms-c663f7e73e7e8376a05c;ms-777412474251e64d7e24;ms-4f54ed10d332989ae524;ms-3c3fb1d170c1a7965ac4;ms-efbde8652e75274fbd69", + "expert_regret": 1.74392431974411, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6818a4edf6ef35dacfb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.74392431974411, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2560756802558899, + "restore_error": 1.862645149230957e-07, + "score": 0.2560756802558899, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.15365096926689148, + "candidate_source_group_id": "ms-bc56601ca069f65cd08f;ms-a4ade4de51ca437ac432;ms-1145e0f6add300eee9bd;ms-bbefdf03d0471be60f8f;ms-988537a36edfece3d073;ms-ea164b21572d39ffed58", + "expert_regret": 1.4197071194648743, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-38758efd8620a312267d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4197071194648743, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5802928805351257, + "restore_error": 1.862645149230957e-07, + "score": 0.5802928805351257, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.039025068283081055, + "candidate_source_group_id": "ms-cce5ef6cfa69a08a1e05;ms-e12808f670338ca180c6;ms-c0ed69f549e56aa55f3d;ms-715db95b13ebc6c977c8;ms-4b4cd12d70c0615e0930;ms-251c1dfd1010906f559f", + "expert_regret": 0.5235019028186798, + "expert_score": 0.725497841835022, + "expert_success": false, + "group_id": "ms-0660d5f65df5fc4b6132", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7980040609836578, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20199593901634216, + "restore_error": 1.862645149230957e-07, + "score": 0.20199593901634216, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.19578464329242706, + "candidate_source_group_id": "ms-a242f1d12ebfcd82de05;ms-051860c228aa5160d5a6;ms-bc56601ca069f65cd08f;ms-e3526036a5bf85cac0bf;ms-a2c1429e7b81479b52db;ms-f6f0d14ef7c24b9e4621", + "expert_regret": 1.3039326667785645, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-078317e23cc56a9d719d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3039326667785645, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6960673332214355, + "restore_error": 1.862645149230957e-07, + "score": 0.6960673332214355, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4037862718105316, + "candidate_source_group_id": "ms-a74a87e26362d09598fe;ms-69785feff08dbf9a50be;ms-73c99a7a25cd025e5f2d;ms-17a5e9b7bd8c1f255307;ms-9b687dc2de14c6813d44;ms-40eb8d19498413d4e730", + "expert_regret": 1.2812621593475342, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-57dc9349b8f2c9c49105", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2812621593475342, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7187378406524658, + "restore_error": 1.862645149230957e-07, + "score": 0.7187378406524658, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3265671730041504, + "candidate_source_group_id": "ms-5bbc4c4b1b51e2a088db;ms-3e0dbff4309ecbd35d36;ms-080e034927abe2f30d60;ms-13aa39b96923ad8c913a;ms-7dfc3684b46df95070e2;ms-a4ade4de51ca437ac432", + "expert_regret": 1.7453166842460632, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bdb04ada069c35d51e2e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7453166842460632, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25468331575393677, + "restore_error": 1.862645149230957e-07, + "score": 0.25468331575393677, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1521720141172409, + "candidate_source_group_id": "ms-b383acd9844466b19579;ms-4b3a296acc66a14476c3;ms-662379c2c351807b9cdf;ms-d8295b43b30ceea30907;ms-80d8d8fc4a3308139975;ms-a40abdebe8a9c17de878", + "expert_regret": 0.0, + "expert_score": 0.695741593837738, + "expert_success": false, + "group_id": "ms-5799584ed40e211c50a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2796778976917267, + "candidate_source_group_id": "ms-debd7e5668e2acdf6bb0;ms-92070f417bd9d14d6fc7;ms-b5b68468bf26d19252f0;ms-aee5716b3e4fc47e46ba;ms-bb567fcac946f012535a;ms-20cd6d8ccbf13e36dcdb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-59474486dd5cb4e5bfd5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4188116490840912, + "candidate_source_group_id": "ms-a74a87e26362d09598fe;ms-17a5e9b7bd8c1f255307;ms-40eb8d19498413d4e730;ms-69785feff08dbf9a50be;ms-9b687dc2de14c6813d44;ms-917b0f051489227842f0", + "expert_regret": 0.5280466228723526, + "expert_score": 0.7287594079971313, + "expert_success": false, + "group_id": "ms-01926c30568d417edd91", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5280466228723526, + "oracle_score": 0.7287594079971313, + "oracle_success": false, + "progress": 0.20071278512477875, + "restore_error": 1.1920928955078125e-07, + "score": 0.20071278512477875, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37527942657470703, + "candidate_source_group_id": "ms-aee5716b3e4fc47e46ba;ms-062a265cedee2107eb17;ms-118ba8926eda06ffc61e;ms-cc0b4a1deec28e53722a;ms-7272e1e33d4ecc07470c;ms-92070f417bd9d14d6fc7", + "expert_regret": 1.3012558221817017, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b933fbfb7c8fa68a445f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3012558221817017, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6987441778182983, + "restore_error": 1.1920928955078125e-07, + "score": 0.6987441778182983, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3251826763153076, + "candidate_source_group_id": "ms-5003e0cda1e13bd4850a;ms-908213fef55ccf1dfda6;ms-472376eba1a5e1c706bf;ms-dfc38c43e9a87f99ef7f;ms-785fb44f1371895f7721;ms-76b0b0463fdb323b6233", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-067e0fe46e4e9483e2a1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.43596866726875305, + "candidate_source_group_id": "ms-f63a0e43f0923369edc3;ms-2c6000014d31fc0bb21c;ms-40a961867249ddccb68f;ms-dd0fad10ce064047d62e;ms-f1eb6805ec9b483bba41;ms-f97bd60d5430c32f9494", + "expert_regret": 1.290088713169098, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-02663903d88aa84c9c10", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.290088713169098, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7099112868309021, + "restore_error": 1.1920928955078125e-07, + "score": 0.7099112868309021, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2961170971393585, + "candidate_source_group_id": "ms-988537a36edfece3d073;ms-3e0dbff4309ecbd35d36;ms-cdbfe4d3b05f4ed12db3;ms-3db845076f92a16d1840;ms-25195d526c9adb43ac79;ms-9f993a6e9bb26846d4f4", + "expert_regret": 1.3110650777816772, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9c33d4837de7d23232d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3110650777816772, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6889349222183228, + "restore_error": 1.1920928955078125e-07, + "score": 0.6889349222183228, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35902929306030273, + "candidate_source_group_id": "ms-4906f3adfda6dace862d;ms-5bbc4c4b1b51e2a088db;ms-ff3256da4e1731651937;ms-03495469257613a802b4;ms-502c195c0e4810814bac;ms-4c638b9bb924547f69cb", + "expert_regret": 1.678761601448059, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1b8e9b173562648021f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.678761601448059, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3212383985519409, + "restore_error": 1.1920928955078125e-07, + "score": 0.3212383985519409, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3190729022026062, + "candidate_source_group_id": "ms-7cd314f076bfe5c32088;ms-ff3256da4e1731651937;ms-502c195c0e4810814bac;ms-5bbc4c4b1b51e2a088db;ms-ef8de99d917753ec603c;ms-4906f3adfda6dace862d", + "expert_regret": 1.3096007108688354, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4dc9ab19fbe571f09699", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3096007108688354, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6903992891311646, + "restore_error": 1.1920928955078125e-07, + "score": 0.6903992891311646, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7053652405738831, + "candidate_source_group_id": "ms-af91167a0cf15457c6ba;ms-89520c3ac8779d9e81e7;ms-e2a037eadb166228b1dd;ms-4b4cd12d70c0615e0930;ms-0e48a13af39db4a58bbc;ms-c910a469460f71880556", + "expert_regret": 1.4065852165222168, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-efb5a07185a3a1b33226", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4065852165222168, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5934147834777832, + "restore_error": 1.1920928955078125e-07, + "score": 0.5934147834777832, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30428317189216614, + "candidate_source_group_id": "ms-3f6e7085c865144a7408;ms-2590f9fd91265598fb45;ms-65e9da4468e522823587;ms-69cb3fa758f707a58076;ms-5b24bcde90348f24bb19;ms-484ea653bbca2de3a4a2", + "expert_regret": 1.2914587259292603, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6939f3ecafd5e0a4bfee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2914587259292603, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7085412740707397, + "restore_error": 1.1920928955078125e-07, + "score": 0.7085412740707397, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4463598430156708, + "candidate_source_group_id": "ms-9f844e24c570295e0497;ms-effca6c13ef9ccfd21a0;ms-ce7b349699ed248bb67c;ms-69785feff08dbf9a50be;ms-40eb8d19498413d4e730;ms-a74a87e26362d09598fe", + "expert_regret": 1.2940860390663147, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8de8d619c0cf5fd633e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2940860390663147, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7059139609336853, + "restore_error": 1.1920928955078125e-07, + "score": 0.7059139609336853, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40787792205810547, + "candidate_source_group_id": "ms-85fcc6b4797417c3473f;ms-17a5e9b7bd8c1f255307;ms-9b687dc2de14c6813d44;ms-917b0f051489227842f0;ms-a829d650eb9914fb2983;ms-1955408aeb8a8a4d0847", + "expert_regret": 1.2763414978981018, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-50b9f93dd246400d20c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2763414978981018, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7236585021018982, + "restore_error": 1.1920928955078125e-07, + "score": 0.7236585021018982, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.12107442319393158, + "candidate_source_group_id": "ms-c0ed69f549e56aa55f3d;ms-29a11d7bdcf49c86bd7a;ms-c2b904f450b45e2a8c9a;ms-13d8bae55d3c3710138f;ms-9852b3671856321cecc8;ms-715db95b13ebc6c977c8", + "expert_regret": 0.5245758891105652, + "expert_score": 0.727162778377533, + "expert_success": false, + "group_id": "ms-ec2e4afb34b439731136", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7974131107330322, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20258688926696777, + "restore_error": 1.1920928955078125e-07, + "score": 0.20258688926696777, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1482519805431366, + "candidate_source_group_id": "ms-785fb44f1371895f7721;ms-76b0b0463fdb323b6233;ms-dfc38c43e9a87f99ef7f;ms-472376eba1a5e1c706bf;ms-908213fef55ccf1dfda6;ms-3f56672eac1c00e9c2b0", + "expert_regret": 0.02829200029373169, + "expert_score": 0.7244810461997986, + "expert_success": false, + "group_id": "ms-2436538e05fdcf8e44fc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.303810954093933, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6961890459060669, + "restore_error": 1.1920928955078125e-07, + "score": 0.6961890459060669, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.4024404287338257, + "candidate_source_group_id": "ms-c910a469460f71880556;ms-0e48a13af39db4a58bbc;ms-af91167a0cf15457c6ba;ms-8c8cf210aa675c5db1fe;ms-f3211ecde366ca9f6ac7;ms-89520c3ac8779d9e81e7", + "expert_regret": 1.7727104425430298, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-95264bfdaa3892cf66ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7727104425430298, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22728955745697021, + "restore_error": 1.1920928955078125e-07, + "score": 0.22728955745697021, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.048525918275117874, + "candidate_source_group_id": "ms-40eb8d19498413d4e730;ms-619d3d285d2cae3abbb9;ms-69785feff08dbf9a50be;ms-a74a87e26362d09598fe;ms-88f7199271947fc4c7e8;ms-a829d650eb9914fb2983", + "expert_regret": 0.011271178722381592, + "expert_score": 0.7279428839683533, + "expert_success": false, + "group_id": "ms-c090bce47703a4c4bb0b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2833282947540283, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7166717052459717, + "restore_error": 2.384185791015625e-07, + "score": 0.7166717052459717, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.3895753622055054, + "candidate_source_group_id": "ms-c910a469460f71880556;ms-0e48a13af39db4a58bbc;ms-f3211ecde366ca9f6ac7;ms-8c8cf210aa675c5db1fe;ms-89520c3ac8779d9e81e7;ms-e2a037eadb166228b1dd", + "expert_regret": 1.783932402729988, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-288ce929957d627c569c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.783932402729988, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2160675972700119, + "restore_error": 2.384185791015625e-07, + "score": 0.2160675972700119, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.507637083530426, + "candidate_source_group_id": "ms-8b461b0929537fbc1d41;ms-9bbea286acf66b5cfb8e;ms-02cacb03f445c8a460e8;ms-25195d526c9adb43ac79;ms-8d3d849234ceb98c3dc1;ms-e89a3ba400f81d2795f3", + "expert_regret": 1.2894690036773682, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ad7b7d5d7fb25961859f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2894690036773682, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7105309963226318, + "restore_error": 2.384185791015625e-07, + "score": 0.7105309963226318, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2690674960613251, + "candidate_source_group_id": "ms-cf8c5d9c874edc9f000d;ms-9257b89b9b635a0fb174;ms-3176a570b75767d1d729;ms-a905b84bd3ab703c025f;ms-d8f42ed6b0b686d819ab;ms-2f2b16367db3db120235", + "expert_regret": 1.5353983640670776, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28fe4b5a2888189c28d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5353983640670776, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.46460163593292236, + "restore_error": 2.384185791015625e-07, + "score": 0.46460163593292236, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.06475100666284561, + "candidate_source_group_id": "ms-c6c7803c56c24c460c7f;ms-794706690fbf8c028bda;ms-5b4f2522663bec742b02;ms-a323215fb409ab3e9287;ms-f5ebbab81506fa27fc6d;ms-737e72810112f3246b05", + "expert_regret": 0.03563278913497925, + "expert_score": 0.7292043566703796, + "expert_success": false, + "group_id": "ms-dd32ce9859c365c535b4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3064284324645996, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6935715675354004, + "restore_error": 2.384185791015625e-07, + "score": 0.6935715675354004, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37396520376205444, + "candidate_source_group_id": "ms-8556e974064f31ae1468;ms-22aaa483f5e7d381b63d;ms-a20322ed13a2be7a99c6;ms-0ef5d3238b33bdebae4d;ms-3a09e411ee6c882ef7df;ms-e4090b0b0c1739070201", + "expert_regret": 1.2996588945388794, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c3818c2c4474a784fc6b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2996588945388794, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7003411054611206, + "restore_error": 2.384185791015625e-07, + "score": 0.7003411054611206, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31066614389419556, + "candidate_source_group_id": "ms-40a961867249ddccb68f;ms-a8eb841beb710c8fbfb1;ms-65e9da4468e522823587;ms-30e4ae59842091fe16b2;ms-14a2c3eb293175cb76f3;ms-f7169e27b3743aa48e77", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9756d07ed207e9ab1d53", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.4031740427017212, + "candidate_source_group_id": "ms-8f3d4e1d07bb5dcc7c57;ms-0e48a13af39db4a58bbc;ms-c910a469460f71880556;ms-de8d6051e6ee74b62fec;ms-af91167a0cf15457c6ba;ms-f3211ecde366ca9f6ac7", + "expert_regret": 1.7774111926555634, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dfc111660c0d1c7b7e04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7774111926555634, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22258880734443665, + "restore_error": 2.384185791015625e-07, + "score": 0.22258880734443665, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.4721524715423584, + "candidate_source_group_id": "ms-a5bd3a36c6fe41cd0b35;ms-1a2d298bf9972ddc1a7e;ms-cf44ae14778c60c36af0;ms-9f4b47c80d59166302ab;ms-6f03b16858c35025503e;ms-b60078e9e6ea9c26dedc", + "expert_regret": 1.7871270924806595, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0a57aa04002f1b843856", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7871270924806595, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21287290751934052, + "restore_error": 1.1920928955078125e-07, + "score": 0.21287290751934052, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.8191561698913574, + "candidate_source_group_id": "ms-7a17ceb004979b99a586;ms-ffa71e2ef6c284477c5d;ms-47fd1407ae4e17ed4bee;ms-67f602a0e4efc9984d72;ms-8d9b2a5ccd43461f827e;ms-1158e6997b2f1281b105", + "expert_regret": 1.4653493165969849, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f88a44616a0985aac518", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4653493165969849, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5346506834030151, + "restore_error": 2.384185791015625e-07, + "score": 0.5346506834030151, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48970869183540344, + "candidate_source_group_id": "ms-81951a4920488e6c62e9;ms-3731f1c5af3c4a133633;ms-5425964a186feaf6fd99;ms-193063285cdb9faff39b;ms-4746e04d636d13cfbe6c;ms-42117385b9e6e57c7e63", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-570c074dbf28b5faae58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20408642292022705, + "candidate_source_group_id": "ms-32435d71bb817daf01d9;ms-f80ae137a8d9981f8c98;ms-339ae3ec9482aa259eec;ms-5ac153f97fd3c2f689c5;ms-3950f823020f08f8e8cd;ms-50d83ce148904504ec50", + "expert_regret": 1.450685739517212, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a10d8368c33b56390f77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.450685739517212, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5493142604827881, + "restore_error": 2.384185791015625e-07, + "score": 0.5493142604827881, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2528716027736664, + "candidate_source_group_id": "ms-4aa0c1a37cdb70ba8877;ms-f1d1776b7a5bd0a7b02c;ms-2b56888f10733707f14b;ms-47662cfa5e75ac8250e7;ms-62ece8fe2f85092ca96f;ms-3c12da28c8edab3fa554", + "expert_regret": 1.4394920468330383, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11930c353a2b4fefab82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4394920468330383, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5605079531669617, + "restore_error": 2.384185791015625e-07, + "score": 0.5605079531669617, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29026684165000916, + "candidate_source_group_id": "ms-45ed57caa698d87a99cf;ms-4385e9c56007fdaa94b5;ms-0adce283894b0a2b7b94;ms-9bcf8a1e5e7b0f7ff6f5;ms-ffba357213945be5f9f7;ms-ee32e6bb3c0bb45702b9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c1ac63fb3644e3a2ae06", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2457503080368042, + "candidate_source_group_id": "ms-782893a3eb2e3dcfd15e;ms-bcd9be34f050d97499bd;ms-f6db4e8bed63ed868487;ms-9ffeb1600c04f08bdfcb;ms-29eab654e4adf7ca9c4b;ms-4f938bd3599c372c8bff", + "expert_regret": 1.4606207013130188, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-55c2bba961a327aa5260", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4606207013130188, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5393792986869812, + "restore_error": 2.384185791015625e-07, + "score": 0.5393792986869812, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2500123679637909, + "candidate_source_group_id": "ms-d05d9bbb98f24da55981;ms-869a04e41dc5cc90916b;ms-910364d2d86091c5e0cf;ms-5085e45e6ca37192d2e5;ms-bb0d941f78d3d9c5a886;ms-22412b51e61621b6025b", + "expert_regret": 1.4099949598312378, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d0e4bdc60ab8ea52a320", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4099949598312378, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5900050401687622, + "restore_error": 2.384185791015625e-07, + "score": 0.5900050401687622, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8545273542404175, + "candidate_source_group_id": "ms-06935a084a7af6d7596c;ms-b1c9975d1a007dd03dc4;ms-10a5b6cc3ec06dfdc5c5;ms-97598e118c5cc8c254a5;ms-2073841ae01f224365a1;ms-503d0b1d27ed78b6130f", + "expert_regret": 1.8831712678074837, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f4860c7945db15b54d2e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8831712678074837, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11682873219251633, + "restore_error": 2.384185791015625e-07, + "score": 0.11682873219251633, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.21010027825832367, + "candidate_source_group_id": "ms-2ae57bab6d2ea11f6638;ms-b671fa9fcef84dbf2a13;ms-910d27b58a0585327a27;ms-57ac136bd68be6387c6f;ms-8fcc78fba7b3bec0fab6;ms-4a0ae3deadb8560fd315", + "expert_regret": 1.4379165768623352, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-48d490ed21088bb5ba85", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4379165768623352, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5620834231376648, + "restore_error": 2.384185791015625e-07, + "score": 0.5620834231376648, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4111296236515045, + "candidate_source_group_id": "ms-f07607bc0ce1c4e202b0;ms-1d36e5be82aee5a8e3b8;ms-a2908e99b0a12a9980cc;ms-02acbd591a961c0dbd46;ms-9e87481ce12fa45b2554;ms-7fa85a7251186eb18d0b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6d7b10e8b2b0a516b786", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4263668358325958, + "candidate_source_group_id": "ms-2073841ae01f224365a1;ms-97598e118c5cc8c254a5;ms-06935a084a7af6d7596c;ms-0584242e924d240ca0c8;ms-10a5b6cc3ec06dfdc5c5;ms-80fbba5636cb4f9c64a3", + "expert_regret": 1.4495607018470764, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d94c7c692c91a962f25", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4495607018470764, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5504392981529236, + "restore_error": 2.384185791015625e-07, + "score": 0.5504392981529236, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4324619472026825, + "candidate_source_group_id": "ms-1d36e5be82aee5a8e3b8;ms-f07607bc0ce1c4e202b0;ms-a2908e99b0a12a9980cc;ms-9c8a90334c3b933c8976;ms-02acbd591a961c0dbd46;ms-97aebe1dd42939e3b340", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e793d78eaff3fb28deb6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47336453199386597, + "candidate_source_group_id": "ms-6af227c07aaf7c0f0aea;ms-3e971096794f04f325f2;ms-0843bef6b0c13c3ede69;ms-3b0ad4f07f1813ecf670;ms-74868f62709b91077e27;ms-950df0830b2e57010248", + "expert_regret": 1.9492148868739605, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a1846ef1f00eb54e2d60", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9492148868739605, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.050785113126039505, + "restore_error": 2.384185791015625e-07, + "score": 0.050785113126039505, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5795316696166992, + "candidate_source_group_id": "ms-3deb9fa600781abb51c1;ms-f69d6aec4ddb12d88c5b;ms-175375383979526d80b5;ms-1fb2f4c1e17e99767558;ms-e7f2d1f0de50c6fcccb4;ms-ee7463f3d937dbc16f89", + "expert_regret": 1.955020997673273, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6558f35ae2a2871a4bfd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.955020997673273, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04497900232672691, + "restore_error": 2.384185791015625e-07, + "score": 0.04497900232672691, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8472291231155396, + "candidate_source_group_id": "ms-b4af4c8b9dcd6976546c;ms-50f29e19c798fee5422f;ms-1451f536f2ac0df844f6;ms-67f602a0e4efc9984d72;ms-c81880a77c4d978a0b7a;ms-7de8743758ec505a3294", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-49219cb8ed7dad70c897", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6421152949333191, + "candidate_source_group_id": "ms-432ca73236be93cb76df;ms-0584242e924d240ca0c8;ms-06935a084a7af6d7596c;ms-5316151a88a3282436ca;ms-5071d49489e1900dfa91;ms-10a5b6cc3ec06dfdc5c5", + "expert_regret": 1.473000407218933, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-54f34c73458181a65e9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.473000407218933, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5269995927810669, + "restore_error": 2.384185791015625e-07, + "score": 0.5269995927810669, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5088377594947815, + "candidate_source_group_id": "ms-b4af4c8b9dcd6976546c;ms-746436cac05100783ad7;ms-16d5b122db1824caf92b;ms-67f602a0e4efc9984d72;ms-4e86b87d6e5f6ab914fe;ms-10af171aa279a879207d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c3a1cf0e424a4f065459", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1884637176990509, + "candidate_source_group_id": "ms-c684df0b998b593db723;ms-f28fbb82a51d4de7811b;ms-97a18aeeea0b34f7c606;ms-1add4cf84fdadf5703d6;ms-b6fd2931116c15db0f0a;ms-1d1969094d91fe52667d", + "expert_regret": 1.447776198387146, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0a48fbd111be17b50be5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.447776198387146, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.552223801612854, + "restore_error": 1.1920928955078125e-07, + "score": 0.552223801612854, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3854448199272156, + "candidate_source_group_id": "ms-67f602a0e4efc9984d72;ms-90464666adfd66056785;ms-813cac6d08ed5af48b12;ms-30ad687dc1bc8318fa45;ms-84b677a48d338212ceb7;ms-4b1561bd0029228fdbbe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-32b9c353a4890631f1bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29323095083236694, + "candidate_source_group_id": "ms-1c0e2bb3a811fac6d567;ms-2e5c2f75d3f6311e0a1c;ms-307f9067d5b66f55b3a6;ms-5c8b50523e0de37d80b8;ms-d305a11348461ae1622c;ms-8af2224cc82636ef1dd7", + "expert_regret": 1.934994138777256, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5415e349e8f9f2bce641", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.934994138777256, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06500586122274399, + "restore_error": 1.1920928955078125e-07, + "score": 0.06500586122274399, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1565479189157486, + "candidate_source_group_id": "ms-3c4ff3dae26217f22a8b;ms-f3e40db5e157647d463d;ms-fe2964cc8940ee7c24aa;ms-6f1db8895d5164cc5ae5;ms-93e3d9968204474eff49;ms-52c6c227fd4b61609031", + "expert_regret": 0.01571834087371826, + "expert_score": 0.5548074245452881, + "expert_success": false, + "group_id": "ms-29f1abb869ff206a4d52", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.020135164260864258, + "oracle_score": 0.5592242479324341, + "oracle_success": false, + "progress": 0.5390890836715698, + "restore_error": 1.1920928955078125e-07, + "score": 0.5390890836715698, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8229649662971497, + "candidate_source_group_id": "ms-311a52ec4b0ca8d71889;ms-d67409d8ecfd5d97336d;ms-b36673c3905a123cbd50;ms-382000b79932b7c68326;ms-dea17c1c383f54d05636;ms-6c0ef0ef8b493232246c", + "expert_regret": 1.4598773121833801, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9cf068e0d2896f655ad2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4598773121833801, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5401226878166199, + "restore_error": 1.1920928955078125e-07, + "score": 0.5401226878166199, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.36472639441490173, + "candidate_source_group_id": "ms-166b7f66bf9f4eec432b;ms-e1972ebf2c5587a6fdf9;ms-759ba8b7be233ca47c30;ms-f39bbaa063044719a98d;ms-ee0986397bc7267882d8;ms-9c8a90334c3b933c8976", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bcc70292f404cd1c7f75", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42444083094596863, + "candidate_source_group_id": "ms-1bfca22d4af29f0e14b1;ms-4fe7fdaf946c97803c82;ms-07e0726dedce0a0e4419;ms-61068da67676a95e5065;ms-e093f85b121d443b61e2;ms-fb92a1e6b67121783fff", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-81085eba1dd49b17ec9c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6845751404762268, + "candidate_source_group_id": "ms-7a17ceb004979b99a586;ms-79c7332b2b329eaa6a13;ms-1158e6997b2f1281b105;ms-708baf01c22c75cafd22;ms-61b1188974f35233b883;ms-0e12a6083750bfecca87", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-95320371ce6b820c85f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.37950262427330017, + "candidate_source_group_id": "ms-f80ae137a8d9981f8c98;ms-45d4b692eda9ecacaa55;ms-68970d9d9bf975e25eb5;ms-25839c690d85a4f5b986;ms-32435d71bb817daf01d9;ms-f4d6da245d340cd16d30", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dc2a8fa76e1ceb0d8925", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15384531021118164, + "candidate_source_group_id": "ms-8b68d8b4d22e6ff0451d;ms-cca07eb504a242633931;ms-239a07967247700a8ed1;ms-5fc884c238818acdde08;ms-f39bbaa063044719a98d;ms-1781d9c562b4425df7c8", + "expert_regret": 1.455059826374054, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a3d0c460532de2d801ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.455059826374054, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.544940173625946, + "restore_error": 1.1920928955078125e-07, + "score": 0.544940173625946, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.27789777517318726, + "candidate_source_group_id": "ms-d462cff6e1b4b201a6ce;ms-f947dbf28ad85666e2f1;ms-1cdd36810a138190ce3c;ms-8e741ca11a7fbe85ba1d;ms-08c39d9cc9eb7578e6e9;ms-d16053a4f8b95c94dc46", + "expert_regret": 1.9871645094826818, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-739a89fb4521bc481a9f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9871645094826818, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.012835490517318249, + "restore_error": 1.1920928955078125e-07, + "score": 0.012835490517318249, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3361518681049347, + "candidate_source_group_id": "ms-79d500110f3723b57da8;ms-7af1e453acf970f40546;ms-8fdde5008d12abb7ae6a;ms-a3c53708416dbfb9fbc5;ms-88e10d1be12a407b3926;ms-53fdabb5d8ef20778214", + "expert_regret": 1.4539352059364319, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2a67eea0b1293de9bcf9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4539352059364319, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5460647940635681, + "restore_error": 1.1920928955078125e-07, + "score": 0.5460647940635681, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22908414900302887, + "candidate_source_group_id": "ms-53fdabb5d8ef20778214;ms-fb98254adaa23dc128df;ms-774e954ffdc5da041261;ms-f1eb908e172570b07cae;ms-88e10d1be12a407b3926;ms-7af1e453acf970f40546", + "expert_regret": 1.4373286366462708, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2b3e081263ed25d45dc8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4373286366462708, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5626713633537292, + "restore_error": 1.1920928955078125e-07, + "score": 0.5626713633537292, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5656489729881287, + "candidate_source_group_id": "ms-72b7d76602371f044fe3;ms-7d962acc9cfbc27c599c;ms-13192a27f5fcf4fd24d7;ms-11bb3387454624de8143;ms-4742d169606f3ec2b474;ms-38507741c3b5d91a7b33", + "expert_regret": 1.4441009759902954, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-766b6fe7c08a3525ce94", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4441009759902954, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5558990240097046, + "restore_error": 1.1920928955078125e-07, + "score": 0.5558990240097046, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.07197775691747665, + "candidate_source_group_id": "ms-488a34fe7b7e84250616;ms-2b556c4c1b55a20b14c8;ms-5780f9e1e9f9e740d474;ms-7057de70d36f5cc31472;ms-8f241450069e74460a40;ms-97a18aeeea0b34f7c606", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f8439d39ae9ed028a4cd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33595868945121765, + "candidate_source_group_id": "ms-41b0258c4e329a734da7;ms-c7041c6f758f8e4a3698;ms-6a7e80154a9a4e5e9c08;ms-d4aab6f9b6717dd5712e;ms-8fcc78fba7b3bec0fab6;ms-0cfef0ba35d4e6097003", + "expert_regret": 1.4665534496307373, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-00b9ad6a8fe73fccc6fc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4665534496307373, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5334465503692627, + "restore_error": 1.1920928955078125e-07, + "score": 0.5334465503692627, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4841659963130951, + "candidate_source_group_id": "ms-c86956f3f1333e136186;ms-338a891eb2a21ec4a63d;ms-e058c0dba52df04b8642;ms-782893a3eb2e3dcfd15e;ms-bcd9be34f050d97499bd;ms-f6db4e8bed63ed868487", + "expert_regret": 1.9595324732363224, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e20f5d43f319248c5001", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9595324732363224, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0404675267636776, + "restore_error": 1.1920928955078125e-07, + "score": 0.0404675267636776, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48491349816322327, + "candidate_source_group_id": "ms-ff3f17774184180998f0;ms-c6d4f51c1adffc449778;ms-869a04e41dc5cc90916b;ms-d05d9bbb98f24da55981;ms-c0bfce3c9dd10f9d3231;ms-5e3b1693ad7b75221847", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6be8614a1bd50b974b95", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46284547448158264, + "candidate_source_group_id": "ms-97a18aeeea0b34f7c606;ms-f28fbb82a51d4de7811b;ms-f4fd59b4d1bce2d6b6a4;ms-6edb3f8fe977a81f8979;ms-d19573dc65181befd83d;ms-7057de70d36f5cc31472", + "expert_regret": 1.5155378878116608, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f3f6a1b34fdf35290a6c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5155378878116608, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.48446211218833923, + "restore_error": 1.1920928955078125e-07, + "score": 0.48446211218833923, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8120009303092957, + "candidate_source_group_id": "ms-2649df827a3c1017ccd8;ms-89c0c15f7bb38eaf59e4;ms-f4fd59b4d1bce2d6b6a4;ms-b6827e38768a63212d73;ms-61b1188974f35233b883;ms-6edb3f8fe977a81f8979", + "expert_regret": 1.495289146900177, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9184c93267b4bbfa4cae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.495289146900177, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.504710853099823, + "restore_error": 1.1920928955078125e-07, + "score": 0.504710853099823, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29550471901893616, + "candidate_source_group_id": "ms-683b1d258a1cafbf87b9;ms-b90d7926b23eabbbed04;ms-beb3567748ba228bdfce;ms-b0aa24be399d843c9d50;ms-dbcc3da47d96ceeaf9f0;ms-32435d71bb817daf01d9", + "expert_regret": 1.4477412104606628, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe54b45b549a55d45c0e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4477412104606628, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5522587895393372, + "restore_error": 1.1920928955078125e-07, + "score": 0.5522587895393372, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.32130998373031616, + "candidate_source_group_id": "ms-a3c53708416dbfb9fbc5;ms-88e10d1be12a407b3926;ms-79d500110f3723b57da8;ms-8fdde5008d12abb7ae6a;ms-8a74cf665984273be00d;ms-7af1e453acf970f40546", + "expert_regret": 1.4604149460792542, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9e31a19a776a861f9d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4604149460792542, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5395850539207458, + "restore_error": 1.1920928955078125e-07, + "score": 0.5395850539207458, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5684791803359985, + "candidate_source_group_id": "ms-fd6deac5a281d169bc75;ms-8f0e2c9caad14bd37ecf;ms-f3e40db5e157647d463d;ms-d91cbe61314c18955b6b;ms-c2107b650136a20fc4a3;ms-561f4f913d7b4991d81a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-753929cfdc4aaa652b32", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6125818490982056, + "candidate_source_group_id": "ms-02ab2e7a74d970154eb7;ms-8b85ebf659960395db9c;ms-263556e167dc363ebc42;ms-893159691d11a40c7537;ms-7020f1cda882b79bffa3;ms-5d169f059bde8e429786", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a01f0549a18d924d31c0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5042261481285095, + "candidate_source_group_id": "ms-fa911d56cdf9bf122b5c;ms-e218d19c595e580c3e32;ms-fe650308e25459ee64c6;ms-a01e21b91a5b37a16afe;ms-319a6c0cef0ac1a872d5;ms-3b7c5c91ae441f282006", + "expert_regret": 0.5877448562532663, + "expert_score": 0.6087449193000793, + "expert_success": false, + "group_id": "ms-b9e46b7345a63ded4397", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5877448562532663, + "oracle_score": 0.6087449193000793, + "oracle_success": false, + "progress": 0.02100006304681301, + "restore_error": 1.1920928955078125e-07, + "score": 0.02100006304681301, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.34511420130729675, + "candidate_source_group_id": "ms-e441e4042cb7d77a4986;ms-4276f24b1b5dce771bff;ms-b97cb4ec02e8234b08c5;ms-3e51a1bdc3a2cc4eb06d;ms-d965f63e091a5d6dd6d7;ms-4742d169606f3ec2b474", + "expert_regret": 1.434781789779663, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a145b708d79b243da21f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.434781789779663, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5652182102203369, + "restore_error": 1.1920928955078125e-07, + "score": 0.5652182102203369, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7161487936973572, + "candidate_source_group_id": "ms-0915b75e9fd1468d464e;ms-8b972386cfdf0158a0a3;ms-a01e21b91a5b37a16afe;ms-19c0b893fda0e6bb05f7;ms-aea09fb002af52e12bd8;ms-319a6c0cef0ac1a872d5", + "expert_regret": 1.96984226629138, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9233eae706910c204b79", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.96984226629138, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03015773370862007, + "restore_error": 1.1920928955078125e-07, + "score": 0.03015773370862007, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39450153708457947, + "candidate_source_group_id": "ms-5df54a8baaceb8c73c8a;ms-de066fc4200163ebd06b;ms-1fb2f4c1e17e99767558;ms-22325628db75967cf779;ms-81f48d29d0404300ea93;ms-c425c810f7865e9564ee", + "expert_regret": 1.977472698315978, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13557287cd450bc12c6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.977472698315978, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02252730168402195, + "restore_error": 1.1920928955078125e-07, + "score": 0.02252730168402195, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5289987325668335, + "candidate_source_group_id": "ms-0ca11ec8f7fbf0c1d66e;ms-17e8d6ba42404c7b7d07;ms-10f4c68dcad8285f4acd;ms-0ece7b8c91d9d82f244b;ms-cda24997adbad130b09d;ms-1cea800b74c1ea2f6338", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9e1f3c14116ebca6164d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42689862847328186, + "candidate_source_group_id": "ms-a949424c5fa615565d72;ms-dd7f9cc9585878b84824;ms-eff5f21c51f26a85f07c;ms-0cfef0ba35d4e6097003;ms-32346c22352f72d3de3a;ms-fd225482b96686f51dc8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8522a9364bf70311450d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4585924744606018, + "candidate_source_group_id": "ms-07e0726dedce0a0e4419;ms-fb92a1e6b67121783fff;ms-4fe7fdaf946c97803c82;ms-1bfca22d4af29f0e14b1;ms-635a384c88604ad7ba4f;ms-61068da67676a95e5065", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87b44e6219279322a723", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5871215462684631, + "candidate_source_group_id": "ms-99df75798ec5da5ec7f3;ms-8c9f657875cf334b1f17;ms-49641ecf3e1326621609;ms-19e6e6e341aebb7ec693;ms-8c0b600aef5393f929cd;ms-4c7138016830a563fb1b", + "expert_regret": 1.9203515276312828, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b666f24369c548cd56ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9203515276312828, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0796484723687172, + "restore_error": 1.1920928955078125e-07, + "score": 0.0796484723687172, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1417197734117508, + "candidate_source_group_id": "ms-127908707208e993527d;ms-f625d521be1e85b1c49d;ms-29653e236de96058ef6d;ms-9eb40f856528204bbcfd;ms-d1aac7be45644e12a976;ms-b59a7ccfb736df4c4c68", + "expert_regret": 1.4614572525024414, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bdc942e2c7fb26b79162", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4614572525024414, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5385427474975586, + "restore_error": 1.1920928955078125e-07, + "score": 0.5385427474975586, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44775155186653137, + "candidate_source_group_id": "ms-3c458f671129e1ebe7b4;ms-87fd37bcc6b666e220ef;ms-1f458832fc85f00873cc;ms-28817fe297f38fd9550a;ms-17a17b212837b7f1309f;ms-2259a78b2187e22f9f37", + "expert_regret": 1.9557744972407818, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-732d0515ed28df031b8e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9557744972407818, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.044225502759218216, + "restore_error": 1.1920928955078125e-07, + "score": 0.044225502759218216, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4941098392009735, + "candidate_source_group_id": "ms-9e87481ce12fa45b2554;ms-6f1ec735350c81ef9fca;ms-c4cb99b887c88c707ba9;ms-8b68d8b4d22e6ff0451d;ms-97aebe1dd42939e3b340;ms-7fa85a7251186eb18d0b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b4483fb034248fe882d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47890791296958923, + "candidate_source_group_id": "ms-23a355317920e192147f;ms-22675530f3a401b3fd6d;ms-618c9e3c06f4879ba788;ms-7d32f6b32c14e33b1eb1;ms-ff96d76fba5b6ceb1289;ms-893159691d11a40c7537", + "expert_regret": 1.8994803056120872, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4f833710c2706ee077af", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8994803056120872, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10051969438791275, + "restore_error": 1.1920928955078125e-07, + "score": 0.10051969438791275, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5187336206436157, + "candidate_source_group_id": "ms-6fc6a26da9fbe53dd616;ms-8b972386cfdf0158a0a3;ms-0ca1c25fddb7da05d80a;ms-0915b75e9fd1468d464e;ms-40cb974de9da58dcd32b;ms-19c0b893fda0e6bb05f7", + "expert_regret": 1.936357781291008, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-98427ae2d94c1f85811a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.936357781291008, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.063642218708992, + "restore_error": 1.1920928955078125e-07, + "score": 0.063642218708992, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19684161245822906, + "candidate_source_group_id": "ms-4b94e0333251263012ec;ms-751daa0137578c486f3d;ms-e15eeda61ed4064a5c9f;ms-7a1ce0a81e4f34902622;ms-155ec4624d261f6ca16e;ms-ce8d2ef7d19bed381822", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a073398629e6943ad1fb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6949573159217834, + "candidate_source_group_id": "ms-1df0775c4ef08d0cf1bf;ms-561f4f913d7b4991d81a;ms-73e36360221b6732c688;ms-d69b907e65875420bab7;ms-8b5b5e5f9237c41e0fe9;ms-bb0d941f78d3d9c5a886", + "expert_regret": 1.4559271335601807, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3d095a49ed03de972849", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4559271335601807, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5440728664398193, + "restore_error": 1.1920928955078125e-07, + "score": 0.5440728664398193, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5361462831497192, + "candidate_source_group_id": "ms-b0d54c14a65fb73f08ca;ms-999a8c1454dd4597a834;ms-3fae81854f4c927f1f8d;ms-a76ae18568c88af1da6b;ms-547f4204888aee978bf0;ms-ed9addab41f3298db7bc", + "expert_regret": 1.9558867700397968, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7670f25745871759e69e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9558867700397968, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04411322996020317, + "restore_error": 1.1920928955078125e-07, + "score": 0.04411322996020317, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6575579047203064, + "candidate_source_group_id": "ms-b42e0a68875b0405904b;ms-61b1188974f35233b883;ms-b6827e38768a63212d73;ms-1158e6997b2f1281b105;ms-f71c7cf8ca320b8eb7a4;ms-79c7332b2b329eaa6a13", + "expert_regret": 1.4728378653526306, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-478f754a15221314d15e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4728378653526306, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5271621346473694, + "restore_error": 1.1920928955078125e-07, + "score": 0.5271621346473694, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7486080527305603, + "candidate_source_group_id": "ms-362ba7cebb2bab1421e8;ms-60a28a9b282e7586d4d2;ms-982922e263d07c54c136;ms-de709118c78966c5aff7;ms-91ad1a5f945470b4346e;ms-859d0ea38fb5e8aa6b98", + "expert_regret": 0.0, + "expert_score": 0.6102733612060547, + "expert_success": false, + "group_id": "ms-12a997dde50b7a7f35cb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.6102733612060547, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5764607787132263, + "candidate_source_group_id": "ms-d19573dc65181befd83d;ms-f4fd59b4d1bce2d6b6a4;ms-7057de70d36f5cc31472;ms-6edb3f8fe977a81f8979;ms-2649df827a3c1017ccd8;ms-f28fbb82a51d4de7811b", + "expert_regret": 1.4364421963691711, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fffe378a3bad31bbed52", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4364421963691711, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5635578036308289, + "restore_error": 1.1920928955078125e-07, + "score": 0.5635578036308289, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5055391192436218, + "candidate_source_group_id": "ms-d19c9e3ab1d7daf06344;ms-5f98f13f17e8f41f7436;ms-cddf387bbcd6aed98fca;ms-b97cb4ec02e8234b08c5;ms-225fbe08f2933f91d603;ms-4276f24b1b5dce771bff", + "expert_regret": 1.4789975881576538, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-625b5d55ca76cc565049", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4789975881576538, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5210024118423462, + "restore_error": 1.1920928955078125e-07, + "score": 0.5210024118423462, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5365966558456421, + "candidate_source_group_id": "ms-d462cff6e1b4b201a6ce;ms-8e741ca11a7fbe85ba1d;ms-1fb2f4c1e17e99767558;ms-d16053a4f8b95c94dc46;ms-de066fc4200163ebd06b;ms-1cdd36810a138190ce3c", + "expert_regret": 1.9782959576696157, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d988976b029886d18476", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9782959576696157, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.021704042330384254, + "restore_error": 1.1920928955078125e-07, + "score": 0.021704042330384254, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4101685881614685, + "candidate_source_group_id": "ms-9eb40f856528204bbcfd;ms-51f2c34d5f8f132af1ed;ms-caeb59971565b08f2513;ms-f07589760f67c1100667;ms-f625d521be1e85b1c49d;ms-0cfef0ba35d4e6097003", + "expert_regret": 1.4390220046043396, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9af03b651b5e36ac2ae3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4390220046043396, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5609779953956604, + "restore_error": 1.1920928955078125e-07, + "score": 0.5609779953956604, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6879335045814514, + "candidate_source_group_id": "ms-fbb609a3f2a334986245;ms-910364d2d86091c5e0cf;ms-054a02413d31389d1b7f;ms-3a07c49566decfea04de;ms-29dd2cdbb66fe13ab877;ms-23d6e5835aa90a62b6ef", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f897cc2141a0a303fc6a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48510581254959106, + "candidate_source_group_id": "ms-578537600f7a649c2dd5;ms-c2bc492ab5eb87a73789;ms-f9c00ba41392adec3fd1;ms-2cf1227610d4602f88ed;ms-7fd4a05174dcc8eaff38;ms-c86956f3f1333e136186", + "expert_regret": 0.535976804792881, + "expert_score": 0.6007381677627563, + "expert_success": false, + "group_id": "ms-cd340bca589f0cebd7da", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.535976804792881, + "oracle_score": 0.6007381677627563, + "oracle_success": false, + "progress": 0.06476136296987534, + "restore_error": 1.1920928955078125e-07, + "score": 0.06476136296987534, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4858655035495758, + "candidate_source_group_id": "ms-802e63c9d42228a69c22;ms-910d27b58a0585327a27;ms-1a4ecfbe9c97214d5c78;ms-b671fa9fcef84dbf2a13;ms-d33444117889b5aa9cfb;ms-e589f7d40c12eff1712e", + "expert_regret": 1.4004406929016113, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28b1f1e4380d434605de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4004406929016113, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5995593070983887, + "restore_error": 1.1920928955078125e-07, + "score": 0.5995593070983887, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5447873473167419, + "candidate_source_group_id": "ms-0adce283894b0a2b7b94;ms-9bcf8a1e5e7b0f7ff6f5;ms-daaac2887015a6e4f3e0;ms-7a460f3c1b67817c19de;ms-ffba357213945be5f9f7;ms-4385e9c56007fdaa94b5", + "expert_regret": 0.008993387222290039, + "expert_score": 0.5644459128379822, + "expert_success": false, + "group_id": "ms-28d5618562729c763eb6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.008993387222290039, + "oracle_score": 0.5644459128379822, + "oracle_success": false, + "progress": 0.5554525256156921, + "restore_error": 1.1920928955078125e-07, + "score": 0.5554525256156921, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40249982476234436, + "candidate_source_group_id": "ms-0f219ce35aff264455e2;ms-d5d7c690819019cb7869;ms-76b9f40367a1ee020744;ms-295de2ad6c52ab50de1a;ms-486ff31b7a04a7e9e8f9;ms-39450dbba738dbd8a764", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6b2d805dc063382ade2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7401624917984009, + "candidate_source_group_id": "ms-578537600f7a649c2dd5;ms-cd71a93dcab09ba15592;ms-f9c00ba41392adec3fd1;ms-2cf1227610d4602f88ed;ms-7fd4a05174dcc8eaff38;ms-c2bc492ab5eb87a73789", + "expert_regret": 1.486357569694519, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ac79bc3a841958ce127f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.486357569694519, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.513642430305481, + "restore_error": 1.1920928955078125e-07, + "score": 0.513642430305481, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6877402067184448, + "candidate_source_group_id": "ms-16cd0a94ad2cb78b1ada;ms-10dbf8bb0c239a44ec0f;ms-3abfb4c309360a304d54;ms-793a98188fd57ed5291f;ms-fcfb7dd60d966e20b98d;ms-0541a144afe57b5a7ae6", + "expert_regret": 1.50252366065979, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c8198e44eea32f98ca7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.50252366065979, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49747633934020996, + "restore_error": 1.1920928955078125e-07, + "score": 0.49747633934020996, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4231184422969818, + "candidate_source_group_id": "ms-57ac136bd68be6387c6f;ms-f101cf5cc8575be3c201;ms-8420ccaff5986c85063f;ms-f39bbaa063044719a98d;ms-d5bfdabc97e56c680680;ms-2ae57bab6d2ea11f6638", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-935ff204de9424ec00a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.34382012486457825, + "candidate_source_group_id": "ms-a5a651f9e28ea52016fe;ms-351818a836474e594d3c;ms-13b3c492538e5b3c7bdd;ms-dbb32d9fd6999e09f589;ms-c6d4f51c1adffc449778;ms-8f5255815f8b70b48734", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2af09f91e05d19f7f181", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4076118469238281, + "candidate_source_group_id": "ms-ea72196e20393870bcbb;ms-af16712eadcaebf175ff;ms-519fb779d24a0bdf3809;ms-c104c2ebba7bf9b34680;ms-4bc32bd893d0cff76423;ms-ee19bfbcb2f4fbf5a44d", + "expert_regret": 1.4511809349060059, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bb60defa0d234da9e0bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4511809349060059, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5488190650939941, + "restore_error": 1.1920928955078125e-07, + "score": 0.5488190650939941, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5385991930961609, + "candidate_source_group_id": "ms-89c0c15f7bb38eaf59e4;ms-2649df827a3c1017ccd8;ms-f4fd59b4d1bce2d6b6a4;ms-b6827e38768a63212d73;ms-61b1188974f35233b883;ms-1158e6997b2f1281b105", + "expert_regret": 0.07877933979034424, + "expert_score": 0.6047953963279724, + "expert_success": false, + "group_id": "ms-a202dd8923327af132da", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.07877933979034424, + "oracle_score": 0.6047953963279724, + "oracle_success": false, + "progress": 0.5260160565376282, + "restore_error": 1.1920928955078125e-07, + "score": 0.5260160565376282, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4347963333129883, + "candidate_source_group_id": "ms-493f7fe7164e2c3e7616;ms-191a2180e4ad5bbeb3b1;ms-88b1a0f8f758f7956c0f;ms-486b916e7b4ad1566788;ms-b809a8756abec7015aac;ms-af16712eadcaebf175ff", + "expert_regret": 0.034184157848358154, + "expert_score": 0.5814382433891296, + "expert_success": false, + "group_id": "ms-ec498d0c649d108513c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.034184157848358154, + "oracle_score": 0.5814382433891296, + "oracle_success": false, + "progress": 0.5472540855407715, + "restore_error": 1.1920928955078125e-07, + "score": 0.5472540855407715, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41650840640068054, + "candidate_source_group_id": "ms-6af227c07aaf7c0f0aea;ms-3e971096794f04f325f2;ms-2259a78b2187e22f9f37;ms-3b0ad4f07f1813ecf670;ms-950df0830b2e57010248;ms-46f10a29b484c9461204", + "expert_regret": 1.4661592841148376, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cea745484a24f376d7e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4661592841148376, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5338407158851624, + "restore_error": 1.1920928955078125e-07, + "score": 0.5338407158851624, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2196444422006607, + "candidate_source_group_id": "ms-15ef6ee70a8df3cfa578;ms-116bd511ce8862ab73b5;ms-060512e03c9833bae633;ms-cfcd7c9f3afe2215588f;ms-03acca095918dea64872;ms-e15eeda61ed4064a5c9f", + "expert_regret": 1.4605740904808044, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ad10dacf462663ab68ad", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4605740904808044, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5394259095191956, + "restore_error": 1.1920928955078125e-07, + "score": 0.5394259095191956, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39495640993118286, + "candidate_source_group_id": "ms-fd6deac5a281d169bc75;ms-d91cbe61314c18955b6b;ms-8f0e2c9caad14bd37ecf;ms-561f4f913d7b4991d81a;ms-f3e40db5e157647d463d;ms-c2107b650136a20fc4a3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eb16021deb5d03f15c9d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4627019464969635, + "candidate_source_group_id": "ms-acd4bde23cf4608facc2;ms-12ac4329c5bca5f2bb62;ms-351c397795d9af204ec6;ms-4cd1ceea2dda2732110a;ms-caed5c1b1c882141e2e9;ms-80fbba5636cb4f9c64a3", + "expert_regret": 1.968007255345583, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4b970be37419ce0be0ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.968007255345583, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03199274465441704, + "restore_error": 1.1920928955078125e-07, + "score": 0.03199274465441704, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5579360127449036, + "candidate_source_group_id": "ms-6c0ef0ef8b493232246c;ms-a2c5c9fd35d9fda5ce9e;ms-311a52ec4b0ca8d71889;ms-227fe0347d2ea57a66a3;ms-ddb4e5a1f88dfd017319;ms-96da3b7a3c2a2411fa66", + "expert_regret": 1.4471577405929565, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ddb8f148dff1db91851f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4471577405929565, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5528422594070435, + "restore_error": 1.1920928955078125e-07, + "score": 0.5528422594070435, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.545535683631897, + "candidate_source_group_id": "ms-0adce283894b0a2b7b94;ms-9bcf8a1e5e7b0f7ff6f5;ms-daaac2887015a6e4f3e0;ms-7a460f3c1b67817c19de;ms-4385e9c56007fdaa94b5;ms-45ed57caa698d87a99cf", + "expert_regret": 1.4414158463478088, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc30ca6b7675f4de5041", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4414158463478088, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5585841536521912, + "restore_error": 1.1920928955078125e-07, + "score": 0.5585841536521912, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.37299707531929016, + "candidate_source_group_id": "ms-51f2c34d5f8f132af1ed;ms-f07589760f67c1100667;ms-9eb40f856528204bbcfd;ms-220641931ae709280b14;ms-0cfef0ba35d4e6097003;ms-a949424c5fa615565d72", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2592e5fa970f1b474388", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5496811270713806, + "candidate_source_group_id": "ms-8f0e2c9caad14bd37ecf;ms-4ec67456479f53e605e1;ms-8b5b5e5f9237c41e0fe9;ms-561f4f913d7b4991d81a;ms-73e36360221b6732c688;ms-17330235d51598ebcb4e", + "expert_regret": 1.475329577922821, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ed7b02bc8f37b8524a56", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.475329577922821, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.524670422077179, + "restore_error": 1.1920928955078125e-07, + "score": 0.524670422077179, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6156140565872192, + "candidate_source_group_id": "ms-a01e21b91a5b37a16afe;ms-0915b75e9fd1468d464e;ms-8b972386cfdf0158a0a3;ms-e218d19c595e580c3e32;ms-aea09fb002af52e12bd8;ms-319a6c0cef0ac1a872d5", + "expert_regret": 1.9343188777565956, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-706943f06888dd5bbb3a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9343188777565956, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06568112224340439, + "restore_error": 1.1920928955078125e-07, + "score": 0.06568112224340439, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.13810618221759796, + "candidate_source_group_id": "ms-f71c7cf8ca320b8eb7a4;ms-b35643e98e1b846e27cf;ms-08858c7ba8d4a3357e05;ms-7d962acc9cfbc27c599c;ms-70381721e736d44afeaf;ms-b42e0a68875b0405904b", + "expert_regret": 1.4562854766845703, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-71452ba714a10880870b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4562854766845703, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5437145233154297, + "restore_error": 1.1920928955078125e-07, + "score": 0.5437145233154297, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4486294686794281, + "candidate_source_group_id": "ms-8e741ca11a7fbe85ba1d;ms-d16053a4f8b95c94dc46;ms-f763382872d8e89017c2;ms-d462cff6e1b4b201a6ce;ms-de066fc4200163ebd06b;ms-d6e14cec49894dd329f0", + "expert_regret": 1.9536168910562992, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-18fb80871b8e11d1ae9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9536168910562992, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04638310894370079, + "restore_error": 1.1920928955078125e-07, + "score": 0.04638310894370079, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5232075452804565, + "candidate_source_group_id": "ms-3b0ad4f07f1813ecf670;ms-0019f809318a077c3910;ms-59cc3cdf6918248d7f78;ms-12ac4329c5bca5f2bb62;ms-5922c28e4a71a88c6d21;ms-0584242e924d240ca0c8", + "expert_regret": 1.4670653939247131, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4f190184d3920a0add8b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4670653939247131, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5329346060752869, + "restore_error": 1.1920928955078125e-07, + "score": 0.5329346060752869, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7558581233024597, + "candidate_source_group_id": "ms-b1bf2ab59a5385d22e54;ms-7fa85a7251186eb18d0b;ms-525a7841d99bba385bc5;ms-1fec069b4a095dd0425a;ms-c07472c627b51086ff33;ms-c8666cbd7e5a9d0fd036", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9e53ca6bc5ddb9133ffa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3530116081237793, + "candidate_source_group_id": "ms-20e5ffa93544d6d8b313;ms-4fad1f976cc64cc06826;ms-28817fe297f38fd9550a;ms-7e94769c30229d5cc7b8;ms-cf274fbe4c657d04d7c4;ms-351c397795d9af204ec6", + "expert_regret": 1.9514166340231895, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f682952c6ecb2b833c35", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9514166340231895, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.048583365976810455, + "restore_error": 1.1920928955078125e-07, + "score": 0.048583365976810455, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3692971169948578, + "candidate_source_group_id": "ms-61068da67676a95e5065;ms-fb92a1e6b67121783fff;ms-07e0726dedce0a0e4419;ms-ee055e1282f6302ad9e8;ms-1bfca22d4af29f0e14b1;ms-4fe7fdaf946c97803c82", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-09de52dad7e40970c938", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.656570315361023, + "candidate_source_group_id": "ms-d849d754f346b826e052;ms-b7ed399f40d2d554b16d;ms-288532d255e4828bb15b;ms-1abd8c7cc1c683f88d3d;ms-fb228a036fe5973bcad1;ms-8af87d14945da6a910e4", + "expert_regret": 1.4717625379562378, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a8e6435948250f5e163d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4717625379562378, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5282374620437622, + "restore_error": 1.1920928955078125e-07, + "score": 0.5282374620437622, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4531472325325012, + "candidate_source_group_id": "ms-f101cf5cc8575be3c201;ms-0d1db6695acdf1ec3eaf;ms-57ac136bd68be6387c6f;ms-8420ccaff5986c85063f;ms-8fcc78fba7b3bec0fab6;ms-c7041c6f758f8e4a3698", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d73a2a984d5829e884f9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3915434181690216, + "candidate_source_group_id": "ms-197fee321caebfd320f5;ms-a68740208f81c5d6c97b;ms-0ac53e56b4852c85ca2e;ms-0ec98183be760ea25a45;ms-f5483f0819e0e8bc352e;ms-8330999c6669ec42122a", + "expert_regret": 1.4480212330818176, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b786173f210fcaa65a6e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4480212330818176, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5519787669181824, + "restore_error": 1.1920928955078125e-07, + "score": 0.5519787669181824, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3474830090999603, + "candidate_source_group_id": "ms-86b0447349029dfaa6ab;ms-c86956f3f1333e136186;ms-f9c00ba41392adec3fd1;ms-578537600f7a649c2dd5;ms-4cd1ceea2dda2732110a;ms-7fd4a05174dcc8eaff38", + "expert_regret": 1.9655701145529747, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7651a7f31eae24958ef0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9655701145529747, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0344298854470253, + "restore_error": 1.1920928955078125e-07, + "score": 0.0344298854470253, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.21027310192584991, + "candidate_source_group_id": "ms-1781d9c562b4425df7c8;ms-8b68d8b4d22e6ff0451d;ms-f39bbaa063044719a98d;ms-9320da73e81045277fae;ms-9c8a90334c3b933c8976;ms-4c83412fa0aa5180ad89", + "expert_regret": 1.4422290325164795, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3b4b0b8c60ad41bb16b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4422290325164795, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5577709674835205, + "restore_error": 1.1920928955078125e-07, + "score": 0.5577709674835205, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4146741032600403, + "candidate_source_group_id": "ms-fe650308e25459ee64c6;ms-319a6c0cef0ac1a872d5;ms-e218d19c595e580c3e32;ms-a01e21b91a5b37a16afe;ms-fa911d56cdf9bf122b5c;ms-aea09fb002af52e12bd8", + "expert_regret": 1.9627690054476261, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-630663751ab841a96d5a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9627690054476261, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.037230994552373886, + "restore_error": 1.1920928955078125e-07, + "score": 0.037230994552373886, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5202120542526245, + "candidate_source_group_id": "ms-99df75798ec5da5ec7f3;ms-d1dd16f03551d840a922;ms-19e6e6e341aebb7ec693;ms-8c9f657875cf334b1f17;ms-2d995e39f2b95fed1a67;ms-4c7138016830a563fb1b", + "expert_regret": 1.923444077372551, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a43a663a3c4b15ec3ac2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.923444077372551, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07655592262744904, + "restore_error": 1.1920928955078125e-07, + "score": 0.07655592262744904, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4437870681285858, + "candidate_source_group_id": "ms-910d27b58a0585327a27;ms-b671fa9fcef84dbf2a13;ms-e589f7d40c12eff1712e;ms-802e63c9d42228a69c22;ms-f3d9efbde383ef5f742f;ms-e1972ebf2c5587a6fdf9", + "expert_regret": 1.4768983125686646, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4177936dc3e043366181", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4768983125686646, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5231016874313354, + "restore_error": 1.1920928955078125e-07, + "score": 0.5231016874313354, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19170106947422028, + "candidate_source_group_id": "ms-ffef7730418c831245b3;ms-7785d335d4a95e21a84d;ms-4c7e5a40768c0e27027a;ms-30fe784e67f732ef9a3d;ms-b606af28580a38cea636;ms-ca10d8b9d03f4d59806c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c151229bc1dd03ed2feb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5728136301040649, + "candidate_source_group_id": "ms-1b83fc0981e283975488;ms-cd71a93dcab09ba15592;ms-ebb616f9b291184677b3;ms-adfe268e473c03b72c65;ms-2cf1227610d4602f88ed;ms-c2bc492ab5eb87a73789", + "expert_regret": 1.9692520499229431, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b98e8aa8ecee10bea27", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9692520499229431, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.030747950077056885, + "restore_error": 1.1920928955078125e-07, + "score": 0.030747950077056885, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.09175854176282883, + "candidate_source_group_id": "ms-ce8d2ef7d19bed381822;ms-0de368e8d16fd01f4e67;ms-a26c2ffdac089c72ade5;ms-0bf5f9b5ab423eb0a7c3;ms-eb206a3dda0ac16e1643;ms-478b7b8b729f9212a522", + "expert_regret": 1.446676790714264, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1735d1abca4a91293d78", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.446676790714264, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5533232092857361, + "restore_error": 1.1920928955078125e-07, + "score": 0.5533232092857361, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19808803498744965, + "candidate_source_group_id": "ms-70d994c15153752d0dce;ms-8f5255815f8b70b48734;ms-4e86b87d6e5f6ab914fe;ms-b40ee5a75332685d5cec;ms-746436cac05100783ad7;ms-d807915e233a0c74b809", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f77305a344da6a4ccc84", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6284152269363403, + "candidate_source_group_id": "ms-a5775906ce2fb6556103;ms-5071d49489e1900dfa91;ms-578e24198ed828a74485;ms-10a5b6cc3ec06dfdc5c5;ms-80d5c509e83845ab1bc7;ms-bc53e550cb202b5fcdf3", + "expert_regret": 1.45609849691391, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b15f9c696a2661346cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.45609849691391, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5439015030860901, + "restore_error": 1.1920928955078125e-07, + "score": 0.5439015030860901, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.38329288363456726, + "candidate_source_group_id": "ms-06715386190189185900;ms-32346c22352f72d3de3a;ms-f101cf5cc8575be3c201;ms-eaf612349e2da547ee98;ms-bca6fa102f94cb145cd2;ms-dd7f9cc9585878b84824", + "expert_regret": 1.45114666223526, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5daa8575a80e98a83170", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.45114666223526, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.54885333776474, + "restore_error": 1.1920928955078125e-07, + "score": 0.54885333776474, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.364043653011322, + "candidate_source_group_id": "ms-b59a7ccfb736df4c4c68;ms-d1aac7be45644e12a976;ms-b01677be2df71c474d1f;ms-c6beb139304a0ea6f7ae;ms-57ac136bd68be6387c6f;ms-d5bfdabc97e56c680680", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dfc737e32df79e1fc429", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40514013171195984, + "candidate_source_group_id": "ms-cd71a93dcab09ba15592;ms-1b83fc0981e283975488;ms-adfe268e473c03b72c65;ms-ebb616f9b291184677b3;ms-4015c296239564108da2;ms-2cf1227610d4602f88ed", + "expert_regret": 1.9698643684387207, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b5deb1971bf3b3484282", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9698643684387207, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.030135631561279297, + "restore_error": 1.1920928955078125e-07, + "score": 0.030135631561279297, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5661618709564209, + "candidate_source_group_id": "ms-b6df140b235c8fe0eaad;ms-66540aefd55a84b5088f;ms-38d3e0274ddfa4ed7202;ms-76c78750d7abc6570487;ms-61781d30cb05657c5f5d;ms-4c83412fa0aa5180ad89", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61ac2be70a9798adeda0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3373405635356903, + "candidate_source_group_id": "ms-a927d1bd67068f1d9302;ms-d33444117889b5aa9cfb;ms-0d1db6695acdf1ec3eaf;ms-c7041c6f758f8e4a3698;ms-da46296bd4e9032570df;ms-e589f7d40c12eff1712e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e45b5de01eafae73e492", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4338913559913635, + "candidate_source_group_id": "ms-0541a144afe57b5a7ae6;ms-3eeaca32feb66f450a0b;ms-5e23219a8e2aadd039c7;ms-2470946f31fee328ad6c;ms-16cd0a94ad2cb78b1ada;ms-10dbf8bb0c239a44ec0f", + "expert_regret": 0.5461550839245319, + "expert_score": 0.6058399081230164, + "expert_success": false, + "group_id": "ms-c2e07545267c612a022c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5461550839245319, + "oracle_score": 0.6058399081230164, + "oracle_success": false, + "progress": 0.05968482419848442, + "restore_error": 1.1920928955078125e-07, + "score": 0.05968482419848442, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3808353841304779, + "candidate_source_group_id": "ms-d26a60e383a2e822615a;ms-a3cb33ed1e34d229773c;ms-4a7b774ee02339c4ca19;ms-6053d8ef243250b88f96;ms-dd4f37e032d56b692a0e;ms-c7020fdb7cba871e8b3e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f4967102c7b10057ab9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42060136795043945, + "candidate_source_group_id": "ms-6f1ec735350c81ef9fca;ms-c4cb99b887c88c707ba9;ms-f2433bc89b10851b7187;ms-9e87481ce12fa45b2554;ms-03cdc738473ac1df9dfc;ms-8b68d8b4d22e6ff0451d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1924e52af208c9f66592", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5012277960777283, + "candidate_source_group_id": "ms-bca6fa102f94cb145cd2;ms-57ac136bd68be6387c6f;ms-f1fb6cdb836269adb2cc;ms-dd7f9cc9585878b84824;ms-eff5f21c51f26a85f07c;ms-a949424c5fa615565d72", + "expert_regret": 1.4271289110183716, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b73e5dfa1f2a01e6017", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4271289110183716, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5728710889816284, + "restore_error": 1.1920928955078125e-07, + "score": 0.5728710889816284, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45323580503463745, + "candidate_source_group_id": "ms-d9db15929a99dea0e9b3;ms-8a00723a184a6ca740b2;ms-da855323619ebf257b19;ms-9c8a90334c3b933c8976;ms-f3d9efbde383ef5f742f;ms-e1972ebf2c5587a6fdf9", + "expert_regret": 1.4823529124259949, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2cc8c1975139989940f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4823529124259949, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5176470875740051, + "restore_error": 2.384185791015625e-07, + "score": 0.5176470875740051, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4167957007884979, + "candidate_source_group_id": "ms-ee055e1282f6302ad9e8;ms-bee62a6ef02134938aae;ms-fb92a1e6b67121783fff;ms-3c8ba3016f7269bfe44f;ms-07e0726dedce0a0e4419;ms-17330235d51598ebcb4e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1abf5e6d483e2788b086", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7134802937507629, + "candidate_source_group_id": "ms-486b916e7b4ad1566788;ms-b809a8756abec7015aac;ms-4021797e9499e6aaab7a;ms-08c75f74bf7813b1c257;ms-ae6d60345612be32478c;ms-af16712eadcaebf175ff", + "expert_regret": 1.4305716156959534, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-867fd9318b2445dcefb5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4305716156959534, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5694283843040466, + "restore_error": 2.384185791015625e-07, + "score": 0.5694283843040466, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3715791702270508, + "candidate_source_group_id": "ms-91ad1a5f945470b4346e;ms-432ca73236be93cb76df;ms-b1c9975d1a007dd03dc4;ms-de709118c78966c5aff7;ms-0a4c4442237909d5f7b7;ms-e110d8ef3eb852a0f564", + "expert_regret": 1.9524570107460022, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bfda95ffffd5d1a2683a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9524570107460022, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0475429892539978, + "restore_error": 2.384185791015625e-07, + "score": 0.0475429892539978, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2850474715232849, + "candidate_source_group_id": "ms-910fe3f3a4cbc2d8e6f5;ms-64e28ad134f73fdce800;ms-3352e05afd9065cd09bf;ms-478b7b8b729f9212a522;ms-a26c2ffdac089c72ade5;ms-8beca0622be320b282c1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97140da7cf409922f6ce", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4701941907405853, + "candidate_source_group_id": "ms-b36673c3905a123cbd50;ms-d67409d8ecfd5d97336d;ms-60a28a9b282e7586d4d2;ms-382000b79932b7c68326;ms-311a52ec4b0ca8d71889;ms-de709118c78966c5aff7", + "expert_regret": 1.4531803727149963, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87f65c35c9d8b3ced6fc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4531803727149963, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5468196272850037, + "restore_error": 2.384185791015625e-07, + "score": 0.5468196272850037, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7229878306388855, + "candidate_source_group_id": "ms-045f5adce6d38ea2794f;ms-dc965b3a72976440156c;ms-b40ee5a75332685d5cec;ms-f32035837f7df88396a3;ms-82e28eb350e21d43d3eb;ms-8315ae30e2cf041c8674", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2f846e9f31e2b8c4965f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44778138399124146, + "candidate_source_group_id": "ms-1cea800b74c1ea2f6338;ms-0ca11ec8f7fbf0c1d66e;ms-d824135bf97b907f7cc2;ms-17e8d6ba42404c7b7d07;ms-23f9cca8edfca421a4a6;ms-10f4c68dcad8285f4acd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c78721d9c4196a9e8ec5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.36743423342704773, + "candidate_source_group_id": "ms-f07607bc0ce1c4e202b0;ms-a2908e99b0a12a9980cc;ms-1d36e5be82aee5a8e3b8;ms-7fa85a7251186eb18d0b;ms-02acbd591a961c0dbd46;ms-6f1ec735350c81ef9fca", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6995d4366e7c20010126", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7192692160606384, + "candidate_source_group_id": "ms-b36673c3905a123cbd50;ms-d67409d8ecfd5d97336d;ms-311a52ec4b0ca8d71889;ms-382000b79932b7c68326;ms-dea17c1c383f54d05636;ms-c2fde2d79cdf38555865", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-59020093d2eeaf58aa84", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7868848443031311, + "candidate_source_group_id": "ms-dc5a883a3e28b90ebf1a;ms-39450dbba738dbd8a764;ms-4ec67456479f53e605e1;ms-486ff31b7a04a7e9e8f9;ms-17330235d51598ebcb4e;ms-635a384c88604ad7ba4f", + "expert_regret": 1.4768181443214417, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cafa65eeb953aff47f30", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4768181443214417, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5231818556785583, + "restore_error": 1.1920928955078125e-07, + "score": 0.5231818556785583, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45100054144859314, + "candidate_source_group_id": "ms-2c9685cffc73e47cc8cf;ms-96da3b7a3c2a2411fa66;ms-fd99b14bf152ebc0ef8e;ms-227fe0347d2ea57a66a3;ms-59cc3cdf6918248d7f78;ms-c2fde2d79cdf38555865", + "expert_regret": 1.45553058385849, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cdd69b5acc8119e600c7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.45553058385849, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.54446941614151, + "restore_error": 1.1920928955078125e-07, + "score": 0.54446941614151, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4260266125202179, + "candidate_source_group_id": "ms-be8eff6e6d520ae11a0d;ms-e441e4042cb7d77a4986;ms-3e51a1bdc3a2cc4eb06d;ms-4742d169606f3ec2b474;ms-d965f63e091a5d6dd6d7;ms-38507741c3b5d91a7b33", + "expert_regret": 1.4565030336380005, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6133ea5e61638487dd46", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4565030336380005, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5434969663619995, + "restore_error": 1.1920928955078125e-07, + "score": 0.5434969663619995, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.30573204159736633, + "candidate_source_group_id": "ms-1d5b929cb9614dc18304;ms-72cf68c15631675b063f;ms-793a98188fd57ed5291f;ms-7361bfba9d2ab4f1913e;ms-ba156a5cdaf40cc85cc4;ms-54a7c3d32b6a267d81a2", + "expert_regret": 1.9528655037283897, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8fa24da5c97dc1dad5c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9528655037283897, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04713449627161026, + "restore_error": 1.1920928955078125e-07, + "score": 0.04713449627161026, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3377590775489807, + "candidate_source_group_id": "ms-f1eb908e172570b07cae;ms-53fdabb5d8ef20778214;ms-fb98254adaa23dc128df;ms-5e3b1693ad7b75221847;ms-4d9cef437c77474dc62d;ms-978bbf0a6fc563f745ab", + "expert_regret": 1.4595001935958862, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-41c5500153912a1743de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4595001935958862, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5404998064041138, + "restore_error": 1.1920928955078125e-07, + "score": 0.5404998064041138, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7864153981208801, + "candidate_source_group_id": "ms-311a52ec4b0ca8d71889;ms-d67409d8ecfd5d97336d;ms-b36673c3905a123cbd50;ms-a2c5c9fd35d9fda5ce9e;ms-382000b79932b7c68326;ms-c2fde2d79cdf38555865", + "expert_regret": 1.4547942280769348, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-03ed7e57992354e27896", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4547942280769348, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5452057719230652, + "restore_error": 1.1920928955078125e-07, + "score": 0.5452057719230652, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.21328231692314148, + "candidate_source_group_id": "ms-cb70b56d6ad32b11c3cf;ms-4c83412fa0aa5180ad89;ms-76c78750d7abc6570487;ms-b6df140b235c8fe0eaad;ms-66540aefd55a84b5088f;ms-38d3e0274ddfa4ed7202", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11a2794efa24f4d93d83", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28196069598197937, + "candidate_source_group_id": "ms-62b597990a3d637e5a8a;ms-5c8b50523e0de37d80b8;ms-8af2224cc82636ef1dd7;ms-7e94769c30229d5cc7b8;ms-2e5c2f75d3f6311e0a1c;ms-1c0e2bb3a811fac6d567", + "expert_regret": 1.9562659747898579, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a1d69e0b112064914357", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9562659747898579, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.043734025210142136, + "restore_error": 1.1920928955078125e-07, + "score": 0.043734025210142136, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48990482091903687, + "candidate_source_group_id": "ms-5316151a88a3282436ca;ms-432ca73236be93cb76df;ms-80d5c509e83845ab1bc7;ms-91ad1a5f945470b4346e;ms-a5775906ce2fb6556103;ms-06935a084a7af6d7596c", + "expert_regret": 1.8922587260603905, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbea3b8005a30431cb52", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8922587260603905, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10774127393960953, + "restore_error": 1.1920928955078125e-07, + "score": 0.10774127393960953, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28659993410110474, + "candidate_source_group_id": "ms-cb16b458af723bf7cd0a;ms-2df0b9d5fa91156e430a;ms-1d1969094d91fe52667d;ms-e07f80b44faf328c5e58;ms-81c855f8645b35f0856d;ms-b6fd2931116c15db0f0a", + "expert_regret": 1.4466455578804016, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ae5421846020d2765f82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4466455578804016, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5533544421195984, + "restore_error": 1.1920928955078125e-07, + "score": 0.5533544421195984, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9776261448860168, + "candidate_source_group_id": "ms-0ca1c25fddb7da05d80a;ms-40cb974de9da58dcd32b;ms-6fc6a26da9fbe53dd616;ms-8b972386cfdf0158a0a3;ms-0915b75e9fd1468d464e;ms-ff96d76fba5b6ceb1289", + "expert_regret": 1.9146807864308357, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5bae191ebad7c9f2687", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9146807864308357, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08531921356916428, + "restore_error": 1.1920928955078125e-07, + "score": 0.08531921356916428, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41412559151649475, + "candidate_source_group_id": "ms-dbcc3da47d96ceeaf9f0;ms-b7800060cd4a8c3cb6b9;ms-c3f7b780f604922f4f67;ms-4681331b496c8a9cf14d;ms-ad5ad5314850df7b0853;ms-b0aa24be399d843c9d50", + "expert_regret": 1.4792965054512024, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-732819b0c220a4c06870", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4792965054512024, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5207034945487976, + "restore_error": 1.1920928955078125e-07, + "score": 0.5207034945487976, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8359498977661133, + "candidate_source_group_id": "ms-c86956f3f1333e136186;ms-7fd4a05174dcc8eaff38;ms-c2bc492ab5eb87a73789;ms-2cf1227610d4602f88ed;ms-de0abc7a53a48164f82d;ms-1b83fc0981e283975488", + "expert_regret": 1.4814825057983398, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68e331088400739273da", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4814825057983398, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5185174942016602, + "restore_error": 1.1920928955078125e-07, + "score": 0.5185174942016602, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.389798104763031, + "candidate_source_group_id": "ms-311a52ec4b0ca8d71889;ms-a2c5c9fd35d9fda5ce9e;ms-6c0ef0ef8b493232246c;ms-227fe0347d2ea57a66a3;ms-d67409d8ecfd5d97336d;ms-fd99b14bf152ebc0ef8e", + "expert_regret": 1.4769527316093445, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fa62bbb3e8416561ed69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4769527316093445, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5230472683906555, + "restore_error": 1.1920928955078125e-07, + "score": 0.5230472683906555, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2333730310201645, + "candidate_source_group_id": "ms-3352e05afd9065cd09bf;ms-478b7b8b729f9212a522;ms-64e28ad134f73fdce800;ms-910fe3f3a4cbc2d8e6f5;ms-eb206a3dda0ac16e1643;ms-a26c2ffdac089c72ade5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bcfeba2af1e844c22aed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 1.1268521547317505, + "candidate_source_group_id": "ms-22675530f3a401b3fd6d;ms-ff96d76fba5b6ceb1289;ms-0ca1c25fddb7da05d80a;ms-c679fdafdd776a14b66f;ms-23a355317920e192147f;ms-7d32f6b32c14e33b1eb1", + "expert_regret": 1.9079431518912315, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7cbbc5e7dc896a803efa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9079431518912315, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09205684810876846, + "restore_error": 1.1920928955078125e-07, + "score": 0.09205684810876846, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3050791919231415, + "candidate_source_group_id": "ms-288532d255e4828bb15b;ms-b7ed399f40d2d554b16d;ms-1abd8c7cc1c683f88d3d;ms-fb228a036fe5973bcad1;ms-8af87d14945da6a910e4;ms-b82cc8ce5d9d348ba6b4", + "expert_regret": 1.4538047909736633, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-26e09c86be9068a34acf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4538047909736633, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5461952090263367, + "restore_error": 1.1920928955078125e-07, + "score": 0.5461952090263367, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18302978575229645, + "candidate_source_group_id": "ms-ffef7730418c831245b3;ms-7785d335d4a95e21a84d;ms-b606af28580a38cea636;ms-79d500110f3723b57da8;ms-30fe784e67f732ef9a3d;ms-ca10d8b9d03f4d59806c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-47a55ae1d3a858eed51c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5917258858680725, + "candidate_source_group_id": "ms-a7179e4e4e2a0d5335b3;ms-8c6e41e7542bc6924a1f;ms-61781d30cb05657c5f5d;ms-2f57eadf546710065684;ms-13af3f2f8e0b8444fe68;ms-38d3e0274ddfa4ed7202", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3417f5f2f1470c61d0a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.424835205078125, + "candidate_source_group_id": "ms-4ca84594a789c9abd5d9;ms-9cdebdcdad56bd8d87cc;ms-edcdf99767068f94bcb4;ms-a9ac13384fe5afc835f1;ms-86b302005e0461f28c43;ms-69962cd1c448094e4fb0", + "expert_regret": 0.0, + "expert_score": 0.582298219203949, + "expert_success": false, + "group_id": "ms-eac0d7dd54b1e797fdbd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.582298219203949, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4324665069580078, + "candidate_source_group_id": "ms-55ea22014575410563a4;ms-25a8e32c071be83d913b;ms-22412b51e61621b6025b;ms-d05d9bbb98f24da55981;ms-5085e45e6ca37192d2e5;ms-c0bfce3c9dd10f9d3231", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f8c4e700a751537ebb16", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.384392112493515, + "candidate_source_group_id": "ms-29eab654e4adf7ca9c4b;ms-4f938bd3599c372c8bff;ms-de0abc7a53a48164f82d;ms-cdfe8f580576f4c577b0;ms-9ffeb1600c04f08bdfcb;ms-f6db4e8bed63ed868487", + "expert_regret": 1.9713891614228487, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fd1c44c6d5d8f7f11451", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9713891614228487, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0286108385771513, + "restore_error": 1.1920928955078125e-07, + "score": 0.0286108385771513, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5062060952186584, + "candidate_source_group_id": "ms-f763382872d8e89017c2;ms-a3fa10726c656e851515;ms-de066fc4200163ebd06b;ms-d6e14cec49894dd329f0;ms-e7f2d1f0de50c6fcccb4;ms-d16053a4f8b95c94dc46", + "expert_regret": 1.4940776824951172, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cc0b33f92229d32bd84f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4940776824951172, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5059223175048828, + "restore_error": 1.1920928955078125e-07, + "score": 0.5059223175048828, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3896501362323761, + "candidate_source_group_id": "ms-351c397795d9af204ec6;ms-12ac4329c5bca5f2bb62;ms-caed5c1b1c882141e2e9;ms-acd4bde23cf4608facc2;ms-4cd1ceea2dda2732110a;ms-20e5ffa93544d6d8b313", + "expert_regret": 1.964863084256649, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f8e2d5d25706493821d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.964863084256649, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03513691574335098, + "restore_error": 1.1920928955078125e-07, + "score": 0.03513691574335098, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28372466564178467, + "candidate_source_group_id": "ms-08c39d9cc9eb7578e6e9;ms-10f2865bef6da7b66423;ms-f947dbf28ad85666e2f1;ms-fbda7bc51ca269d1cda4;ms-f69d6aec4ddb12d88c5b;ms-1cdd36810a138190ce3c", + "expert_regret": 1.9321197345852852, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-66ec6692758e9a7f2e01", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9321197345852852, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06788026541471481, + "restore_error": 1.1920928955078125e-07, + "score": 0.06788026541471481, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5170589089393616, + "candidate_source_group_id": "ms-0ac53e56b4852c85ca2e;ms-8330999c6669ec42122a;ms-076d67ac4d2de4e0c627;ms-a68740208f81c5d6c97b;ms-197fee321caebfd320f5;ms-e318e13f77e75e7cd802", + "expert_regret": 1.93156848102808, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7156b26670838d40934", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.93156848102808, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06843151897192001, + "restore_error": 1.1920928955078125e-07, + "score": 0.06843151897192001, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3761560022830963, + "candidate_source_group_id": "ms-339ae3ec9482aa259eec;ms-32435d71bb817daf01d9;ms-88b1a0f8f758f7956c0f;ms-683b1d258a1cafbf87b9;ms-4681331b496c8a9cf14d;ms-b7800060cd4a8c3cb6b9", + "expert_regret": 1.4432498812675476, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-53cfcc878e30fc078bba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4432498812675476, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5567501187324524, + "restore_error": 1.1920928955078125e-07, + "score": 0.5567501187324524, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.21844403445720673, + "candidate_source_group_id": "ms-4bc023d8d1f7748b0e12;ms-91d86cba2602d1fa780d;ms-a699ee643e76a610b444;ms-d67409d8ecfd5d97336d;ms-a2c5c9fd35d9fda5ce9e;ms-0b7f8ba789c00b37caa0", + "expert_regret": 0.0, + "expert_score": 0.6176263093948364, + "expert_success": false, + "group_id": "ms-a509a572b3871e591d26", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20741169154644012, + "candidate_source_group_id": "ms-c7020fdb7cba871e8b3e;ms-4a7b774ee02339c4ca19;ms-0de368e8d16fd01f4e67;ms-dd4f37e032d56b692a0e;ms-9b56e5007c76d9fefd1f;ms-486572c62484eb4d73db", + "expert_regret": 1.4158138632774353, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a576ca39e26c4e1ab240", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4158138632774353, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5841861367225647, + "restore_error": 1.1920928955078125e-07, + "score": 0.5841861367225647, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18518175184726715, + "candidate_source_group_id": "ms-a927d1bd67068f1d9302;ms-d33444117889b5aa9cfb;ms-0d1db6695acdf1ec3eaf;ms-c7041c6f758f8e4a3698;ms-da46296bd4e9032570df;ms-e589f7d40c12eff1712e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-36e8cb2e7f34f8dceb05", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.436752587556839, + "candidate_source_group_id": "ms-b82cc8ce5d9d348ba6b4;ms-8af87d14945da6a910e4;ms-386220c339b7de7f222b;ms-1abd8c7cc1c683f88d3d;ms-288532d255e4828bb15b;ms-b7ed399f40d2d554b16d", + "expert_regret": 1.4450559616088867, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b570fe64df70560c8ab6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4450559616088867, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5549440383911133, + "restore_error": 1.1920928955078125e-07, + "score": 0.5549440383911133, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3788755238056183, + "candidate_source_group_id": "ms-d4bde31fd7e7cee76b09;ms-8315ae30e2cf041c8674;ms-d807915e233a0c74b809;ms-7b932868f83725def2ed;ms-b4af4c8b9dcd6976546c;ms-99a5ffff5b73cf604b3d", + "expert_regret": 1.4505256414413452, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6029bab18ae94b126d79", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4505256414413452, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5494743585586548, + "restore_error": 1.1920928955078125e-07, + "score": 0.5494743585586548, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.16039790213108063, + "candidate_source_group_id": "ms-88bdd8987f890af7e9ea;ms-99ecd2226d7187416316;ms-3aa5793c449b59c77b6f;ms-9783ccaf76f1b20c766e;ms-ee32e6bb3c0bb45702b9;ms-30fe784e67f732ef9a3d", + "expert_regret": 1.4405108094215393, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c5d026dffb39f2f1d38a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4405108094215393, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5594891905784607, + "restore_error": 1.1920928955078125e-07, + "score": 0.5594891905784607, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44982147216796875, + "candidate_source_group_id": "ms-9783ccaf76f1b20c766e;ms-30fe784e67f732ef9a3d;ms-88bdd8987f890af7e9ea;ms-3aa5793c449b59c77b6f;ms-ee32e6bb3c0bb45702b9;ms-99ecd2226d7187416316", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c70be4072fb4e49ac106", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5813859105110168, + "candidate_source_group_id": "ms-79c7332b2b329eaa6a13;ms-7a17ceb004979b99a586;ms-61b1188974f35233b883;ms-1158e6997b2f1281b105;ms-708baf01c22c75cafd22;ms-3a64af2410ea932a6267", + "expert_regret": 1.446348488330841, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3aa864ead19c9cb9fb49", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.446348488330841, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5536515116691589, + "restore_error": 1.1920928955078125e-07, + "score": 0.5536515116691589, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9352668523788452, + "candidate_source_group_id": "ms-d1dd16f03551d840a922;ms-19e6e6e341aebb7ec693;ms-8c9f657875cf334b1f17;ms-99df75798ec5da5ec7f3;ms-3e7befcb3d8fc7884e8f;ms-8a22f0da78e59cd1eb5f", + "expert_regret": 1.4488266110420227, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-aaf1c4931e054f52623c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4488266110420227, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5511733889579773, + "restore_error": 1.1920928955078125e-07, + "score": 0.5511733889579773, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22279170155525208, + "candidate_source_group_id": "ms-1abd8c7cc1c683f88d3d;ms-b7ed399f40d2d554b16d;ms-288532d255e4828bb15b;ms-8af87d14945da6a910e4;ms-b82cc8ce5d9d348ba6b4;ms-d849d754f346b826e052", + "expert_regret": 1.4657900929450989, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3ea30989082ec714e12d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4657900929450989, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5342099070549011, + "restore_error": 1.1920928955078125e-07, + "score": 0.5342099070549011, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3554401993751526, + "candidate_source_group_id": "ms-c412fba3624c72fe2a27;ms-0f219ce35aff264455e2;ms-295de2ad6c52ab50de1a;ms-8a22f0da78e59cd1eb5f;ms-f5e621c9ae7bcca8e596;ms-49641ecf3e1326621609", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1309e1770b6ca6e71c7e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6493068337440491, + "candidate_source_group_id": "ms-97598e118c5cc8c254a5;ms-2073841ae01f224365a1;ms-0584242e924d240ca0c8;ms-59cc3cdf6918248d7f78;ms-5922c28e4a71a88c6d21;ms-296b75a11f61d61d5fba", + "expert_regret": 1.4815878868103027, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-81729abe5d83a1ca280d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4815878868103027, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5184121131896973, + "restore_error": 1.1920928955078125e-07, + "score": 0.5184121131896973, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4039307236671448, + "candidate_source_group_id": "ms-e0c2c1fbe39cd1d652b3;ms-3d0d437ee74041fc61bb;ms-5425964a186feaf6fd99;ms-2bf2f3a2444b64f8230a;ms-42117385b9e6e57c7e63;ms-a7f98a43ff113d74f009", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5d430ebe6f7933dc6c8c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5233121514320374, + "candidate_source_group_id": "ms-6c081eee5edb633d6caf;ms-239a07967247700a8ed1;ms-5fc884c238818acdde08;ms-4bf0620f8d1294466596;ms-d75a00b1388f50bf8919;ms-cca07eb504a242633931", + "expert_regret": 1.4885473847389221, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68ab6033433b360464f8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4885473847389221, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5114526152610779, + "restore_error": 1.1920928955078125e-07, + "score": 0.5114526152610779, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.704818844795227, + "candidate_source_group_id": "ms-7361bfba9d2ab4f1913e;ms-3b0639bfe64ecfd35594;ms-3a65e7b378a87a7eeb11;ms-fcbac5ac63b87452c719;ms-8adf1cf09ddabdc5fe5f;ms-0b7f8ba789c00b37caa0", + "expert_regret": 1.9715113043785095, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fef1cf4879be83a77574", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9715113043785095, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02848869562149048, + "restore_error": 1.1920928955078125e-07, + "score": 0.02848869562149048, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33673545718193054, + "candidate_source_group_id": "ms-7d962acc9cfbc27c599c;ms-72b7d76602371f044fe3;ms-a6273302894af3505ca8;ms-13192a27f5fcf4fd24d7;ms-11bb3387454624de8143;ms-a22fbce4503f088acb1f", + "expert_regret": 1.4648368954658508, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7241a1c25af41f4c0b5a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4648368954658508, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5351631045341492, + "restore_error": 1.1920928955078125e-07, + "score": 0.5351631045341492, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4482731819152832, + "candidate_source_group_id": "ms-9ff81e54049443a0f3d3;ms-b42e0a68875b0405904b;ms-d19573dc65181befd83d;ms-f71c7cf8ca320b8eb7a4;ms-b6827e38768a63212d73;ms-8f241450069e74460a40", + "expert_regret": 1.433536946773529, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a73f46824bdbdfb96238", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.433536946773529, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.566463053226471, + "restore_error": 1.1920928955078125e-07, + "score": 0.566463053226471, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5365245938301086, + "candidate_source_group_id": "ms-8c0b600aef5393f929cd;ms-49641ecf3e1326621609;ms-17a04b4ac2d938261bff;ms-7982e5af0d533320432f;ms-4895312f7ef7a8e0109c;ms-f5e621c9ae7bcca8e596", + "expert_regret": 1.9715731497853994, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7f427f37d47501932e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9715731497853994, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.028426850214600563, + "restore_error": 1.1920928955078125e-07, + "score": 0.028426850214600563, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5303257703781128, + "candidate_source_group_id": "ms-76c78750d7abc6570487;ms-b6df140b235c8fe0eaad;ms-66540aefd55a84b5088f;ms-38d3e0274ddfa4ed7202;ms-a7179e4e4e2a0d5335b3;ms-a7f98a43ff113d74f009", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a6060f858cb9f93c5588", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5835391283035278, + "candidate_source_group_id": "ms-d88107eff1e361cdcc4c;ms-813cac6d08ed5af48b12;ms-ce2924d08bdd6c379777;ms-16d5b122db1824caf92b;ms-dbb32d9fd6999e09f589;ms-64ab703e7a82799a47dd", + "expert_regret": 1.4395153522491455, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-70342af6b601660d7c69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4395153522491455, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5604846477508545, + "restore_error": 1.1920928955078125e-07, + "score": 0.5604846477508545, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.17377400398254395, + "candidate_source_group_id": "ms-763c73c94818a090d358;ms-c7020fdb7cba871e8b3e;ms-486572c62484eb4d73db;ms-9b56e5007c76d9fefd1f;ms-0de368e8d16fd01f4e67;ms-4fe47d946641f0096a85", + "expert_regret": 1.4383211731910706, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d81f3e8b6a42695871d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4383211731910706, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5616788268089294, + "restore_error": 1.1920928955078125e-07, + "score": 0.5616788268089294, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2310105711221695, + "candidate_source_group_id": "ms-a7179e4e4e2a0d5335b3;ms-2f57eadf546710065684;ms-76c78750d7abc6570487;ms-b6df140b235c8fe0eaad;ms-66540aefd55a84b5088f;ms-38d3e0274ddfa4ed7202", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-39af5447d3c90872c25f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5564748644828796, + "candidate_source_group_id": "ms-486572c62484eb4d73db;ms-763c73c94818a090d358;ms-b0aa24be399d843c9d50;ms-4fe47d946641f0096a85;ms-dd4f37e032d56b692a0e;ms-a6b029a958e91306966a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a44a2c9eee8baea5d29e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4650707244873047, + "candidate_source_group_id": "ms-5fc884c238818acdde08;ms-38d3e0274ddfa4ed7202;ms-66540aefd55a84b5088f;ms-4d6099258a3a6e037aff;ms-b6df140b235c8fe0eaad;ms-85eef30b36b044b33f60", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d44f5bd2488ea182132b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5717225074768066, + "candidate_source_group_id": "ms-859d0ea38fb5e8aa6b98;ms-ee7463f3d937dbc16f89;ms-e7f2d1f0de50c6fcccb4;ms-3deb9fa600781abb51c1;ms-a3fa10726c656e851515;ms-ffc3f18cbc674bdcc085", + "expert_regret": 1.9745220188051462, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0cc80a2933abf1b4853f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9745220188051462, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.025477981194853783, + "restore_error": 1.1920928955078125e-07, + "score": 0.025477981194853783, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2520544230937958, + "candidate_source_group_id": "ms-bd6b2dc41ba42b44462a;ms-642670f4bb658d32970b;ms-5721bb074a97f9773eca;ms-4082ce1f04dbacd6a5b9;ms-ae33e3afb57e61026d72;ms-57a213acdc6a7231f799", + "expert_regret": 1.4638789296150208, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6905c1d3bc8157697499", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4638789296150208, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5361210703849792, + "restore_error": 1.1920928955078125e-07, + "score": 0.5361210703849792, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6236665844917297, + "candidate_source_group_id": "ms-80fbba5636cb4f9c64a3;ms-4cd1ceea2dda2732110a;ms-12ac4329c5bca5f2bb62;ms-97598e118c5cc8c254a5;ms-0584242e924d240ca0c8;ms-2073841ae01f224365a1", + "expert_regret": 1.863457903265953, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8e4755f1627d85c12bd8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.863457903265953, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.13654209673404694, + "restore_error": 1.1920928955078125e-07, + "score": 0.13654209673404694, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4345700442790985, + "candidate_source_group_id": "ms-2df0b9d5fa91156e430a;ms-b0fd98bae1ed5d543f35;ms-81c855f8645b35f0856d;ms-e07f80b44faf328c5e58;ms-cb16b458af723bf7cd0a;ms-1d1969094d91fe52667d", + "expert_regret": 1.4462987780570984, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6305829d7ca1c68a3ce", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4462987780570984, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5537012219429016, + "restore_error": 1.1920928955078125e-07, + "score": 0.5537012219429016, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5666297078132629, + "candidate_source_group_id": "ms-fd6deac5a281d169bc75;ms-561f4f913d7b4991d81a;ms-8f0e2c9caad14bd37ecf;ms-d91cbe61314c18955b6b;ms-1df0775c4ef08d0cf1bf;ms-f3e40db5e157647d463d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-023e021f079a8774c741", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45956167578697205, + "candidate_source_group_id": "ms-79c7332b2b329eaa6a13;ms-61b1188974f35233b883;ms-708baf01c22c75cafd22;ms-ee19bfbcb2f4fbf5a44d;ms-519fb779d24a0bdf3809;ms-ea72196e20393870bcbb", + "expert_regret": 0.039834439754486084, + "expert_score": 0.5963302850723267, + "expert_success": false, + "group_id": "ms-66cc354bbf4e8bdd1051", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.039834439754486084, + "oracle_score": 0.5963302850723267, + "oracle_success": false, + "progress": 0.5564958453178406, + "restore_error": 1.1920928955078125e-07, + "score": 0.5564958453178406, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42557328939437866, + "candidate_source_group_id": "ms-5367a8bae4304851384e;ms-a47818abd17d958ad6ca;ms-2bf2f3a2444b64f8230a;ms-dd4e13e425fbe9bd9140;ms-e0c2c1fbe39cd1d652b3;ms-128c7c43e30023e6b1a3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a13ee9983c139d34fca8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28191065788269043, + "candidate_source_group_id": "ms-486572c62484eb4d73db;ms-dd4f37e032d56b692a0e;ms-763c73c94818a090d358;ms-a6b029a958e91306966a;ms-b0aa24be399d843c9d50;ms-c7020fdb7cba871e8b3e", + "expert_regret": 1.4435485005378723, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c39b520dca0a325535f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4435485005378723, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5564514994621277, + "restore_error": 1.1920928955078125e-07, + "score": 0.5564514994621277, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6323713660240173, + "candidate_source_group_id": "ms-70381721e736d44afeaf;ms-0e12a6083750bfecca87;ms-f71c7cf8ca320b8eb7a4;ms-22588909538be867fb28;ms-7a17ceb004979b99a586;ms-72b7d76602371f044fe3", + "expert_regret": 1.4891955852508545, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5a7891a58bac94796178", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4891955852508545, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5108044147491455, + "restore_error": 1.1920928955078125e-07, + "score": 0.5108044147491455, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3450877368450165, + "candidate_source_group_id": "ms-8b972386cfdf0158a0a3;ms-6fc6a26da9fbe53dd616;ms-0915b75e9fd1468d464e;ms-19c0b893fda0e6bb05f7;ms-c679fdafdd776a14b66f;ms-40cb974de9da58dcd32b", + "expert_regret": 1.9786108247935772, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fed4628b22c7e42e32d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9786108247935772, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.021389175206422806, + "restore_error": 1.1920928955078125e-07, + "score": 0.021389175206422806, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6314989924430847, + "candidate_source_group_id": "ms-f5e621c9ae7bcca8e596;ms-49641ecf3e1326621609;ms-8a22f0da78e59cd1eb5f;ms-8c0b600aef5393f929cd;ms-4895312f7ef7a8e0109c;ms-17a04b4ac2d938261bff", + "expert_regret": 1.8937367871403694, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c91cae30acaa8dc7a12b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8937367871403694, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10626321285963058, + "restore_error": 1.1920928955078125e-07, + "score": 0.10626321285963058, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8329213261604309, + "candidate_source_group_id": "ms-dce346f7f90e29664890;ms-4143ca4fca04091084e4;ms-7eaea428dfdef7255a66;ms-dc26b448cce4164a23e6;ms-906dbd4dc79cb6be1e2c;ms-57be9ae181c077e7821f", + "expert_regret": 1.8340736329555511, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-070184c0f6831eb39bc1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8340736329555511, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16592636704444885, + "restore_error": 2.3096799850463867e-07, + "score": 0.16592636704444885, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.1936990022659302, + "candidate_source_group_id": "ms-778efc20fc2ee8a3dd02;ms-2e40499cb146da6f89e7;ms-4f0a59b7bc897c0d5e5e;ms-12c741253e1802aad9ec;ms-744702a88bec9222a30a;ms-3c223e8c7f870c807541", + "expert_regret": 1.770249143242836, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c62736c7767014960e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.770249143242836, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.229750856757164, + "restore_error": 2.3096799850463867e-07, + "score": 0.229750856757164, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.38881397247314453, + "candidate_source_group_id": "ms-f5dd1c43ebc4c0cfc3f1;ms-0dee962a5901fb8b5bbb;ms-b7d7021b782f73816083;ms-c2398cb80b194084dbfc;ms-62bd92bfcbc50801e008;ms-b8c3ec3ea915c5d35b3e", + "expert_regret": 0.0, + "expert_score": 0.18241576850414276, + "expert_success": false, + "group_id": "ms-a4d2c89304817ce28313", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.2059803009033203, + "oracle_success": false, + "progress": 0.23355507850646973, + "restore_error": 2.3096799850463867e-07, + "score": 0.23355507850646973, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6207147836685181, + "candidate_source_group_id": "ms-fd4b2d974e51fed9536e;ms-d92cec7cfd1915a30824;ms-ee30ebaf98622759d888;ms-b794f77d280289ce22a4;ms-ebacae0135af2832dfbb;ms-3089724d0eba0f7b5d91", + "expert_regret": 0.12242285162210464, + "expert_score": 0.17002534866333008, + "expert_success": false, + "group_id": "ms-7923b8196b397863cf4f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9523975029587746, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04760249704122543, + "restore_error": 2.3096799850463867e-07, + "score": 0.04760249704122543, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5852798819541931, + "candidate_source_group_id": "ms-4bda8533405961380322;ms-9229ce141dd41a11fac1;ms-1c2768099019b86daca7;ms-b7d7021b782f73816083;ms-ba11d52e628b2efe32ea;ms-7df455efd413d77e6ce3", + "expert_regret": 0.0, + "expert_score": 0.05257302522659302, + "expert_success": false, + "group_id": "ms-728b865677134d3788e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.16139698028564453, + "oracle_score": 0.22658847272396088, + "oracle_success": false, + "progress": 0.06519149243831635, + "restore_error": 2.3096799850463867e-07, + "score": 0.06519149243831635, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.37600797414779663, + "candidate_source_group_id": "ms-b7d7021b782f73816083;ms-45309d0bdc5e3babc17b;ms-0dee962a5901fb8b5bbb;ms-7a044cb6c7bb03f3ea10;ms-4bda8533405961380322;ms-6ddecc7f074b9e267409", + "expert_regret": 0.0, + "expert_score": 0.11683736741542816, + "expert_success": false, + "group_id": "ms-e87c704dfdbf7ee7f51f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.06071197986602783, + "oracle_score": 0.2421749234199524, + "oracle_success": false, + "progress": 0.18146294355392456, + "restore_error": 2.3096799850463867e-07, + "score": 0.18146294355392456, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4777471125125885, + "candidate_source_group_id": "ms-0dee962a5901fb8b5bbb;ms-f5dd1c43ebc4c0cfc3f1;ms-45309d0bdc5e3babc17b;ms-b7d7021b782f73816083;ms-082cb0ac119a83c42c2d;ms-c2398cb80b194084dbfc", + "expert_regret": 0.0, + "expert_score": 0.16706955432891846, + "expert_success": false, + "group_id": "ms-8b603da9f857de028798", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.21277980506420135, + "oracle_success": false, + "progress": 0.22220194339752197, + "restore_error": 2.3096799850463867e-07, + "score": 0.22220194339752197, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.240524023771286, + "candidate_source_group_id": "ms-ba11d52e628b2efe32ea;ms-d8e18d4d22b4cc73b803;ms-5dbfefbfb832855ef80a;ms-0fdb89ea83047c63b9b0;ms-22638e64d6a54980bc02;ms-ea8382de946b98af3bf8", + "expert_regret": 0.0, + "expert_score": 0.18874704837799072, + "expert_success": false, + "group_id": "ms-1a4979e969aa331fb126", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.036633312702178955, + "oracle_score": 0.2711350619792938, + "oracle_success": false, + "progress": 0.23450174927711487, + "restore_error": 2.3096799850463867e-07, + "score": 0.23450174927711487, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.1474418640136719, + "candidate_source_group_id": "ms-62bd92bfcbc50801e008;ms-c2398cb80b194084dbfc;ms-5ab7f487c7006dec473a;ms-b8c3ec3ea915c5d35b3e;ms-284545b8610706250f3c;ms-e4e21b9ec2546537fff0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cb5dc99d8c3b4c0c3616", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.1646651029586792, + "candidate_source_group_id": "ms-088ad33a4461de5ce0cb;ms-c5d53da10b561f402ee7;ms-3c223e8c7f870c807541;ms-6a3add21affa4796f9be;ms-620cd9e02d46b021f112;ms-3ed611d029d2ae0b12d8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-633308d7f0e52c013505", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4697171747684479, + "candidate_source_group_id": "ms-f5dd1c43ebc4c0cfc3f1;ms-0dee962a5901fb8b5bbb;ms-c2398cb80b194084dbfc;ms-62bd92bfcbc50801e008;ms-b7d7021b782f73816083;ms-b8c3ec3ea915c5d35b3e", + "expert_regret": 0.0, + "expert_score": 0.0869297981262207, + "expert_success": false, + "group_id": "ms-99357c610a8ebf4f5613", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.13653340935707092, + "oracle_score": 0.27952003479003906, + "oracle_success": false, + "progress": 0.14298662543296814, + "restore_error": 1.1920928955078125e-07, + "score": 0.14298662543296814, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3379891812801361, + "candidate_source_group_id": "ms-206099bab6bfe7c84fce;ms-8e56b0eaa2604db6749e;ms-35a50d2822c2c3cc4516;ms-7e88428497a6b13936c4;ms-c0e3ab57fcf0d12ea4d8;ms-bce8c4ec2bf882ca0b2e", + "expert_regret": 0.0, + "expert_score": 0.01088327169418335, + "expert_success": false, + "group_id": "ms-d81f9c2974c2d599f151", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1107872724533081, + "oracle_success": false, + "progress": 0.13803206384181976, + "restore_error": 1.1920928955078125e-07, + "score": 0.13803206384181976, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6155304312705994, + "candidate_source_group_id": "ms-45131c0aa974fa9602ad;ms-a04e804d3aad7b40f1ac;ms-ec2eec3ab528878445cd;ms-89c4edc5d083202b2443;ms-6d46dae312649c977b64;ms-3d31ef4f467b204b8477", + "expert_regret": 0.04730653762817383, + "expert_score": 0.22178253531455994, + "expert_success": false, + "group_id": "ms-9a50730a0ff65eb93ea5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.062086135149002075, + "oracle_score": 0.23656213283538818, + "oracle_success": false, + "progress": 0.1744759976863861, + "restore_error": 1.1920928955078125e-07, + "score": 0.1744759976863861, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3223894536495209, + "candidate_source_group_id": "ms-344d81289be624d70b0e;ms-19cb10d10516bd0216a6;ms-ee4ddb148e138fce841c;ms-6661b157c41ad4d6ab85;ms-53344c3bc69a3b0fe303;ms-f126e1cf5b3ee52a8476", + "expert_regret": 1.950979232788086, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e2fe413566da0516273d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.950979232788086, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04902076721191406, + "restore_error": 1.1920928955078125e-07, + "score": 0.04902076721191406, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.1432991027832031, + "candidate_source_group_id": "ms-d92cec7cfd1915a30824;ms-ee30ebaf98622759d888;ms-5e422b9487b4a1efd7af;ms-be219977a9db8dbb1e58;ms-b794f77d280289ce22a4;ms-423347f93e1045f6bdd0", + "expert_regret": 1.940508246421814, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-109ea940d18ab80efabc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.940508246421814, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.059491753578186035, + "restore_error": 1.1920928955078125e-07, + "score": 0.059491753578186035, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8859996795654297, + "candidate_source_group_id": "ms-b6b7052345036de1448d;ms-97832747def371d6de99;ms-575c7eef4563e02ec689;ms-ac4fb33f3ab4db853995;ms-b6dae6677869af5f7f52;ms-8e12f7ad446482627dd3", + "expert_regret": 0.0, + "expert_score": 0.08186312764883041, + "expert_success": false, + "group_id": "ms-6388b5d2356c556c3e55", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8741902261972427, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.12580977380275726, + "restore_error": 1.1920928955078125e-07, + "score": 0.12580977380275726, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.40623071789741516, + "candidate_source_group_id": "ms-8577816da2917a2bb63d;ms-61c3c0e99a653d2a7fe2;ms-84388e63928e1a30ffc4;ms-1d3f30fae746c0b9cefc;ms-59d4cdcd401477b5adfc;ms-f2b2b2a1aa2863c3676f", + "expert_regret": 0.0, + "expert_score": 0.12672781944274902, + "expert_success": false, + "group_id": "ms-f7a54f4783da1d4129a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.30690255761146545, + "oracle_success": false, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.741382896900177, + "candidate_source_group_id": "ms-bce8c4ec2bf882ca0b2e;ms-97832747def371d6de99;ms-8e56b0eaa2604db6749e;ms-1772611570ffaf72c98c;ms-c09bd18e1017cc532aee;ms-b6dae6677869af5f7f52", + "expert_regret": 0.0464581698179245, + "expert_score": 0.15074965357780457, + "expert_success": false, + "group_id": "ms-61bde0225d6f4175b7cb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.11314509809017181, + "oracle_score": 0.21743658185005188, + "oracle_success": false, + "progress": 0.10429148375988007, + "restore_error": 2.3096799850463867e-07, + "score": 0.10429148375988007, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.042036771774292, + "candidate_source_group_id": "ms-652ad552ba98d2736620;ms-a9747843e0fddd993263;ms-aa45731e1b9734a493fd;ms-f7f4e41613e39d53b7c1;ms-9acbb20bd73584f0e215;ms-e6a58c859c498bb0f4d2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6d5f6a187b61ea26c2e2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.47270217537879944, + "candidate_source_group_id": "ms-b0c64b4a1c04972e47a1;ms-3ed611d029d2ae0b12d8;ms-620cd9e02d46b021f112;ms-151566379dfd7af6fe63;ms-7f57045c114ddad153b5;ms-6a3add21affa4796f9be", + "expert_regret": 0.0, + "expert_score": 0.14449183642864227, + "expert_success": false, + "group_id": "ms-a6a6de64c39abad45f86", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.21010009944438934, + "oracle_success": false, + "progress": 0.2661237418651581, + "restore_error": 2.3096799850463867e-07, + "score": 0.2661237418651581, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0099599361419678, + "candidate_source_group_id": "ms-7f57045c114ddad153b5;ms-3ed611d029d2ae0b12d8;ms-b0c64b4a1c04972e47a1;ms-620cd9e02d46b021f112;ms-6a3add21affa4796f9be;ms-3c223e8c7f870c807541", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f497cc22967badd9f8b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.9699584245681763, + "candidate_source_group_id": "ms-906dbd4dc79cb6be1e2c;ms-02d160e1d5db6e544363;ms-7eaea428dfdef7255a66;ms-554727d05aa9a2b32904;ms-26751f54c657b24b4da2;ms-7b2cb5c6abcc36a362d1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-340e4b5de99447fbcd5e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.8536207675933838, + "candidate_source_group_id": "ms-372f2ecb6685d8cae8d5;ms-02fd0338e80ef19ceec1;ms-6b789356d65b3312fbae;ms-45309d0bdc5e3babc17b;ms-0dee962a5901fb8b5bbb;ms-7a044cb6c7bb03f3ea10", + "expert_regret": 0.0804787427186966, + "expert_score": 0.24815547466278076, + "expert_success": false, + "group_id": "ms-cb8cbd90038493c30888", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.10790659487247467, + "oracle_score": 0.27558332681655884, + "oracle_success": false, + "progress": 0.16767673194408417, + "restore_error": 2.3096799850463867e-07, + "score": 0.16767673194408417, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5581140518188477, + "candidate_source_group_id": "ms-9229ce141dd41a11fac1;ms-2b7ca4255af28e33db96;ms-7df455efd413d77e6ce3;ms-38f7298184a2c5005e94;ms-387e6771a55be98f1a59;ms-397e502908d16b7804b0", + "expert_regret": 0.0, + "expert_score": 0.24371962249279022, + "expert_success": false, + "group_id": "ms-757b3e9ecfc21efc80a7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.24371962249279022, + "oracle_success": false, + "progress": 0.24592654407024384, + "restore_error": 2.3096799850463867e-07, + "score": 0.24592654407024384, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.165606141090393, + "candidate_source_group_id": "ms-c5d53da10b561f402ee7;ms-088ad33a4461de5ce0cb;ms-53b435e197011e0d48b3;ms-6a3add21affa4796f9be;ms-3c223e8c7f870c807541;ms-620cd9e02d46b021f112", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d915ee5030ef1ea1b0d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.14630530774593353, + "candidate_source_group_id": "ms-19cb10d10516bd0216a6;ms-ee4ddb148e138fce841c;ms-0819eb89e627595e7e1b;ms-47460f61b9edd000c05d;ms-15459afe7e32ce62fc1b;ms-4de1f6d71208bf1d182d", + "expert_regret": 0.0, + "expert_score": 0.13993772864341736, + "expert_success": false, + "group_id": "ms-e2bad6e99e8a281207cc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.04555313289165497, + "oracle_score": 0.20825156569480896, + "oracle_success": false, + "progress": 0.162698432803154, + "restore_error": 1.1920928955078125e-07, + "score": 0.162698432803154, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6245370507240295, + "candidate_source_group_id": "ms-80801b0de8334bd2bcc8;ms-d92cec7cfd1915a30824;ms-1150c257eb77fdf40f55;ms-ee30ebaf98622759d888;ms-b92ca6f216624d6305c2;ms-be219977a9db8dbb1e58", + "expert_regret": 0.17786362767219543, + "expert_score": 0.21821841597557068, + "expert_success": false, + "group_id": "ms-3d090ac2459c4b891dd1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9596452116966248, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.040354788303375244, + "restore_error": 1.1920928955078125e-07, + "score": 0.040354788303375244, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.7069625854492188, + "candidate_source_group_id": "ms-d024c00b780e0df06b55;ms-b92ca6f216624d6305c2;ms-22638e64d6a54980bc02;ms-ebacae0135af2832dfbb;ms-6d46dae312649c977b64;ms-d73fd5fce55fb58ef8e9", + "expert_regret": 1.9678900614380836, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b1ed7e9f28f7a3f924d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9678900614380836, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03210993856191635, + "restore_error": 1.1920928955078125e-07, + "score": 0.03210993856191635, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.130171298980713, + "candidate_source_group_id": "ms-ee30ebaf98622759d888;ms-fd4b2d974e51fed9536e;ms-d92cec7cfd1915a30824;ms-b794f77d280289ce22a4;ms-b92ca6f216624d6305c2;ms-be219977a9db8dbb1e58", + "expert_regret": 1.9533078260719776, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f59e0d91a187e6a48299", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9533078260719776, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.046692173928022385, + "restore_error": 1.1920928955078125e-07, + "score": 0.046692173928022385, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5502802729606628, + "candidate_source_group_id": "ms-ec2eec3ab528878445cd;ms-45131c0aa974fa9602ad;ms-a04e804d3aad7b40f1ac;ms-89c4edc5d083202b2443;ms-3d31ef4f467b204b8477;ms-4d400b68d540cebcc9e0", + "expert_regret": 0.0016435086727142334, + "expert_score": 0.18963214755058289, + "expert_success": false, + "group_id": "ms-f9740a08a98cb251b761", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8120113611221313, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18798863887786865, + "restore_error": 1.1920928955078125e-07, + "score": 0.18798863887786865, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2544279098510742, + "candidate_source_group_id": "ms-4aed2a49597da545e551;ms-53a86042af3c0887e556;ms-f3f1d07cfd59b823da47;ms-25ab20bb3da8ba34be95;ms-c9f45175ee5fcafa38ec;ms-02fd0338e80ef19ceec1", + "expert_regret": 0.041429564356803894, + "expert_score": 0.07850711047649384, + "expert_success": false, + "group_id": "ms-ccb8bd419b9cd771d12f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.2122248113155365, + "oracle_score": 0.24930235743522644, + "oracle_success": false, + "progress": 0.03707754611968994, + "restore_error": 1.1920928955078125e-07, + "score": 0.03707754611968994, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.33150574564933777, + "candidate_source_group_id": "ms-ebfb82df795e73599373;ms-49b9e0f9ceaf91314919;ms-f4a2d61f02d4224bad4f;ms-e6b654653119682cf01e;ms-20ca52baa214c31b3186;ms-35940a55db9e3f7e6ad0", + "expert_regret": 0.0, + "expert_score": 0.01361372135579586, + "expert_success": false, + "group_id": "ms-81f4e8858b2ba90aea2e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.1631626933813095, + "oracle_success": false, + "progress": 0.18636779487133026, + "restore_error": 1.1920928955078125e-07, + "score": 0.18636779487133026, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0786856412887573, + "candidate_source_group_id": "ms-eab38ab23e5fd0218632;ms-e9d7fc13264ff1c06637;ms-57e91ed3c8bd0299534f;ms-26c3a975205dfd16f076;ms-b28f44671fe871a8bea8;ms-e8afd0ad85d7e219a1ec", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9fbd54f73e56e3231631", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.0116567611694336e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6625381708145142, + "candidate_source_group_id": "ms-68b43d83b97196e0d27f;ms-465d531b9cec5bc77ed7;ms-cad6645f8175e38ad155;ms-37384bede4d1c03f3b80;ms-29f47a1dc1d9c3ec3365;ms-3f2aed5964eed6c4936a", + "expert_regret": 0.0, + "expert_score": 0.16178712248802185, + "expert_success": false, + "group_id": "ms-4cc40587ec490257b1d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.736283302307129, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2637166976928711, + "restore_error": 2.0116567611694336e-07, + "score": 0.2637166976928711, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2880965769290924, + "candidate_source_group_id": "ms-7ea98b8f4d2220347ee0;ms-89538d844f6299774906;ms-126eb8b36769f9ba4671;ms-45fbd749d5ed3fe37c13;ms-9826b7a6fdcc0fd3eb69;ms-674fad0e7c042d23629e", + "expert_regret": 0.038045771420001984, + "expert_score": 0.1594313085079193, + "expert_success": false, + "group_id": "ms-98eb81debb5186ebbe38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.11834994703531265, + "oracle_score": 0.23973548412322998, + "oracle_success": false, + "progress": 0.12138553708791733, + "restore_error": 2.0116567611694336e-07, + "score": 0.12138553708791733, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.30511775612831116, + "candidate_source_group_id": "ms-1ba37e30b90a3b28e62f;ms-9c6eae5aaafcbc2e7b1d;ms-70549468e433100cfaa6;ms-a1b57fcae964d7b531da;ms-cad33aa1136af34af6ec;ms-e3e9c08ff116ef32db75", + "expert_regret": 0.0, + "expert_score": 0.12880972027778625, + "expert_success": false, + "group_id": "ms-6e27d292a9cbea108fc9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.23463158309459686, + "oracle_success": false, + "progress": 0.2618752717971802, + "restore_error": 2.0116567611694336e-07, + "score": 0.2618752717971802, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.405151903629303, + "candidate_source_group_id": "ms-38e262365697885024d7;ms-206099bab6bfe7c84fce;ms-7e88428497a6b13936c4;ms-8e56b0eaa2604db6749e;ms-3a4e2d080c9c4b279895;ms-4c99c68cb7d1f50db857", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c8fa3c12dd48ffd82fcf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.0116567611694336e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.649170994758606, + "candidate_source_group_id": "ms-151566379dfd7af6fe63;ms-1cba84e4c11e030aeb3e;ms-1a4d443c5b80e0dac794;ms-b784fe769f0fb1d315e5;ms-b0c64b4a1c04972e47a1;ms-7f57045c114ddad153b5", + "expert_regret": 0.0, + "expert_score": 0.23240530490875244, + "expert_success": false, + "group_id": "ms-36f0ff5c96ebdd4644c2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.0116567611694336e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8908098340034485, + "candidate_source_group_id": "ms-387e6771a55be98f1a59;ms-397e502908d16b7804b0;ms-7df455efd413d77e6ce3;ms-2b7ca4255af28e33db96;ms-9229ce141dd41a11fac1;ms-38f7298184a2c5005e94", + "expert_regret": 0.08694660663604736, + "expert_score": 0.15188813209533691, + "expert_success": false, + "group_id": "ms-e0c576a5a78374889088", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13576126098632812, + "oracle_score": 0.20070278644561768, + "oracle_success": false, + "progress": 0.06494152545928955, + "restore_error": 2.0116567611694336e-07, + "score": 0.06494152545928955, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4726523756980896, + "candidate_source_group_id": "ms-9c6eae5aaafcbc2e7b1d;ms-4dc6f09c1beeb5314d11;ms-6f26118aa94bacd82250;ms-0093b06390890d181104;ms-c832439976a37f52d094;ms-2eabcf580547d2c133ce", + "expert_regret": 0.0, + "expert_score": 0.010581731796264648, + "expert_success": false, + "group_id": "ms-ec013396e4aff6170ee1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.24502670764923096, + "oracle_success": false, + "progress": 0.2754725515842438, + "restore_error": 2.0116567611694336e-07, + "score": 0.2754725515842438, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7060733437538147, + "candidate_source_group_id": "ms-ce524659487cd1d71390;ms-3798cbeab8a36b08c295;ms-20b11e3e581c2a865096;ms-49b9e0f9ceaf91314919;ms-60f0d45b604940db0058;ms-aab59ee607a5ba7e3bfa", + "expert_regret": 0.12827232480049133, + "expert_score": 0.1477116048336029, + "expert_success": false, + "group_id": "ms-0b93907b2a7261815f63", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.2137853503227234, + "oracle_score": 0.23322463035583496, + "oracle_success": false, + "progress": 0.019439280033111572, + "restore_error": 2.384185791015625e-07, + "score": 0.019439280033111572, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4017476439476013, + "candidate_source_group_id": "ms-0093b06390890d181104;ms-20b11e3e581c2a865096;ms-2eabcf580547d2c133ce;ms-d6cc29ec9fbbc53d0f68;ms-6f26118aa94bacd82250;ms-4dc6f09c1beeb5314d11", + "expert_regret": 0.0, + "expert_score": 0.013159613125026226, + "expert_success": false, + "group_id": "ms-ccc79c981e3a67ebeaf2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.1627672165632248, + "oracle_success": false, + "progress": 0.1729012429714203, + "restore_error": 2.384185791015625e-07, + "score": 0.1729012429714203, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.19280652701854706, + "candidate_source_group_id": "ms-8a87ddbfc0fce8bb13d5;ms-a2518826fa0a816cc46f;ms-f4a2d61f02d4224bad4f;ms-1ca019318ddec8ce5e8a;ms-52b4f33b924e82688187;ms-ebfb82df795e73599373", + "expert_regret": 0.0, + "expert_score": 0.20860514044761658, + "expert_success": false, + "group_id": "ms-7ec14cb44e2262c7b497", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.07605955004692078, + "oracle_score": 0.2868060767650604, + "oracle_success": false, + "progress": 0.21074652671813965, + "restore_error": 2.384185791015625e-07, + "score": 0.21074652671813965, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.258681058883667, + "candidate_source_group_id": "ms-dab8307a45ebe8220c83;ms-88012aab0303554a1736;ms-284545b8610706250f3c;ms-fbd73493bcf73542f735;ms-06babf453b22ba8f2407;ms-e4e21b9ec2546537fff0", + "expert_regret": 0.0, + "expert_score": 0.12086304277181625, + "expert_success": false, + "group_id": "ms-456cdaaa617fc54fd766", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.35995933413505554, + "candidate_source_group_id": "ms-4de1f6d71208bf1d182d;ms-4da03300d92420e80ed0;ms-47460f61b9edd000c05d;ms-0819eb89e627595e7e1b;ms-bce8c4ec2bf882ca0b2e;ms-15459afe7e32ce62fc1b", + "expert_regret": 0.0, + "expert_score": 0.17559778690338135, + "expert_success": false, + "group_id": "ms-d5da60ea045af7f677a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.1883772611618042, + "oracle_success": false, + "progress": 0.2804417908191681, + "restore_error": 2.384185791015625e-07, + "score": 0.2804417908191681, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3692804276943207, + "candidate_source_group_id": "ms-372f2ecb6685d8cae8d5;ms-45309d0bdc5e3babc17b;ms-6b789356d65b3312fbae;ms-0dee962a5901fb8b5bbb;ms-7a044cb6c7bb03f3ea10;ms-02fd0338e80ef19ceec1", + "expert_regret": 0.028609365224838257, + "expert_score": 0.2534019351005554, + "expert_success": false, + "group_id": "ms-45672e1bf3b083eb3fc3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.035961538553237915, + "oracle_score": 0.2607541084289551, + "oracle_success": false, + "progress": 0.22479256987571716, + "restore_error": 2.384185791015625e-07, + "score": 0.22479256987571716, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4990374445915222, + "candidate_source_group_id": "ms-267832544376e3727efb;ms-bce8c4ec2bf882ca0b2e;ms-5ecde7b64c80d2abbe1f;ms-615d4a98352149e15ff1;ms-bd90866faa10e62fce2c;ms-714913716f5f0a287401", + "expert_regret": 0.02159327268600464, + "expert_score": 0.21242734789848328, + "expert_success": false, + "group_id": "ms-aefa917c6b1659d6edd2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.06867793202400208, + "oracle_score": 0.2595120072364807, + "oracle_success": false, + "progress": 0.19083407521247864, + "restore_error": 2.384185791015625e-07, + "score": 0.19083407521247864, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5355437994003296, + "candidate_source_group_id": "ms-1a4d443c5b80e0dac794;ms-151566379dfd7af6fe63;ms-1cba84e4c11e030aeb3e;ms-02311c7783bc67e188b4;ms-20e1efbb745fd02abc95;ms-9df6734b8268172ea7e5", + "expert_regret": 0.0, + "expert_score": 0.24619130790233612, + "expert_success": false, + "group_id": "ms-b49043f15f4846de5b13", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5658755898475647, + "candidate_source_group_id": "ms-4bda8533405961380322;ms-3bfe7e8a312d53f966d0;ms-1c2768099019b86daca7;ms-b7d7021b782f73816083;ms-ba11d52e628b2efe32ea;ms-f087710511e9f9336ad6", + "expert_regret": 0.0, + "expert_score": 0.03362294286489487, + "expert_success": false, + "group_id": "ms-6754ed0131c952830729", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.19071342051029205, + "oracle_score": 0.28973090648651123, + "oracle_success": false, + "progress": 0.09901748597621918, + "restore_error": 1.1920928955078125e-07, + "score": 0.09901748597621918, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.13920031487941742, + "candidate_source_group_id": "ms-53344c3bc69a3b0fe303;ms-6661b157c41ad4d6ab85;ms-344d81289be624d70b0e;ms-cc07f96f3454a4643b9a;ms-c083dba0e5dcc8ca1004;ms-f126e1cf5b3ee52a8476", + "expert_regret": 0.0, + "expert_score": 0.1437651813030243, + "expert_success": false, + "group_id": "ms-6ad14a70593958c00a63", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.04039834439754486, + "oracle_score": 0.19063356518745422, + "oracle_success": false, + "progress": 0.15023522078990936, + "restore_error": 1.1920928955078125e-07, + "score": 0.15023522078990936, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.2241889238357544, + "candidate_source_group_id": "ms-12c741253e1802aad9ec;ms-778efc20fc2ee8a3dd02;ms-2e40499cb146da6f89e7;ms-4f0a59b7bc897c0d5e5e;ms-744702a88bec9222a30a;ms-53b435e197011e0d48b3", + "expert_regret": 1.7448800206184387, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-271889c9e921f7716135", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.7448800206184387, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2551199793815613, + "restore_error": 1.1920928955078125e-07, + "score": 0.2551199793815613, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3645484745502472, + "candidate_source_group_id": "ms-20b11e3e581c2a865096;ms-0093b06390890d181104;ms-f36d4df536c36d2c6ebb;ms-d6cc29ec9fbbc53d0f68;ms-2eabcf580547d2c133ce;ms-3798cbeab8a36b08c295", + "expert_regret": 0.0, + "expert_score": 0.0, + "expert_success": false, + "group_id": "ms-d277cb167868742373fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13433030247688293, + "oracle_score": 0.26472294330596924, + "oracle_success": false, + "progress": 0.1303926408290863, + "restore_error": 1.1920928955078125e-07, + "score": 0.1303926408290863, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5240548253059387, + "candidate_source_group_id": "ms-b0c64b4a1c04972e47a1;ms-3ed611d029d2ae0b12d8;ms-620cd9e02d46b021f112;ms-151566379dfd7af6fe63;ms-3c223e8c7f870c807541;ms-7f57045c114ddad153b5", + "expert_regret": 0.13129693269729614, + "expert_score": 0.26841363310813904, + "expert_success": false, + "group_id": "ms-babaeb20129c46551281", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.862883299589157, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1371167004108429, + "restore_error": 1.1920928955078125e-07, + "score": 0.1371167004108429, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6570636630058289, + "candidate_source_group_id": "ms-6661b157c41ad4d6ab85;ms-344d81289be624d70b0e;ms-bccd7bbe1b1b98254147;ms-c31b98b3d3702c6f9c8c;ms-cc07f96f3454a4643b9a;ms-ee4ddb148e138fce841c", + "expert_regret": 0.0, + "expert_score": 0.10120099782943726, + "expert_success": false, + "group_id": "ms-1faf779e909ec0415be0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.15691404044628143, + "oracle_success": false, + "progress": 0.16704797744750977, + "restore_error": 1.1920928955078125e-07, + "score": 0.16704797744750977, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.25315994024276733, + "candidate_source_group_id": "ms-02fd0338e80ef19ceec1;ms-372f2ecb6685d8cae8d5;ms-f3f1d07cfd59b823da47;ms-6b789356d65b3312fbae;ms-0dee962a5901fb8b5bbb;ms-d271e7de6bc331371e9c", + "expert_regret": 0.0, + "expert_score": 0.12615570425987244, + "expert_success": false, + "group_id": "ms-38dff128761905bb1507", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.027960628271102905, + "oracle_score": 0.2726711928844452, + "oracle_success": false, + "progress": 0.24471056461334229, + "restore_error": 1.1920928955078125e-07, + "score": 0.24471056461334229, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6815882921218872, + "candidate_source_group_id": "ms-ed375122594187ef997e;ms-003a2225c0892dcda683;ms-22638e64d6a54980bc02;ms-d024c00b780e0df06b55;ms-0bfb62b78032d6e1aa65;ms-b92ca6f216624d6305c2", + "expert_regret": 0.0, + "expert_score": 0.07457844913005829, + "expert_success": false, + "group_id": "ms-7dedf60ad41ea2d92ee5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7328604459762573, + "candidate_source_group_id": "ms-cad33aa1136af34af6ec;ms-c832439976a37f52d094;ms-6f26118aa94bacd82250;ms-2eabcf580547d2c133ce;ms-e30fd80adc089e9f697a;ms-4dc6f09c1beeb5314d11", + "expert_regret": 0.010809704661369324, + "expert_score": 0.08313547074794769, + "expert_success": false, + "group_id": "ms-f4f9dd2ff38f992d4fb9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.09933304786682129, + "oracle_score": 0.17165881395339966, + "oracle_success": false, + "progress": 0.07232576608657837, + "restore_error": 2.3096799850463867e-07, + "score": 0.07232576608657837, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.40739139914512634, + "candidate_source_group_id": "ms-b7d7021b782f73816083;ms-4bda8533405961380322;ms-b8c3ec3ea915c5d35b3e;ms-0dee962a5901fb8b5bbb;ms-372f2ecb6685d8cae8d5;ms-5ab7f487c7006dec473a", + "expert_regret": 0.0, + "expert_score": 0.14746789634227753, + "expert_success": false, + "group_id": "ms-9681d9cb43cc26adb0fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.23335996270179749, + "oracle_success": false, + "progress": 0.23653364181518555, + "restore_error": 2.3096799850463867e-07, + "score": 0.23653364181518555, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0439473390579224, + "candidate_source_group_id": "ms-28bcbcc6e675708de340;ms-35940a55db9e3f7e6ad0;ms-3a4e2d080c9c4b279895;ms-20ca52baa214c31b3186;ms-e6b654653119682cf01e;ms-dc5563c9b0dcd84e393b", + "expert_regret": 0.05105452239513397, + "expert_score": 0.1586810052394867, + "expert_success": false, + "group_id": "ms-85f911fca087fed2caff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.06851005554199219, + "oracle_score": 0.1761365383863449, + "oracle_success": false, + "progress": 0.10762648284435272, + "restore_error": 2.3096799850463867e-07, + "score": 0.10762648284435272, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0779598951339722, + "candidate_source_group_id": "ms-2dc5138251afd26a040d;ms-06babf453b22ba8f2407;ms-dab8307a45ebe8220c83;ms-e4e21b9ec2546537fff0;ms-88012aab0303554a1736;ms-fbd73493bcf73542f735", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe5a961ee9b8b8a91b44", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6581653952598572, + "candidate_source_group_id": "ms-20b11e3e581c2a865096;ms-d6cc29ec9fbbc53d0f68;ms-0093b06390890d181104;ms-2eabcf580547d2c133ce;ms-cad33aa1136af34af6ec;ms-d402ca600d53b2db9dbe", + "expert_regret": 0.03939436003565788, + "expert_score": 0.07016094774007797, + "expert_success": false, + "group_id": "ms-34726202b475d29cdf38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.22265412285923958, + "oracle_score": 0.25342071056365967, + "oracle_success": false, + "progress": 0.03076658770442009, + "restore_error": 2.3096799850463867e-07, + "score": 0.03076658770442009, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2661348879337311, + "candidate_source_group_id": "ms-fc87ea5245c2743bdb2d;ms-082cb0ac119a83c42c2d;ms-6b789356d65b3312fbae;ms-372f2ecb6685d8cae8d5;ms-d271e7de6bc331371e9c;ms-45309d0bdc5e3babc17b", + "expert_regret": 0.0, + "expert_score": 0.13208997249603271, + "expert_success": false, + "group_id": "ms-c673132197ce77ae8c9b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.20713643729686737, + "oracle_success": false, + "progress": 0.23910757899284363, + "restore_error": 2.3096799850463867e-07, + "score": 0.23910757899284363, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3120507299900055, + "candidate_source_group_id": "ms-53a86042af3c0887e556;ms-674fad0e7c042d23629e;ms-25ab20bb3da8ba34be95;ms-1e30e297540582d59926;ms-c79a79c1cbd7a472da65;ms-9826b7a6fdcc0fd3eb69", + "expert_regret": 0.0, + "expert_score": 0.028487306088209152, + "expert_success": false, + "group_id": "ms-9dbf65115872ab5360e4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.18980467319488525, + "oracle_success": false, + "progress": 0.1938103288412094, + "restore_error": 2.3096799850463867e-07, + "score": 0.1938103288412094, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.45435264706611633, + "candidate_source_group_id": "ms-3a4e2d080c9c4b279895;ms-9fd23a06ae1659cef27b;ms-dc5563c9b0dcd84e393b;ms-8e56b0eaa2604db6749e;ms-35a50d2822c2c3cc4516;ms-b6dae6677869af5f7f52", + "expert_regret": 0.0, + "expert_score": 0.07923875749111176, + "expert_success": false, + "group_id": "ms-a96bca1ef0b74f686018", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.04892309755086899, + "oracle_score": 0.1572066992521286, + "oracle_success": false, + "progress": 0.10828360170125961, + "restore_error": 2.3096799850463867e-07, + "score": 0.10828360170125961, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6683306097984314, + "candidate_source_group_id": "ms-12c741253e1802aad9ec;ms-e6a58c859c498bb0f4d2;ms-9acbb20bd73584f0e215;ms-778efc20fc2ee8a3dd02;ms-4f0a59b7bc897c0d5e5e;ms-2e40499cb146da6f89e7", + "expert_regret": 0.0, + "expert_score": 0.1722257137298584, + "expert_success": false, + "group_id": "ms-be0f2598cc527ad9040a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.8739244937896729, + "candidate_source_group_id": "ms-257c70d0b302f96fc23f;ms-fce6752dcf61a2b52d15;ms-c8a0f64b433a541481eb;ms-d21367899e99e3048dbe;ms-277531f5e24eeb525899;ms-7df455efd413d77e6ce3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-60bfcb3f019f01dfcfdb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5766171813011169, + "candidate_source_group_id": "ms-6661b157c41ad4d6ab85;ms-c31b98b3d3702c6f9c8c;ms-bccd7bbe1b1b98254147;ms-cc07f96f3454a4643b9a;ms-394edcd961226f337ce1;ms-fc87ea5245c2743bdb2d", + "expert_regret": 0.0, + "expert_score": 0.08069789409637451, + "expert_success": false, + "group_id": "ms-223b0a8319beb051a1ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1593424528837204, + "oracle_success": false, + "progress": 0.25469130277633667, + "restore_error": 1.1920928955078125e-07, + "score": 0.25469130277633667, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.186469316482544, + "candidate_source_group_id": "ms-7df455efd413d77e6ce3;ms-4f0a41c8fb3caaeb9540;ms-75da653dc43676d593ce;ms-fce6752dcf61a2b52d15;ms-397e502908d16b7804b0;ms-0345d8ac530f88cefd61", + "expert_regret": 0.16739778220653534, + "expert_score": 0.16739778220653534, + "expert_success": false, + "group_id": "ms-da555a03dd382d93e119", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 2.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0, + "restore_error": 1.1920928955078125e-07, + "score": 0.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4400283396244049, + "candidate_source_group_id": "ms-1ba37e30b90a3b28e62f;ms-70549468e433100cfaa6;ms-a1b57fcae964d7b531da;ms-fc3d80c6ea6b9a4878ab;ms-e3e9c08ff116ef32db75;ms-50e54f9608e1420ba11a", + "expert_regret": 0.0, + "expert_score": 0.015561699867248535, + "expert_success": false, + "group_id": "ms-338ba952f81d1215216e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.08971966803073883, + "oracle_score": 0.24602913856506348, + "oracle_success": false, + "progress": 0.15630947053432465, + "restore_error": 1.1920928955078125e-07, + "score": 0.15630947053432465, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3591592311859131, + "candidate_source_group_id": "ms-26b69e1e596d2e3163da;ms-f40162c64827e8c44a1a;ms-e50ef9df7287938b501c;ms-3bfe7e8a312d53f966d0;ms-c5d53da10b561f402ee7;ms-53b435e197011e0d48b3", + "expert_regret": 0.0, + "expert_score": 0.005320350639522076, + "expert_success": false, + "group_id": "ms-b2287fbbcd2b5d8372bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.15066704899072647, + "oracle_score": 0.21861237287521362, + "oracle_success": false, + "progress": 0.06794532388448715, + "restore_error": 1.1920928955078125e-07, + "score": 0.06794532388448715, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4052570164203644, + "candidate_source_group_id": "ms-1577a0922a9e53528571;ms-9757fc494e79b5543bb6;ms-52f9c8427a88de8dfa6b;ms-d402ca600d53b2db9dbe;ms-57be9ae181c077e7821f;ms-1f19fd22562f87bdb776", + "expert_regret": 0.0, + "expert_score": 0.12554395198822021, + "expert_success": false, + "group_id": "ms-d535b38d768633f6d922", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.027364149689674377, + "oracle_score": 0.204204723238945, + "oracle_success": false, + "progress": 0.17684057354927063, + "restore_error": 1.1920928955078125e-07, + "score": 0.17684057354927063, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5408247113227844, + "candidate_source_group_id": "ms-cd84deb86ca0c1f1c020;ms-575c7eef4563e02ec689;ms-b6b7052345036de1448d;ms-b94dfc54c3bf844d5146;ms-0e1ff8d16372796dac97;ms-ac94b48febe523da15a5", + "expert_regret": 0.0, + "expert_score": 0.1568639576435089, + "expert_success": false, + "group_id": "ms-d0158d7b3df11d64095c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.054382458329200745, + "oracle_score": 0.21547327935695648, + "oracle_success": false, + "progress": 0.16109082102775574, + "restore_error": 1.1920928955078125e-07, + "score": 0.16109082102775574, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.5823088884353638, + "candidate_source_group_id": "ms-d024c00b780e0df06b55;ms-b92ca6f216624d6305c2;ms-ebacae0135af2832dfbb;ms-003a2225c0892dcda683;ms-6d46dae312649c977b64;ms-22638e64d6a54980bc02", + "expert_regret": 1.951457817107439, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-36ce7b44f44c615347ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.951457817107439, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04854218289256096, + "restore_error": 1.1920928955078125e-07, + "score": 0.04854218289256096, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.291089415550232, + "candidate_source_group_id": "ms-61c3c0e99a653d2a7fe2;ms-59d4cdcd401477b5adfc;ms-f2b2b2a1aa2863c3676f;ms-8577816da2917a2bb63d;ms-84388e63928e1a30ffc4;ms-1d3f30fae746c0b9cefc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0f5ffa7a4448b22b7951", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5072232484817505, + "candidate_source_group_id": "ms-f5dd1c43ebc4c0cfc3f1;ms-02fd0338e80ef19ceec1;ms-0dee962a5901fb8b5bbb;ms-5ab7f487c7006dec473a;ms-fbd73493bcf73542f735;ms-284545b8610706250f3c", + "expert_regret": 0.0, + "expert_score": 0.15089315176010132, + "expert_success": false, + "group_id": "ms-d81e3048f5ae278c708f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.05163054168224335, + "oracle_score": 0.23822252452373505, + "oracle_success": false, + "progress": 0.1865919828414917, + "restore_error": 1.1920928955078125e-07, + "score": 0.1865919828414917, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3995524048805237, + "candidate_source_group_id": "ms-7b90f35aa521ef45ea27;ms-50e54f9608e1420ba11a;ms-cf4b63d109a88a4c42bf;ms-e3e9c08ff116ef32db75;ms-8a87ddbfc0fce8bb13d5;ms-a1b57fcae964d7b531da", + "expert_regret": 0.021049916744232178, + "expert_score": 0.057853661477565765, + "expert_success": false, + "group_id": "ms-db2c4015a0690cc80d24", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.15261314064264297, + "oracle_score": 0.18941688537597656, + "oracle_success": false, + "progress": 0.03680374473333359, + "restore_error": 1.1920928955078125e-07, + "score": 0.03680374473333359, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3605150282382965, + "candidate_source_group_id": "ms-ff08c0b84d984d3d8620;ms-85a4fc6e131dacc9d839;ms-aca9b69b504ede73bcac;ms-365d8c6de6de16f66744;ms-28a10bea0cf3f917e067;ms-f12b50fed09bbbf6c039", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cbdc087c47e35d3d93d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.48931336402893066, + "candidate_source_group_id": "ms-e7fcbe2b61632a79fe6a;ms-783ceec205863d92ef8a;ms-bfe867e8d518b9f8333a;ms-90a840c7cbbfe35e8a67;ms-db2cfd3c0ce8ece8a112;ms-82d6fc374e1f1808654b", + "expert_regret": 1.942877620458603, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-27eb5fd79735a667570a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.942877620458603, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.057122379541397095, + "restore_error": 1.1920928955078125e-07, + "score": 0.057122379541397095, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5547268986701965, + "candidate_source_group_id": "ms-2baa5b5b99121cff72c2;ms-b0d0004818ae853d5bc5;ms-6825a9112cb71ea137c9;ms-22f153f0d4fa656018e6;ms-ba0ee0c9c181cdc7de9d;ms-eea4df1b36e8a31b40a3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ecf6837325ac3bc3b66d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.24796606600284576, + "candidate_source_group_id": "ms-0a3ff306e1bebfd51ae4;ms-ea1abf4dd25aea30202b;ms-c01a70d845742d97e197;ms-2b27b1ecc0284ec3a993;ms-4a4de470c6c7cb5a3c34;ms-2a4f1cbd3f416f9084dc", + "expert_regret": 0.0, + "expert_score": 0.17443525791168213, + "expert_success": false, + "group_id": "ms-934e125b62165b614036", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6228188276290894, + "candidate_source_group_id": "ms-cdca8a6fff0640ab7f16;ms-4f291cdf6a62b9af9e5d;ms-fe5a68745bbc6b4256cf;ms-64b6e9f72ae5e2999f56;ms-b5dee7bdaf34270e6515;ms-29f7da1cd496619f45f5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d99360c1e4bb4bed6d50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4184686541557312, + "candidate_source_group_id": "ms-bb9f2f5b67bbb7e0f516;ms-66d3cc0e17bcbfb5f36e;ms-916b66e56329dbd05b29;ms-d97538effd225a910367;ms-f83aacaa71f0151421c7;ms-a6fbec34b57a97204a37", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-39f133217cde17cf4465", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.09079481661319733, + "candidate_source_group_id": "ms-0a001f1bda12891b219f;ms-82a5b63ed41420747fb9;ms-29f7da1cd496619f45f5;ms-de96f1dcca4527c03814;ms-7aaa46eaa657a3179a70;ms-88c39906a4e9c32ec286", + "expert_regret": 0.0, + "expert_score": 0.0007119327783584595, + "expert_success": false, + "group_id": "ms-dec13f2e40baaf5c8d40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.30973386764526367, + "candidate_source_group_id": "ms-109d9131cce2e94f40c1;ms-147e4106b5d337cefcb2;ms-670a696bd472769ac513;ms-b5ca4a8c438aadab9ec5;ms-998ac1af1755510c9229;ms-4c9ed894520169849bc6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7fac99962876b33e8d0b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.34800904989242554, + "candidate_source_group_id": "ms-876805da5863dc637246;ms-4a4de470c6c7cb5a3c34;ms-2a4f1cbd3f416f9084dc;ms-2413d1155c87f0442485;ms-98d8d5d728ee4cff6776;ms-9d1d3a7b2dcafeda3bf3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4aa2c82355bdbbb93f9d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.35068297386169434, + "candidate_source_group_id": "ms-c1f8e861c7c4485c361a;ms-0942bb0cc1143a2058f9;ms-64f98d163b6bff29332b;ms-027592312fc833e8768d;ms-9d943a2732771576e41d;ms-1fe4b5c84ee5c0e6fcdb", + "expert_regret": 1.9073949456214905, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d4ee30bf4815d04c391", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9073949456214905, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09260505437850952, + "restore_error": 1.1920928955078125e-07, + "score": 0.09260505437850952, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.26741406321525574, + "candidate_source_group_id": "ms-a18cc16207970cd8f84d;ms-c8902580575f6effb241;ms-f97fbc8f36f0af9ce18c;ms-8d23082fdeffba7cba51;ms-e9bb31726937713db23a;ms-84404222b954c48c48d8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8efd9238ae8d6ca1cd1a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4854848086833954, + "candidate_source_group_id": "ms-c10cf873dd3f68d97755;ms-383c0d1f90c5a0b55e07;ms-4015b8ac7c0a1397c076;ms-9f33c55b8e06fcb5e21e;ms-9d8348ba3054f969ad8e;ms-f6635cbacd4195f7f4ab", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3028df2c22f4c029b533", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4902838170528412, + "candidate_source_group_id": "ms-c257731ddcf5cf149393;ms-ca9a06f00b861bf34c4d;ms-f14cda80db7270dd0f86;ms-87f2f63d694d8ccca7f8;ms-44a69da62321224c1df9;ms-45b8b3cec97878df0d19", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9a00cd02aa3ea31af1c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.09199833869934082, + "candidate_source_group_id": "ms-14265f08eea0055edff3;ms-1e15448c374f47bee884;ms-64b6e9f72ae5e2999f56;ms-c333dcd8ec59f2ae8a3d;ms-33dcfa4725ad078cc898;ms-b5dee7bdaf34270e6515", + "expert_regret": 0.0, + "expert_score": 3.8057565689086914e-05, + "expert_success": false, + "group_id": "ms-bc4bf52af94d1469eaee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.11666642874479294, + "candidate_source_group_id": "ms-8b813b6035f0425892bd;ms-a649d9cf4fba45822ad9;ms-b25b49e16e98af4a554c;ms-17b435e93391674c7fdd;ms-65d0541a2ba23a8478fa;ms-346494921f998d7a48ab", + "expert_regret": 0.0, + "expert_score": 0.120394766330719, + "expert_success": false, + "group_id": "ms-fc8084d5cd7da937fc02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.551528811454773, + "candidate_source_group_id": "ms-1003d1fe41aba4c8af84;ms-2423891634e7b469eed8;ms-be8665e211c9b1cc13b4;ms-281b1eae3c1ac42cb40c;ms-918efaf9527826841090;ms-7a75d1290f292d92ca67", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c1607c435e4b43609693", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5621481537818909, + "candidate_source_group_id": "ms-90a840c7cbbfe35e8a67;ms-783ceec205863d92ef8a;ms-98d738638749a1c0999d;ms-25942684dfc6d81c449a;ms-db2cfd3c0ce8ece8a112;ms-2a7f05987ae1fd0fa33d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d130baa9773a108ae1b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.32098695635795593, + "candidate_source_group_id": "ms-bb9f2f5b67bbb7e0f516;ms-66d3cc0e17bcbfb5f36e;ms-234ce02cf98f85bda72c;ms-d97538effd225a910367;ms-6d48ff55845b6759a8c4;ms-916b66e56329dbd05b29", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-411a6db8809ff09857ff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6188467741012573, + "candidate_source_group_id": "ms-86909e2391a6a77883b3;ms-8750cccf83614187fe14;ms-30caf93619a0e2f94eae;ms-170a9228df2273649f1c;ms-7aaa46eaa657a3179a70;ms-031c526a8690cad1677c", + "expert_regret": 1.9165897369384766, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9574e0bf814256a11f3e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9165897369384766, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08341026306152344, + "restore_error": 1.1920928955078125e-07, + "score": 0.08341026306152344, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6690583825111389, + "candidate_source_group_id": "ms-2962fafa0fcd14e516bb;ms-cefef59d2909a69dd709;ms-d5d38df1f2dbae367af0;ms-c8ffa7d45ed61e2b94d6;ms-e6b0ee06238145e2a517;ms-5816c255ea56bc8a63c3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-63b9ac9cfd0a96150eb1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5717083811759949, + "candidate_source_group_id": "ms-1371e0e5fe7f126bbea2;ms-1188a1b8e0ac31187b3b;ms-f2f594b2492898e947f0;ms-e31553038464afab4ec1;ms-33e036c8224f052e6279;ms-9915a1632fdf65172a02", + "expert_regret": 1.8821434825658798, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a83154b77975bca93e5e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8821434825658798, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11785651743412018, + "restore_error": 1.1920928955078125e-07, + "score": 0.11785651743412018, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.460894912481308, + "candidate_source_group_id": "ms-65d0541a2ba23a8478fa;ms-e4656ad3c67bd430c1a6;ms-b25b49e16e98af4a554c;ms-130f96b49e1bdb7c0e7c;ms-2e237a4b84b582828c37;ms-8b813b6035f0425892bd", + "expert_regret": 1.9406643211841583, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-79d2ebbe5913e3a72313", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9406643211841583, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.059335678815841675, + "restore_error": 1.1920928955078125e-07, + "score": 0.059335678815841675, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6624216437339783, + "candidate_source_group_id": "ms-9d1d3a7b2dcafeda3bf3;ms-3a5eaa0095953c9d6241;ms-9d82d1927529dc675bc5;ms-f261341a4a394ae06c69;ms-4dbdc6ed61dccebbfe92;ms-3cb727b6501f5c1a5a16", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69b8e0564f16c652d900", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7399312257766724, + "candidate_source_group_id": "ms-605cecc07e3298489320;ms-44a69da62321224c1df9;ms-ca9a06f00b861bf34c4d;ms-c257731ddcf5cf149393;ms-7f22550a9f6707a45cd4;ms-733b04f5bd4720d79e99", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1dd7b6c07218e5e69494", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.12155432999134064, + "candidate_source_group_id": "ms-f12b50fed09bbbf6c039;ms-365d8c6de6de16f66744;ms-86508eb5d360c56023e1;ms-dae29d741eb65a2fc4b3;ms-0be67b60c98e4f3e692f;ms-265a3e206e8d55a9171a", + "expert_regret": 0.0, + "expert_score": 0.18926367163658142, + "expert_success": false, + "group_id": "ms-07aa7d1f9c01e93d04bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.34814852476119995, + "candidate_source_group_id": "ms-86909e2391a6a77883b3;ms-30caf93619a0e2f94eae;ms-170a9228df2273649f1c;ms-4401ec9ab8c89fb39f58;ms-f52fe666ef7c9b997778;ms-58950fed04d203b97ab9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a631a8d6314b7547f71f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.48318925499916077, + "candidate_source_group_id": "ms-cb51cbc4086bd452233d;ms-f6755a487459505d598f;ms-75dce23f7afca1f3e5b5;ms-d4c37ed44fb338c1d551;ms-05139cc8ec8867b8ea3d;ms-d97538effd225a910367", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de5cb4c5e0ba01be4568", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.49316638708114624, + "candidate_source_group_id": "ms-f044b20b0f2bb0983f5a;ms-2377ed2b717d22203e99;ms-4711dffcd73048a3656c;ms-2db29812d012d503054a;ms-84bc79aab8423997e8c4;ms-97939101c75832eb62cd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-abb9a0e2ba0163714374", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5073866248130798, + "candidate_source_group_id": "ms-627eaad017d31a933984;ms-bb6a2f2ae3014b135b40;ms-3589c30bbad90d19f2c4;ms-ea67d3a4697351095f09;ms-c2ae2b78ab7891e74c80;ms-0350672b45f92c437c22", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10450837f7f5319c4cab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8033033013343811, + "candidate_source_group_id": "ms-d2aed645029072f5c82f;ms-8c2312d2a272dbcbae71;ms-1be8db140ae74d18596f;ms-87f2f63d694d8ccca7f8;ms-f14cda80db7270dd0f86;ms-9df99aca252d63f555b2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-60c02d02de5f1e91124f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5357220768928528, + "candidate_source_group_id": "ms-4d96769e78d7391e43f7;ms-048c14d42c3f3b352f53;ms-f7db0d0ad0967af1d0c5;ms-3b99101d58e538cfbd6d;ms-653181f057aeaeeadfe2;ms-beb40d1c9533f7508aa5", + "expert_regret": 1.9263371229171753, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a0863466a999b4680737", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9263371229171753, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07366287708282471, + "restore_error": 1.1920928955078125e-07, + "score": 0.07366287708282471, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.10955440998077393, + "candidate_source_group_id": "ms-2377ed2b717d22203e99;ms-f044b20b0f2bb0983f5a;ms-4711dffcd73048a3656c;ms-97939101c75832eb62cd;ms-84bc79aab8423997e8c4;ms-ea694828fcd81abbbc7a", + "expert_regret": 0.0, + "expert_score": 0.18189409375190735, + "expert_success": false, + "group_id": "ms-7530a944fb0979ba91e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.39098232984542847, + "candidate_source_group_id": "ms-40bddbc4f8ee1ed19575;ms-97939101c75832eb62cd;ms-bb8ddc9a1e197eb7cee1;ms-2377ed2b717d22203e99;ms-e63468cc3772da77cc67;ms-c84dbd2afb3321e2f43c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a5970ba19b465cd86c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4035625457763672, + "candidate_source_group_id": "ms-85a4fc6e131dacc9d839;ms-ff08c0b84d984d3d8620;ms-663c7e7fdaea6a945a2b;ms-365d8c6de6de16f66744;ms-f492405ef825467ddcba;ms-2867deaca7e98582620b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b5f45644a5e3ed45c86d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5975111722946167, + "candidate_source_group_id": "ms-1188a1b8e0ac31187b3b;ms-1371e0e5fe7f126bbea2;ms-f2f594b2492898e947f0;ms-0b13513f98f2d3def73a;ms-beb40d1c9533f7508aa5;ms-33e036c8224f052e6279", + "expert_regret": 1.94303660094738, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29788f80c9da2d2d8b4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.94303660094738, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.056963399052619934, + "restore_error": 1.1920928955078125e-07, + "score": 0.056963399052619934, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2983514666557312, + "candidate_source_group_id": "ms-a18cc16207970cd8f84d;ms-c8902580575f6effb241;ms-f97fbc8f36f0af9ce18c;ms-8d23082fdeffba7cba51;ms-e9bb31726937713db23a;ms-84404222b954c48c48d8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-680b80c5d2872be1e66a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.34898796677589417, + "candidate_source_group_id": "ms-f813ff3f9ae188b0259c;ms-82a203dfa8631639ba7e;ms-5a0da896925f50a1d2ee;ms-c8593eabfdb5a6bca7bb;ms-bad55a54ecb4349a5323;ms-4c9ed894520169849bc6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf8cc7e3c4481783d5f5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6876491904258728, + "candidate_source_group_id": "ms-44a69da62321224c1df9;ms-f14cda80db7270dd0f86;ms-b8bfdd3e6c31bd98082d;ms-68dcba1af854c06fc0e6;ms-87f2f63d694d8ccca7f8;ms-31372cdadd8d9da23b8d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01fe80a36517a246929d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.74115389585495, + "candidate_source_group_id": "ms-49731d5e69272f3bd959;ms-7c72cdc319220ea76854;ms-f39cb13a5942ca3317d0;ms-1f9a8bf8a8c0882b4039;ms-b4293fc495a608f8063c;ms-83b649656afa71ab6bde", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c109289291b46fd832b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6005954742431641, + "candidate_source_group_id": "ms-fa637544793129258022;ms-b4293fc495a608f8063c;ms-7c72cdc319220ea76854;ms-70e24231e9bb560abb3e;ms-49731d5e69272f3bd959;ms-1f9a8bf8a8c0882b4039", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7dd90f1575d9612c456c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3830479085445404, + "candidate_source_group_id": "ms-998ac1af1755510c9229;ms-93cbf45c02a304a2f6dc;ms-147e4106b5d337cefcb2;ms-2b309050ebafdd5a3482;ms-ccccd221a821803e36c5;ms-670a696bd472769ac513", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-20bc116cad15b072a2ea", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5490038990974426, + "candidate_source_group_id": "ms-17723f5f0806414eda67;ms-a40d644441c878ac5292;ms-fa637544793129258022;ms-70e24231e9bb560abb3e;ms-9d190663aa55bb434720;ms-49b9fd364e000bc7d579", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2a4611f1099507f9babf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5315765142440796, + "candidate_source_group_id": "ms-f813ff3f9ae188b0259c;ms-82a203dfa8631639ba7e;ms-c8593eabfdb5a6bca7bb;ms-5a0da896925f50a1d2ee;ms-bad55a54ecb4349a5323;ms-4c9ed894520169849bc6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5d4b83a1d21ee90ef69f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4100222885608673, + "candidate_source_group_id": "ms-cefef59d2909a69dd709;ms-c8ffa7d45ed61e2b94d6;ms-5816c255ea56bc8a63c3;ms-d5d38df1f2dbae367af0;ms-fd66d311a01f9c4fc825;ms-e6b0ee06238145e2a517", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-80269804728c7aaaf9a7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4379417598247528, + "candidate_source_group_id": "ms-66d3cc0e17bcbfb5f36e;ms-bb9f2f5b67bbb7e0f516;ms-916b66e56329dbd05b29;ms-6d48ff55845b6759a8c4;ms-f83aacaa71f0151421c7;ms-234ce02cf98f85bda72c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f195ac1f3ae4b397c71", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1779651641845703, + "candidate_source_group_id": "ms-a012d1677923703d5a0c;ms-25119a8a2d03c8e71300;ms-79d4959d079594053125;ms-2ba02dcefa15a9371706;ms-eccd5c34e1762a33f643;ms-05f34a90fa7355262b8e", + "expert_regret": 0.0, + "expert_score": 0.1198970377445221, + "expert_success": false, + "group_id": "ms-8a38529670b19d605663", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.26149049401283264, + "candidate_source_group_id": "ms-1be8db140ae74d18596f;ms-b8bfdd3e6c31bd98082d;ms-d2aed645029072f5c82f;ms-9448b2a52a4a475af1f9;ms-9df99aca252d63f555b2;ms-8dd1387678e0e62a1298", + "expert_regret": 0.0, + "expert_score": 9.362399578094482e-05, + "expert_success": false, + "group_id": "ms-81eff749adbf328a93e1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.16225770115852356, + "candidate_source_group_id": "ms-31880fb2dfed92c021ef;ms-966895e247be1f41daee;ms-c1f8e861c7c4485c361a;ms-64f98d163b6bff29332b;ms-0942bb0cc1143a2058f9;ms-c9568dec28405d273943", + "expert_regret": 0.0, + "expert_score": 0.19493231177330017, + "expert_success": false, + "group_id": "ms-9fad82fd288e4296e354", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4418720602989197, + "candidate_source_group_id": "ms-22cfd6a9a619133478b6;ms-8ef0a258f0f502bdaad5;ms-2a738f03ee216527dfa6;ms-a5885ec43a0aa166a0e7;ms-a649d9cf4fba45822ad9;ms-9feb7d8fdc15e384b8b7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fc2e1272ed035d0b9066", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3855365216732025, + "candidate_source_group_id": "ms-3e86692ea2e52b8e009b;ms-acfecece1f8160045f0a;ms-9feb7d8fdc15e384b8b7;ms-67f2977ab7d070052b61;ms-4d8f2bf18e7556663104;ms-c8902580575f6effb241", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c58ff92a6fe47fd90684", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6221815347671509, + "candidate_source_group_id": "ms-68dcba1af854c06fc0e6;ms-b8bfdd3e6c31bd98082d;ms-1be8db140ae74d18596f;ms-44a69da62321224c1df9;ms-1aea30e99a4945020cc1;ms-d2aed645029072f5c82f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8a0577b3fc6f75776b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.331919401884079, + "candidate_source_group_id": "ms-2413d1155c87f0442485;ms-876805da5863dc637246;ms-1405ab4a382fd1a07e63;ms-98d8d5d728ee4cff6776;ms-6ed65c65b566e21474a8;ms-c1513a6417b0ba250dee", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4866796139a8dac6d73b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.24843871593475342, + "candidate_source_group_id": "ms-918efaf9527826841090;ms-1003d1fe41aba4c8af84;ms-be8665e211c9b1cc13b4;ms-f40f6fe1910a94971980;ms-2d9efcce135f0c9d2203;ms-23a02f5f0c3f979684ff", + "expert_regret": 0.03333823382854462, + "expert_score": 0.09440004825592041, + "expert_success": false, + "group_id": "ms-27c9f70e97b8850cc3ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9389381855726242, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06106181442737579, + "restore_error": 1.1920928955078125e-07, + "score": 0.06106181442737579, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4026215374469757, + "candidate_source_group_id": "ms-674d9e270ff9ba879886;ms-c4a78f303c7f2b1a437b;ms-adf081811af7bca643a1;ms-e95a64701812302bd039;ms-07321628f307d0c91b44;ms-9d943a2732771576e41d", + "expert_regret": 1.9489344507455826, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb7c4ead34050a60dbdd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9489344507455826, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05106554925441742, + "restore_error": 1.1920928955078125e-07, + "score": 0.05106554925441742, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.14355313777923584, + "candidate_source_group_id": "ms-f2f594b2492898e947f0;ms-beb40d1c9533f7508aa5;ms-34ea26afcb2c6fe1a1fe;ms-889dd046ec7b0fc0a7a4;ms-048c14d42c3f3b352f53;ms-653181f057aeaeeadfe2", + "expert_regret": 0.0, + "expert_score": 0.0006054937839508057, + "expert_success": false, + "group_id": "ms-081952a63087fc8f83cd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.32745423913002014, + "candidate_source_group_id": "ms-847200a83b8ce5835fd9;ms-ccccd221a821803e36c5;ms-0818eb8cc217c9b3040a;ms-7a102c1d0334bab9656e;ms-634dce5b0ce43bfaa04e;ms-579eb7a700037d011e3f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3e17d03f9d640185853b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5516889691352844, + "candidate_source_group_id": "ms-beb40d1c9533f7508aa5;ms-eb0a75800f4ab451b92e;ms-b2f6b95c91f5d672d3a0;ms-f2f594b2492898e947f0;ms-3b99101d58e538cfbd6d;ms-889dd046ec7b0fc0a7a4", + "expert_regret": 1.9521708935499191, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65b3fb1b7924487ebe2b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9521708935499191, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04782910645008087, + "restore_error": 1.1920928955078125e-07, + "score": 0.04782910645008087, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7192851305007935, + "candidate_source_group_id": "ms-31372cdadd8d9da23b8d;ms-44a69da62321224c1df9;ms-f14cda80db7270dd0f86;ms-c257731ddcf5cf149393;ms-87f2f63d694d8ccca7f8;ms-1aea30e99a4945020cc1", + "expert_regret": 0.0, + "expert_score": 0.0, + "expert_success": false, + "group_id": "ms-54fdd49dc2c46e162fc6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1592712104320526, + "candidate_source_group_id": "ms-ee72e3f1115cfb8294ee;ms-a649d9cf4fba45822ad9;ms-04020456c994946d9a76;ms-7838ea128d16b455b2f9;ms-973f50778408dcecccdd;ms-346494921f998d7a48ab", + "expert_regret": 0.0, + "expert_score": 0.051515787839889526, + "expert_success": false, + "group_id": "ms-2ca0290759891500c6bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.45200273394584656, + "candidate_source_group_id": "ms-d5d38df1f2dbae367af0;ms-fd66d311a01f9c4fc825;ms-e6b0ee06238145e2a517;ms-c8ffa7d45ed61e2b94d6;ms-7a699e157f311f764b46;ms-4ed913628b5f121bbf34", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6f6c2f554a8e1c33ab32", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5953741669654846, + "candidate_source_group_id": "ms-bfe867e8d518b9f8333a;ms-b559638a0a726e441847;ms-f2f594b2492898e947f0;ms-e31553038464afab4ec1;ms-0b13513f98f2d3def73a;ms-33e036c8224f052e6279", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cece69f5a160c40d613a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6519313454627991, + "candidate_source_group_id": "ms-f14cda80db7270dd0f86;ms-87f2f63d694d8ccca7f8;ms-44a69da62321224c1df9;ms-b187043687d88d509fc7;ms-d2aed645029072f5c82f;ms-1be8db140ae74d18596f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cbdf12e174c323015f38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.17570960521697998, + "candidate_source_group_id": "ms-ff08c0b84d984d3d8620;ms-31880fb2dfed92c021ef;ms-a649d9cf4fba45822ad9;ms-85a4fc6e131dacc9d839;ms-2867deaca7e98582620b;ms-28a10bea0cf3f917e067", + "expert_regret": 0.0, + "expert_score": 0.11025479435920715, + "expert_success": false, + "group_id": "ms-ec5ac79449116b0a30c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4339187443256378, + "candidate_source_group_id": "ms-f12b50fed09bbbf6c039;ms-86508eb5d360c56023e1;ms-97939101c75832eb62cd;ms-0be67b60c98e4f3e692f;ms-c60bfb966aa2f6e5f183;ms-0b28e6af81d42a73cbeb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f8a4e83bdb9d628ac483", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6783572435379028, + "candidate_source_group_id": "ms-0a3ff306e1bebfd51ae4;ms-167bd325bc0845dcaba3;ms-5c7ab237037e9344a2ed;ms-2b27b1ecc0284ec3a993;ms-c1513a6417b0ba250dee;ms-edeb8cb36d3d06244421", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b929d6015e41aa9a9de8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.41742590069770813, + "candidate_source_group_id": "ms-82a203dfa8631639ba7e;ms-f813ff3f9ae188b0259c;ms-c8593eabfdb5a6bca7bb;ms-5a0da896925f50a1d2ee;ms-bad55a54ecb4349a5323;ms-4c9ed894520169849bc6", + "expert_regret": 0.0, + "expert_score": 0.2145896553993225, + "expert_success": false, + "group_id": "ms-1044e227d00afb01a5dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1287274956703186, + "candidate_source_group_id": "ms-2a738f03ee216527dfa6;ms-4096e2d9cf2e9d4943c7;ms-a5885ec43a0aa166a0e7;ms-9feb7d8fdc15e384b8b7;ms-8b813b6035f0425892bd;ms-acfecece1f8160045f0a", + "expert_regret": 0.0, + "expert_score": 0.10130771994590759, + "expert_success": false, + "group_id": "ms-630c7d4c0ef39da64304", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4708734154701233, + "candidate_source_group_id": "ms-e7fcbe2b61632a79fe6a;ms-783ceec205863d92ef8a;ms-e333fb7b8697ebeb474e;ms-90a840c7cbbfe35e8a67;ms-3f6cd47af5e9e6781b73;ms-98d738638749a1c0999d", + "expert_regret": 1.9198327213525772, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-44e2ba085128234ef9eb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9198327213525772, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08016727864742279, + "restore_error": 1.1920928955078125e-07, + "score": 0.08016727864742279, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5951856970787048, + "candidate_source_group_id": "ms-b2f6b95c91f5d672d3a0;ms-653181f057aeaeeadfe2;ms-048c14d42c3f3b352f53;ms-beb40d1c9533f7508aa5;ms-f6174dd8dd65bd736685;ms-889dd046ec7b0fc0a7a4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8293ae7689b30820278f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3370240032672882, + "candidate_source_group_id": "ms-93cbf45c02a304a2f6dc;ms-ccccd221a821803e36c5;ms-579eb7a700037d011e3f;ms-cb51cbc4086bd452233d;ms-3aa0b904cd3565b6c7ba;ms-4c9ed894520169849bc6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-62033042dcde101a0c9e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.44240623712539673, + "candidate_source_group_id": "ms-4401ec9ab8c89fb39f58;ms-933425ede670e8efc04e;ms-031c526a8690cad1677c;ms-58950fed04d203b97ab9;ms-e825bdad55212cb330da;ms-fb23602361466c57dd2d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d65e80424e917743d9a4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.548385739326477, + "candidate_source_group_id": "ms-74704688fb63757619e1;ms-f1b05f75f6ad032a0cd1;ms-3579b51b91daa627d195;ms-49b9fd364e000bc7d579;ms-17723f5f0806414eda67;ms-54346a8f79bd9dca1dfe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-79636173ebff4c91da03", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.36170220375061035, + "candidate_source_group_id": "ms-876805da5863dc637246;ms-98d8d5d728ee4cff6776;ms-2413d1155c87f0442485;ms-4dbdc6ed61dccebbfe92;ms-2a4f1cbd3f416f9084dc;ms-9d1d3a7b2dcafeda3bf3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d5f6186b51268063515e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.28041356801986694, + "candidate_source_group_id": "ms-66d3cc0e17bcbfb5f36e;ms-bb9f2f5b67bbb7e0f516;ms-916b66e56329dbd05b29;ms-f83aacaa71f0151421c7;ms-6d48ff55845b6759a8c4;ms-234ce02cf98f85bda72c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-351f07141fc0a8885759", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4540410041809082, + "candidate_source_group_id": "ms-a5f722aaecb894444ac4;ms-1f6006a647438280a273;ms-25942684dfc6d81c449a;ms-f3b9739bcb72c30a5535;ms-47d33f56890889e86355;ms-5d646fb3dbdcd5443729", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e132f1526b2090e440e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5263187885284424, + "candidate_source_group_id": "ms-d867fd6ed17aeaa97c2b;ms-ea6878cc654f7f255811;ms-30caf93619a0e2f94eae;ms-170a9228df2273649f1c;ms-217aa98e4a691e43cf68;ms-7aaa46eaa657a3179a70", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8682e5b9068871041b74", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6598971486091614, + "candidate_source_group_id": "ms-167bd325bc0845dcaba3;ms-5c7ab237037e9344a2ed;ms-e2a1bc3e5cd509eb08c2;ms-c1513a6417b0ba250dee;ms-2b27b1ecc0284ec3a993;ms-edeb8cb36d3d06244421", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97ccdc4668a995776663", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4949236512184143, + "candidate_source_group_id": "ms-dae29d741eb65a2fc4b3;ms-5dab866561f657e9aa8d;ms-5ae7b4d324285dfe6e80;ms-9b50c72d20e7510258b8;ms-f492405ef825467ddcba;ms-f52fe666ef7c9b997778", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10a1077a32c1abd486f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3236435055732727, + "candidate_source_group_id": "ms-2413d1155c87f0442485;ms-1405ab4a382fd1a07e63;ms-c1513a6417b0ba250dee;ms-2b27b1ecc0284ec3a993;ms-6ed65c65b566e21474a8;ms-876805da5863dc637246", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-575e151c0d1622c7ccd1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.29339882731437683, + "candidate_source_group_id": "ms-298fc552bfc93c2b32bf;ms-5dab866561f657e9aa8d;ms-f492405ef825467ddcba;ms-f52fe666ef7c9b997778;ms-5ae7b4d324285dfe6e80;ms-9b50c72d20e7510258b8", + "expert_regret": 0.0, + "expert_score": 0.19285303354263306, + "expert_success": false, + "group_id": "ms-3c9527725515347ba7de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3713407516479492, + "candidate_source_group_id": "ms-33905bad392928d3a217;ms-22cfd6a9a619133478b6;ms-217aa98e4a691e43cf68;ms-663c7e7fdaea6a945a2b;ms-30caf93619a0e2f94eae;ms-4096e2d9cf2e9d4943c7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a2766876467c8fbd5379", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.41964468359947205, + "candidate_source_group_id": "ms-c1f8e861c7c4485c361a;ms-0942bb0cc1143a2058f9;ms-64f98d163b6bff29332b;ms-9d943a2732771576e41d;ms-027592312fc833e8768d;ms-e95a64701812302bd039", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-72da580865509f75d6eb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6457937955856323, + "candidate_source_group_id": "ms-4f291cdf6a62b9af9e5d;ms-cdca8a6fff0640ab7f16;ms-b5dee7bdaf34270e6515;ms-29f7da1cd496619f45f5;ms-fe5a68745bbc6b4256cf;ms-fb23602361466c57dd2d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-111355c28fcb5ef51167", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5452026724815369, + "candidate_source_group_id": "ms-db2cfd3c0ce8ece8a112;ms-a39c5eb6453fab13bb3f;ms-33e036c8224f052e6279;ms-e2058192b3065ce7dc60;ms-3d208c1e04bb84341859;ms-d593c823d7fa1cd02635", + "expert_regret": 1.9499156177043915, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-88de0a1035cb8f8ef16a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9499156177043915, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05008438229560852, + "restore_error": 1.1920928955078125e-07, + "score": 0.05008438229560852, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.48254600167274475, + "candidate_source_group_id": "ms-58950fed04d203b97ab9;ms-4f291cdf6a62b9af9e5d;ms-29f7da1cd496619f45f5;ms-fe5a68745bbc6b4256cf;ms-cdca8a6fff0640ab7f16;ms-b5dee7bdaf34270e6515", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f49fbce5bf7a0a169f1e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4766271710395813, + "candidate_source_group_id": "ms-686b6de62b641e0dba0d;ms-31880fb2dfed92c021ef;ms-551020d425c370126f59;ms-1fe4b5c84ee5c0e6fcdb;ms-33885f2999b6dbe71f42;ms-64f98d163b6bff29332b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-771e632c1b0f3181ff36", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4606468677520752, + "candidate_source_group_id": "ms-28a10bea0cf3f917e067;ms-2867deaca7e98582620b;ms-ff08c0b84d984d3d8620;ms-f492405ef825467ddcba;ms-aca9b69b504ede73bcac;ms-31880fb2dfed92c021ef", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9fd5ccb16c4e5d0c4579", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3859008252620697, + "candidate_source_group_id": "ms-cefef59d2909a69dd709;ms-d5d38df1f2dbae367af0;ms-fd66d311a01f9c4fc825;ms-7a699e157f311f764b46;ms-e6b0ee06238145e2a517;ms-5816c255ea56bc8a63c3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-06c528eb38baee4e31b8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4947078227996826, + "candidate_source_group_id": "ms-9d8348ba3054f969ad8e;ms-f6635cbacd4195f7f4ab;ms-4015b8ac7c0a1397c076;ms-c10cf873dd3f68d97755;ms-1c4df81cce643ca4fb3e;ms-9f33c55b8e06fcb5e21e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0952da757675889102ec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7749789357185364, + "candidate_source_group_id": "ms-fa637544793129258022;ms-b4293fc495a608f8063c;ms-70e24231e9bb560abb3e;ms-7c72cdc319220ea76854;ms-1f9a8bf8a8c0882b4039;ms-49731d5e69272f3bd959", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5884cb0ce8ef0e034fec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3423004746437073, + "candidate_source_group_id": "ms-5ae7b4d324285dfe6e80;ms-4711dffcd73048a3656c;ms-f52fe666ef7c9b997778;ms-5dab866561f657e9aa8d;ms-298fc552bfc93c2b32bf;ms-9b50c72d20e7510258b8", + "expert_regret": 1.8564096689224243, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c3191d9c08e5756e90e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8564096689224243, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.14359033107757568, + "restore_error": 1.1920928955078125e-07, + "score": 0.14359033107757568, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.30168479681015015, + "candidate_source_group_id": "ms-b0f5b97b1bc7d3173183;ms-eec1c80f2bdd990118d8;ms-6a82cd518812ae55f97d;ms-698e09998c5dbfa6b7e3;ms-84404222b954c48c48d8;ms-8d23082fdeffba7cba51", + "expert_regret": 1.9609413743019104, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8188aaeda131829b7c9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9609413743019104, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0390586256980896, + "restore_error": 1.1920928955078125e-07, + "score": 0.0390586256980896, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.23499025404453278, + "candidate_source_group_id": "ms-c5df8e13dba07b355c14;ms-b6ed7cdf9226aa0b0d1e;ms-1f5c191aa8a6978b4020;ms-cb51cbc4086bd452233d;ms-3aa0b904cd3565b6c7ba;ms-9c49860c264bb0bec403", + "expert_regret": 0.0, + "expert_score": 0.042847394943237305, + "expert_success": false, + "group_id": "ms-14c6516a0f22d20ef6b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.41153231263160706, + "candidate_source_group_id": "ms-2c65718a6134a46b048f;ms-9c49860c264bb0bec403;ms-01236ae561190e7a5f8f;ms-b6ed7cdf9226aa0b0d1e;ms-ea1abf4dd25aea30202b;ms-c5df8e13dba07b355c14", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-32767ca96808a18b5a43", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.09296516329050064, + "candidate_source_group_id": "ms-ea6878cc654f7f255811;ms-e4656ad3c67bd430c1a6;ms-130f96b49e1bdb7c0e7c;ms-d867fd6ed17aeaa97c2b;ms-2e237a4b84b582828c37;ms-65d0541a2ba23a8478fa", + "expert_regret": 0.0, + "expert_score": 0.01401551067829132, + "expert_success": false, + "group_id": "ms-6ffe441e29681c8f116e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.469576895236969, + "candidate_source_group_id": "ms-383c0d1f90c5a0b55e07;ms-c10cf873dd3f68d97755;ms-e411015630dcff33d0f7;ms-9f33c55b8e06fcb5e21e;ms-183174ef761d19fb85d9;ms-608a539637578968beb3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7f5fe657331466b2e262", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.508165717124939, + "candidate_source_group_id": "ms-29f7da1cd496619f45f5;ms-0a001f1bda12891b219f;ms-fb23602361466c57dd2d;ms-82a5b63ed41420747fb9;ms-58950fed04d203b97ab9;ms-de96f1dcca4527c03814", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ef0d8b87e9a145873ca7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.603542685508728, + "candidate_source_group_id": "ms-9d190663aa55bb434720;ms-a40d644441c878ac5292;ms-1f9a8bf8a8c0882b4039;ms-238b0d92a2c0a61289b7;ms-ba0d059f1c55c5737e17;ms-17723f5f0806414eda67", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ce6cbc6d7664766f1285", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4119848608970642, + "candidate_source_group_id": "ms-84404222b954c48c48d8;ms-f97fbc8f36f0af9ce18c;ms-8d23082fdeffba7cba51;ms-698e09998c5dbfa6b7e3;ms-e9bb31726937713db23a;ms-c8902580575f6effb241", + "expert_regret": 1.9632211029529572, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d0005f84908a87243dd6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9632211029529572, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03677889704704285, + "restore_error": 1.1920928955078125e-07, + "score": 0.03677889704704285, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2629925310611725, + "candidate_source_group_id": "ms-b0f5b97b1bc7d3173183;ms-eec1c80f2bdd990118d8;ms-6a82cd518812ae55f97d;ms-84404222b954c48c48d8;ms-698e09998c5dbfa6b7e3;ms-8d23082fdeffba7cba51", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7efe34ce17cffdcb43d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1839262694120407, + "candidate_source_group_id": "ms-b6ed7cdf9226aa0b0d1e;ms-121bc2e6676c1ac10911;ms-9c49860c264bb0bec403;ms-2c4224657fa8115b2b8b;ms-3a5eaa0095953c9d6241;ms-68054c6c805197b033a7", + "expert_regret": 0.0, + "expert_score": 0.1821424663066864, + "expert_success": false, + "group_id": "ms-398ddbf730ed8830b08b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4624268710613251, + "candidate_source_group_id": "ms-86909e2391a6a77883b3;ms-30caf93619a0e2f94eae;ms-f52fe666ef7c9b997778;ms-8750cccf83614187fe14;ms-170a9228df2273649f1c;ms-97939101c75832eb62cd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-42f077d286655b676709", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.23589618504047394, + "candidate_source_group_id": "ms-7208ab12aba7b4a0da1e;ms-973f50778408dcecccdd;ms-04020456c994946d9a76;ms-ee72e3f1115cfb8294ee;ms-2288d0eb01482bc757e5;ms-16619fc9e4f3627b8dd1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2c71dc14945b7bd8a60", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6560258865356445, + "candidate_source_group_id": "ms-4c8a03e5d6e3b7a13c29;ms-70dd7025d2b038824c72;ms-9d190663aa55bb434720;ms-1f9a8bf8a8c0882b4039;ms-83b649656afa71ab6bde;ms-f39cb13a5942ca3317d0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbfbee34b928dbb775da", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7796339392662048, + "candidate_source_group_id": "ms-7f22550a9f6707a45cd4;ms-33dcfa4725ad078cc898;ms-c333dcd8ec59f2ae8a3d;ms-605cecc07e3298489320;ms-3333e935277a2e1f4e05;ms-733b04f5bd4720d79e99", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ec5819de002710aa5d97", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3590763509273529, + "candidate_source_group_id": "ms-ed52ffcd2b3e222b5175;ms-c8902580575f6effb241;ms-57fd761853dfc47e8059;ms-4d8f2bf18e7556663104;ms-2cbe83da02847008bf24;ms-84404222b954c48c48d8", + "expert_regret": 1.9700983464717865, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c806a5814c3e727cac8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9700983464717865, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0299016535282135, + "restore_error": 1.7881393432617188e-07, + "score": 0.0299016535282135, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.23176638782024384, + "candidate_source_group_id": "ms-aec40fad850827331244;ms-eea4df1b36e8a31b40a3;ms-fae97eb60014b2866413;ms-ba0ee0c9c181cdc7de9d;ms-79d4959d079594053125;ms-4dbdc6ed61dccebbfe92", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-09bceb938cc530125601", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.28669533133506775, + "candidate_source_group_id": "ms-c8902580575f6effb241;ms-ed52ffcd2b3e222b5175;ms-4d8f2bf18e7556663104;ms-a18cc16207970cd8f84d;ms-84404222b954c48c48d8;ms-f97fbc8f36f0af9ce18c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7fc804389bb1de250c84", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5206109285354614, + "candidate_source_group_id": "ms-783ceec205863d92ef8a;ms-e7fcbe2b61632a79fe6a;ms-c57abcef044f324c2f1d;ms-3f6cd47af5e9e6781b73;ms-90a840c7cbbfe35e8a67;ms-4e67cfd30a257b4bad0c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-269731d0630cffc1a216", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5390264987945557, + "candidate_source_group_id": "ms-170a9228df2273649f1c;ms-de96f1dcca4527c03814;ms-7aaa46eaa657a3179a70;ms-0a001f1bda12891b219f;ms-82a5b63ed41420747fb9;ms-88c39906a4e9c32ec286", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b8f5ebd4732c0274945b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4422934353351593, + "candidate_source_group_id": "ms-aec40fad850827331244;ms-25119a8a2d03c8e71300;ms-ba0ee0c9c181cdc7de9d;ms-2ba02dcefa15a9371706;ms-9d82d1927529dc675bc5;ms-a012d1677923703d5a0c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c95a3e52494c7727dbf6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6874871253967285, + "candidate_source_group_id": "ms-269815a0f9c1a1ba5a6b;ms-e0e2a425cce52e820a7e;ms-d4c5d7eea19d94314e2e;ms-8c67f938fb3d0264393c;ms-ba396eb71806ac992acd;ms-97e2c618a3045e0a759e", + "expert_regret": 1.8159644901752472, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c6a9b0840052fd62261", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8159644901752472, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1840355098247528, + "restore_error": 1.1920928955078125e-07, + "score": 0.1840355098247528, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.651073694229126, + "candidate_source_group_id": "ms-10bdda377f6b2353d200;ms-97e2c618a3045e0a759e;ms-a40882954ff51b61c49c;ms-dc4738f9c7a8af86722d;ms-e0e2a425cce52e820a7e;ms-d4c5d7eea19d94314e2e", + "expert_regret": 1.8233038783073425, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-535c35e29640f289d7d1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8233038783073425, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17669612169265747, + "restore_error": 1.1920928955078125e-07, + "score": 0.17669612169265747, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7064337134361267, + "candidate_source_group_id": "ms-8c67f938fb3d0264393c;ms-e0e2a425cce52e820a7e;ms-a4e3e9c634e92a46fc15;ms-652234a929b7ed4d3b23;ms-4c5469e5b4af75482d89;ms-97e2c618a3045e0a759e", + "expert_regret": 1.8084741830825806, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f2259eac5ed12ee61c19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8084741830825806, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19152581691741943, + "restore_error": 1.1920928955078125e-07, + "score": 0.19152581691741943, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.10111641883850098, + "candidate_source_group_id": "ms-49e1584a68d8f465e8e3;ms-652234a929b7ed4d3b23;ms-94b9114b294d56e3f88a;ms-4c5469e5b4af75482d89;ms-e0e2a425cce52e820a7e;ms-a4e3e9c634e92a46fc15", + "expert_regret": 0.6436619311571121, + "expert_score": 0.8352248668670654, + "expert_success": false, + "group_id": "ms-77536801924a2a78688e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8084370642900467, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1915629357099533, + "restore_error": 1.1920928955078125e-07, + "score": 0.1915629357099533, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6125797033309937, + "candidate_source_group_id": "ms-020ab0b7cfa5045f3fc7;ms-350716d0809bd7ef12df;ms-0f2cd78c21a012784e1b;ms-b651d43182be35524aad;ms-7c300541f4986f403b47;ms-573ab0ef1d4166be9b54", + "expert_regret": 0.0, + "expert_score": 0.8541442155838013, + "expert_success": false, + "group_id": "ms-97cdb4c400ad4ae36518", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.8541442155838013, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6177857518196106, + "candidate_source_group_id": "ms-a601803235735bea0610;ms-804705b564058a7ac34c;ms-c72d626356a30cbef93b;ms-b1ea4f7f813ac0c87079;ms-4c788310cab7df5251e1;ms-dc26a7037003b94b9f93", + "expert_regret": 1.1857663989067078, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-acb486cbc23907df2568", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1857663989067078, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8142336010932922, + "restore_error": 1.1920928955078125e-07, + "score": 0.8142336010932922, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6136608719825745, + "candidate_source_group_id": "ms-57ccc6bbce43f1c7c000;ms-230391b47c390f51bc07;ms-0ee3134ab4e9435f2c2c;ms-fe763444e70a58ff8b1e;ms-151e5f61c8e3c2ece4e7;ms-65f4ea8ed88ed5301430", + "expert_regret": 1.1827991604804993, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cdd9ca03b64c4145587b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.1827991604804993, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8172008395195007, + "restore_error": 1.1920928955078125e-07, + "score": 0.8172008395195007, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8035849332809448, + "candidate_source_group_id": "ms-8b45028168ed68ec8303;ms-cc21e4000cabb2fad805;ms-01e08f0dcb4e2c030a79;ms-49685adafe2cb8da301f;ms-90777a893f2fff27728c;ms-64b4e29bb42bf0b35d4d", + "expert_regret": 1.883267879486084, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-19dbfb3664d48598041e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.883267879486084, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11673212051391602, + "restore_error": 1.1920928955078125e-07, + "score": 0.11673212051391602, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.003820538520813, + "candidate_source_group_id": "ms-36bc1364d2439099e9ed;ms-bc96a8973358d1c20ed3;ms-aa7cc7e3e5eb86e58ee9;ms-e95a846b4e77792e3e6f;ms-728ce6cbfd4c82607908;ms-7ac4c9b07c994cd878f9", + "expert_regret": 0.7943303883075714, + "expert_score": 0.8508474826812744, + "expert_success": false, + "group_id": "ms-5922d6b0cb028950a6a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.7943303883075714, + "oracle_score": 0.8508474826812744, + "oracle_success": false, + "progress": 0.056517094373703, + "restore_error": 1.1920928955078125e-07, + "score": 0.056517094373703, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9113418459892273, + "candidate_source_group_id": "ms-fe22e55457c78877c2d9;ms-44940e96c327541acf19;ms-bc02d87b2ed5769ee484;ms-7dca31b0d7d6fab018f3;ms-4d687a60b9ce1f0f1ddd;ms-f774646335321f6c5980", + "expert_regret": 1.4251136779785156, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ffc732b968c030ba1d0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4251136779785156, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5748863220214844, + "restore_error": 1.1920928955078125e-07, + "score": 0.5748863220214844, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.16531240940094, + "candidate_source_group_id": "ms-49e1584a68d8f465e8e3;ms-d6af11918833ace7c694;ms-554f2960f25ff627b596;ms-a5eb6b813b57d14f6573;ms-b4f96b4975ceb839c5e3;ms-3945306c3b05b122fa9b", + "expert_regret": 1.3981652855873108, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e6e8b4cdcadec645d910", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.3981652855873108, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6018347144126892, + "restore_error": 1.1920928955078125e-07, + "score": 0.6018347144126892, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.42002519965171814, + "candidate_source_group_id": "ms-da2f79e022bb63a2af11;ms-f5bc4935790fb8ef7b81;ms-495b33a30a68ee055eef;ms-185c13ec401a35f393b7;ms-ab5acce4dba71f19d5ad;ms-a7760c53ebe20579190e", + "expert_regret": 1.8330853879451752, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ccc81e9a63663c50096", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8330853879451752, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16691461205482483, + "restore_error": 1.1920928955078125e-07, + "score": 0.16691461205482483, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.26948097348213196, + "candidate_source_group_id": "ms-19b9e8a1108ac25f3476;ms-dd8ebc7d7211ece74e03;ms-325cd8b08e89bb498c82;ms-aa1da4bf5f94c6a74839;ms-01094af881b751ef29aa;ms-7dca31b0d7d6fab018f3", + "expert_regret": 0.6827382743358612, + "expert_score": 0.8273264169692993, + "expert_success": false, + "group_id": "ms-68f53650da9a9354b58f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.7090827524662018, + "oracle_score": 0.8536708950996399, + "oracle_success": false, + "progress": 0.1445881426334381, + "restore_error": 1.1920928955078125e-07, + "score": 0.1445881426334381, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6703460812568665, + "candidate_source_group_id": "ms-a50b6ab3c59b1c953197;ms-f2a349cfaa6f7422237b;ms-0ac85b1b15125006eb50;ms-584219be39de32d776d4;ms-9dd1ff4c297a81b13071;ms-511bcece89a5ea3b849e", + "expert_regret": 0.1571168601512909, + "expert_score": 0.23011930286884308, + "expert_success": false, + "group_id": "ms-e2f303a0d1e6017e1fc4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.1571168601512909, + "oracle_score": 0.23011930286884308, + "oracle_success": false, + "progress": 0.07300244271755219, + "restore_error": 1.1920928955078125e-07, + "score": 0.07300244271755219, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.20345352590084076, + "candidate_source_group_id": "ms-e0e2a425cce52e820a7e;ms-94b9114b294d56e3f88a;ms-a40882954ff51b61c49c;ms-97e2c618a3045e0a759e;ms-4c5469e5b4af75482d89;ms-652234a929b7ed4d3b23", + "expert_regret": 0.7232455313205719, + "expert_score": 0.8555290699005127, + "expert_success": false, + "group_id": "ms-9ae5c6c4132218ecf49e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8677164614200592, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1322835385799408, + "restore_error": 1.1920928955078125e-07, + "score": 0.1322835385799408, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1915738880634308, + "candidate_source_group_id": "ms-a50b6ab3c59b1c953197;ms-0ac85b1b15125006eb50;ms-584219be39de32d776d4;ms-f2a349cfaa6f7422237b;ms-9dd1ff4c297a81b13071;ms-511bcece89a5ea3b849e", + "expert_regret": 0.17195841670036316, + "expert_score": 0.22322958707809448, + "expert_success": false, + "group_id": "ms-0a4d4909900fb0bc4a9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.8015133440494537, + "oracle_score": 0.8527845144271851, + "oracle_success": false, + "progress": 0.05127117037773132, + "restore_error": 1.1920928955078125e-07, + "score": 0.05127117037773132, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.009042501449585, + "candidate_source_group_id": "ms-0460b73af19ce1336bba;ms-d6b0d6d7c66509eb4543;ms-79b745efd36e00515fa7;ms-7e2762eb1b21b04fe873;ms-bc1ca12b92e3561b95b3;ms-f79778f4c5ec302bbfb4", + "expert_regret": 0.7564709633588791, + "expert_score": 0.7803360819816589, + "expert_success": false, + "group_id": "ms-1c9cd9629e4a927ed921", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.7564709633588791, + "oracle_score": 0.7803360819816589, + "oracle_success": false, + "progress": 0.023865118622779846, + "restore_error": 1.1920928955078125e-07, + "score": 0.023865118622779846, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7294292449951172, + "candidate_source_group_id": "ms-0b226017db7f07c5307e;ms-7ac4c9b07c994cd878f9;ms-36bc1364d2439099e9ed;ms-aa7cc7e3e5eb86e58ee9;ms-bc96a8973358d1c20ed3;ms-797db95b24deab760f10", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5a0e07161aefc71d4f33", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.40007147192955017, + "candidate_source_group_id": "ms-f90e4d887f4c840a0b25;ms-a31b52cc38a95273af77;ms-2cc60867f3629a801fc4;ms-4b6cf86fc2450321163a;ms-6c8d06bace98a28a8e4e;ms-f0696e3657ed996dec15", + "expert_regret": 0.6322041153907776, + "expert_score": 0.8326650857925415, + "expert_success": false, + "group_id": "ms-5b26c33feed6992386b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.799539029598236, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20046097040176392, + "restore_error": 1.1920928955078125e-07, + "score": 0.20046097040176392, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.38391202688217163, + "candidate_source_group_id": "ms-ff4c9c58b742da7135da;ms-a2ee6034df65b51c4d97;ms-63ac245579b1188935ad;ms-a4d692315fd15700e75b;ms-97343fa03fd05700c270;ms-4c788310cab7df5251e1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e7f710fb5e661e71fd3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7338286638259888, + "candidate_source_group_id": "ms-7e2762eb1b21b04fe873;ms-d6b0d6d7c66509eb4543;ms-79b745efd36e00515fa7;ms-0460b73af19ce1336bba;ms-be0ca7fa48a7ea391aa8;ms-578fcc1f0f27f76ff933", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-75ddae05fd4d968ebac7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.16263459622859955, + "candidate_source_group_id": "ms-0cdb564903c69734321f;ms-1cba14e90a2d067bc198;ms-625f1a55bfa2bcd57e24;ms-8c83fb7e9f1a7a8ad58f;ms-5a32c809ed679663dcb1;ms-875a4668671c02054a3c", + "expert_regret": 0.0, + "expert_score": 0.8467738032341003, + "expert_success": false, + "group_id": "ms-0949097d19e597fc7f63", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7158618569374084, + "candidate_source_group_id": "ms-0ac85b1b15125006eb50;ms-511bcece89a5ea3b849e;ms-584219be39de32d776d4;ms-a50b6ab3c59b1c953197;ms-f2a349cfaa6f7422237b;ms-2da5f229550b61852483", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f2509e6c3c468c4e30f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9517542719841003, + "candidate_source_group_id": "ms-6c7b2b62ba170ac8133e;ms-86b55250e01b9b6fba7e;ms-0f2cd78c21a012784e1b;ms-350716d0809bd7ef12df;ms-573ab0ef1d4166be9b54;ms-9e96728c711ffe98fe69", + "expert_regret": 1.7991545349359512, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0b6ba12f99b3554c0e88", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.7991545349359512, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20084546506404877, + "restore_error": 1.1920928955078125e-07, + "score": 0.20084546506404877, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5335946083068848, + "candidate_source_group_id": "ms-02aa62c077c9d4f86e61;ms-060d5756eac8f17652ee;ms-0c490961b934978e5b1c;ms-0fce9fe598d9ed1471b1;ms-4bbd30ae37fda61aa3c2;ms-ffaf8ddbbe21af6dea95", + "expert_regret": 1.8502707928419113, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-89782a37ecf6a44d23dc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8502707928419113, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.14972920715808868, + "restore_error": 1.1920928955078125e-07, + "score": 0.14972920715808868, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.518247663974762, + "candidate_source_group_id": "ms-a13e71cca2a60d77aed4;ms-b4f96b4975ceb839c5e3;ms-1e4219bffa35c646ebc9;ms-d6af11918833ace7c694;ms-f3ec6a4e6e3a778054d1;ms-4aed1197d0906ae51c34", + "expert_regret": 1.7926893681287766, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ec0b095d57014b86f5e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7926893681287766, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20731063187122345, + "restore_error": 1.1920928955078125e-07, + "score": 0.20731063187122345, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.2508223056793213, + "candidate_source_group_id": "ms-eaccbf417256e38345aa;ms-bf36bafb9ac562480022;ms-5a32c809ed679663dcb1;ms-220e8ddf7349fcbaf64d;ms-8f84a0371a7ac44c1b1a;ms-584d52e4f9515f695251", + "expert_regret": 1.4567422270774841, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6ab6c8a66fc509e2113e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4567422270774841, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5432577729225159, + "restore_error": 1.1920928955078125e-07, + "score": 0.5432577729225159, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5735388994216919, + "candidate_source_group_id": "ms-2b6ab8760ea5d558797c;ms-65f4ea8ed88ed5301430;ms-fe763444e70a58ff8b1e;ms-b8492a3a812095651d75;ms-f5bc4935790fb8ef7b81;ms-ab5acce4dba71f19d5ad", + "expert_regret": 1.9689410030841827, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61cb49c57a8600267d61", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9689410030841827, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03105899691581726, + "restore_error": 1.1920928955078125e-07, + "score": 0.03105899691581726, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.034561038017273, + "candidate_source_group_id": "ms-dd1eec30969c12ec89af;ms-921a0cd2d5ef7e70229a;ms-df6a1fb4b1ccbb410b4c;ms-d648b2c7a7b42db45550;ms-ebf15fd96b4a62e0b393;ms-71c5493fbcd8ea88898b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08077ae7bcd1d20bb2a6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0493429899215698, + "candidate_source_group_id": "ms-b651d43182be35524aad;ms-b2b93411a16dbb5d4202;ms-7c300541f4986f403b47;ms-01f463a409e2ec0c6c3e;ms-dfcbf1a7d2e3b33eb3e9;ms-13243cd92a78eba8c08b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5e19aac5dcd26c992bfd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3890947699546814, + "candidate_source_group_id": "ms-fe763444e70a58ff8b1e;ms-0d8e00d0e73f9a7b4ce8;ms-1d7505b80dff9c229a99;ms-57ccc6bbce43f1c7c000;ms-2b6ab8760ea5d558797c;ms-0841a07e9aeb84cff70f", + "expert_regret": 1.8103633522987366, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b1ab88b6b9dbb2dc602e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8103633522987366, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18963664770126343, + "restore_error": 1.1920928955078125e-07, + "score": 0.18963664770126343, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8891536593437195, + "candidate_source_group_id": "ms-cbe2659ec7884f00dc8a;ms-c5945ca04bebc81e72a8;ms-bf36bafb9ac562480022;ms-eaccbf417256e38345aa;ms-f90e4d887f4c840a0b25;ms-2cc60867f3629a801fc4", + "expert_regret": 0.6906086802482605, + "expert_score": 0.7810322046279907, + "expert_success": false, + "group_id": "ms-2c7a75422c4e47ee680c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.6906086802482605, + "oracle_score": 0.7810322046279907, + "oracle_success": false, + "progress": 0.09042352437973022, + "restore_error": 1.1920928955078125e-07, + "score": 0.09042352437973022, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5183922648429871, + "candidate_source_group_id": "ms-c3747425fe51bb3facbb;ms-9e99b7303fbd7ecbb17d;ms-c5d2ddd0416072b20d5d;ms-5bddb39f792f20e5e6d4;ms-8c2dade5b58489e26a4b;ms-8fb45ef2b489499fc7a7", + "expert_regret": 1.1416691541671753, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f7819cf58a2f9abd1e4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1416691541671753, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8583308458328247, + "restore_error": 1.1920928955078125e-07, + "score": 0.8583308458328247, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2134903222322464, + "candidate_source_group_id": "ms-1e25b12c832314a0b015;ms-cb752f1a3b24f95b34a2;ms-fe22e55457c78877c2d9;ms-f774646335321f6c5980;ms-787b74c3c67428d63b72;ms-bfb169ce850eae1c3995", + "expert_regret": 1.8223941028118134, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b3a1c65d7357ca4300b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8223941028118134, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17760589718818665, + "restore_error": 1.1920928955078125e-07, + "score": 0.17760589718818665, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1769324690103531, + "candidate_source_group_id": "ms-aa7cc7e3e5eb86e58ee9;ms-797db95b24deab760f10;ms-7ac4c9b07c994cd878f9;ms-e95a846b4e77792e3e6f;ms-bc96a8973358d1c20ed3;ms-a9eb9fab62fb296d2cf3", + "expert_regret": 0.7884360402822495, + "expert_score": 0.8128174543380737, + "expert_success": false, + "group_id": "ms-7bdf9cab1f7071533bbc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.7904075235128403, + "oracle_score": 0.8147889375686646, + "oracle_success": false, + "progress": 0.02438141405582428, + "restore_error": 1.1920928955078125e-07, + "score": 0.02438141405582428, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.30716732144355774, + "candidate_source_group_id": "ms-852c671b0adeccfa4bf1;ms-e887dbfa0133af46829d;ms-05ab68d4cd79b74a45ee;ms-6d7030c17759f787a361;ms-ce9505086ea115f86649;ms-bc2d3b425d9163a62dbb", + "expert_regret": 0.5981456786394119, + "expert_score": 0.844826340675354, + "expert_success": false, + "group_id": "ms-55e78c04643bd06fd5f8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.753319337964058, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.24668066203594208, + "restore_error": 1.1920928955078125e-07, + "score": 0.24668066203594208, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.49523046612739563, + "candidate_source_group_id": "ms-fe763444e70a58ff8b1e;ms-fffe17005e577cb2ac1c;ms-4dc0defd156f4c30aaf8;ms-57ccc6bbce43f1c7c000;ms-185c13ec401a35f393b7;ms-65f4ea8ed88ed5301430", + "expert_regret": 1.7744030356407166, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4af6806104210ccf74b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.7744030356407166, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22559696435928345, + "restore_error": 1.1920928955078125e-07, + "score": 0.22559696435928345, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0061711072921753, + "candidate_source_group_id": "ms-c9804ff90a86259f7149;ms-fd2387aeed9bfc9a0d08;ms-e3bbabc7ac3950eb91a2;ms-dc4738f9c7a8af86722d;ms-ecb37ebbab21a506d8ca;ms-d50a82b8770f333f1947", + "expert_regret": 1.9674311578273773, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-16850056120649fcc370", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9674311578273773, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03256884217262268, + "restore_error": 1.1920928955078125e-07, + "score": 0.03256884217262268, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.38949447870254517, + "candidate_source_group_id": "ms-e0e2a425cce52e820a7e;ms-94b9114b294d56e3f88a;ms-4c5469e5b4af75482d89;ms-97e2c618a3045e0a759e;ms-652234a929b7ed4d3b23;ms-1cb54e3347c49dcdf28e", + "expert_regret": 1.8230376243591309, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ea6d57781e366b578c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8230376243591309, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17696237564086914, + "restore_error": 1.1920928955078125e-07, + "score": 0.17696237564086914, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.19516706466674805, + "candidate_source_group_id": "ms-b33c18c58125678627a6;ms-54f4d544f76358c09ee9;ms-5dfeb87aa77e4660d09b;ms-dd1eec30969c12ec89af;ms-265435476b51eb83fb9b;ms-d8cc5ba8ab1cd4a46519", + "expert_regret": 0.0, + "expert_score": 0.829584002494812, + "expert_success": false, + "group_id": "ms-829c9968f0750cd9aed6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1674394011497498, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8325605988502502, + "restore_error": 1.1920928955078125e-07, + "score": 0.8325605988502502, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.2903708219528198, + "candidate_source_group_id": "ms-4dc0defd156f4c30aaf8;ms-b8492a3a812095651d75;ms-fe763444e70a58ff8b1e;ms-65f4ea8ed88ed5301430;ms-151e5f61c8e3c2ece4e7;ms-9b89af1761e33e733a56", + "expert_regret": 1.9545805752277374, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fc68c8b1bef631b6cae9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9545805752277374, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04541942477226257, + "restore_error": 1.1920928955078125e-07, + "score": 0.04541942477226257, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9750260710716248, + "candidate_source_group_id": "ms-c9804ff90a86259f7149;ms-fd2387aeed9bfc9a0d08;ms-dc4738f9c7a8af86722d;ms-a4e3e9c634e92a46fc15;ms-652234a929b7ed4d3b23;ms-a40882954ff51b61c49c", + "expert_regret": 1.436453402042389, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-983f35821c4f83c6e4bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.436453402042389, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5635465979576111, + "restore_error": 1.1920928955078125e-07, + "score": 0.5635465979576111, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.014578104019165, + "candidate_source_group_id": "ms-8ccec039b839e612969b;ms-87efe56140dec7d3ffb8;ms-15248c64e70b0dafcb33;ms-a77b8d61c09ed6ea23a2;ms-13243cd92a78eba8c08b;ms-58e6bcca0d74ea38d3dc", + "expert_regret": 1.7898693531751633, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-daff16c01452c735345f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7898693531751633, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21013064682483673, + "restore_error": 1.1920928955078125e-07, + "score": 0.21013064682483673, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.12796126306056976, + "candidate_source_group_id": "ms-bc2d3b425d9163a62dbb;ms-9e7e3b675db86ea3e212;ms-ce9505086ea115f86649;ms-2360ac84ff893ee51c5f;ms-9d4cfe1888484d9da1ee;ms-bc8e9fc055c591071ea3", + "expert_regret": 0.6519603580236435, + "expert_score": 0.8385780453681946, + "expert_success": false, + "group_id": "ms-9d12ad4ebdf37419994c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.813382312655449, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1866176873445511, + "restore_error": 1.1920928955078125e-07, + "score": 0.1866176873445511, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.41698893904685974, + "candidate_source_group_id": "ms-6c7b2b62ba170ac8133e;ms-0f2cd78c21a012784e1b;ms-86b55250e01b9b6fba7e;ms-350716d0809bd7ef12df;ms-573ab0ef1d4166be9b54;ms-3ff1aedb72f65a182b58", + "expert_regret": 0.2828764319419861, + "expert_score": 0.8363267779350281, + "expert_success": false, + "group_id": "ms-7fc5696cb3dc7b9bb9f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.446549654006958, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.553450345993042, + "restore_error": 1.1920928955078125e-07, + "score": 0.553450345993042, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1910417377948761, + "candidate_source_group_id": "ms-68067370d3b20b9bd4e2;ms-49e1584a68d8f465e8e3;ms-554f2960f25ff627b596;ms-a5eb6b813b57d14f6573;ms-88070bf04696eceac1e9;ms-d1960368ef76bbb10669", + "expert_regret": 0.6461300700902939, + "expert_score": 0.8355538845062256, + "expert_success": false, + "group_id": "ms-3c87c16acc91c68c522f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.6462593525648117, + "oracle_score": 0.8356831669807434, + "oracle_success": false, + "progress": 0.1894238144159317, + "restore_error": 1.1920928955078125e-07, + "score": 0.1894238144159317, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.1213940382003784, + "candidate_source_group_id": "ms-2cc60867f3629a801fc4;ms-a31b52cc38a95273af77;ms-f90e4d887f4c840a0b25;ms-3945306c3b05b122fa9b;ms-274ef8c6420a669dd5b4;ms-6c8d06bace98a28a8e4e", + "expert_regret": 1.187155544757843, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-283f98eecc655a33d459", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.187155544757843, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.812844455242157, + "restore_error": 1.1920928955078125e-07, + "score": 0.812844455242157, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0805398225784302, + "candidate_source_group_id": "ms-571d878853654c42a521;ms-f0696e3657ed996dec15;ms-6c8d06bace98a28a8e4e;ms-dc2e360a4876f6edce82;ms-f50f1c1b673d0c96d4ce;ms-3efaacea10b7eb4adb57", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e297545a438d902a680e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6172730326652527, + "candidate_source_group_id": "ms-13243cd92a78eba8c08b;ms-b2b93411a16dbb5d4202;ms-01f463a409e2ec0c6c3e;ms-41847ae4ccfbee4666d8;ms-242302c2a1e59588b319;ms-fee86da43c17dbf07059", + "expert_regret": 0.2715444564819336, + "expert_score": 0.8587179183959961, + "expert_success": false, + "group_id": "ms-ff0d7559bf7f39d82ded", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.2715444564819336, + "oracle_score": 0.8587179183959961, + "oracle_success": false, + "progress": 0.5871734619140625, + "restore_error": 1.9371509552001953e-07, + "score": 0.5871734619140625, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6760782599449158, + "candidate_source_group_id": "ms-511bcece89a5ea3b849e;ms-1a9e9bcd6cbae272a459;ms-d7254aa722729aa1a031;ms-b1ea4f7f813ac0c87079;ms-a50b6ab3c59b1c953197;ms-f2a349cfaa6f7422237b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-52a2ef2f862cee509ce1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9371509552001953e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1650892198085785, + "candidate_source_group_id": "ms-5c1ed0b96c4b99d64dd9;ms-a4d692315fd15700e75b;ms-63ac245579b1188935ad;ms-ff4c9c58b742da7135da;ms-97343fa03fd05700c270;ms-a9eb9fab62fb296d2cf3", + "expert_regret": 0.029223084449768066, + "expert_score": 0.8537713289260864, + "expert_success": false, + "group_id": "ms-eb7189a4f2b0f0a5d4bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1754517555236816, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8245482444763184, + "restore_error": 1.9371509552001953e-07, + "score": 0.8245482444763184, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9715412259101868, + "candidate_source_group_id": "ms-1ed36d926d5d640b4a04;ms-7d484dd14e9d001a07b1;ms-efdc07c985935d871adf;ms-36bc1364d2439099e9ed;ms-be0ca7fa48a7ea391aa8;ms-bc96a8973358d1c20ed3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-37d6b220ad58fb776f7b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9371509552001953e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.27707549929618835, + "candidate_source_group_id": "ms-7f58527819036c01daa4;ms-720c704eeac615b41763;ms-e2a5f29a9c0d835f3cd8;ms-c5945ca04bebc81e72a8;ms-ceb81989361d018a9e67;ms-0f7cd7813265e3795e0a", + "expert_regret": 1.8005297482013702, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-253682457d6db5d265bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8005297482013702, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19947025179862976, + "restore_error": 1.9371509552001953e-07, + "score": 0.19947025179862976, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.2705460786819458, + "candidate_source_group_id": "ms-733f43f6aaed1e84c020;ms-06e6e1db86d9e82e56cf;ms-bf2b9cc05ccb6bce0d30;ms-6c8d06bace98a28a8e4e;ms-68067370d3b20b9bd4e2;ms-5bddb39f792f20e5e6d4", + "expert_regret": 1.4004170894622803, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-39cea5dde6dc1718d478", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4004170894622803, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5995829105377197, + "restore_error": 1.9371509552001953e-07, + "score": 0.5995829105377197, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7596889138221741, + "candidate_source_group_id": "ms-a50b6ab3c59b1c953197;ms-3cdc09425d5b71524854;ms-f2a349cfaa6f7422237b;ms-bb299baa34e49eafb9fc;ms-71e32140ee4d77f3b275;ms-36112cc5608a9f625764", + "expert_regret": 1.8558651804924011, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-da5f2c1dbafa907d725b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8558651804924011, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.14413481950759888, + "restore_error": 1.9371509552001953e-07, + "score": 0.14413481950759888, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.10078486055135727, + "candidate_source_group_id": "ms-19a3669e096e98232ec8;ms-a601803235735bea0610;ms-3451f857ec88eeb49c38;ms-b1ea4f7f813ac0c87079;ms-804705b564058a7ac34c;ms-c72d626356a30cbef93b", + "expert_regret": 0.0, + "expert_score": 0.8589632511138916, + "expert_success": false, + "group_id": "ms-6bd5870eb5ff0dd76919", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9371509552001953e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 2.0297739505767822, + "candidate_source_group_id": "ms-da2f79e022bb63a2af11;ms-741c227f6249d1c8c9f1;ms-42b26451056c6dd2150e;ms-15fc8cc6f74cf589056f;ms-a7760c53ebe20579190e;ms-8d02415bb9af319f215a", + "expert_regret": 1.8976593762636185, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65a8786e4fb1527342f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8976593762636185, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10234062373638153, + "restore_error": 1.1920928955078125e-07, + "score": 0.10234062373638153, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.7663484811782837, + "candidate_source_group_id": "ms-d9e7096b437e7ce7cda8;ms-a13e71cca2a60d77aed4;ms-2503df67073b4c59e640;ms-0547201761e8e1873482;ms-1e4219bffa35c646ebc9;ms-6989f2ad4ed53dc07e1f", + "expert_regret": 0.09808702766895294, + "expert_score": 0.2056313455104828, + "expert_success": false, + "group_id": "ms-df346e952d6eaab76d40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.09808702766895294, + "oracle_score": 0.2056313455104828, + "oracle_success": false, + "progress": 0.10754431784152985, + "restore_error": 1.1920928955078125e-07, + "score": 0.10754431784152985, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.18307101726531982, + "candidate_source_group_id": "ms-720c704eeac615b41763;ms-76c9576538106cb9d5db;ms-54f7cae3bd3cb84062d3;ms-0982ec8847911627c519;ms-b1b98e21cd4886f70563;ms-ceb81989361d018a9e67", + "expert_regret": 0.045755624771118164, + "expert_score": 0.8584641218185425, + "expert_success": false, + "group_id": "ms-03df3e12e1d61aa9ebbf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1872915029525757, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8127084970474243, + "restore_error": 1.1920928955078125e-07, + "score": 0.8127084970474243, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8523472547531128, + "candidate_source_group_id": "ms-9e96728c711ffe98fe69;ms-0c2f2dc98424b6704c79;ms-86b55250e01b9b6fba7e;ms-7c300541f4986f403b47;ms-573ab0ef1d4166be9b54;ms-b651d43182be35524aad", + "expert_regret": 1.4047901034355164, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4118fc55a3d3e6bee8c0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4047901034355164, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5952098965644836, + "restore_error": 1.1920928955078125e-07, + "score": 0.5952098965644836, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2894248962402344, + "candidate_source_group_id": "ms-c72d626356a30cbef93b;ms-b86c44375ba5328a1608;ms-a601803235735bea0610;ms-119db4f7ab55afe5b9f6;ms-804705b564058a7ac34c;ms-b1ea4f7f813ac0c87079", + "expert_regret": 0.0, + "expert_score": 0.8631211519241333, + "expert_success": false, + "group_id": "ms-c80e71e55d51d8595499", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.2213929891586304, + "candidate_source_group_id": "ms-420280f15a522ce21c72;ms-9e96728c711ffe98fe69;ms-350716d0809bd7ef12df;ms-9a14552b7db695dee92c;ms-020ab0b7cfa5045f3fc7;ms-0f2cd78c21a012784e1b", + "expert_regret": 1.4158049821853638, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-579af9eb582ab20522a9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4158049821853638, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5841950178146362, + "restore_error": 1.1920928955078125e-07, + "score": 0.5841950178146362, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.3810627460479736, + "candidate_source_group_id": "ms-fffe17005e577cb2ac1c;ms-fe763444e70a58ff8b1e;ms-185c13ec401a35f393b7;ms-0fb946120bcbd8ed0632;ms-57ccc6bbce43f1c7c000;ms-0ee3134ab4e9435f2c2c", + "expert_regret": 1.9100386500358582, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-20ab0b7fffdbb23e6d53", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9100386500358582, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08996134996414185, + "restore_error": 1.1920928955078125e-07, + "score": 0.08996134996414185, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3442641794681549, + "candidate_source_group_id": "ms-baba39ca95aa09893dc0;ms-f5bc4935790fb8ef7b81;ms-ab5acce4dba71f19d5ad;ms-ba396eb71806ac992acd;ms-da2f79e022bb63a2af11;ms-185c13ec401a35f393b7", + "expert_regret": 0.751490980386734, + "expert_score": 0.8134564161300659, + "expert_success": false, + "group_id": "ms-c8706d0aa14a930236de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.938034564256668, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06196543574333191, + "restore_error": 1.1920928955078125e-07, + "score": 0.06196543574333191, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9066888093948364, + "candidate_source_group_id": "ms-4aed1197d0906ae51c34;ms-ebf15fd96b4a62e0b393;ms-2fef2f43af8009bb88f1;ms-7fba35a6c125e88b8f54;ms-500ed73f6d891e237b30;ms-ce827a7939377a151af9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-77c4a01dcf26dcd8f0f3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4875676929950714, + "candidate_source_group_id": "ms-5c1ed0b96c4b99d64dd9;ms-a9eb9fab62fb296d2cf3;ms-36112cc5608a9f625764;ms-63ac245579b1188935ad;ms-f413b168078609ed4fe4;ms-97343fa03fd05700c270", + "expert_regret": 1.9425444602966309, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-44b52b73161bb03c5a27", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9425444602966309, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05745553970336914, + "restore_error": 1.1920928955078125e-07, + "score": 0.05745553970336914, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9086807370185852, + "candidate_source_group_id": "ms-1ed36d926d5d640b4a04;ms-4aed1197d0906ae51c34;ms-f6cfaf92977f7b72aa24;ms-921a0cd2d5ef7e70229a;ms-9747840abee181e3e4cf;ms-a13e71cca2a60d77aed4", + "expert_regret": 1.8275595605373383, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1b50d8927c080cd97a79", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8275595605373383, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17244043946266174, + "restore_error": 1.1920928955078125e-07, + "score": 0.17244043946266174, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7428278923034668, + "candidate_source_group_id": "ms-f2a349cfaa6f7422237b;ms-a50b6ab3c59b1c953197;ms-9dd1ff4c297a81b13071;ms-71e32140ee4d77f3b275;ms-07b479748a91a9c92b20;ms-584219be39de32d776d4", + "expert_regret": 0.18682575225830078, + "expert_score": 0.78147292137146, + "expert_success": false, + "group_id": "ms-dd9b840c99c305ac1977", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.18682575225830078, + "oracle_score": 0.78147292137146, + "oracle_success": false, + "progress": 0.5946471691131592, + "restore_error": 1.1920928955078125e-07, + "score": 0.5946471691131592, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1715737134218216, + "candidate_source_group_id": "ms-d8cc5ba8ab1cd4a46519;ms-dd1eec30969c12ec89af;ms-3cdc09425d5b71524854;ms-9dd1ff4c297a81b13071;ms-f2a349cfaa6f7422237b;ms-71e32140ee4d77f3b275", + "expert_regret": 0.0, + "expert_score": 0.8544998168945312, + "expert_success": false, + "group_id": "ms-9f5d57fe2153fd267774", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1445806622505188, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8554193377494812, + "restore_error": 1.1920928955078125e-07, + "score": 0.8554193377494812, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.38970598578453064, + "candidate_source_group_id": "ms-f4579acd00ff9f578098;ms-bc99c1baec671e7f85a0;ms-b1b98e21cd4886f70563;ms-e1bce061511b584c5381;ms-f0fdcc26c648ce089746;ms-dab618f516ccc10f176e", + "expert_regret": 1.8207663297653198, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7bc1b098e6c696f6d4de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8207663297653198, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17923367023468018, + "restore_error": 1.1920928955078125e-07, + "score": 0.17923367023468018, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4288586676120758, + "candidate_source_group_id": "ms-4c788310cab7df5251e1;ms-dc26a7037003b94b9f93;ms-499d2429a00f3cc35add;ms-d8cc5ba8ab1cd4a46519;ms-511bcece89a5ea3b849e;ms-54f4d544f76358c09ee9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-96ebb8e6e71464ac9172", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.83026522397995, + "candidate_source_group_id": "ms-f4579acd00ff9f578098;ms-54f7cae3bd3cb84062d3;ms-b1b98e21cd4886f70563;ms-720c704eeac615b41763;ms-dab618f516ccc10f176e;ms-f0fdcc26c648ce089746", + "expert_regret": 1.7736780494451523, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10405f0fac390b29a04b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.7736780494451523, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22632195055484772, + "restore_error": 1.1920928955078125e-07, + "score": 0.22632195055484772, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.3990243673324585, + "candidate_source_group_id": "ms-c72d626356a30cbef93b;ms-7d484dd14e9d001a07b1;ms-7d5da9bf431cb1294c82;ms-a601803235735bea0610;ms-b86c44375ba5328a1608;ms-804705b564058a7ac34c", + "expert_regret": 1.1819635033607483, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1e17eb687986f7c5bc22", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1819635033607483, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8180364966392517, + "restore_error": 1.1920928955078125e-07, + "score": 0.8180364966392517, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7306477427482605, + "candidate_source_group_id": "ms-242302c2a1e59588b319;ms-5902e6c4037ecda77a5f;ms-01f463a409e2ec0c6c3e;ms-b2b93411a16dbb5d4202;ms-13243cd92a78eba8c08b;ms-020ab0b7cfa5045f3fc7", + "expert_regret": 1.7853931784629822, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-60f5fff0649ceb50ab60", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7853931784629822, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21460682153701782, + "restore_error": 1.1920928955078125e-07, + "score": 0.21460682153701782, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.2800920009613037, + "candidate_source_group_id": "ms-8b45028168ed68ec8303;ms-01e08f0dcb4e2c030a79;ms-074bf4470a893ac7955a;ms-cc21e4000cabb2fad805;ms-49685adafe2cb8da301f;ms-64b4e29bb42bf0b35d4d", + "expert_regret": 1.9682593941688538, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9f80c93ae6940a427c83", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9682593941688538, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03174060583114624, + "restore_error": 1.1920928955078125e-07, + "score": 0.03174060583114624, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.2517664432525635, + "candidate_source_group_id": "ms-00e356a462bdc3380f4f;ms-ab72e600d0bfb162ea80;ms-cb752f1a3b24f95b34a2;ms-9b89af1761e33e733a56;ms-de304cefeb20dcc17ede;ms-4bbd30ae37fda61aa3c2", + "expert_regret": 1.9619759023189545, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f020e53a077d4e6bf383", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9619759023189545, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03802409768104553, + "restore_error": 1.1920928955078125e-07, + "score": 0.03802409768104553, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9499913454055786, + "candidate_source_group_id": "ms-eff3caf3c103c5232495;ms-cbc1fadecdd913c44ce5;ms-b75d7924ddc6f1056f17;ms-a4d692315fd15700e75b;ms-97343fa03fd05700c270;ms-3945306c3b05b122fa9b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-035231abc135f925e1cc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.684419572353363, + "candidate_source_group_id": "ms-180d0e0a6315a06a7021;ms-495b33a30a68ee055eef;ms-1cb54e3347c49dcdf28e;ms-94b9114b294d56e3f88a;ms-185c13ec401a35f393b7;ms-ab5acce4dba71f19d5ad", + "expert_regret": 1.858063206076622, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9c7464444eaec0fa07c0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.858063206076622, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.141936793923378, + "restore_error": 1.1920928955078125e-07, + "score": 0.141936793923378, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0439999103546143, + "candidate_source_group_id": "ms-19a3669e096e98232ec8;ms-d9e7096b437e7ce7cda8;ms-0cdb564903c69734321f;ms-63a1574267ccbdaf6cc2;ms-3451f857ec88eeb49c38;ms-552acc881ce2bbff59f8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-caa5773983c25018c3f8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6360889077186584, + "candidate_source_group_id": "ms-95028134c6e3670b89d5;ms-4734f618e638d42bae46;ms-7ab0027224139e5332d5;ms-42b26451056c6dd2150e;ms-741c227f6249d1c8c9f1;ms-15fc8cc6f74cf589056f", + "expert_regret": 1.9470374286174774, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4cab45c9b21452c1b523", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9470374286174774, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05296257138252258, + "restore_error": 1.1920928955078125e-07, + "score": 0.05296257138252258, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9442124366760254, + "candidate_source_group_id": "ms-3945306c3b05b122fa9b;ms-554f2960f25ff627b596;ms-49e1584a68d8f465e8e3;ms-88070bf04696eceac1e9;ms-9747840abee181e3e4cf;ms-68067370d3b20b9bd4e2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-63f384579c130870fde3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0030161142349243, + "candidate_source_group_id": "ms-4c788310cab7df5251e1;ms-499d2429a00f3cc35add;ms-ff4c9c58b742da7135da;ms-a2ee6034df65b51c4d97;ms-54f4d544f76358c09ee9;ms-dc26a7037003b94b9f93", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-141aab4472db1ecc0ea2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.27072274684906, + "candidate_source_group_id": "ms-479ebfcc567538b3b582;ms-cb752f1a3b24f95b34a2;ms-ab72e600d0bfb162ea80;ms-90777a893f2fff27728c;ms-1e25b12c832314a0b015;ms-0b1dd0e538b8df15a6e4", + "expert_regret": 1.9527317434549332, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-54b553c42a8d825beb38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9527317434549332, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.047268256545066833, + "restore_error": 1.1920928955078125e-07, + "score": 0.047268256545066833, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7459877133369446, + "candidate_source_group_id": "ms-110944a3259f0e310db9;ms-741c227f6249d1c8c9f1;ms-15fc8cc6f74cf589056f;ms-495b33a30a68ee055eef;ms-42b26451056c6dd2150e;ms-0fa473b2c94d12bc3945", + "expert_regret": 1.800697386264801, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3a5cf404fd30dd8a2f76", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.800697386264801, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19930261373519897, + "restore_error": 1.1920928955078125e-07, + "score": 0.19930261373519897, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9367693662643433, + "candidate_source_group_id": "ms-efdc07c985935d871adf;ms-be0ca7fa48a7ea391aa8;ms-1ed36d926d5d640b4a04;ms-d6b0d6d7c66509eb4543;ms-7e2762eb1b21b04fe873;ms-d648b2c7a7b42db45550", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-02cdd56290c7ab888393", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4991771876811981, + "candidate_source_group_id": "ms-ceb81989361d018a9e67;ms-720c704eeac615b41763;ms-f0fdcc26c648ce089746;ms-76c9576538106cb9d5db;ms-5d6aa86eb739a9ef05cf;ms-7f58527819036c01daa4", + "expert_regret": 0.0, + "expert_score": 0.8598829507827759, + "expert_success": false, + "group_id": "ms-fdf4af00031d452221d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.8598829507827759, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6754487156867981, + "candidate_source_group_id": "ms-666f00775d4c54be1282;ms-8b45028168ed68ec8303;ms-aa1da4bf5f94c6a74839;ms-01e08f0dcb4e2c030a79;ms-64b4e29bb42bf0b35d4d;ms-dd8ebc7d7211ece74e03", + "expert_regret": 1.9517653286457062, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-744cdc2b2570c3c26326", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9517653286457062, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04823467135429382, + "restore_error": 1.1920928955078125e-07, + "score": 0.04823467135429382, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9555285573005676, + "candidate_source_group_id": "ms-a9eb9fab62fb296d2cf3;ms-5c1ed0b96c4b99d64dd9;ms-36112cc5608a9f625764;ms-f413b168078609ed4fe4;ms-e7959111ef1429bcf699;ms-22457d523f50e99d7acb", + "expert_regret": 1.945484384894371, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ec57b5bc28a71d3aac0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.945484384894371, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05451561510562897, + "restore_error": 1.1920928955078125e-07, + "score": 0.05451561510562897, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7835640907287598, + "candidate_source_group_id": "ms-016c5de39ed3c111889a;ms-074bf4470a893ac7955a;ms-8b45028168ed68ec8303;ms-cc21e4000cabb2fad805;ms-49685adafe2cb8da301f;ms-01e08f0dcb4e2c030a79", + "expert_regret": 1.7992055714130402, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2c6ff8d807763f665bac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.7992055714130402, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20079442858695984, + "restore_error": 1.1920928955078125e-07, + "score": 0.20079442858695984, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8080173134803772, + "candidate_source_group_id": "ms-94b9114b294d56e3f88a;ms-1cb54e3347c49dcdf28e;ms-652234a929b7ed4d3b23;ms-4c5469e5b4af75482d89;ms-e0e2a425cce52e820a7e;ms-180d0e0a6315a06a7021", + "expert_regret": 1.871119111776352, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9ad3b276d9ccaf668d30", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.871119111776352, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.12888088822364807, + "restore_error": 1.1920928955078125e-07, + "score": 0.12888088822364807, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.25052377581596375, + "candidate_source_group_id": "ms-38ed02dacc133a888d3a;ms-ecc526493f8048cf4c56;ms-016c5de39ed3c111889a;ms-0c490961b934978e5b1c;ms-716586cf73f853a45bfd;ms-b6ce87522fcc35b563c7", + "expert_regret": 0.6758195012807846, + "expert_score": 0.8573464751243591, + "expert_success": false, + "group_id": "ms-146ff6c3f22b3a49af3a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8184730261564255, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18152697384357452, + "restore_error": 1.1920928955078125e-07, + "score": 0.18152697384357452, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + } + ], + "seed": 1, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 191, + "retrieval_residual_residual_near_miss": 76, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 82, + "retrieval_residual_residual_no_op": 112, + "retrieval_residual_residual_wrong_gripper": 114 + }, + "selected_residual_scale_counts": { + "0.35": 294, + "0.4": 45, + "0.45": 236 + }, + "selection_margin": 0.0, + "selection_mode": "retrieval_residual", + "split": "validation_groups" +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_rank005.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_rank005.json new file mode 100644 index 0000000000000000000000000000000000000000..653c35a52ca731c4aa44fc2fc69f19008a2425cb --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_rank005.json @@ -0,0 +1,12263 @@ +{ + "action_mse_to_best": 0.5139045898089915, + "backbone_model": null, + "backbone_type": "native", + "candidate_oracle_rollouts": 0, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_sigma": 0.0, + "candidate_type_bonus_components": false, + "candidate_type_bonuses": {}, + "candidate_type_bonuses_by_task": { + "*": { + "retrieval_residual_policy_residual": -0.0, + "retrieval_residual_residual_near_miss": 0.0, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.0, + "retrieval_residual_residual_no_op": -0.0, + "retrieval_residual_residual_wrong_gripper": -0.0 + }, + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.0, + "retrieval_residual_residual_near_miss": 0.0, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.0, + "retrieval_residual_residual_no_op": -0.0, + "retrieval_residual_residual_wrong_gripper": -0.0 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": -0.0, + "retrieval_residual_residual_near_miss": 0.0, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": -0.0, + "retrieval_residual_residual_no_op": 0.0, + "retrieval_residual_residual_wrong_gripper": -0.0 + } + }, + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/best_transport.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "expert_success_rate": 0.7704347826086957, + "field_optim_l2_penalty": 0.0, + "field_optim_step_size": 0.0, + "field_optim_steps": 0, + "field_optim_trust_radius": 0.0, + "field_rank_biases_by_task": { + "*": [ + 0.0, + -0.0036500273959245546, + -0.003475165766372812, + -0.004273040277126711 + ], + "LiftPegUpright-v1": [ + 0.0, + -0.0075367861054356396, + -0.00729660616865146, + -0.009089650421641593 + ], + "PickCube-v1": [ + 0.0, + -7.955675389953454e-06, + 0.00010569969532654988, + 0.0002403450156753695 + ] + }, + "group_batch_size": 8, + "lattice_exclude_type_tasks": {}, + "lattice_exclude_types": [ + "residual_random_negative", + "residual_wrong_direction", + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper" + ], + "num_candidates": 48, + "num_groups": 575, + "objective": "lattice_field", + "observation_mode": "state", + "oracle_success_rate": 0.8695652173913043, + "per_task": { + "LiftPegUpright-v1": { + "action_mse_to_best": 0.4174908100528461, + "expert_success_rate": 0.8584070796460177, + "num_groups": 113, + "oracle_success_rate": 0.9380530973451328, + "policy_expert_regret": 0.9912996379147588, + "policy_oracle_regret": 1.0707513929995816, + "policy_rollout_progress": 0.6289191406912509, + "policy_rollout_success_rate": 0.22123893805309736, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "action_mse_to_best": 0.45531773283753707, + "expert_success_rate": 0.9402173913043478, + "num_groups": 184, + "oracle_success_rate": 0.9456521739130435, + "policy_expert_regret": 1.0321205535488527, + "policy_oracle_regret": 1.032144558023783, + "policy_rollout_progress": 0.5804726000237481, + "policy_rollout_success_rate": 0.32608695652173914, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "action_mse_to_best": 0.6725145407805317, + "expert_success_rate": 0.25, + "num_groups": 76, + "oracle_success_rate": 0.40789473684210525, + "policy_expert_regret": 0.21536361078094496, + "policy_oracle_regret": 0.4112854622990677, + "policy_rollout_progress": 0.34068188899637836, + "policy_rollout_success_rate": 0.2236842105263158, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "action_mse_to_best": 0.4303124049628103, + "expert_success_rate": 0.8198198198198198, + "num_groups": 111, + "oracle_success_rate": 1.0, + "policy_expert_regret": 0.26138654270687617, + "policy_oracle_regret": 0.27855410983970574, + "policy_rollout_progress": 0.8655900343044384, + "policy_rollout_success_rate": 0.8558558558558559, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "action_mse_to_best": 0.7215871726582338, + "expert_success_rate": 0.6923076923076923, + "num_groups": 91, + "oracle_success_rate": 0.8571428571428571, + "policy_expert_regret": 1.0029281839564606, + "policy_oracle_regret": 1.162750510396538, + "policy_rollout_progress": 0.4509317398398787, + "policy_rollout_success_rate": 0.23076923076923078, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "policy_expert_regret": 0.7627392110212342, + "policy_oracle_regret": 0.8328643545362613, + "policy_rollout_progress": 0.5928381339120476, + "policy_rollout_success_rate": 0.3791304347826087, + "prepend_policy_candidate": false, + "proposal_lattice_types": [], + "proposal_types": [], + "restore_max_error": 2.384185791015625e-07, + "retrieval_metric": "raw", + "retrieval_neighbors": 6, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_anchor": "expert", + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_type_tasks": {}, + "retrieval_residual_challenger_types": [], + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_by_task": { + "*": 0.0, + "PickCube-v1": 0.01, + "StackCube-v1": 0.05 + }, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "rows": [ + { + "action_mse_to_best": 0.4245049059391022, + "candidate_source_group_id": "ms-4906f3adfda6dace862d;ms-131a98e2d4a78a9645f8;ms-03495469257613a802b4;ms-675833805d1139c2f2a0;ms-b3d9d9570bf9b64c18fe;ms-4c638b9bb924547f69cb", + "expert_regret": 1.6816423833370209, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29027a8e3742362fd477", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6816423833370209, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3183576166629791, + "restore_error": 1.1920928955078125e-07, + "score": 0.3183576166629791, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31471627950668335, + "candidate_source_group_id": "ms-c7677b8f230103dd3c51;ms-e705fef3e4caa4c49718;ms-64a755437c34f39cda2a;ms-0251a326271aa1cab82b;ms-619d3d285d2cae3abbb9;ms-88f7199271947fc4c7e8", + "expert_regret": 1.5994932055473328, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5dcf9054c3c1c4e1d50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5994932055473328, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.40050679445266724, + "restore_error": 1.1920928955078125e-07, + "score": 0.40050679445266724, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5471398234367371, + "candidate_source_group_id": "ms-cf44ae14778c60c36af0;ms-b04b489f4fbad93b65ca;ms-a5bd3a36c6fe41cd0b35;ms-22d006041320a4487c21;ms-9f4b47c80d59166302ab;ms-1a2d298bf9972ddc1a7e", + "expert_regret": 1.6204249858856201, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-851d25e7a1dde4242f33", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6204249858856201, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3795750141143799, + "restore_error": 1.1920928955078125e-07, + "score": 0.3795750141143799, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.28386732935905457, + "candidate_source_group_id": "ms-aa46bb6dc8e6274963b6;ms-118ba8926eda06ffc61e;ms-28c139f34a954b692962;ms-7334e620435d1f3545fd;ms-8bc7aa419d17368d81b5;ms-a1a99e83fb2868164e40", + "expert_regret": 1.2778228521347046, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b0302a41f75a827cd4e4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2778228521347046, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7221771478652954, + "restore_error": 1.1920928955078125e-07, + "score": 0.7221771478652954, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3326335549354553, + "candidate_source_group_id": "ms-b5b68468bf26d19252f0;ms-bb567fcac946f012535a;ms-92070f417bd9d14d6fc7;ms-debd7e5668e2acdf6bb0;ms-20cd6d8ccbf13e36dcdb;ms-aee5716b3e4fc47e46ba", + "expert_regret": 1.28260999917984, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6e2b02ee71a4a44bc325", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.28260999917984, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7173900008201599, + "restore_error": 1.1920928955078125e-07, + "score": 0.7173900008201599, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7238252758979797, + "candidate_source_group_id": "ms-35babd5f83dcf1561f9a;ms-051860c228aa5160d5a6;ms-062addb9da32a0c2ea97;ms-c7c812bb98308442d95b;ms-8fcf4d9d042de2f74d76;ms-1145e0f6add300eee9bd", + "expert_regret": 1.7758309990167618, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c7f34ae8218aa0952c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7758309990167618, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22416900098323822, + "restore_error": 1.1920928955078125e-07, + "score": 0.22416900098323822, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.24290931224823, + "candidate_source_group_id": "ms-44a607bf50304347ead8;ms-f3211ecde366ca9f6ac7;ms-0e48a13af39db4a58bbc;ms-3af721139694f7f3ec04;ms-c910a469460f71880556;ms-8c8cf210aa675c5db1fe", + "expert_regret": 1.7853140234947205, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0a8109ce7ab2ddc1bb1e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7853140234947205, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21468597650527954, + "restore_error": 1.1920928955078125e-07, + "score": 0.21468597650527954, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.49061158299446106, + "candidate_source_group_id": "ms-cc0b4a1deec28e53722a;ms-ac6e78b1c56d020d0c09;ms-8b18ea4e0982a1352696;ms-aee5716b3e4fc47e46ba;ms-5cc5e6359fc006559eae;ms-7272e1e33d4ecc07470c", + "expert_regret": 1.2860559225082397, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cc5f2a24e2571cb23050", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2860559225082397, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7139440774917603, + "restore_error": 1.1920928955078125e-07, + "score": 0.7139440774917603, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4215092062950134, + "candidate_source_group_id": "ms-1e41619ab39cf51b7822;ms-88f748134c3fd27fcf72;ms-6a03497f97765ffd444e;ms-e6ca7414c5035e80d0ac;ms-a4420cda0b159dda82a2;ms-c7c812bb98308442d95b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c1f3359c70d068a36081", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4542083740234375, + "candidate_source_group_id": "ms-b3d9d9570bf9b64c18fe;ms-22aaa483f5e7d381b63d;ms-0ef5d3238b33bdebae4d;ms-e4090b0b0c1739070201;ms-131a98e2d4a78a9645f8;ms-675833805d1139c2f2a0", + "expert_regret": 1.7675793319940567, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-295dab0e1d105e758827", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7675793319940567, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2324206680059433, + "restore_error": 1.1920928955078125e-07, + "score": 0.2324206680059433, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.341036856174469, + "candidate_source_group_id": "ms-5bbc4c4b1b51e2a088db;ms-502c195c0e4810814bac;ms-4906f3adfda6dace862d;ms-9f993a6e9bb26846d4f4;ms-3db845076f92a16d1840;ms-cdbfe4d3b05f4ed12db3", + "expert_regret": 1.710267573595047, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3661d65df223386f1be9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.710267573595047, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.289732426404953, + "restore_error": 1.1920928955078125e-07, + "score": 0.289732426404953, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4503609836101532, + "candidate_source_group_id": "ms-73c99a7a25cd025e5f2d;ms-98c8fcf4c9f098cebe8d;ms-6959fa589edc996753d7;ms-cf7bdf0776c928ee2342;ms-7ce799eb9d3b741e8960;ms-18ab33df290e3919a468", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-483520829af0d733cb2a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30870428681373596, + "candidate_source_group_id": "ms-3e0dbff4309ecbd35d36;ms-44e7935dbed5f3b3c739;ms-080e034927abe2f30d60;ms-a4ade4de51ca437ac432;ms-ebeb5587176e3877b98a;ms-f0d2ffde521e268efc83", + "expert_regret": 1.289667010307312, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-835bd462e505aa659d16", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.289667010307312, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.710332989692688, + "restore_error": 1.1920928955078125e-07, + "score": 0.710332989692688, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.44200700521469116, + "candidate_source_group_id": "ms-30e2d8b7825053276e0c;ms-af91167a0cf15457c6ba;ms-4b4cd12d70c0615e0930;ms-251c1dfd1010906f559f;ms-e12808f670338ca180c6;ms-c0ed69f549e56aa55f3d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-320d99264926ea029f95", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3915325999259949, + "candidate_source_group_id": "ms-aee5716b3e4fc47e46ba;ms-7272e1e33d4ecc07470c;ms-20cd6d8ccbf13e36dcdb;ms-92070f417bd9d14d6fc7;ms-8b18ea4e0982a1352696;ms-062a265cedee2107eb17", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6a4398375c43dbf887b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.15016743540763855, + "candidate_source_group_id": "ms-33294c8fed5a847bf149;ms-83019373a06eb384c886;ms-cbd6cc8b2708d5e3e4a9;ms-8e23d2d44e709420e46d;ms-83c62951219e6599b630;ms-f5ebbab81506fa27fc6d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9551db96b60a51ccf62a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6540576219558716, + "candidate_source_group_id": "ms-13d8bae55d3c3710138f;ms-c2b904f450b45e2a8c9a;ms-e1b6bcb41532a800d3cb;ms-29a11d7bdcf49c86bd7a;ms-28835618507e7bc71227;ms-9852b3671856321cecc8", + "expert_regret": 1.7917158603668213, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-36d1128e3bd512cffe18", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7917158603668213, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2082841396331787, + "restore_error": 1.1920928955078125e-07, + "score": 0.2082841396331787, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4507935047149658, + "candidate_source_group_id": "ms-7a3daad6772d2384ea66;ms-2f2b16367db3db120235;ms-1d728ae415a4d3cb782e;ms-01a86e5f5731af7002ab;ms-e91b824c3841686ed053;ms-8be46dac6fc06c6c928a", + "expert_regret": 1.545185625553131, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e56b37f0e3881a70ef54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.545185625553131, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4548143744468689, + "restore_error": 1.1920928955078125e-07, + "score": 0.4548143744468689, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.395370751619339, + "candidate_source_group_id": "ms-118ba8926eda06ffc61e;ms-a1a99e83fb2868164e40;ms-aa46bb6dc8e6274963b6;ms-aee5716b3e4fc47e46ba;ms-28c139f34a954b692962;ms-7272e1e33d4ecc07470c", + "expert_regret": 1.289462387561798, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9a72e47e2204fa794718", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.289462387561798, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7105376124382019, + "restore_error": 1.1920928955078125e-07, + "score": 0.7105376124382019, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.380025178194046, + "candidate_source_group_id": "ms-22aaa483f5e7d381b63d;ms-0ef5d3238b33bdebae4d;ms-8556e974064f31ae1468;ms-e4090b0b0c1739070201;ms-3a09e411ee6c882ef7df;ms-a20322ed13a2be7a99c6", + "expert_regret": 1.3035972118377686, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d26dc2146eb8ae9a5434", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3035972118377686, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6964027881622314, + "restore_error": 1.1920928955078125e-07, + "score": 0.6964027881622314, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38078659772872925, + "candidate_source_group_id": "ms-85e3feba1c0f3084cfa0;ms-6ca37421eb5405e1a9a5;ms-e467ecc93a4793286423;ms-577341cca32521f4045e;ms-b55ca348be8b64323714;ms-6a9c4c704edd84c21cda", + "expert_regret": 1.59490305185318, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c7bbc80458fce91a1ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.59490305185318, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.40509694814682007, + "restore_error": 1.1920928955078125e-07, + "score": 0.40509694814682007, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35227730870246887, + "candidate_source_group_id": "ms-b55ca348be8b64323714;ms-d8f42ed6b0b686d819ab;ms-a195f05e99bccc48907e;ms-80e3d8a34c3cb94cad65;ms-6a9c4c704edd84c21cda;ms-8be46dac6fc06c6c928a", + "expert_regret": 1.318571388721466, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ff012c1c8597c8db3cc7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.318571388721466, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6814286112785339, + "restore_error": 1.1920928955078125e-07, + "score": 0.6814286112785339, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3136642873287201, + "candidate_source_group_id": "ms-f6f0d14ef7c24b9e4621;ms-675833805d1139c2f2a0;ms-e89a3ba400f81d2795f3;ms-0a6bff8326e7e32702f3;ms-a40dee47c502e73949af;ms-a6e4ac1995198def96a8", + "expert_regret": 1.392489731311798, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-31fe1d98bc7adcd515db", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.392489731311798, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6075102686882019, + "restore_error": 1.1920928955078125e-07, + "score": 0.6075102686882019, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.233131542801857, + "candidate_source_group_id": "ms-fae3c6a2f1b575ddc3f7;ms-d2839c13649000454a65;ms-b383acd9844466b19579;ms-4b3a296acc66a14476c3;ms-ecb5cc61f0b736e3f06f;ms-662379c2c351807b9cdf", + "expert_regret": 0.005734145641326904, + "expert_score": 0.6959263682365417, + "expert_success": false, + "group_id": "ms-ed4f6388ae96f9da76fa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.033953070640563965, + "oracle_score": 0.7241452932357788, + "oracle_success": false, + "progress": 0.6901922225952148, + "restore_error": 1.1920928955078125e-07, + "score": 0.6901922225952148, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5248270630836487, + "candidate_source_group_id": "ms-ecb5cc61f0b736e3f06f;ms-662379c2c351807b9cdf;ms-80d8d8fc4a3308139975;ms-a40abdebe8a9c17de878;ms-7a1b60ea1461eb460bed;ms-6abc3749b5df33ea621e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ed30f8fbb80b2cf46fbc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3806097209453583, + "candidate_source_group_id": "ms-3a09e411ee6c882ef7df;ms-22aaa483f5e7d381b63d;ms-0ef5d3238b33bdebae4d;ms-e4090b0b0c1739070201;ms-2b59042e27453aff03a7;ms-b483cac145e16ccdf42a", + "expert_regret": 1.3006014823913574, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dd94921779f12b249579", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3006014823913574, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6993985176086426, + "restore_error": 1.1920928955078125e-07, + "score": 0.6993985176086426, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2843671143054962, + "candidate_source_group_id": "ms-01bef10a5ccfd38294fe;ms-125287f805d320b2eff7;ms-30e4ae59842091fe16b2;ms-f4060cdbe6d39b9215ac;ms-a905b84bd3ab703c025f;ms-14a2c3eb293175cb76f3", + "expert_regret": 1.613783597946167, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5fc588b9c9d52034f4c4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.613783597946167, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.386216402053833, + "restore_error": 1.1920928955078125e-07, + "score": 0.386216402053833, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2779662311077118, + "candidate_source_group_id": "ms-0251a326271aa1cab82b;ms-ee28aef4a7ee25ff7f7c;ms-b4af9d7c922b1676e516;ms-eeeff97e2c39be877cb0;ms-22d1b2dcc954dcdff384;ms-04cc31b72a8dc8a91911", + "expert_regret": 1.4527642726898193, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8fabc0ac20ec87ead026", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4527642726898193, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5472357273101807, + "restore_error": 1.1920928955078125e-07, + "score": 0.5472357273101807, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.06293687969446182, + "candidate_source_group_id": "ms-f5ebbab81506fa27fc6d;ms-83c62951219e6599b630;ms-83019373a06eb384c886;ms-cbd6cc8b2708d5e3e4a9;ms-a323215fb409ab3e9287;ms-8e23d2d44e709420e46d", + "expert_regret": 0.0, + "expert_score": 0.728268027305603, + "expert_success": false, + "group_id": "ms-8864796e31bbe93d7c5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3961597979068756, + "candidate_source_group_id": "ms-c663f7e73e7e8376a05c;ms-3c3fb1d170c1a7965ac4;ms-0bc111c5ce4e0052716b;ms-73e3079ce5eb7cd14ec8;ms-efbde8652e75274fbd69;ms-b0861c414f8690d62a82", + "expert_regret": 1.2838863134384155, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b37738e210bf33a45a1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2838863134384155, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7161136865615845, + "restore_error": 1.1920928955078125e-07, + "score": 0.7161136865615845, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2463909238576889, + "candidate_source_group_id": "ms-36f204d04ec4c4af3169;ms-caa0a38b7df789550f8a;ms-bdc14f3225a9c9f26513;ms-83c62951219e6599b630;ms-76b0b0463fdb323b6233;ms-83019373a06eb384c886", + "expert_regret": 0.0009024143218994141, + "expert_score": 0.6975592374801636, + "expert_success": false, + "group_id": "ms-f81ea99a1ec3423f3b6e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.019176781177520752, + "oracle_score": 0.7158336043357849, + "oracle_success": false, + "progress": 0.6966568231582642, + "restore_error": 1.1920928955078125e-07, + "score": 0.6966568231582642, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7101384997367859, + "candidate_source_group_id": "ms-a96ff9a1d5571ec4a6f2;ms-d8295b43b30ceea30907;ms-88fb2bebd038dc786c01;ms-ef2d84500e27679d22d9;ms-d2839c13649000454a65;ms-4b3a296acc66a14476c3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-957002faf092f769aa8e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.23149064183235168, + "candidate_source_group_id": "ms-fc9b4c94b51f8b2a521b;ms-ec4c6be448348c8021a9;ms-d8f42ed6b0b686d819ab;ms-e467ecc93a4793286423;ms-b025d8068f740557d630;ms-a195f05e99bccc48907e", + "expert_regret": 1.294361650943756, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3a97ee208c6be9ed8b74", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.294361650943756, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7056383490562439, + "restore_error": 1.1920928955078125e-07, + "score": 0.7056383490562439, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16457273066043854, + "candidate_source_group_id": "ms-59bff662e0ecb913ed81;ms-502dba1003c09ec60ba0;ms-605dbfbe6bef2b15b58c;ms-5cc5e6359fc006559eae;ms-f2c8835e8a162283a646;ms-ac6e78b1c56d020d0c09", + "expert_regret": 1.2948582768440247, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3d862f2a32d3404926c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2948582768440247, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7051417231559753, + "restore_error": 1.1920928955078125e-07, + "score": 0.7051417231559753, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39186471700668335, + "candidate_source_group_id": "ms-c910a469460f71880556;ms-e12808f670338ca180c6;ms-f3211ecde366ca9f6ac7;ms-8c8cf210aa675c5db1fe;ms-44a607bf50304347ead8;ms-251c1dfd1010906f559f", + "expert_regret": 1.3133373260498047, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83c0299c23fa800452c7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3133373260498047, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6866626739501953, + "restore_error": 1.1920928955078125e-07, + "score": 0.6866626739501953, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.17706002295017242, + "candidate_source_group_id": "ms-bbefdf03d0471be60f8f;ms-ea164b21572d39ffed58;ms-06cb0796d1097e6ca111;ms-0f02ff35b7fa1234c52e;ms-7334e620435d1f3545fd;ms-1cb9edbe8bd7ed4106c1", + "expert_regret": 1.2815313935279846, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4a86d570dabb0916f020", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2815313935279846, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7184686064720154, + "restore_error": 1.1920928955078125e-07, + "score": 0.7184686064720154, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.33610862493515015, + "candidate_source_group_id": "ms-8fcf4d9d042de2f74d76;ms-7dfc3684b46df95070e2;ms-13aa39b96923ad8c913a;ms-bc56601ca069f65cd08f;ms-5bbc4c4b1b51e2a088db;ms-4906f3adfda6dace862d", + "expert_regret": 1.687185525894165, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c871c1157a16e19e6150", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.687185525894165, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.31281447410583496, + "restore_error": 1.1920928955078125e-07, + "score": 0.31281447410583496, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3935496211051941, + "candidate_source_group_id": "ms-2f2b16367db3db120235;ms-6a9c4c704edd84c21cda;ms-a195f05e99bccc48907e;ms-b55ca348be8b64323714;ms-7a3daad6772d2384ea66;ms-d8f42ed6b0b686d819ab", + "expert_regret": 1.541308045387268, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-84264ef080ec4f3631df", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.541308045387268, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.45869195461273193, + "restore_error": 1.1920928955078125e-07, + "score": 0.45869195461273193, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.010319090448319912, + "candidate_source_group_id": "ms-9f993a6e9bb26846d4f4;ms-4c638b9bb924547f69cb;ms-ef8de99d917753ec603c;ms-502c195c0e4810814bac;ms-ff3256da4e1731651937;ms-7cd314f076bfe5c32088", + "expert_regret": 0.04230421781539917, + "expert_score": 0.7187107801437378, + "expert_success": false, + "group_id": "ms-caeb4c3d358f256799a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3235934376716614, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6764065623283386, + "restore_error": 1.1920928955078125e-07, + "score": 0.6764065623283386, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.23665443062782288, + "candidate_source_group_id": "ms-eeeff97e2c39be877cb0;ms-b4af9d7c922b1676e516;ms-0251a326271aa1cab82b;ms-ee28aef4a7ee25ff7f7c;ms-64a755437c34f39cda2a;ms-e705fef3e4caa4c49718", + "expert_regret": 1.4375720620155334, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f0c6556f6c7df39ec2d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4375720620155334, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5624279379844666, + "restore_error": 1.1920928955078125e-07, + "score": 0.5624279379844666, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.405322402715683, + "candidate_source_group_id": "ms-3996b923bb25440c29e3;ms-324a58dd51dfecb51fa8;ms-8c4a08985213114fffb7;ms-7b1a03be4a61ba27261c;ms-2590f9fd91265598fb45;ms-55e89d326b6531345902", + "expert_regret": 1.3049929738044739, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d602b7370c5b90f8a439", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3049929738044739, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6950070261955261, + "restore_error": 1.1920928955078125e-07, + "score": 0.6950070261955261, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3900124132633209, + "candidate_source_group_id": "ms-35babd5f83dcf1561f9a;ms-c7c812bb98308442d95b;ms-062addb9da32a0c2ea97;ms-a4420cda0b159dda82a2;ms-684a66885f21739d826b;ms-076246c4c5d1ca8ccd9d", + "expert_regret": 1.2739605903625488, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5a56eefeb2de0abe600", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2739605903625488, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7260394096374512, + "restore_error": 1.1920928955078125e-07, + "score": 0.7260394096374512, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.007675953675061464, + "candidate_source_group_id": "ms-26322bd4de52dbd5743c;ms-e2950dcb50ed2b955be6;ms-3f56672eac1c00e9c2b0;ms-fb329ccd569163c53415;ms-e3f38594991aafbffc23;ms-9156a9a9c1b829b742ad", + "expert_regret": 0.0, + "expert_score": 0.49721559882164, + "expert_success": false, + "group_id": "ms-059d7962a5f998edf668", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2845547199249268, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7154452800750732, + "restore_error": 1.1920928955078125e-07, + "score": 0.7154452800750732, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5271774530410767, + "candidate_source_group_id": "ms-c0142e4a5d15dd8d647a;ms-40392e5aeef63551f9ac;ms-49c99f285560483a85ee;ms-8a9e7d69f7ade362fe40;ms-9b687dc2de14c6813d44;ms-1955408aeb8a8a4d0847", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e2f90eb6c79dfd9ce6fd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5124027132987976, + "candidate_source_group_id": "ms-af91167a0cf15457c6ba;ms-30e2d8b7825053276e0c;ms-8c8cf210aa675c5db1fe;ms-251c1dfd1010906f559f;ms-89520c3ac8779d9e81e7;ms-4b4cd12d70c0615e0930", + "expert_regret": 1.7897977232933044, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e7573c5d29c3a1a3f228", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7897977232933044, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21020227670669556, + "restore_error": 1.1920928955078125e-07, + "score": 0.21020227670669556, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3556840717792511, + "candidate_source_group_id": "ms-aa46bb6dc8e6274963b6;ms-118ba8926eda06ffc61e;ms-28c139f34a954b692962;ms-a1a99e83fb2868164e40;ms-7334e620435d1f3545fd;ms-99f263cb3f383b1f6243", + "expert_regret": 0.001954317092895508, + "expert_score": 0.714394211769104, + "expert_success": false, + "group_id": "ms-c76aba3db8d4ce0062bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.001954317092895508, + "oracle_score": 0.714394211769104, + "oracle_success": false, + "progress": 0.7124398946762085, + "restore_error": 1.1920928955078125e-07, + "score": 0.7124398946762085, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36700984835624695, + "candidate_source_group_id": "ms-14a2c3eb293175cb76f3;ms-30e4ae59842091fe16b2;ms-a8eb841beb710c8fbfb1;ms-01bef10a5ccfd38294fe;ms-8054283375aeefc8f2c1;ms-f7169e27b3743aa48e77", + "expert_regret": 1.6275580525398254, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0fe7053483f72737eaec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6275580525398254, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.37244194746017456, + "restore_error": 1.1920928955078125e-07, + "score": 0.37244194746017456, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16099348664283752, + "candidate_source_group_id": "ms-c6c7803c56c24c460c7f;ms-f237f72fe3db2b4f8e12;ms-4abb3dced67d5a70fa38;ms-794706690fbf8c028bda;ms-33294c8fed5a847bf149;ms-761ab1e423462aa44e3d", + "expert_regret": 1.3017526268959045, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b8956f04f70d6eeecb07", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.3017526268959045, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6982473731040955, + "restore_error": 1.1920928955078125e-07, + "score": 0.6982473731040955, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6612639427185059, + "candidate_source_group_id": "ms-88fb2bebd038dc786c01;ms-d8295b43b30ceea30907;ms-ef2d84500e27679d22d9;ms-a96ff9a1d5571ec4a6f2;ms-fa077183f74add357112;ms-80d8d8fc4a3308139975", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ea41340182245326a218", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6521096229553223, + "candidate_source_group_id": "ms-3aa33c0fda88e08e75fa;ms-760c73ea34418ce7a006;ms-3efca8ee8623914a4faf;ms-b483cac145e16ccdf42a;ms-2b59042e27453aff03a7;ms-9fd14cc61816c2d4360e", + "expert_regret": 1.7458744645118713, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d3a7e3f163b142a3e56b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7458744645118713, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25412553548812866, + "restore_error": 2.384185791015625e-07, + "score": 0.25412553548812866, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.1237618923187256, + "candidate_source_group_id": "ms-f3211ecde366ca9f6ac7;ms-44a607bf50304347ead8;ms-ba9541c7192498a1d8bd;ms-3af721139694f7f3ec04;ms-68c63442972f322789b5;ms-e6478d71ed92dae06539", + "expert_regret": 0.5095877051353455, + "expert_score": 0.7226133346557617, + "expert_success": false, + "group_id": "ms-a103dfbc0567d05ade6e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5095877051353455, + "oracle_score": 0.7226133346557617, + "oracle_success": false, + "progress": 0.21302562952041626, + "restore_error": 2.384185791015625e-07, + "score": 0.21302562952041626, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40501219034194946, + "candidate_source_group_id": "ms-785fb44f1371895f7721;ms-dbad4f4d0df3c19c7bbb;ms-76b0b0463fdb323b6233;ms-dfc38c43e9a87f99ef7f;ms-83c62951219e6599b630;ms-83019373a06eb384c886", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-938b53ef53e669518a56", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.44034475088119507, + "candidate_source_group_id": "ms-261f6f6b578cee63be20;ms-8be46dac6fc06c6c928a;ms-48db1178206eee52434a;ms-e91b824c3841686ed053;ms-7a3daad6772d2384ea66;ms-fb131b52f94500da894b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-35d84da6eb1afcf8a811", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3418883681297302, + "candidate_source_group_id": "ms-619d3d285d2cae3abbb9;ms-64a755437c34f39cda2a;ms-88f7199271947fc4c7e8;ms-c7677b8f230103dd3c51;ms-40eb8d19498413d4e730;ms-69785feff08dbf9a50be", + "expert_regret": 1.290425181388855, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-865f9d670f806778ae61", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.290425181388855, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.709574818611145, + "restore_error": 2.384185791015625e-07, + "score": 0.709574818611145, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32544347643852234, + "candidate_source_group_id": "ms-e705fef3e4caa4c49718;ms-88f7199271947fc4c7e8;ms-894cd0e5dafb2d38831d;ms-c7677b8f230103dd3c51;ms-4c72a9ad08cbf51799fb;ms-55e89d326b6531345902", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0fe90299788e1f71f98a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22819410264492035, + "candidate_source_group_id": "ms-2e7fc6c97e5ce1f024e5;ms-32943eea3e70cd02f313;ms-73e3079ce5eb7cd14ec8;ms-3c3fb1d170c1a7965ac4;ms-efbde8652e75274fbd69;ms-507199452c6d42562a38", + "expert_regret": 1.6240392327308655, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d30b515ab0ee174afa58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6240392327308655, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3759607672691345, + "restore_error": 2.384185791015625e-07, + "score": 0.3759607672691345, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31272071599960327, + "candidate_source_group_id": "ms-faeff0379a053e9ea351;ms-3f56672eac1c00e9c2b0;ms-e2950dcb50ed2b955be6;ms-caa0a38b7df789550f8a;ms-2f1164357c9732e059d4;ms-26322bd4de52dbd5743c", + "expert_regret": 1.2875560522079468, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe790caba27d92511f71", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2875560522079468, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7124439477920532, + "restore_error": 1.1920928955078125e-07, + "score": 0.7124439477920532, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.452287495136261, + "candidate_source_group_id": "ms-aa46bb6dc8e6274963b6;ms-118ba8926eda06ffc61e;ms-28c139f34a954b692962;ms-a1a99e83fb2868164e40;ms-7334e620435d1f3545fd;ms-8bc7aa419d17368d81b5", + "expert_regret": 1.2904335260391235, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ec4accef21246e0c9213", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2904335260391235, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7095664739608765, + "restore_error": 1.1920928955078125e-07, + "score": 0.7095664739608765, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38081783056259155, + "candidate_source_group_id": "ms-3c1e7b47135487435fc1;ms-8b461b0929537fbc1d41;ms-f1529c9d823325056e8d;ms-131a98e2d4a78a9645f8;ms-e89a3ba400f81d2795f3;ms-a6e4ac1995198def96a8", + "expert_regret": 1.7432265281677246, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08dc71adea7d8efeb298", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7432265281677246, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2567734718322754, + "restore_error": 1.1920928955078125e-07, + "score": 0.2567734718322754, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3453432023525238, + "candidate_source_group_id": "ms-125287f805d320b2eff7;ms-f4060cdbe6d39b9215ac;ms-a905b84bd3ab703c025f;ms-01bef10a5ccfd38294fe;ms-9257b89b9b635a0fb174;ms-69cb3fa758f707a58076", + "expert_regret": 1.3002782464027405, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d799435b5f6b8fae2ffb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3002782464027405, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6997217535972595, + "restore_error": 1.1920928955078125e-07, + "score": 0.6997217535972595, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6271886229515076, + "candidate_source_group_id": "ms-7a1b60ea1461eb460bed;ms-a40abdebe8a9c17de878;ms-662379c2c351807b9cdf;ms-ecb5cc61f0b736e3f06f;ms-80d8d8fc4a3308139975;ms-89feb4366865cfaf2273", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-96e1562aaca7ef49db28", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.414641797542572, + "candidate_source_group_id": "ms-9b687dc2de14c6813d44;ms-917b0f051489227842f0;ms-1955408aeb8a8a4d0847;ms-8a9e7d69f7ade362fe40;ms-40392e5aeef63551f9ac;ms-17a5e9b7bd8c1f255307", + "expert_regret": 1.608191192150116, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-524ae7618ed9b6a272ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.608191192150116, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.39180880784988403, + "restore_error": 1.1920928955078125e-07, + "score": 0.39180880784988403, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5317721366882324, + "candidate_source_group_id": "ms-13d8bae55d3c3710138f;ms-29a11d7bdcf49c86bd7a;ms-c2b904f450b45e2a8c9a;ms-af91167a0cf15457c6ba;ms-4b4cd12d70c0615e0930;ms-30e2d8b7825053276e0c", + "expert_regret": 0.5251690149307251, + "expert_score": 0.7285350561141968, + "expert_success": false, + "group_id": "ms-33a0bdb4bcee42c79a2b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5251690149307251, + "oracle_score": 0.7285350561141968, + "oracle_success": false, + "progress": 0.20336604118347168, + "restore_error": 1.1920928955078125e-07, + "score": 0.20336604118347168, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31834229826927185, + "candidate_source_group_id": "ms-35babd5f83dcf1561f9a;ms-c7c812bb98308442d95b;ms-076246c4c5d1ca8ccd9d;ms-684a66885f21739d826b;ms-a4420cda0b159dda82a2;ms-062addb9da32a0c2ea97", + "expert_regret": 1.5644829273223877, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97c28a7584b35207bf84", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5644829273223877, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4355170726776123, + "restore_error": 1.1920928955078125e-07, + "score": 0.4355170726776123, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1275118738412857, + "candidate_source_group_id": "ms-5003e0cda1e13bd4850a;ms-472376eba1a5e1c706bf;ms-908213fef55ccf1dfda6;ms-dfc38c43e9a87f99ef7f;ms-785fb44f1371895f7721;ms-76b0b0463fdb323b6233", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-14dabc3ac1e1a339ebe4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39949655532836914, + "candidate_source_group_id": "ms-472376eba1a5e1c706bf;ms-dfc38c43e9a87f99ef7f;ms-908213fef55ccf1dfda6;ms-785fb44f1371895f7721;ms-76b0b0463fdb323b6233;ms-5003e0cda1e13bd4850a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-487d0fe2a13fb699dd7a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5158498883247375, + "candidate_source_group_id": "ms-7d68051ee4e3b8a5c9a4;ms-3c1e7b47135487435fc1;ms-8bab784ae53525967763;ms-d9ed0a9faf86ca5f5caa;ms-3aa33c0fda88e08e75fa;ms-675833805d1139c2f2a0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-76c7efad95ae67dba1ca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2694433927536011, + "candidate_source_group_id": "ms-ee28aef4a7ee25ff7f7c;ms-0251a326271aa1cab82b;ms-22d1b2dcc954dcdff384;ms-04cc31b72a8dc8a91911;ms-52ea0261959dfacdbcac;ms-b025d8068f740557d630", + "expert_regret": 1.2892059087753296, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cba95475cb68ea42b041", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2892059087753296, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7107940912246704, + "restore_error": 1.1920928955078125e-07, + "score": 0.7107940912246704, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5947832465171814, + "candidate_source_group_id": "ms-c0142e4a5d15dd8d647a;ms-40392e5aeef63551f9ac;ms-49c99f285560483a85ee;ms-8a9e7d69f7ade362fe40;ms-9b687dc2de14c6813d44;ms-1955408aeb8a8a4d0847", + "expert_regret": 1.7964310199022293, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf2603516869355b8b13", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7964310199022293, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2035689800977707, + "restore_error": 1.1920928955078125e-07, + "score": 0.2035689800977707, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6525471806526184, + "candidate_source_group_id": "ms-f237f72fe3db2b4f8e12;ms-794706690fbf8c028bda;ms-c6c7803c56c24c460c7f;ms-5b4f2522663bec742b02;ms-737e72810112f3246b05;ms-62b88f5cbc4f137e3bba", + "expert_regret": 1.3051927089691162, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f601aab1d8f7e4f1b97f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.3051927089691162, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6948072910308838, + "restore_error": 1.1920928955078125e-07, + "score": 0.6948072910308838, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3210226893424988, + "candidate_source_group_id": "ms-de8d6051e6ee74b62fec;ms-ba9541c7192498a1d8bd;ms-3af721139694f7f3ec04;ms-f3211ecde366ca9f6ac7;ms-251c1dfd1010906f559f;ms-a43b35c03282fe0c8464", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-35c12c467fb8a54f89f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.17787528038024902, + "candidate_source_group_id": "ms-bbefdf03d0471be60f8f;ms-06cb0796d1097e6ca111;ms-ea164b21572d39ffed58;ms-1cb9edbe8bd7ed4106c1;ms-73259d17883355f7fa88;ms-0f02ff35b7fa1234c52e", + "expert_regret": 1.2881348729133606, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-832f0e966173abd16c34", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2881348729133606, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7118651270866394, + "restore_error": 1.1920928955078125e-07, + "score": 0.7118651270866394, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.27671512961387634, + "candidate_source_group_id": "ms-a905b84bd3ab703c025f;ms-f4060cdbe6d39b9215ac;ms-9257b89b9b635a0fb174;ms-125287f805d320b2eff7;ms-cf8c5d9c874edc9f000d;ms-3176a570b75767d1d729", + "expert_regret": 1.3121393322944641, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9554f100dd5be3a4fa47", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3121393322944641, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6878606677055359, + "restore_error": 1.1920928955078125e-07, + "score": 0.6878606677055359, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3986041247844696, + "candidate_source_group_id": "ms-85e3feba1c0f3084cfa0;ms-6a9c4c704edd84c21cda;ms-b55ca348be8b64323714;ms-6ca37421eb5405e1a9a5;ms-577341cca32521f4045e;ms-a195f05e99bccc48907e", + "expert_regret": 1.7209884524345398, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e825996818ee6f2f7d26", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7209884524345398, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2790115475654602, + "restore_error": 1.1920928955078125e-07, + "score": 0.2790115475654602, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5514193773269653, + "candidate_source_group_id": "ms-6ceb341dfa656e485a13;ms-b2d1a5e132eaeb353782;ms-6f03b16858c35025503e;ms-27251a7c7f13bf165e21;ms-1a2d298bf9972ddc1a7e;ms-741e906eafd57d115b5d", + "expert_regret": 1.3031979203224182, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0d80d6d87a27a53951fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3031979203224182, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6968020796775818, + "restore_error": 1.1920928955078125e-07, + "score": 0.6968020796775818, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.20750446617603302, + "candidate_source_group_id": "ms-7272e1e33d4ecc07470c;ms-9ced92cccacfe4d157b0;ms-cc0b4a1deec28e53722a;ms-92070f417bd9d14d6fc7;ms-aee5716b3e4fc47e46ba;ms-8b18ea4e0982a1352696", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-145f60d5fff285e7d05b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.8588756918907166, + "candidate_source_group_id": "ms-76b0b0463fdb323b6233;ms-785fb44f1371895f7721;ms-dfc38c43e9a87f99ef7f;ms-472376eba1a5e1c706bf;ms-908213fef55ccf1dfda6;ms-3f56672eac1c00e9c2b0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-34f60c9a263bd0a5641f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4737146198749542, + "candidate_source_group_id": "ms-fc9b4c94b51f8b2a521b;ms-d8f42ed6b0b686d819ab;ms-b025d8068f740557d630;ms-3176a570b75767d1d729;ms-a195f05e99bccc48907e;ms-80e3d8a34c3cb94cad65", + "expert_regret": 1.6911925673484802, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fc3c8a3572fd96442723", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6911925673484802, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3088074326515198, + "restore_error": 1.1920928955078125e-07, + "score": 0.3088074326515198, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.46718165278434753, + "candidate_source_group_id": "ms-1955408aeb8a8a4d0847;ms-917b0f051489227842f0;ms-8a9e7d69f7ade362fe40;ms-9b687dc2de14c6813d44;ms-17a5e9b7bd8c1f255307;ms-85fcc6b4797417c3473f", + "expert_regret": 1.4186664819717407, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b15f77ad3436ac282ba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4186664819717407, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5813335180282593, + "restore_error": 1.1920928955078125e-07, + "score": 0.5813335180282593, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.19720086455345154, + "candidate_source_group_id": "ms-457db124a2f46a06175b;ms-340913cb08bfca09a4e3;ms-f0d2ffde521e268efc83;ms-b4281a37b8b48a0b4c54;ms-fdb2637276b27c46c757;ms-e536e40f6902c6ba0927", + "expert_regret": 1.6449675559997559, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01ab68aa5051226638ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6449675559997559, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.35503244400024414, + "restore_error": 1.1920928955078125e-07, + "score": 0.35503244400024414, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4464258551597595, + "candidate_source_group_id": "ms-4b4cd12d70c0615e0930;ms-e12808f670338ca180c6;ms-8c8cf210aa675c5db1fe;ms-c910a469460f71880556;ms-0e48a13af39db4a58bbc;ms-f3211ecde366ca9f6ac7", + "expert_regret": 0.052265703678131104, + "expert_score": 0.7284893989562988, + "expert_success": false, + "group_id": "ms-1bbd61ce613ae75c8bb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.052265703678131104, + "oracle_score": 0.7284893989562988, + "oracle_success": false, + "progress": 0.6762236952781677, + "restore_error": 1.862645149230957e-07, + "score": 0.6762236952781677, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.45750945806503296, + "candidate_source_group_id": "ms-91710558482886874dd7;ms-7614105b40956cc606ee;ms-490e2c471adbabec6304;ms-4f54ed10d332989ae524;ms-5b4f2522663bec742b02;ms-62b88f5cbc4f137e3bba", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-73906fdb1ffcfbe4aaf4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.862645149230957e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.447094589471817, + "candidate_source_group_id": "ms-0bc111c5ce4e0052716b;ms-c663f7e73e7e8376a05c;ms-777412474251e64d7e24;ms-4f54ed10d332989ae524;ms-3c3fb1d170c1a7965ac4;ms-efbde8652e75274fbd69", + "expert_regret": 1.74392431974411, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6818a4edf6ef35dacfb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.74392431974411, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2560756802558899, + "restore_error": 1.862645149230957e-07, + "score": 0.2560756802558899, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.15365096926689148, + "candidate_source_group_id": "ms-bc56601ca069f65cd08f;ms-a4ade4de51ca437ac432;ms-1145e0f6add300eee9bd;ms-bbefdf03d0471be60f8f;ms-988537a36edfece3d073;ms-ea164b21572d39ffed58", + "expert_regret": 1.4197071194648743, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-38758efd8620a312267d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4197071194648743, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5802928805351257, + "restore_error": 1.862645149230957e-07, + "score": 0.5802928805351257, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.039025068283081055, + "candidate_source_group_id": "ms-cce5ef6cfa69a08a1e05;ms-e12808f670338ca180c6;ms-c0ed69f549e56aa55f3d;ms-715db95b13ebc6c977c8;ms-4b4cd12d70c0615e0930;ms-251c1dfd1010906f559f", + "expert_regret": 0.5235019028186798, + "expert_score": 0.725497841835022, + "expert_success": false, + "group_id": "ms-0660d5f65df5fc4b6132", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7980040609836578, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20199593901634216, + "restore_error": 1.862645149230957e-07, + "score": 0.20199593901634216, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.19578464329242706, + "candidate_source_group_id": "ms-a242f1d12ebfcd82de05;ms-051860c228aa5160d5a6;ms-bc56601ca069f65cd08f;ms-e3526036a5bf85cac0bf;ms-a2c1429e7b81479b52db;ms-f6f0d14ef7c24b9e4621", + "expert_regret": 1.3039326667785645, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-078317e23cc56a9d719d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3039326667785645, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6960673332214355, + "restore_error": 1.862645149230957e-07, + "score": 0.6960673332214355, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4037862718105316, + "candidate_source_group_id": "ms-a74a87e26362d09598fe;ms-69785feff08dbf9a50be;ms-73c99a7a25cd025e5f2d;ms-17a5e9b7bd8c1f255307;ms-9b687dc2de14c6813d44;ms-40eb8d19498413d4e730", + "expert_regret": 1.2812621593475342, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-57dc9349b8f2c9c49105", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2812621593475342, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7187378406524658, + "restore_error": 1.862645149230957e-07, + "score": 0.7187378406524658, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3265671730041504, + "candidate_source_group_id": "ms-5bbc4c4b1b51e2a088db;ms-3e0dbff4309ecbd35d36;ms-080e034927abe2f30d60;ms-13aa39b96923ad8c913a;ms-7dfc3684b46df95070e2;ms-a4ade4de51ca437ac432", + "expert_regret": 1.7453166842460632, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bdb04ada069c35d51e2e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7453166842460632, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25468331575393677, + "restore_error": 1.862645149230957e-07, + "score": 0.25468331575393677, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1521720141172409, + "candidate_source_group_id": "ms-b383acd9844466b19579;ms-4b3a296acc66a14476c3;ms-662379c2c351807b9cdf;ms-d8295b43b30ceea30907;ms-80d8d8fc4a3308139975;ms-a40abdebe8a9c17de878", + "expert_regret": 0.0, + "expert_score": 0.695741593837738, + "expert_success": false, + "group_id": "ms-5799584ed40e211c50a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2796778976917267, + "candidate_source_group_id": "ms-debd7e5668e2acdf6bb0;ms-92070f417bd9d14d6fc7;ms-b5b68468bf26d19252f0;ms-aee5716b3e4fc47e46ba;ms-bb567fcac946f012535a;ms-20cd6d8ccbf13e36dcdb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-59474486dd5cb4e5bfd5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4188116490840912, + "candidate_source_group_id": "ms-a74a87e26362d09598fe;ms-17a5e9b7bd8c1f255307;ms-40eb8d19498413d4e730;ms-69785feff08dbf9a50be;ms-9b687dc2de14c6813d44;ms-917b0f051489227842f0", + "expert_regret": 0.5280466228723526, + "expert_score": 0.7287594079971313, + "expert_success": false, + "group_id": "ms-01926c30568d417edd91", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5280466228723526, + "oracle_score": 0.7287594079971313, + "oracle_success": false, + "progress": 0.20071278512477875, + "restore_error": 1.1920928955078125e-07, + "score": 0.20071278512477875, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37527942657470703, + "candidate_source_group_id": "ms-aee5716b3e4fc47e46ba;ms-062a265cedee2107eb17;ms-118ba8926eda06ffc61e;ms-cc0b4a1deec28e53722a;ms-7272e1e33d4ecc07470c;ms-92070f417bd9d14d6fc7", + "expert_regret": 1.3012558221817017, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b933fbfb7c8fa68a445f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3012558221817017, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6987441778182983, + "restore_error": 1.1920928955078125e-07, + "score": 0.6987441778182983, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3251826763153076, + "candidate_source_group_id": "ms-5003e0cda1e13bd4850a;ms-908213fef55ccf1dfda6;ms-472376eba1a5e1c706bf;ms-dfc38c43e9a87f99ef7f;ms-785fb44f1371895f7721;ms-76b0b0463fdb323b6233", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-067e0fe46e4e9483e2a1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.43596866726875305, + "candidate_source_group_id": "ms-f63a0e43f0923369edc3;ms-2c6000014d31fc0bb21c;ms-40a961867249ddccb68f;ms-dd0fad10ce064047d62e;ms-f1eb6805ec9b483bba41;ms-f97bd60d5430c32f9494", + "expert_regret": 1.290088713169098, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-02663903d88aa84c9c10", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.290088713169098, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7099112868309021, + "restore_error": 1.1920928955078125e-07, + "score": 0.7099112868309021, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2961170971393585, + "candidate_source_group_id": "ms-988537a36edfece3d073;ms-3e0dbff4309ecbd35d36;ms-cdbfe4d3b05f4ed12db3;ms-3db845076f92a16d1840;ms-25195d526c9adb43ac79;ms-9f993a6e9bb26846d4f4", + "expert_regret": 1.3110650777816772, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9c33d4837de7d23232d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3110650777816772, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6889349222183228, + "restore_error": 1.1920928955078125e-07, + "score": 0.6889349222183228, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35902929306030273, + "candidate_source_group_id": "ms-4906f3adfda6dace862d;ms-5bbc4c4b1b51e2a088db;ms-ff3256da4e1731651937;ms-03495469257613a802b4;ms-502c195c0e4810814bac;ms-4c638b9bb924547f69cb", + "expert_regret": 1.678761601448059, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1b8e9b173562648021f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.678761601448059, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3212383985519409, + "restore_error": 1.1920928955078125e-07, + "score": 0.3212383985519409, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3190729022026062, + "candidate_source_group_id": "ms-7cd314f076bfe5c32088;ms-ff3256da4e1731651937;ms-502c195c0e4810814bac;ms-5bbc4c4b1b51e2a088db;ms-ef8de99d917753ec603c;ms-4906f3adfda6dace862d", + "expert_regret": 1.3096007108688354, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4dc9ab19fbe571f09699", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3096007108688354, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6903992891311646, + "restore_error": 1.1920928955078125e-07, + "score": 0.6903992891311646, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7053652405738831, + "candidate_source_group_id": "ms-af91167a0cf15457c6ba;ms-89520c3ac8779d9e81e7;ms-e2a037eadb166228b1dd;ms-4b4cd12d70c0615e0930;ms-0e48a13af39db4a58bbc;ms-c910a469460f71880556", + "expert_regret": 1.4065852165222168, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-efb5a07185a3a1b33226", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4065852165222168, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5934147834777832, + "restore_error": 1.1920928955078125e-07, + "score": 0.5934147834777832, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30428317189216614, + "candidate_source_group_id": "ms-3f6e7085c865144a7408;ms-2590f9fd91265598fb45;ms-65e9da4468e522823587;ms-69cb3fa758f707a58076;ms-5b24bcde90348f24bb19;ms-484ea653bbca2de3a4a2", + "expert_regret": 1.2914587259292603, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6939f3ecafd5e0a4bfee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2914587259292603, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7085412740707397, + "restore_error": 1.1920928955078125e-07, + "score": 0.7085412740707397, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4463598430156708, + "candidate_source_group_id": "ms-9f844e24c570295e0497;ms-effca6c13ef9ccfd21a0;ms-ce7b349699ed248bb67c;ms-69785feff08dbf9a50be;ms-40eb8d19498413d4e730;ms-a74a87e26362d09598fe", + "expert_regret": 1.2940860390663147, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8de8d619c0cf5fd633e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2940860390663147, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7059139609336853, + "restore_error": 1.1920928955078125e-07, + "score": 0.7059139609336853, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40787792205810547, + "candidate_source_group_id": "ms-85fcc6b4797417c3473f;ms-17a5e9b7bd8c1f255307;ms-9b687dc2de14c6813d44;ms-917b0f051489227842f0;ms-a829d650eb9914fb2983;ms-1955408aeb8a8a4d0847", + "expert_regret": 1.2763414978981018, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-50b9f93dd246400d20c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2763414978981018, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7236585021018982, + "restore_error": 1.1920928955078125e-07, + "score": 0.7236585021018982, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.12107442319393158, + "candidate_source_group_id": "ms-c0ed69f549e56aa55f3d;ms-29a11d7bdcf49c86bd7a;ms-c2b904f450b45e2a8c9a;ms-13d8bae55d3c3710138f;ms-9852b3671856321cecc8;ms-715db95b13ebc6c977c8", + "expert_regret": 0.5245758891105652, + "expert_score": 0.727162778377533, + "expert_success": false, + "group_id": "ms-ec2e4afb34b439731136", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7974131107330322, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20258688926696777, + "restore_error": 1.1920928955078125e-07, + "score": 0.20258688926696777, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1482519805431366, + "candidate_source_group_id": "ms-785fb44f1371895f7721;ms-76b0b0463fdb323b6233;ms-dfc38c43e9a87f99ef7f;ms-472376eba1a5e1c706bf;ms-908213fef55ccf1dfda6;ms-3f56672eac1c00e9c2b0", + "expert_regret": 0.02829200029373169, + "expert_score": 0.7244810461997986, + "expert_success": false, + "group_id": "ms-2436538e05fdcf8e44fc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.303810954093933, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6961890459060669, + "restore_error": 1.1920928955078125e-07, + "score": 0.6961890459060669, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.4024404287338257, + "candidate_source_group_id": "ms-c910a469460f71880556;ms-0e48a13af39db4a58bbc;ms-af91167a0cf15457c6ba;ms-8c8cf210aa675c5db1fe;ms-f3211ecde366ca9f6ac7;ms-89520c3ac8779d9e81e7", + "expert_regret": 1.7727104425430298, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-95264bfdaa3892cf66ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7727104425430298, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22728955745697021, + "restore_error": 1.1920928955078125e-07, + "score": 0.22728955745697021, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.048525918275117874, + "candidate_source_group_id": "ms-40eb8d19498413d4e730;ms-619d3d285d2cae3abbb9;ms-69785feff08dbf9a50be;ms-a74a87e26362d09598fe;ms-88f7199271947fc4c7e8;ms-a829d650eb9914fb2983", + "expert_regret": 0.011275112628936768, + "expert_score": 0.7279428839683533, + "expert_success": false, + "group_id": "ms-c090bce47703a4c4bb0b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2833322286605835, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7166677713394165, + "restore_error": 2.384185791015625e-07, + "score": 0.7166677713394165, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.3895753622055054, + "candidate_source_group_id": "ms-c910a469460f71880556;ms-0e48a13af39db4a58bbc;ms-f3211ecde366ca9f6ac7;ms-8c8cf210aa675c5db1fe;ms-89520c3ac8779d9e81e7;ms-e2a037eadb166228b1dd", + "expert_regret": 1.783932402729988, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-288ce929957d627c569c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.783932402729988, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2160675972700119, + "restore_error": 2.384185791015625e-07, + "score": 0.2160675972700119, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.507637083530426, + "candidate_source_group_id": "ms-8b461b0929537fbc1d41;ms-9bbea286acf66b5cfb8e;ms-02cacb03f445c8a460e8;ms-25195d526c9adb43ac79;ms-8d3d849234ceb98c3dc1;ms-e89a3ba400f81d2795f3", + "expert_regret": 1.2894690036773682, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ad7b7d5d7fb25961859f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2894690036773682, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7105309963226318, + "restore_error": 2.384185791015625e-07, + "score": 0.7105309963226318, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2690674960613251, + "candidate_source_group_id": "ms-cf8c5d9c874edc9f000d;ms-9257b89b9b635a0fb174;ms-3176a570b75767d1d729;ms-a905b84bd3ab703c025f;ms-d8f42ed6b0b686d819ab;ms-2f2b16367db3db120235", + "expert_regret": 1.5353983640670776, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28fe4b5a2888189c28d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5353983640670776, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.46460163593292236, + "restore_error": 2.384185791015625e-07, + "score": 0.46460163593292236, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.06475100666284561, + "candidate_source_group_id": "ms-c6c7803c56c24c460c7f;ms-794706690fbf8c028bda;ms-5b4f2522663bec742b02;ms-a323215fb409ab3e9287;ms-f5ebbab81506fa27fc6d;ms-737e72810112f3246b05", + "expert_regret": 0.03563278913497925, + "expert_score": 0.7292043566703796, + "expert_success": false, + "group_id": "ms-dd32ce9859c365c535b4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3064284324645996, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6935715675354004, + "restore_error": 2.384185791015625e-07, + "score": 0.6935715675354004, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37396520376205444, + "candidate_source_group_id": "ms-8556e974064f31ae1468;ms-22aaa483f5e7d381b63d;ms-a20322ed13a2be7a99c6;ms-0ef5d3238b33bdebae4d;ms-3a09e411ee6c882ef7df;ms-e4090b0b0c1739070201", + "expert_regret": 1.2996588945388794, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c3818c2c4474a784fc6b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2996588945388794, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7003411054611206, + "restore_error": 2.384185791015625e-07, + "score": 0.7003411054611206, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31066614389419556, + "candidate_source_group_id": "ms-40a961867249ddccb68f;ms-a8eb841beb710c8fbfb1;ms-65e9da4468e522823587;ms-30e4ae59842091fe16b2;ms-14a2c3eb293175cb76f3;ms-f7169e27b3743aa48e77", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9756d07ed207e9ab1d53", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.6912976503372192, + "candidate_source_group_id": "ms-8f3d4e1d07bb5dcc7c57;ms-0e48a13af39db4a58bbc;ms-c910a469460f71880556;ms-de8d6051e6ee74b62fec;ms-af91167a0cf15457c6ba;ms-f3211ecde366ca9f6ac7", + "expert_regret": 1.7694250643253326, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dfc111660c0d1c7b7e04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7694250643253326, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23057493567466736, + "restore_error": 2.384185791015625e-07, + "score": 0.23057493567466736, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.4721524715423584, + "candidate_source_group_id": "ms-a5bd3a36c6fe41cd0b35;ms-1a2d298bf9972ddc1a7e;ms-cf44ae14778c60c36af0;ms-9f4b47c80d59166302ab;ms-6f03b16858c35025503e;ms-b60078e9e6ea9c26dedc", + "expert_regret": 1.7871270924806595, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0a57aa04002f1b843856", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7871270924806595, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21287290751934052, + "restore_error": 1.1920928955078125e-07, + "score": 0.21287290751934052, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.8191561698913574, + "candidate_source_group_id": "ms-7a17ceb004979b99a586;ms-ffa71e2ef6c284477c5d;ms-47fd1407ae4e17ed4bee;ms-67f602a0e4efc9984d72;ms-8d9b2a5ccd43461f827e;ms-1158e6997b2f1281b105", + "expert_regret": 1.4653493165969849, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f88a44616a0985aac518", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4653493165969849, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5346506834030151, + "restore_error": 2.384185791015625e-07, + "score": 0.5346506834030151, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48970869183540344, + "candidate_source_group_id": "ms-81951a4920488e6c62e9;ms-3731f1c5af3c4a133633;ms-5425964a186feaf6fd99;ms-193063285cdb9faff39b;ms-4746e04d636d13cfbe6c;ms-42117385b9e6e57c7e63", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-570c074dbf28b5faae58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20408642292022705, + "candidate_source_group_id": "ms-32435d71bb817daf01d9;ms-f80ae137a8d9981f8c98;ms-339ae3ec9482aa259eec;ms-5ac153f97fd3c2f689c5;ms-3950f823020f08f8e8cd;ms-50d83ce148904504ec50", + "expert_regret": 1.450685739517212, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a10d8368c33b56390f77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.450685739517212, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5493142604827881, + "restore_error": 2.384185791015625e-07, + "score": 0.5493142604827881, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2528716027736664, + "candidate_source_group_id": "ms-4aa0c1a37cdb70ba8877;ms-f1d1776b7a5bd0a7b02c;ms-2b56888f10733707f14b;ms-47662cfa5e75ac8250e7;ms-62ece8fe2f85092ca96f;ms-3c12da28c8edab3fa554", + "expert_regret": 1.4394920468330383, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11930c353a2b4fefab82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4394920468330383, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5605079531669617, + "restore_error": 2.384185791015625e-07, + "score": 0.5605079531669617, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29018163681030273, + "candidate_source_group_id": "ms-45ed57caa698d87a99cf;ms-4385e9c56007fdaa94b5;ms-0adce283894b0a2b7b94;ms-9bcf8a1e5e7b0f7ff6f5;ms-ffba357213945be5f9f7;ms-ee32e6bb3c0bb45702b9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c1ac63fb3644e3a2ae06", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2457503080368042, + "candidate_source_group_id": "ms-782893a3eb2e3dcfd15e;ms-bcd9be34f050d97499bd;ms-f6db4e8bed63ed868487;ms-9ffeb1600c04f08bdfcb;ms-29eab654e4adf7ca9c4b;ms-4f938bd3599c372c8bff", + "expert_regret": 1.4606207013130188, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-55c2bba961a327aa5260", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4606207013130188, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5393792986869812, + "restore_error": 2.384185791015625e-07, + "score": 0.5393792986869812, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2500123679637909, + "candidate_source_group_id": "ms-d05d9bbb98f24da55981;ms-869a04e41dc5cc90916b;ms-910364d2d86091c5e0cf;ms-5085e45e6ca37192d2e5;ms-bb0d941f78d3d9c5a886;ms-22412b51e61621b6025b", + "expert_regret": 1.4099949598312378, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d0e4bdc60ab8ea52a320", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4099949598312378, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5900050401687622, + "restore_error": 2.384185791015625e-07, + "score": 0.5900050401687622, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8545273542404175, + "candidate_source_group_id": "ms-06935a084a7af6d7596c;ms-b1c9975d1a007dd03dc4;ms-10a5b6cc3ec06dfdc5c5;ms-97598e118c5cc8c254a5;ms-2073841ae01f224365a1;ms-503d0b1d27ed78b6130f", + "expert_regret": 1.8831712678074837, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f4860c7945db15b54d2e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8831712678074837, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11682873219251633, + "restore_error": 2.384185791015625e-07, + "score": 0.11682873219251633, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.21010027825832367, + "candidate_source_group_id": "ms-2ae57bab6d2ea11f6638;ms-b671fa9fcef84dbf2a13;ms-910d27b58a0585327a27;ms-57ac136bd68be6387c6f;ms-8fcc78fba7b3bec0fab6;ms-4a0ae3deadb8560fd315", + "expert_regret": 1.4379165768623352, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-48d490ed21088bb5ba85", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4379165768623352, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5620834231376648, + "restore_error": 2.384185791015625e-07, + "score": 0.5620834231376648, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4111296236515045, + "candidate_source_group_id": "ms-f07607bc0ce1c4e202b0;ms-1d36e5be82aee5a8e3b8;ms-a2908e99b0a12a9980cc;ms-02acbd591a961c0dbd46;ms-9e87481ce12fa45b2554;ms-7fa85a7251186eb18d0b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6d7b10e8b2b0a516b786", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4263668358325958, + "candidate_source_group_id": "ms-2073841ae01f224365a1;ms-97598e118c5cc8c254a5;ms-06935a084a7af6d7596c;ms-0584242e924d240ca0c8;ms-10a5b6cc3ec06dfdc5c5;ms-80fbba5636cb4f9c64a3", + "expert_regret": 1.4495607018470764, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d94c7c692c91a962f25", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4495607018470764, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5504392981529236, + "restore_error": 2.384185791015625e-07, + "score": 0.5504392981529236, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4324619472026825, + "candidate_source_group_id": "ms-1d36e5be82aee5a8e3b8;ms-f07607bc0ce1c4e202b0;ms-a2908e99b0a12a9980cc;ms-9c8a90334c3b933c8976;ms-02acbd591a961c0dbd46;ms-97aebe1dd42939e3b340", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e793d78eaff3fb28deb6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47336453199386597, + "candidate_source_group_id": "ms-6af227c07aaf7c0f0aea;ms-3e971096794f04f325f2;ms-0843bef6b0c13c3ede69;ms-3b0ad4f07f1813ecf670;ms-74868f62709b91077e27;ms-950df0830b2e57010248", + "expert_regret": 1.9492148868739605, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a1846ef1f00eb54e2d60", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9492148868739605, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.050785113126039505, + "restore_error": 2.384185791015625e-07, + "score": 0.050785113126039505, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5795316696166992, + "candidate_source_group_id": "ms-3deb9fa600781abb51c1;ms-f69d6aec4ddb12d88c5b;ms-175375383979526d80b5;ms-1fb2f4c1e17e99767558;ms-e7f2d1f0de50c6fcccb4;ms-ee7463f3d937dbc16f89", + "expert_regret": 1.955020997673273, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6558f35ae2a2871a4bfd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.955020997673273, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04497900232672691, + "restore_error": 2.384185791015625e-07, + "score": 0.04497900232672691, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8472291231155396, + "candidate_source_group_id": "ms-b4af4c8b9dcd6976546c;ms-50f29e19c798fee5422f;ms-1451f536f2ac0df844f6;ms-67f602a0e4efc9984d72;ms-c81880a77c4d978a0b7a;ms-7de8743758ec505a3294", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-49219cb8ed7dad70c897", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6421152949333191, + "candidate_source_group_id": "ms-432ca73236be93cb76df;ms-0584242e924d240ca0c8;ms-06935a084a7af6d7596c;ms-5316151a88a3282436ca;ms-5071d49489e1900dfa91;ms-10a5b6cc3ec06dfdc5c5", + "expert_regret": 1.473000407218933, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-54f34c73458181a65e9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.473000407218933, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5269995927810669, + "restore_error": 2.384185791015625e-07, + "score": 0.5269995927810669, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5088377594947815, + "candidate_source_group_id": "ms-b4af4c8b9dcd6976546c;ms-746436cac05100783ad7;ms-16d5b122db1824caf92b;ms-67f602a0e4efc9984d72;ms-4e86b87d6e5f6ab914fe;ms-10af171aa279a879207d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c3a1cf0e424a4f065459", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1884637176990509, + "candidate_source_group_id": "ms-c684df0b998b593db723;ms-f28fbb82a51d4de7811b;ms-97a18aeeea0b34f7c606;ms-1add4cf84fdadf5703d6;ms-b6fd2931116c15db0f0a;ms-1d1969094d91fe52667d", + "expert_regret": 1.447776198387146, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0a48fbd111be17b50be5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.447776198387146, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.552223801612854, + "restore_error": 1.1920928955078125e-07, + "score": 0.552223801612854, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3854448199272156, + "candidate_source_group_id": "ms-67f602a0e4efc9984d72;ms-90464666adfd66056785;ms-813cac6d08ed5af48b12;ms-30ad687dc1bc8318fa45;ms-84b677a48d338212ceb7;ms-4b1561bd0029228fdbbe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-32b9c353a4890631f1bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29323095083236694, + "candidate_source_group_id": "ms-1c0e2bb3a811fac6d567;ms-2e5c2f75d3f6311e0a1c;ms-307f9067d5b66f55b3a6;ms-5c8b50523e0de37d80b8;ms-d305a11348461ae1622c;ms-8af2224cc82636ef1dd7", + "expert_regret": 1.934994138777256, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5415e349e8f9f2bce641", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.934994138777256, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06500586122274399, + "restore_error": 1.1920928955078125e-07, + "score": 0.06500586122274399, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1565479189157486, + "candidate_source_group_id": "ms-3c4ff3dae26217f22a8b;ms-f3e40db5e157647d463d;ms-fe2964cc8940ee7c24aa;ms-6f1db8895d5164cc5ae5;ms-93e3d9968204474eff49;ms-52c6c227fd4b61609031", + "expert_regret": 0.01571834087371826, + "expert_score": 0.5548074245452881, + "expert_success": false, + "group_id": "ms-29f1abb869ff206a4d52", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.020135164260864258, + "oracle_score": 0.5592242479324341, + "oracle_success": false, + "progress": 0.5390890836715698, + "restore_error": 1.1920928955078125e-07, + "score": 0.5390890836715698, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8241074681282043, + "candidate_source_group_id": "ms-311a52ec4b0ca8d71889;ms-d67409d8ecfd5d97336d;ms-b36673c3905a123cbd50;ms-382000b79932b7c68326;ms-dea17c1c383f54d05636;ms-6c0ef0ef8b493232246c", + "expert_regret": 1.4666498303413391, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9cf068e0d2896f655ad2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4666498303413391, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5333501696586609, + "restore_error": 1.1920928955078125e-07, + "score": 0.5333501696586609, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.36472639441490173, + "candidate_source_group_id": "ms-166b7f66bf9f4eec432b;ms-e1972ebf2c5587a6fdf9;ms-759ba8b7be233ca47c30;ms-f39bbaa063044719a98d;ms-ee0986397bc7267882d8;ms-9c8a90334c3b933c8976", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bcc70292f404cd1c7f75", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42444083094596863, + "candidate_source_group_id": "ms-1bfca22d4af29f0e14b1;ms-4fe7fdaf946c97803c82;ms-07e0726dedce0a0e4419;ms-61068da67676a95e5065;ms-e093f85b121d443b61e2;ms-fb92a1e6b67121783fff", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-81085eba1dd49b17ec9c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6845751404762268, + "candidate_source_group_id": "ms-7a17ceb004979b99a586;ms-79c7332b2b329eaa6a13;ms-1158e6997b2f1281b105;ms-708baf01c22c75cafd22;ms-61b1188974f35233b883;ms-0e12a6083750bfecca87", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-95320371ce6b820c85f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.37950262427330017, + "candidate_source_group_id": "ms-f80ae137a8d9981f8c98;ms-45d4b692eda9ecacaa55;ms-68970d9d9bf975e25eb5;ms-25839c690d85a4f5b986;ms-32435d71bb817daf01d9;ms-f4d6da245d340cd16d30", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dc2a8fa76e1ceb0d8925", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15384531021118164, + "candidate_source_group_id": "ms-8b68d8b4d22e6ff0451d;ms-cca07eb504a242633931;ms-239a07967247700a8ed1;ms-5fc884c238818acdde08;ms-f39bbaa063044719a98d;ms-1781d9c562b4425df7c8", + "expert_regret": 1.455059826374054, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a3d0c460532de2d801ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.455059826374054, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.544940173625946, + "restore_error": 1.1920928955078125e-07, + "score": 0.544940173625946, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.27789777517318726, + "candidate_source_group_id": "ms-d462cff6e1b4b201a6ce;ms-f947dbf28ad85666e2f1;ms-1cdd36810a138190ce3c;ms-8e741ca11a7fbe85ba1d;ms-08c39d9cc9eb7578e6e9;ms-d16053a4f8b95c94dc46", + "expert_regret": 1.9871645094826818, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-739a89fb4521bc481a9f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9871645094826818, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.012835490517318249, + "restore_error": 1.1920928955078125e-07, + "score": 0.012835490517318249, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3401694893836975, + "candidate_source_group_id": "ms-79d500110f3723b57da8;ms-7af1e453acf970f40546;ms-8fdde5008d12abb7ae6a;ms-a3c53708416dbfb9fbc5;ms-88e10d1be12a407b3926;ms-53fdabb5d8ef20778214", + "expert_regret": 1.4555038213729858, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2a67eea0b1293de9bcf9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4555038213729858, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5444961786270142, + "restore_error": 1.1920928955078125e-07, + "score": 0.5444961786270142, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22908414900302887, + "candidate_source_group_id": "ms-53fdabb5d8ef20778214;ms-fb98254adaa23dc128df;ms-774e954ffdc5da041261;ms-f1eb908e172570b07cae;ms-88e10d1be12a407b3926;ms-7af1e453acf970f40546", + "expert_regret": 1.4373286366462708, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2b3e081263ed25d45dc8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4373286366462708, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5626713633537292, + "restore_error": 1.1920928955078125e-07, + "score": 0.5626713633537292, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.572509765625, + "candidate_source_group_id": "ms-72b7d76602371f044fe3;ms-7d962acc9cfbc27c599c;ms-13192a27f5fcf4fd24d7;ms-11bb3387454624de8143;ms-4742d169606f3ec2b474;ms-38507741c3b5d91a7b33", + "expert_regret": 1.4445930123329163, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-766b6fe7c08a3525ce94", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4445930123329163, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5554069876670837, + "restore_error": 1.1920928955078125e-07, + "score": 0.5554069876670837, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.07197775691747665, + "candidate_source_group_id": "ms-488a34fe7b7e84250616;ms-2b556c4c1b55a20b14c8;ms-5780f9e1e9f9e740d474;ms-7057de70d36f5cc31472;ms-8f241450069e74460a40;ms-97a18aeeea0b34f7c606", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f8439d39ae9ed028a4cd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33595868945121765, + "candidate_source_group_id": "ms-41b0258c4e329a734da7;ms-c7041c6f758f8e4a3698;ms-6a7e80154a9a4e5e9c08;ms-d4aab6f9b6717dd5712e;ms-8fcc78fba7b3bec0fab6;ms-0cfef0ba35d4e6097003", + "expert_regret": 1.4665534496307373, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-00b9ad6a8fe73fccc6fc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4665534496307373, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5334465503692627, + "restore_error": 1.1920928955078125e-07, + "score": 0.5334465503692627, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4841659963130951, + "candidate_source_group_id": "ms-c86956f3f1333e136186;ms-338a891eb2a21ec4a63d;ms-e058c0dba52df04b8642;ms-782893a3eb2e3dcfd15e;ms-bcd9be34f050d97499bd;ms-f6db4e8bed63ed868487", + "expert_regret": 1.9595324732363224, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e20f5d43f319248c5001", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9595324732363224, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0404675267636776, + "restore_error": 1.1920928955078125e-07, + "score": 0.0404675267636776, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48491349816322327, + "candidate_source_group_id": "ms-ff3f17774184180998f0;ms-c6d4f51c1adffc449778;ms-869a04e41dc5cc90916b;ms-d05d9bbb98f24da55981;ms-c0bfce3c9dd10f9d3231;ms-5e3b1693ad7b75221847", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6be8614a1bd50b974b95", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46284547448158264, + "candidate_source_group_id": "ms-97a18aeeea0b34f7c606;ms-f28fbb82a51d4de7811b;ms-f4fd59b4d1bce2d6b6a4;ms-6edb3f8fe977a81f8979;ms-d19573dc65181befd83d;ms-7057de70d36f5cc31472", + "expert_regret": 1.5155378878116608, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f3f6a1b34fdf35290a6c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5155378878116608, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.48446211218833923, + "restore_error": 1.1920928955078125e-07, + "score": 0.48446211218833923, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8120009303092957, + "candidate_source_group_id": "ms-2649df827a3c1017ccd8;ms-89c0c15f7bb38eaf59e4;ms-f4fd59b4d1bce2d6b6a4;ms-b6827e38768a63212d73;ms-61b1188974f35233b883;ms-6edb3f8fe977a81f8979", + "expert_regret": 1.495289146900177, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9184c93267b4bbfa4cae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.495289146900177, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.504710853099823, + "restore_error": 1.1920928955078125e-07, + "score": 0.504710853099823, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29550471901893616, + "candidate_source_group_id": "ms-683b1d258a1cafbf87b9;ms-b90d7926b23eabbbed04;ms-beb3567748ba228bdfce;ms-b0aa24be399d843c9d50;ms-dbcc3da47d96ceeaf9f0;ms-32435d71bb817daf01d9", + "expert_regret": 1.4477412104606628, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe54b45b549a55d45c0e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4477412104606628, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5522587895393372, + "restore_error": 1.1920928955078125e-07, + "score": 0.5522587895393372, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.32130998373031616, + "candidate_source_group_id": "ms-a3c53708416dbfb9fbc5;ms-88e10d1be12a407b3926;ms-79d500110f3723b57da8;ms-8fdde5008d12abb7ae6a;ms-8a74cf665984273be00d;ms-7af1e453acf970f40546", + "expert_regret": 1.4604149460792542, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9e31a19a776a861f9d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4604149460792542, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5395850539207458, + "restore_error": 1.1920928955078125e-07, + "score": 0.5395850539207458, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5684791803359985, + "candidate_source_group_id": "ms-fd6deac5a281d169bc75;ms-8f0e2c9caad14bd37ecf;ms-f3e40db5e157647d463d;ms-d91cbe61314c18955b6b;ms-c2107b650136a20fc4a3;ms-561f4f913d7b4991d81a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-753929cfdc4aaa652b32", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6125818490982056, + "candidate_source_group_id": "ms-02ab2e7a74d970154eb7;ms-8b85ebf659960395db9c;ms-263556e167dc363ebc42;ms-893159691d11a40c7537;ms-7020f1cda882b79bffa3;ms-5d169f059bde8e429786", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a01f0549a18d924d31c0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5042261481285095, + "candidate_source_group_id": "ms-fa911d56cdf9bf122b5c;ms-e218d19c595e580c3e32;ms-fe650308e25459ee64c6;ms-a01e21b91a5b37a16afe;ms-319a6c0cef0ac1a872d5;ms-3b7c5c91ae441f282006", + "expert_regret": 0.5877448562532663, + "expert_score": 0.6087449193000793, + "expert_success": false, + "group_id": "ms-b9e46b7345a63ded4397", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5877448562532663, + "oracle_score": 0.6087449193000793, + "oracle_success": false, + "progress": 0.02100006304681301, + "restore_error": 1.1920928955078125e-07, + "score": 0.02100006304681301, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.34511420130729675, + "candidate_source_group_id": "ms-e441e4042cb7d77a4986;ms-4276f24b1b5dce771bff;ms-b97cb4ec02e8234b08c5;ms-3e51a1bdc3a2cc4eb06d;ms-d965f63e091a5d6dd6d7;ms-4742d169606f3ec2b474", + "expert_regret": 1.434781789779663, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a145b708d79b243da21f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.434781789779663, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5652182102203369, + "restore_error": 1.1920928955078125e-07, + "score": 0.5652182102203369, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7161487936973572, + "candidate_source_group_id": "ms-0915b75e9fd1468d464e;ms-8b972386cfdf0158a0a3;ms-a01e21b91a5b37a16afe;ms-19c0b893fda0e6bb05f7;ms-aea09fb002af52e12bd8;ms-319a6c0cef0ac1a872d5", + "expert_regret": 1.96984226629138, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9233eae706910c204b79", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.96984226629138, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03015773370862007, + "restore_error": 1.1920928955078125e-07, + "score": 0.03015773370862007, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39450153708457947, + "candidate_source_group_id": "ms-5df54a8baaceb8c73c8a;ms-de066fc4200163ebd06b;ms-1fb2f4c1e17e99767558;ms-22325628db75967cf779;ms-81f48d29d0404300ea93;ms-c425c810f7865e9564ee", + "expert_regret": 1.977472698315978, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13557287cd450bc12c6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.977472698315978, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02252730168402195, + "restore_error": 1.1920928955078125e-07, + "score": 0.02252730168402195, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5289987325668335, + "candidate_source_group_id": "ms-0ca11ec8f7fbf0c1d66e;ms-17e8d6ba42404c7b7d07;ms-10f4c68dcad8285f4acd;ms-0ece7b8c91d9d82f244b;ms-cda24997adbad130b09d;ms-1cea800b74c1ea2f6338", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9e1f3c14116ebca6164d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42689862847328186, + "candidate_source_group_id": "ms-a949424c5fa615565d72;ms-dd7f9cc9585878b84824;ms-eff5f21c51f26a85f07c;ms-0cfef0ba35d4e6097003;ms-32346c22352f72d3de3a;ms-fd225482b96686f51dc8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8522a9364bf70311450d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4585924744606018, + "candidate_source_group_id": "ms-07e0726dedce0a0e4419;ms-fb92a1e6b67121783fff;ms-4fe7fdaf946c97803c82;ms-1bfca22d4af29f0e14b1;ms-635a384c88604ad7ba4f;ms-61068da67676a95e5065", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87b44e6219279322a723", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5871215462684631, + "candidate_source_group_id": "ms-99df75798ec5da5ec7f3;ms-8c9f657875cf334b1f17;ms-49641ecf3e1326621609;ms-19e6e6e341aebb7ec693;ms-8c0b600aef5393f929cd;ms-4c7138016830a563fb1b", + "expert_regret": 1.9203515276312828, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b666f24369c548cd56ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9203515276312828, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0796484723687172, + "restore_error": 1.1920928955078125e-07, + "score": 0.0796484723687172, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1417197734117508, + "candidate_source_group_id": "ms-127908707208e993527d;ms-f625d521be1e85b1c49d;ms-29653e236de96058ef6d;ms-9eb40f856528204bbcfd;ms-d1aac7be45644e12a976;ms-b59a7ccfb736df4c4c68", + "expert_regret": 1.4614572525024414, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bdc942e2c7fb26b79162", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4614572525024414, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5385427474975586, + "restore_error": 1.1920928955078125e-07, + "score": 0.5385427474975586, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44775155186653137, + "candidate_source_group_id": "ms-3c458f671129e1ebe7b4;ms-87fd37bcc6b666e220ef;ms-1f458832fc85f00873cc;ms-28817fe297f38fd9550a;ms-17a17b212837b7f1309f;ms-2259a78b2187e22f9f37", + "expert_regret": 1.9557744972407818, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-732d0515ed28df031b8e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9557744972407818, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.044225502759218216, + "restore_error": 1.1920928955078125e-07, + "score": 0.044225502759218216, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4941098392009735, + "candidate_source_group_id": "ms-9e87481ce12fa45b2554;ms-6f1ec735350c81ef9fca;ms-c4cb99b887c88c707ba9;ms-8b68d8b4d22e6ff0451d;ms-97aebe1dd42939e3b340;ms-7fa85a7251186eb18d0b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b4483fb034248fe882d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47890791296958923, + "candidate_source_group_id": "ms-23a355317920e192147f;ms-22675530f3a401b3fd6d;ms-618c9e3c06f4879ba788;ms-7d32f6b32c14e33b1eb1;ms-ff96d76fba5b6ceb1289;ms-893159691d11a40c7537", + "expert_regret": 1.8994803056120872, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4f833710c2706ee077af", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8994803056120872, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10051969438791275, + "restore_error": 1.1920928955078125e-07, + "score": 0.10051969438791275, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5187336206436157, + "candidate_source_group_id": "ms-6fc6a26da9fbe53dd616;ms-8b972386cfdf0158a0a3;ms-0ca1c25fddb7da05d80a;ms-0915b75e9fd1468d464e;ms-40cb974de9da58dcd32b;ms-19c0b893fda0e6bb05f7", + "expert_regret": 1.936357781291008, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-98427ae2d94c1f85811a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.936357781291008, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.063642218708992, + "restore_error": 1.1920928955078125e-07, + "score": 0.063642218708992, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19684161245822906, + "candidate_source_group_id": "ms-4b94e0333251263012ec;ms-751daa0137578c486f3d;ms-e15eeda61ed4064a5c9f;ms-7a1ce0a81e4f34902622;ms-155ec4624d261f6ca16e;ms-ce8d2ef7d19bed381822", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a073398629e6943ad1fb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6949573159217834, + "candidate_source_group_id": "ms-1df0775c4ef08d0cf1bf;ms-561f4f913d7b4991d81a;ms-73e36360221b6732c688;ms-d69b907e65875420bab7;ms-8b5b5e5f9237c41e0fe9;ms-bb0d941f78d3d9c5a886", + "expert_regret": 1.4559271335601807, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3d095a49ed03de972849", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4559271335601807, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5440728664398193, + "restore_error": 1.1920928955078125e-07, + "score": 0.5440728664398193, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6977448463439941, + "candidate_source_group_id": "ms-b0d54c14a65fb73f08ca;ms-999a8c1454dd4597a834;ms-3fae81854f4c927f1f8d;ms-a76ae18568c88af1da6b;ms-547f4204888aee978bf0;ms-ed9addab41f3298db7bc", + "expert_regret": 1.9472934231162071, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7670f25745871759e69e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9472934231162071, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05270657688379288, + "restore_error": 1.1920928955078125e-07, + "score": 0.05270657688379288, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6576142311096191, + "candidate_source_group_id": "ms-b42e0a68875b0405904b;ms-61b1188974f35233b883;ms-b6827e38768a63212d73;ms-1158e6997b2f1281b105;ms-f71c7cf8ca320b8eb7a4;ms-79c7332b2b329eaa6a13", + "expert_regret": 1.473601222038269, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-478f754a15221314d15e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.473601222038269, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.526398777961731, + "restore_error": 1.1920928955078125e-07, + "score": 0.526398777961731, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7486080527305603, + "candidate_source_group_id": "ms-362ba7cebb2bab1421e8;ms-60a28a9b282e7586d4d2;ms-982922e263d07c54c136;ms-de709118c78966c5aff7;ms-91ad1a5f945470b4346e;ms-859d0ea38fb5e8aa6b98", + "expert_regret": 0.0, + "expert_score": 0.6102733612060547, + "expert_success": false, + "group_id": "ms-12a997dde50b7a7f35cb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.6102733612060547, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5764607787132263, + "candidate_source_group_id": "ms-d19573dc65181befd83d;ms-f4fd59b4d1bce2d6b6a4;ms-7057de70d36f5cc31472;ms-6edb3f8fe977a81f8979;ms-2649df827a3c1017ccd8;ms-f28fbb82a51d4de7811b", + "expert_regret": 1.4364421963691711, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fffe378a3bad31bbed52", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4364421963691711, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5635578036308289, + "restore_error": 1.1920928955078125e-07, + "score": 0.5635578036308289, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5047081112861633, + "candidate_source_group_id": "ms-d19c9e3ab1d7daf06344;ms-5f98f13f17e8f41f7436;ms-cddf387bbcd6aed98fca;ms-b97cb4ec02e8234b08c5;ms-225fbe08f2933f91d603;ms-4276f24b1b5dce771bff", + "expert_regret": 1.478776454925537, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-625b5d55ca76cc565049", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.478776454925537, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5212235450744629, + "restore_error": 1.1920928955078125e-07, + "score": 0.5212235450744629, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5365966558456421, + "candidate_source_group_id": "ms-d462cff6e1b4b201a6ce;ms-8e741ca11a7fbe85ba1d;ms-1fb2f4c1e17e99767558;ms-d16053a4f8b95c94dc46;ms-de066fc4200163ebd06b;ms-1cdd36810a138190ce3c", + "expert_regret": 1.9782959576696157, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d988976b029886d18476", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9782959576696157, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.021704042330384254, + "restore_error": 1.1920928955078125e-07, + "score": 0.021704042330384254, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4101685881614685, + "candidate_source_group_id": "ms-9eb40f856528204bbcfd;ms-51f2c34d5f8f132af1ed;ms-caeb59971565b08f2513;ms-f07589760f67c1100667;ms-f625d521be1e85b1c49d;ms-0cfef0ba35d4e6097003", + "expert_regret": 1.4390220046043396, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9af03b651b5e36ac2ae3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4390220046043396, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5609779953956604, + "restore_error": 1.1920928955078125e-07, + "score": 0.5609779953956604, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6879335045814514, + "candidate_source_group_id": "ms-fbb609a3f2a334986245;ms-910364d2d86091c5e0cf;ms-054a02413d31389d1b7f;ms-3a07c49566decfea04de;ms-29dd2cdbb66fe13ab877;ms-23d6e5835aa90a62b6ef", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f897cc2141a0a303fc6a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48510581254959106, + "candidate_source_group_id": "ms-578537600f7a649c2dd5;ms-c2bc492ab5eb87a73789;ms-f9c00ba41392adec3fd1;ms-2cf1227610d4602f88ed;ms-7fd4a05174dcc8eaff38;ms-c86956f3f1333e136186", + "expert_regret": 0.535976804792881, + "expert_score": 0.6007381677627563, + "expert_success": false, + "group_id": "ms-cd340bca589f0cebd7da", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.535976804792881, + "oracle_score": 0.6007381677627563, + "oracle_success": false, + "progress": 0.06476136296987534, + "restore_error": 1.1920928955078125e-07, + "score": 0.06476136296987534, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4858655035495758, + "candidate_source_group_id": "ms-802e63c9d42228a69c22;ms-910d27b58a0585327a27;ms-1a4ecfbe9c97214d5c78;ms-b671fa9fcef84dbf2a13;ms-d33444117889b5aa9cfb;ms-e589f7d40c12eff1712e", + "expert_regret": 1.4004406929016113, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28b1f1e4380d434605de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4004406929016113, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5995593070983887, + "restore_error": 1.1920928955078125e-07, + "score": 0.5995593070983887, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5447873473167419, + "candidate_source_group_id": "ms-0adce283894b0a2b7b94;ms-9bcf8a1e5e7b0f7ff6f5;ms-daaac2887015a6e4f3e0;ms-7a460f3c1b67817c19de;ms-ffba357213945be5f9f7;ms-4385e9c56007fdaa94b5", + "expert_regret": 0.008993387222290039, + "expert_score": 0.5644459128379822, + "expert_success": false, + "group_id": "ms-28d5618562729c763eb6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.008993387222290039, + "oracle_score": 0.5644459128379822, + "oracle_success": false, + "progress": 0.5554525256156921, + "restore_error": 1.1920928955078125e-07, + "score": 0.5554525256156921, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40249982476234436, + "candidate_source_group_id": "ms-0f219ce35aff264455e2;ms-d5d7c690819019cb7869;ms-76b9f40367a1ee020744;ms-295de2ad6c52ab50de1a;ms-486ff31b7a04a7e9e8f9;ms-39450dbba738dbd8a764", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6b2d805dc063382ade2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7401624917984009, + "candidate_source_group_id": "ms-578537600f7a649c2dd5;ms-cd71a93dcab09ba15592;ms-f9c00ba41392adec3fd1;ms-2cf1227610d4602f88ed;ms-7fd4a05174dcc8eaff38;ms-c2bc492ab5eb87a73789", + "expert_regret": 1.486357569694519, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ac79bc3a841958ce127f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.486357569694519, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.513642430305481, + "restore_error": 1.1920928955078125e-07, + "score": 0.513642430305481, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6877402067184448, + "candidate_source_group_id": "ms-16cd0a94ad2cb78b1ada;ms-10dbf8bb0c239a44ec0f;ms-3abfb4c309360a304d54;ms-793a98188fd57ed5291f;ms-fcfb7dd60d966e20b98d;ms-0541a144afe57b5a7ae6", + "expert_regret": 1.50252366065979, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c8198e44eea32f98ca7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.50252366065979, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49747633934020996, + "restore_error": 1.1920928955078125e-07, + "score": 0.49747633934020996, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4231184422969818, + "candidate_source_group_id": "ms-57ac136bd68be6387c6f;ms-f101cf5cc8575be3c201;ms-8420ccaff5986c85063f;ms-f39bbaa063044719a98d;ms-d5bfdabc97e56c680680;ms-2ae57bab6d2ea11f6638", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-935ff204de9424ec00a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.34382012486457825, + "candidate_source_group_id": "ms-a5a651f9e28ea52016fe;ms-351818a836474e594d3c;ms-13b3c492538e5b3c7bdd;ms-dbb32d9fd6999e09f589;ms-c6d4f51c1adffc449778;ms-8f5255815f8b70b48734", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2af09f91e05d19f7f181", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4076118469238281, + "candidate_source_group_id": "ms-ea72196e20393870bcbb;ms-af16712eadcaebf175ff;ms-519fb779d24a0bdf3809;ms-c104c2ebba7bf9b34680;ms-4bc32bd893d0cff76423;ms-ee19bfbcb2f4fbf5a44d", + "expert_regret": 1.4511809349060059, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bb60defa0d234da9e0bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4511809349060059, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5488190650939941, + "restore_error": 1.1920928955078125e-07, + "score": 0.5488190650939941, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5385991930961609, + "candidate_source_group_id": "ms-89c0c15f7bb38eaf59e4;ms-2649df827a3c1017ccd8;ms-f4fd59b4d1bce2d6b6a4;ms-b6827e38768a63212d73;ms-61b1188974f35233b883;ms-1158e6997b2f1281b105", + "expert_regret": 0.07877933979034424, + "expert_score": 0.6047953963279724, + "expert_success": false, + "group_id": "ms-a202dd8923327af132da", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.07877933979034424, + "oracle_score": 0.6047953963279724, + "oracle_success": false, + "progress": 0.5260160565376282, + "restore_error": 1.1920928955078125e-07, + "score": 0.5260160565376282, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4347963333129883, + "candidate_source_group_id": "ms-493f7fe7164e2c3e7616;ms-191a2180e4ad5bbeb3b1;ms-88b1a0f8f758f7956c0f;ms-486b916e7b4ad1566788;ms-b809a8756abec7015aac;ms-af16712eadcaebf175ff", + "expert_regret": 0.034184157848358154, + "expert_score": 0.5814382433891296, + "expert_success": false, + "group_id": "ms-ec498d0c649d108513c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.034184157848358154, + "oracle_score": 0.5814382433891296, + "oracle_success": false, + "progress": 0.5472540855407715, + "restore_error": 1.1920928955078125e-07, + "score": 0.5472540855407715, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41650840640068054, + "candidate_source_group_id": "ms-6af227c07aaf7c0f0aea;ms-3e971096794f04f325f2;ms-2259a78b2187e22f9f37;ms-3b0ad4f07f1813ecf670;ms-950df0830b2e57010248;ms-46f10a29b484c9461204", + "expert_regret": 1.4661592841148376, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cea745484a24f376d7e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4661592841148376, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5338407158851624, + "restore_error": 1.1920928955078125e-07, + "score": 0.5338407158851624, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2196444422006607, + "candidate_source_group_id": "ms-15ef6ee70a8df3cfa578;ms-116bd511ce8862ab73b5;ms-060512e03c9833bae633;ms-cfcd7c9f3afe2215588f;ms-03acca095918dea64872;ms-e15eeda61ed4064a5c9f", + "expert_regret": 1.4605740904808044, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ad10dacf462663ab68ad", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4605740904808044, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5394259095191956, + "restore_error": 1.1920928955078125e-07, + "score": 0.5394259095191956, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39495640993118286, + "candidate_source_group_id": "ms-fd6deac5a281d169bc75;ms-d91cbe61314c18955b6b;ms-8f0e2c9caad14bd37ecf;ms-561f4f913d7b4991d81a;ms-f3e40db5e157647d463d;ms-c2107b650136a20fc4a3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eb16021deb5d03f15c9d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4627019464969635, + "candidate_source_group_id": "ms-acd4bde23cf4608facc2;ms-12ac4329c5bca5f2bb62;ms-351c397795d9af204ec6;ms-4cd1ceea2dda2732110a;ms-caed5c1b1c882141e2e9;ms-80fbba5636cb4f9c64a3", + "expert_regret": 1.968007255345583, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4b970be37419ce0be0ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.968007255345583, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03199274465441704, + "restore_error": 1.1920928955078125e-07, + "score": 0.03199274465441704, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5579360127449036, + "candidate_source_group_id": "ms-6c0ef0ef8b493232246c;ms-a2c5c9fd35d9fda5ce9e;ms-311a52ec4b0ca8d71889;ms-227fe0347d2ea57a66a3;ms-ddb4e5a1f88dfd017319;ms-96da3b7a3c2a2411fa66", + "expert_regret": 1.4471577405929565, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ddb8f148dff1db91851f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4471577405929565, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5528422594070435, + "restore_error": 1.1920928955078125e-07, + "score": 0.5528422594070435, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.545535683631897, + "candidate_source_group_id": "ms-0adce283894b0a2b7b94;ms-9bcf8a1e5e7b0f7ff6f5;ms-daaac2887015a6e4f3e0;ms-7a460f3c1b67817c19de;ms-4385e9c56007fdaa94b5;ms-45ed57caa698d87a99cf", + "expert_regret": 1.4414158463478088, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc30ca6b7675f4de5041", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4414158463478088, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5585841536521912, + "restore_error": 1.1920928955078125e-07, + "score": 0.5585841536521912, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.37299707531929016, + "candidate_source_group_id": "ms-51f2c34d5f8f132af1ed;ms-f07589760f67c1100667;ms-9eb40f856528204bbcfd;ms-220641931ae709280b14;ms-0cfef0ba35d4e6097003;ms-a949424c5fa615565d72", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2592e5fa970f1b474388", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.549801230430603, + "candidate_source_group_id": "ms-8f0e2c9caad14bd37ecf;ms-4ec67456479f53e605e1;ms-8b5b5e5f9237c41e0fe9;ms-561f4f913d7b4991d81a;ms-73e36360221b6732c688;ms-17330235d51598ebcb4e", + "expert_regret": 1.4730799198150635, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ed7b02bc8f37b8524a56", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4730799198150635, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5269200801849365, + "restore_error": 1.1920928955078125e-07, + "score": 0.5269200801849365, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6156140565872192, + "candidate_source_group_id": "ms-a01e21b91a5b37a16afe;ms-0915b75e9fd1468d464e;ms-8b972386cfdf0158a0a3;ms-e218d19c595e580c3e32;ms-aea09fb002af52e12bd8;ms-319a6c0cef0ac1a872d5", + "expert_regret": 1.9343188777565956, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-706943f06888dd5bbb3a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9343188777565956, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06568112224340439, + "restore_error": 1.1920928955078125e-07, + "score": 0.06568112224340439, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.13810618221759796, + "candidate_source_group_id": "ms-f71c7cf8ca320b8eb7a4;ms-b35643e98e1b846e27cf;ms-08858c7ba8d4a3357e05;ms-7d962acc9cfbc27c599c;ms-70381721e736d44afeaf;ms-b42e0a68875b0405904b", + "expert_regret": 1.4562854766845703, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-71452ba714a10880870b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4562854766845703, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5437145233154297, + "restore_error": 1.1920928955078125e-07, + "score": 0.5437145233154297, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4486294686794281, + "candidate_source_group_id": "ms-8e741ca11a7fbe85ba1d;ms-d16053a4f8b95c94dc46;ms-f763382872d8e89017c2;ms-d462cff6e1b4b201a6ce;ms-de066fc4200163ebd06b;ms-d6e14cec49894dd329f0", + "expert_regret": 1.9536168910562992, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-18fb80871b8e11d1ae9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9536168910562992, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04638310894370079, + "restore_error": 1.1920928955078125e-07, + "score": 0.04638310894370079, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5505570769309998, + "candidate_source_group_id": "ms-3b0ad4f07f1813ecf670;ms-0019f809318a077c3910;ms-59cc3cdf6918248d7f78;ms-12ac4329c5bca5f2bb62;ms-5922c28e4a71a88c6d21;ms-0584242e924d240ca0c8", + "expert_regret": 1.4669023156166077, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4f190184d3920a0add8b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4669023156166077, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5330976843833923, + "restore_error": 1.1920928955078125e-07, + "score": 0.5330976843833923, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7558581233024597, + "candidate_source_group_id": "ms-b1bf2ab59a5385d22e54;ms-7fa85a7251186eb18d0b;ms-525a7841d99bba385bc5;ms-1fec069b4a095dd0425a;ms-c07472c627b51086ff33;ms-c8666cbd7e5a9d0fd036", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9e53ca6bc5ddb9133ffa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3530116081237793, + "candidate_source_group_id": "ms-20e5ffa93544d6d8b313;ms-4fad1f976cc64cc06826;ms-28817fe297f38fd9550a;ms-7e94769c30229d5cc7b8;ms-cf274fbe4c657d04d7c4;ms-351c397795d9af204ec6", + "expert_regret": 1.9514166340231895, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f682952c6ecb2b833c35", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9514166340231895, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.048583365976810455, + "restore_error": 1.1920928955078125e-07, + "score": 0.048583365976810455, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3692971169948578, + "candidate_source_group_id": "ms-61068da67676a95e5065;ms-fb92a1e6b67121783fff;ms-07e0726dedce0a0e4419;ms-ee055e1282f6302ad9e8;ms-1bfca22d4af29f0e14b1;ms-4fe7fdaf946c97803c82", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-09de52dad7e40970c938", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.656570315361023, + "candidate_source_group_id": "ms-d849d754f346b826e052;ms-b7ed399f40d2d554b16d;ms-288532d255e4828bb15b;ms-1abd8c7cc1c683f88d3d;ms-fb228a036fe5973bcad1;ms-8af87d14945da6a910e4", + "expert_regret": 1.4717625379562378, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a8e6435948250f5e163d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4717625379562378, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5282374620437622, + "restore_error": 1.1920928955078125e-07, + "score": 0.5282374620437622, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4522230327129364, + "candidate_source_group_id": "ms-f101cf5cc8575be3c201;ms-0d1db6695acdf1ec3eaf;ms-57ac136bd68be6387c6f;ms-8420ccaff5986c85063f;ms-8fcc78fba7b3bec0fab6;ms-c7041c6f758f8e4a3698", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d73a2a984d5829e884f9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3915434181690216, + "candidate_source_group_id": "ms-197fee321caebfd320f5;ms-a68740208f81c5d6c97b;ms-0ac53e56b4852c85ca2e;ms-0ec98183be760ea25a45;ms-f5483f0819e0e8bc352e;ms-8330999c6669ec42122a", + "expert_regret": 1.4480212330818176, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b786173f210fcaa65a6e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4480212330818176, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5519787669181824, + "restore_error": 1.1920928955078125e-07, + "score": 0.5519787669181824, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3474830090999603, + "candidate_source_group_id": "ms-86b0447349029dfaa6ab;ms-c86956f3f1333e136186;ms-f9c00ba41392adec3fd1;ms-578537600f7a649c2dd5;ms-4cd1ceea2dda2732110a;ms-7fd4a05174dcc8eaff38", + "expert_regret": 1.9655701145529747, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7651a7f31eae24958ef0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9655701145529747, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0344298854470253, + "restore_error": 1.1920928955078125e-07, + "score": 0.0344298854470253, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.21027310192584991, + "candidate_source_group_id": "ms-1781d9c562b4425df7c8;ms-8b68d8b4d22e6ff0451d;ms-f39bbaa063044719a98d;ms-9320da73e81045277fae;ms-9c8a90334c3b933c8976;ms-4c83412fa0aa5180ad89", + "expert_regret": 1.4422290325164795, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3b4b0b8c60ad41bb16b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4422290325164795, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5577709674835205, + "restore_error": 1.1920928955078125e-07, + "score": 0.5577709674835205, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4146741032600403, + "candidate_source_group_id": "ms-fe650308e25459ee64c6;ms-319a6c0cef0ac1a872d5;ms-e218d19c595e580c3e32;ms-a01e21b91a5b37a16afe;ms-fa911d56cdf9bf122b5c;ms-aea09fb002af52e12bd8", + "expert_regret": 1.9627690054476261, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-630663751ab841a96d5a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9627690054476261, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.037230994552373886, + "restore_error": 1.1920928955078125e-07, + "score": 0.037230994552373886, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5202120542526245, + "candidate_source_group_id": "ms-99df75798ec5da5ec7f3;ms-d1dd16f03551d840a922;ms-19e6e6e341aebb7ec693;ms-8c9f657875cf334b1f17;ms-2d995e39f2b95fed1a67;ms-4c7138016830a563fb1b", + "expert_regret": 1.923444077372551, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a43a663a3c4b15ec3ac2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.923444077372551, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07655592262744904, + "restore_error": 1.1920928955078125e-07, + "score": 0.07655592262744904, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4437870681285858, + "candidate_source_group_id": "ms-910d27b58a0585327a27;ms-b671fa9fcef84dbf2a13;ms-e589f7d40c12eff1712e;ms-802e63c9d42228a69c22;ms-f3d9efbde383ef5f742f;ms-e1972ebf2c5587a6fdf9", + "expert_regret": 1.4768983125686646, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4177936dc3e043366181", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4768983125686646, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5231016874313354, + "restore_error": 1.1920928955078125e-07, + "score": 0.5231016874313354, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19162535667419434, + "candidate_source_group_id": "ms-ffef7730418c831245b3;ms-7785d335d4a95e21a84d;ms-4c7e5a40768c0e27027a;ms-30fe784e67f732ef9a3d;ms-b606af28580a38cea636;ms-ca10d8b9d03f4d59806c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c151229bc1dd03ed2feb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5679805874824524, + "candidate_source_group_id": "ms-1b83fc0981e283975488;ms-cd71a93dcab09ba15592;ms-ebb616f9b291184677b3;ms-adfe268e473c03b72c65;ms-2cf1227610d4602f88ed;ms-c2bc492ab5eb87a73789", + "expert_regret": 1.9703346136957407, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b98e8aa8ecee10bea27", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9703346136957407, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0296653863042593, + "restore_error": 1.1920928955078125e-07, + "score": 0.0296653863042593, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.09175854176282883, + "candidate_source_group_id": "ms-ce8d2ef7d19bed381822;ms-0de368e8d16fd01f4e67;ms-a26c2ffdac089c72ade5;ms-0bf5f9b5ab423eb0a7c3;ms-eb206a3dda0ac16e1643;ms-478b7b8b729f9212a522", + "expert_regret": 1.446676790714264, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1735d1abca4a91293d78", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.446676790714264, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5533232092857361, + "restore_error": 1.1920928955078125e-07, + "score": 0.5533232092857361, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19808803498744965, + "candidate_source_group_id": "ms-70d994c15153752d0dce;ms-8f5255815f8b70b48734;ms-4e86b87d6e5f6ab914fe;ms-b40ee5a75332685d5cec;ms-746436cac05100783ad7;ms-d807915e233a0c74b809", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f77305a344da6a4ccc84", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6284152269363403, + "candidate_source_group_id": "ms-a5775906ce2fb6556103;ms-5071d49489e1900dfa91;ms-578e24198ed828a74485;ms-10a5b6cc3ec06dfdc5c5;ms-80d5c509e83845ab1bc7;ms-bc53e550cb202b5fcdf3", + "expert_regret": 1.45609849691391, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b15f9c696a2661346cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.45609849691391, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5439015030860901, + "restore_error": 1.1920928955078125e-07, + "score": 0.5439015030860901, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.38329288363456726, + "candidate_source_group_id": "ms-06715386190189185900;ms-32346c22352f72d3de3a;ms-f101cf5cc8575be3c201;ms-eaf612349e2da547ee98;ms-bca6fa102f94cb145cd2;ms-dd7f9cc9585878b84824", + "expert_regret": 1.45114666223526, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5daa8575a80e98a83170", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.45114666223526, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.54885333776474, + "restore_error": 1.1920928955078125e-07, + "score": 0.54885333776474, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.364043653011322, + "candidate_source_group_id": "ms-b59a7ccfb736df4c4c68;ms-d1aac7be45644e12a976;ms-b01677be2df71c474d1f;ms-c6beb139304a0ea6f7ae;ms-57ac136bd68be6387c6f;ms-d5bfdabc97e56c680680", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dfc737e32df79e1fc429", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40514013171195984, + "candidate_source_group_id": "ms-cd71a93dcab09ba15592;ms-1b83fc0981e283975488;ms-adfe268e473c03b72c65;ms-ebb616f9b291184677b3;ms-4015c296239564108da2;ms-2cf1227610d4602f88ed", + "expert_regret": 1.9698643684387207, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b5deb1971bf3b3484282", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9698643684387207, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.030135631561279297, + "restore_error": 1.1920928955078125e-07, + "score": 0.030135631561279297, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5720919370651245, + "candidate_source_group_id": "ms-b6df140b235c8fe0eaad;ms-66540aefd55a84b5088f;ms-38d3e0274ddfa4ed7202;ms-76c78750d7abc6570487;ms-61781d30cb05657c5f5d;ms-4c83412fa0aa5180ad89", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61ac2be70a9798adeda0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3373405635356903, + "candidate_source_group_id": "ms-a927d1bd67068f1d9302;ms-d33444117889b5aa9cfb;ms-0d1db6695acdf1ec3eaf;ms-c7041c6f758f8e4a3698;ms-da46296bd4e9032570df;ms-e589f7d40c12eff1712e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e45b5de01eafae73e492", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4338913559913635, + "candidate_source_group_id": "ms-0541a144afe57b5a7ae6;ms-3eeaca32feb66f450a0b;ms-5e23219a8e2aadd039c7;ms-2470946f31fee328ad6c;ms-16cd0a94ad2cb78b1ada;ms-10dbf8bb0c239a44ec0f", + "expert_regret": 0.5461550839245319, + "expert_score": 0.6058399081230164, + "expert_success": false, + "group_id": "ms-c2e07545267c612a022c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5461550839245319, + "oracle_score": 0.6058399081230164, + "oracle_success": false, + "progress": 0.05968482419848442, + "restore_error": 1.1920928955078125e-07, + "score": 0.05968482419848442, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3808353841304779, + "candidate_source_group_id": "ms-d26a60e383a2e822615a;ms-a3cb33ed1e34d229773c;ms-4a7b774ee02339c4ca19;ms-6053d8ef243250b88f96;ms-dd4f37e032d56b692a0e;ms-c7020fdb7cba871e8b3e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f4967102c7b10057ab9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42060136795043945, + "candidate_source_group_id": "ms-6f1ec735350c81ef9fca;ms-c4cb99b887c88c707ba9;ms-f2433bc89b10851b7187;ms-9e87481ce12fa45b2554;ms-03cdc738473ac1df9dfc;ms-8b68d8b4d22e6ff0451d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1924e52af208c9f66592", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5012277960777283, + "candidate_source_group_id": "ms-bca6fa102f94cb145cd2;ms-57ac136bd68be6387c6f;ms-f1fb6cdb836269adb2cc;ms-dd7f9cc9585878b84824;ms-eff5f21c51f26a85f07c;ms-a949424c5fa615565d72", + "expert_regret": 1.4271289110183716, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b73e5dfa1f2a01e6017", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4271289110183716, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5728710889816284, + "restore_error": 1.1920928955078125e-07, + "score": 0.5728710889816284, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45323580503463745, + "candidate_source_group_id": "ms-d9db15929a99dea0e9b3;ms-8a00723a184a6ca740b2;ms-da855323619ebf257b19;ms-9c8a90334c3b933c8976;ms-f3d9efbde383ef5f742f;ms-e1972ebf2c5587a6fdf9", + "expert_regret": 1.4823529124259949, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2cc8c1975139989940f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4823529124259949, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5176470875740051, + "restore_error": 2.384185791015625e-07, + "score": 0.5176470875740051, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4167957007884979, + "candidate_source_group_id": "ms-ee055e1282f6302ad9e8;ms-bee62a6ef02134938aae;ms-fb92a1e6b67121783fff;ms-3c8ba3016f7269bfe44f;ms-07e0726dedce0a0e4419;ms-17330235d51598ebcb4e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1abf5e6d483e2788b086", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7134802937507629, + "candidate_source_group_id": "ms-486b916e7b4ad1566788;ms-b809a8756abec7015aac;ms-4021797e9499e6aaab7a;ms-08c75f74bf7813b1c257;ms-ae6d60345612be32478c;ms-af16712eadcaebf175ff", + "expert_regret": 1.4305716156959534, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-867fd9318b2445dcefb5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4305716156959534, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5694283843040466, + "restore_error": 2.384185791015625e-07, + "score": 0.5694283843040466, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3715791702270508, + "candidate_source_group_id": "ms-91ad1a5f945470b4346e;ms-432ca73236be93cb76df;ms-b1c9975d1a007dd03dc4;ms-de709118c78966c5aff7;ms-0a4c4442237909d5f7b7;ms-e110d8ef3eb852a0f564", + "expert_regret": 1.9524570107460022, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bfda95ffffd5d1a2683a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9524570107460022, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0475429892539978, + "restore_error": 2.384185791015625e-07, + "score": 0.0475429892539978, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2850474715232849, + "candidate_source_group_id": "ms-910fe3f3a4cbc2d8e6f5;ms-64e28ad134f73fdce800;ms-3352e05afd9065cd09bf;ms-478b7b8b729f9212a522;ms-a26c2ffdac089c72ade5;ms-8beca0622be320b282c1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97140da7cf409922f6ce", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4701941907405853, + "candidate_source_group_id": "ms-b36673c3905a123cbd50;ms-d67409d8ecfd5d97336d;ms-60a28a9b282e7586d4d2;ms-382000b79932b7c68326;ms-311a52ec4b0ca8d71889;ms-de709118c78966c5aff7", + "expert_regret": 1.4531803727149963, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87f65c35c9d8b3ced6fc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4531803727149963, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5468196272850037, + "restore_error": 2.384185791015625e-07, + "score": 0.5468196272850037, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7229878306388855, + "candidate_source_group_id": "ms-045f5adce6d38ea2794f;ms-dc965b3a72976440156c;ms-b40ee5a75332685d5cec;ms-f32035837f7df88396a3;ms-82e28eb350e21d43d3eb;ms-8315ae30e2cf041c8674", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2f846e9f31e2b8c4965f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4472822844982147, + "candidate_source_group_id": "ms-1cea800b74c1ea2f6338;ms-0ca11ec8f7fbf0c1d66e;ms-d824135bf97b907f7cc2;ms-17e8d6ba42404c7b7d07;ms-23f9cca8edfca421a4a6;ms-10f4c68dcad8285f4acd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c78721d9c4196a9e8ec5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.36743423342704773, + "candidate_source_group_id": "ms-f07607bc0ce1c4e202b0;ms-a2908e99b0a12a9980cc;ms-1d36e5be82aee5a8e3b8;ms-7fa85a7251186eb18d0b;ms-02acbd591a961c0dbd46;ms-6f1ec735350c81ef9fca", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6995d4366e7c20010126", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7192692160606384, + "candidate_source_group_id": "ms-b36673c3905a123cbd50;ms-d67409d8ecfd5d97336d;ms-311a52ec4b0ca8d71889;ms-382000b79932b7c68326;ms-dea17c1c383f54d05636;ms-c2fde2d79cdf38555865", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-59020093d2eeaf58aa84", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7868848443031311, + "candidate_source_group_id": "ms-dc5a883a3e28b90ebf1a;ms-39450dbba738dbd8a764;ms-4ec67456479f53e605e1;ms-486ff31b7a04a7e9e8f9;ms-17330235d51598ebcb4e;ms-635a384c88604ad7ba4f", + "expert_regret": 1.4768181443214417, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cafa65eeb953aff47f30", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4768181443214417, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5231818556785583, + "restore_error": 1.1920928955078125e-07, + "score": 0.5231818556785583, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45100054144859314, + "candidate_source_group_id": "ms-2c9685cffc73e47cc8cf;ms-96da3b7a3c2a2411fa66;ms-fd99b14bf152ebc0ef8e;ms-227fe0347d2ea57a66a3;ms-59cc3cdf6918248d7f78;ms-c2fde2d79cdf38555865", + "expert_regret": 1.45553058385849, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cdd69b5acc8119e600c7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.45553058385849, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.54446941614151, + "restore_error": 1.1920928955078125e-07, + "score": 0.54446941614151, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4260266125202179, + "candidate_source_group_id": "ms-be8eff6e6d520ae11a0d;ms-e441e4042cb7d77a4986;ms-3e51a1bdc3a2cc4eb06d;ms-4742d169606f3ec2b474;ms-d965f63e091a5d6dd6d7;ms-38507741c3b5d91a7b33", + "expert_regret": 1.4565030336380005, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6133ea5e61638487dd46", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4565030336380005, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5434969663619995, + "restore_error": 1.1920928955078125e-07, + "score": 0.5434969663619995, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.30573204159736633, + "candidate_source_group_id": "ms-1d5b929cb9614dc18304;ms-72cf68c15631675b063f;ms-793a98188fd57ed5291f;ms-7361bfba9d2ab4f1913e;ms-ba156a5cdaf40cc85cc4;ms-54a7c3d32b6a267d81a2", + "expert_regret": 1.9528655037283897, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8fa24da5c97dc1dad5c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9528655037283897, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04713449627161026, + "restore_error": 1.1920928955078125e-07, + "score": 0.04713449627161026, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3377590775489807, + "candidate_source_group_id": "ms-f1eb908e172570b07cae;ms-53fdabb5d8ef20778214;ms-fb98254adaa23dc128df;ms-5e3b1693ad7b75221847;ms-4d9cef437c77474dc62d;ms-978bbf0a6fc563f745ab", + "expert_regret": 1.4595001935958862, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-41c5500153912a1743de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4595001935958862, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5404998064041138, + "restore_error": 1.1920928955078125e-07, + "score": 0.5404998064041138, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7864153981208801, + "candidate_source_group_id": "ms-311a52ec4b0ca8d71889;ms-d67409d8ecfd5d97336d;ms-b36673c3905a123cbd50;ms-a2c5c9fd35d9fda5ce9e;ms-382000b79932b7c68326;ms-c2fde2d79cdf38555865", + "expert_regret": 1.4547942280769348, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-03ed7e57992354e27896", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4547942280769348, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5452057719230652, + "restore_error": 1.1920928955078125e-07, + "score": 0.5452057719230652, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.21328231692314148, + "candidate_source_group_id": "ms-cb70b56d6ad32b11c3cf;ms-4c83412fa0aa5180ad89;ms-76c78750d7abc6570487;ms-b6df140b235c8fe0eaad;ms-66540aefd55a84b5088f;ms-38d3e0274ddfa4ed7202", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11a2794efa24f4d93d83", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28196069598197937, + "candidate_source_group_id": "ms-62b597990a3d637e5a8a;ms-5c8b50523e0de37d80b8;ms-8af2224cc82636ef1dd7;ms-7e94769c30229d5cc7b8;ms-2e5c2f75d3f6311e0a1c;ms-1c0e2bb3a811fac6d567", + "expert_regret": 1.9562659747898579, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a1d69e0b112064914357", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9562659747898579, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.043734025210142136, + "restore_error": 1.1920928955078125e-07, + "score": 0.043734025210142136, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48990482091903687, + "candidate_source_group_id": "ms-5316151a88a3282436ca;ms-432ca73236be93cb76df;ms-80d5c509e83845ab1bc7;ms-91ad1a5f945470b4346e;ms-a5775906ce2fb6556103;ms-06935a084a7af6d7596c", + "expert_regret": 1.8922587260603905, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbea3b8005a30431cb52", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8922587260603905, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10774127393960953, + "restore_error": 1.1920928955078125e-07, + "score": 0.10774127393960953, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28659993410110474, + "candidate_source_group_id": "ms-cb16b458af723bf7cd0a;ms-2df0b9d5fa91156e430a;ms-1d1969094d91fe52667d;ms-e07f80b44faf328c5e58;ms-81c855f8645b35f0856d;ms-b6fd2931116c15db0f0a", + "expert_regret": 1.4466455578804016, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ae5421846020d2765f82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4466455578804016, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5533544421195984, + "restore_error": 1.1920928955078125e-07, + "score": 0.5533544421195984, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9776261448860168, + "candidate_source_group_id": "ms-0ca1c25fddb7da05d80a;ms-40cb974de9da58dcd32b;ms-6fc6a26da9fbe53dd616;ms-8b972386cfdf0158a0a3;ms-0915b75e9fd1468d464e;ms-ff96d76fba5b6ceb1289", + "expert_regret": 1.9146807864308357, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5bae191ebad7c9f2687", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9146807864308357, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08531921356916428, + "restore_error": 1.1920928955078125e-07, + "score": 0.08531921356916428, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41412559151649475, + "candidate_source_group_id": "ms-dbcc3da47d96ceeaf9f0;ms-b7800060cd4a8c3cb6b9;ms-c3f7b780f604922f4f67;ms-4681331b496c8a9cf14d;ms-ad5ad5314850df7b0853;ms-b0aa24be399d843c9d50", + "expert_regret": 1.4792965054512024, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-732819b0c220a4c06870", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4792965054512024, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5207034945487976, + "restore_error": 1.1920928955078125e-07, + "score": 0.5207034945487976, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8359498977661133, + "candidate_source_group_id": "ms-c86956f3f1333e136186;ms-7fd4a05174dcc8eaff38;ms-c2bc492ab5eb87a73789;ms-2cf1227610d4602f88ed;ms-de0abc7a53a48164f82d;ms-1b83fc0981e283975488", + "expert_regret": 1.4814825057983398, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68e331088400739273da", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4814825057983398, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5185174942016602, + "restore_error": 1.1920928955078125e-07, + "score": 0.5185174942016602, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.389798104763031, + "candidate_source_group_id": "ms-311a52ec4b0ca8d71889;ms-a2c5c9fd35d9fda5ce9e;ms-6c0ef0ef8b493232246c;ms-227fe0347d2ea57a66a3;ms-d67409d8ecfd5d97336d;ms-fd99b14bf152ebc0ef8e", + "expert_regret": 1.4769527316093445, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fa62bbb3e8416561ed69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4769527316093445, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5230472683906555, + "restore_error": 1.1920928955078125e-07, + "score": 0.5230472683906555, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2333730310201645, + "candidate_source_group_id": "ms-3352e05afd9065cd09bf;ms-478b7b8b729f9212a522;ms-64e28ad134f73fdce800;ms-910fe3f3a4cbc2d8e6f5;ms-eb206a3dda0ac16e1643;ms-a26c2ffdac089c72ade5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bcfeba2af1e844c22aed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 1.1268521547317505, + "candidate_source_group_id": "ms-22675530f3a401b3fd6d;ms-ff96d76fba5b6ceb1289;ms-0ca1c25fddb7da05d80a;ms-c679fdafdd776a14b66f;ms-23a355317920e192147f;ms-7d32f6b32c14e33b1eb1", + "expert_regret": 1.9079431518912315, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7cbbc5e7dc896a803efa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9079431518912315, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09205684810876846, + "restore_error": 1.1920928955078125e-07, + "score": 0.09205684810876846, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3050791919231415, + "candidate_source_group_id": "ms-288532d255e4828bb15b;ms-b7ed399f40d2d554b16d;ms-1abd8c7cc1c683f88d3d;ms-fb228a036fe5973bcad1;ms-8af87d14945da6a910e4;ms-b82cc8ce5d9d348ba6b4", + "expert_regret": 1.4538047909736633, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-26e09c86be9068a34acf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4538047909736633, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5461952090263367, + "restore_error": 1.1920928955078125e-07, + "score": 0.5461952090263367, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18302978575229645, + "candidate_source_group_id": "ms-ffef7730418c831245b3;ms-7785d335d4a95e21a84d;ms-b606af28580a38cea636;ms-79d500110f3723b57da8;ms-30fe784e67f732ef9a3d;ms-ca10d8b9d03f4d59806c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-47a55ae1d3a858eed51c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5917258858680725, + "candidate_source_group_id": "ms-a7179e4e4e2a0d5335b3;ms-8c6e41e7542bc6924a1f;ms-61781d30cb05657c5f5d;ms-2f57eadf546710065684;ms-13af3f2f8e0b8444fe68;ms-38d3e0274ddfa4ed7202", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3417f5f2f1470c61d0a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.424835205078125, + "candidate_source_group_id": "ms-4ca84594a789c9abd5d9;ms-9cdebdcdad56bd8d87cc;ms-edcdf99767068f94bcb4;ms-a9ac13384fe5afc835f1;ms-86b302005e0461f28c43;ms-69962cd1c448094e4fb0", + "expert_regret": 0.0, + "expert_score": 0.582298219203949, + "expert_success": false, + "group_id": "ms-eac0d7dd54b1e797fdbd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.582298219203949, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4324665069580078, + "candidate_source_group_id": "ms-55ea22014575410563a4;ms-25a8e32c071be83d913b;ms-22412b51e61621b6025b;ms-d05d9bbb98f24da55981;ms-5085e45e6ca37192d2e5;ms-c0bfce3c9dd10f9d3231", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f8c4e700a751537ebb16", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.384392112493515, + "candidate_source_group_id": "ms-29eab654e4adf7ca9c4b;ms-4f938bd3599c372c8bff;ms-de0abc7a53a48164f82d;ms-cdfe8f580576f4c577b0;ms-9ffeb1600c04f08bdfcb;ms-f6db4e8bed63ed868487", + "expert_regret": 1.9713891614228487, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fd1c44c6d5d8f7f11451", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9713891614228487, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0286108385771513, + "restore_error": 1.1920928955078125e-07, + "score": 0.0286108385771513, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5062060952186584, + "candidate_source_group_id": "ms-f763382872d8e89017c2;ms-a3fa10726c656e851515;ms-de066fc4200163ebd06b;ms-d6e14cec49894dd329f0;ms-e7f2d1f0de50c6fcccb4;ms-d16053a4f8b95c94dc46", + "expert_regret": 1.4940776824951172, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cc0b33f92229d32bd84f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4940776824951172, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5059223175048828, + "restore_error": 1.1920928955078125e-07, + "score": 0.5059223175048828, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3896501362323761, + "candidate_source_group_id": "ms-351c397795d9af204ec6;ms-12ac4329c5bca5f2bb62;ms-caed5c1b1c882141e2e9;ms-acd4bde23cf4608facc2;ms-4cd1ceea2dda2732110a;ms-20e5ffa93544d6d8b313", + "expert_regret": 1.964863084256649, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f8e2d5d25706493821d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.964863084256649, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03513691574335098, + "restore_error": 1.1920928955078125e-07, + "score": 0.03513691574335098, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28372466564178467, + "candidate_source_group_id": "ms-08c39d9cc9eb7578e6e9;ms-10f2865bef6da7b66423;ms-f947dbf28ad85666e2f1;ms-fbda7bc51ca269d1cda4;ms-f69d6aec4ddb12d88c5b;ms-1cdd36810a138190ce3c", + "expert_regret": 1.9321197345852852, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-66ec6692758e9a7f2e01", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9321197345852852, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06788026541471481, + "restore_error": 1.1920928955078125e-07, + "score": 0.06788026541471481, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5170589089393616, + "candidate_source_group_id": "ms-0ac53e56b4852c85ca2e;ms-8330999c6669ec42122a;ms-076d67ac4d2de4e0c627;ms-a68740208f81c5d6c97b;ms-197fee321caebfd320f5;ms-e318e13f77e75e7cd802", + "expert_regret": 1.93156848102808, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7156b26670838d40934", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.93156848102808, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06843151897192001, + "restore_error": 1.1920928955078125e-07, + "score": 0.06843151897192001, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3761560022830963, + "candidate_source_group_id": "ms-339ae3ec9482aa259eec;ms-32435d71bb817daf01d9;ms-88b1a0f8f758f7956c0f;ms-683b1d258a1cafbf87b9;ms-4681331b496c8a9cf14d;ms-b7800060cd4a8c3cb6b9", + "expert_regret": 1.4432498812675476, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-53cfcc878e30fc078bba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4432498812675476, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5567501187324524, + "restore_error": 1.1920928955078125e-07, + "score": 0.5567501187324524, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.21844403445720673, + "candidate_source_group_id": "ms-4bc023d8d1f7748b0e12;ms-91d86cba2602d1fa780d;ms-a699ee643e76a610b444;ms-d67409d8ecfd5d97336d;ms-a2c5c9fd35d9fda5ce9e;ms-0b7f8ba789c00b37caa0", + "expert_regret": 0.0, + "expert_score": 0.6176263093948364, + "expert_success": false, + "group_id": "ms-a509a572b3871e591d26", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20741169154644012, + "candidate_source_group_id": "ms-c7020fdb7cba871e8b3e;ms-4a7b774ee02339c4ca19;ms-0de368e8d16fd01f4e67;ms-dd4f37e032d56b692a0e;ms-9b56e5007c76d9fefd1f;ms-486572c62484eb4d73db", + "expert_regret": 1.4158138632774353, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a576ca39e26c4e1ab240", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4158138632774353, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5841861367225647, + "restore_error": 1.1920928955078125e-07, + "score": 0.5841861367225647, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18518175184726715, + "candidate_source_group_id": "ms-a927d1bd67068f1d9302;ms-d33444117889b5aa9cfb;ms-0d1db6695acdf1ec3eaf;ms-c7041c6f758f8e4a3698;ms-da46296bd4e9032570df;ms-e589f7d40c12eff1712e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-36e8cb2e7f34f8dceb05", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.436752587556839, + "candidate_source_group_id": "ms-b82cc8ce5d9d348ba6b4;ms-8af87d14945da6a910e4;ms-386220c339b7de7f222b;ms-1abd8c7cc1c683f88d3d;ms-288532d255e4828bb15b;ms-b7ed399f40d2d554b16d", + "expert_regret": 1.4450559616088867, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b570fe64df70560c8ab6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4450559616088867, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5549440383911133, + "restore_error": 1.1920928955078125e-07, + "score": 0.5549440383911133, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3788755238056183, + "candidate_source_group_id": "ms-d4bde31fd7e7cee76b09;ms-8315ae30e2cf041c8674;ms-d807915e233a0c74b809;ms-7b932868f83725def2ed;ms-b4af4c8b9dcd6976546c;ms-99a5ffff5b73cf604b3d", + "expert_regret": 1.4505256414413452, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6029bab18ae94b126d79", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4505256414413452, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5494743585586548, + "restore_error": 1.1920928955078125e-07, + "score": 0.5494743585586548, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.16039790213108063, + "candidate_source_group_id": "ms-88bdd8987f890af7e9ea;ms-99ecd2226d7187416316;ms-3aa5793c449b59c77b6f;ms-9783ccaf76f1b20c766e;ms-ee32e6bb3c0bb45702b9;ms-30fe784e67f732ef9a3d", + "expert_regret": 1.4405108094215393, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c5d026dffb39f2f1d38a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4405108094215393, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5594891905784607, + "restore_error": 1.1920928955078125e-07, + "score": 0.5594891905784607, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44982147216796875, + "candidate_source_group_id": "ms-9783ccaf76f1b20c766e;ms-30fe784e67f732ef9a3d;ms-88bdd8987f890af7e9ea;ms-3aa5793c449b59c77b6f;ms-ee32e6bb3c0bb45702b9;ms-99ecd2226d7187416316", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c70be4072fb4e49ac106", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5813859105110168, + "candidate_source_group_id": "ms-79c7332b2b329eaa6a13;ms-7a17ceb004979b99a586;ms-61b1188974f35233b883;ms-1158e6997b2f1281b105;ms-708baf01c22c75cafd22;ms-3a64af2410ea932a6267", + "expert_regret": 1.446348488330841, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3aa864ead19c9cb9fb49", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.446348488330841, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5536515116691589, + "restore_error": 1.1920928955078125e-07, + "score": 0.5536515116691589, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9352668523788452, + "candidate_source_group_id": "ms-d1dd16f03551d840a922;ms-19e6e6e341aebb7ec693;ms-8c9f657875cf334b1f17;ms-99df75798ec5da5ec7f3;ms-3e7befcb3d8fc7884e8f;ms-8a22f0da78e59cd1eb5f", + "expert_regret": 1.4488266110420227, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-aaf1c4931e054f52623c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4488266110420227, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5511733889579773, + "restore_error": 1.1920928955078125e-07, + "score": 0.5511733889579773, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22279170155525208, + "candidate_source_group_id": "ms-1abd8c7cc1c683f88d3d;ms-b7ed399f40d2d554b16d;ms-288532d255e4828bb15b;ms-8af87d14945da6a910e4;ms-b82cc8ce5d9d348ba6b4;ms-d849d754f346b826e052", + "expert_regret": 1.4657900929450989, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3ea30989082ec714e12d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4657900929450989, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5342099070549011, + "restore_error": 1.1920928955078125e-07, + "score": 0.5342099070549011, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3554401993751526, + "candidate_source_group_id": "ms-c412fba3624c72fe2a27;ms-0f219ce35aff264455e2;ms-295de2ad6c52ab50de1a;ms-8a22f0da78e59cd1eb5f;ms-f5e621c9ae7bcca8e596;ms-49641ecf3e1326621609", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1309e1770b6ca6e71c7e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6493068337440491, + "candidate_source_group_id": "ms-97598e118c5cc8c254a5;ms-2073841ae01f224365a1;ms-0584242e924d240ca0c8;ms-59cc3cdf6918248d7f78;ms-5922c28e4a71a88c6d21;ms-296b75a11f61d61d5fba", + "expert_regret": 1.4815878868103027, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-81729abe5d83a1ca280d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4815878868103027, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5184121131896973, + "restore_error": 1.1920928955078125e-07, + "score": 0.5184121131896973, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4039307236671448, + "candidate_source_group_id": "ms-e0c2c1fbe39cd1d652b3;ms-3d0d437ee74041fc61bb;ms-5425964a186feaf6fd99;ms-2bf2f3a2444b64f8230a;ms-42117385b9e6e57c7e63;ms-a7f98a43ff113d74f009", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5d430ebe6f7933dc6c8c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5233121514320374, + "candidate_source_group_id": "ms-6c081eee5edb633d6caf;ms-239a07967247700a8ed1;ms-5fc884c238818acdde08;ms-4bf0620f8d1294466596;ms-d75a00b1388f50bf8919;ms-cca07eb504a242633931", + "expert_regret": 1.4885473847389221, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68ab6033433b360464f8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4885473847389221, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5114526152610779, + "restore_error": 1.1920928955078125e-07, + "score": 0.5114526152610779, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.704818844795227, + "candidate_source_group_id": "ms-7361bfba9d2ab4f1913e;ms-3b0639bfe64ecfd35594;ms-3a65e7b378a87a7eeb11;ms-fcbac5ac63b87452c719;ms-8adf1cf09ddabdc5fe5f;ms-0b7f8ba789c00b37caa0", + "expert_regret": 1.9715113043785095, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fef1cf4879be83a77574", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9715113043785095, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02848869562149048, + "restore_error": 1.1920928955078125e-07, + "score": 0.02848869562149048, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33673545718193054, + "candidate_source_group_id": "ms-7d962acc9cfbc27c599c;ms-72b7d76602371f044fe3;ms-a6273302894af3505ca8;ms-13192a27f5fcf4fd24d7;ms-11bb3387454624de8143;ms-a22fbce4503f088acb1f", + "expert_regret": 1.4648368954658508, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7241a1c25af41f4c0b5a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4648368954658508, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5351631045341492, + "restore_error": 1.1920928955078125e-07, + "score": 0.5351631045341492, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44779661297798157, + "candidate_source_group_id": "ms-9ff81e54049443a0f3d3;ms-b42e0a68875b0405904b;ms-d19573dc65181befd83d;ms-f71c7cf8ca320b8eb7a4;ms-b6827e38768a63212d73;ms-8f241450069e74460a40", + "expert_regret": 1.4337865114212036, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a73f46824bdbdfb96238", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4337865114212036, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5662134885787964, + "restore_error": 1.1920928955078125e-07, + "score": 0.5662134885787964, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5365245938301086, + "candidate_source_group_id": "ms-8c0b600aef5393f929cd;ms-49641ecf3e1326621609;ms-17a04b4ac2d938261bff;ms-7982e5af0d533320432f;ms-4895312f7ef7a8e0109c;ms-f5e621c9ae7bcca8e596", + "expert_regret": 1.9715731497853994, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7f427f37d47501932e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9715731497853994, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.028426850214600563, + "restore_error": 1.1920928955078125e-07, + "score": 0.028426850214600563, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5303257703781128, + "candidate_source_group_id": "ms-76c78750d7abc6570487;ms-b6df140b235c8fe0eaad;ms-66540aefd55a84b5088f;ms-38d3e0274ddfa4ed7202;ms-a7179e4e4e2a0d5335b3;ms-a7f98a43ff113d74f009", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a6060f858cb9f93c5588", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5835391283035278, + "candidate_source_group_id": "ms-d88107eff1e361cdcc4c;ms-813cac6d08ed5af48b12;ms-ce2924d08bdd6c379777;ms-16d5b122db1824caf92b;ms-dbb32d9fd6999e09f589;ms-64ab703e7a82799a47dd", + "expert_regret": 1.4395153522491455, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-70342af6b601660d7c69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4395153522491455, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5604846477508545, + "restore_error": 1.1920928955078125e-07, + "score": 0.5604846477508545, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.17377400398254395, + "candidate_source_group_id": "ms-763c73c94818a090d358;ms-c7020fdb7cba871e8b3e;ms-486572c62484eb4d73db;ms-9b56e5007c76d9fefd1f;ms-0de368e8d16fd01f4e67;ms-4fe47d946641f0096a85", + "expert_regret": 1.4383211731910706, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d81f3e8b6a42695871d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4383211731910706, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5616788268089294, + "restore_error": 1.1920928955078125e-07, + "score": 0.5616788268089294, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2310105711221695, + "candidate_source_group_id": "ms-a7179e4e4e2a0d5335b3;ms-2f57eadf546710065684;ms-76c78750d7abc6570487;ms-b6df140b235c8fe0eaad;ms-66540aefd55a84b5088f;ms-38d3e0274ddfa4ed7202", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-39af5447d3c90872c25f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5564748644828796, + "candidate_source_group_id": "ms-486572c62484eb4d73db;ms-763c73c94818a090d358;ms-b0aa24be399d843c9d50;ms-4fe47d946641f0096a85;ms-dd4f37e032d56b692a0e;ms-a6b029a958e91306966a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a44a2c9eee8baea5d29e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4650707244873047, + "candidate_source_group_id": "ms-5fc884c238818acdde08;ms-38d3e0274ddfa4ed7202;ms-66540aefd55a84b5088f;ms-4d6099258a3a6e037aff;ms-b6df140b235c8fe0eaad;ms-85eef30b36b044b33f60", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d44f5bd2488ea182132b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5717225074768066, + "candidate_source_group_id": "ms-859d0ea38fb5e8aa6b98;ms-ee7463f3d937dbc16f89;ms-e7f2d1f0de50c6fcccb4;ms-3deb9fa600781abb51c1;ms-a3fa10726c656e851515;ms-ffc3f18cbc674bdcc085", + "expert_regret": 1.9745220188051462, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0cc80a2933abf1b4853f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9745220188051462, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.025477981194853783, + "restore_error": 1.1920928955078125e-07, + "score": 0.025477981194853783, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2520544230937958, + "candidate_source_group_id": "ms-bd6b2dc41ba42b44462a;ms-642670f4bb658d32970b;ms-5721bb074a97f9773eca;ms-4082ce1f04dbacd6a5b9;ms-ae33e3afb57e61026d72;ms-57a213acdc6a7231f799", + "expert_regret": 1.4638789296150208, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6905c1d3bc8157697499", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4638789296150208, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5361210703849792, + "restore_error": 1.1920928955078125e-07, + "score": 0.5361210703849792, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6236665844917297, + "candidate_source_group_id": "ms-80fbba5636cb4f9c64a3;ms-4cd1ceea2dda2732110a;ms-12ac4329c5bca5f2bb62;ms-97598e118c5cc8c254a5;ms-0584242e924d240ca0c8;ms-2073841ae01f224365a1", + "expert_regret": 1.863457903265953, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8e4755f1627d85c12bd8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.863457903265953, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.13654209673404694, + "restore_error": 1.1920928955078125e-07, + "score": 0.13654209673404694, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4345700442790985, + "candidate_source_group_id": "ms-2df0b9d5fa91156e430a;ms-b0fd98bae1ed5d543f35;ms-81c855f8645b35f0856d;ms-e07f80b44faf328c5e58;ms-cb16b458af723bf7cd0a;ms-1d1969094d91fe52667d", + "expert_regret": 1.4462987780570984, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6305829d7ca1c68a3ce", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4462987780570984, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5537012219429016, + "restore_error": 1.1920928955078125e-07, + "score": 0.5537012219429016, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5666297078132629, + "candidate_source_group_id": "ms-fd6deac5a281d169bc75;ms-561f4f913d7b4991d81a;ms-8f0e2c9caad14bd37ecf;ms-d91cbe61314c18955b6b;ms-1df0775c4ef08d0cf1bf;ms-f3e40db5e157647d463d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-023e021f079a8774c741", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45956167578697205, + "candidate_source_group_id": "ms-79c7332b2b329eaa6a13;ms-61b1188974f35233b883;ms-708baf01c22c75cafd22;ms-ee19bfbcb2f4fbf5a44d;ms-519fb779d24a0bdf3809;ms-ea72196e20393870bcbb", + "expert_regret": 0.039834439754486084, + "expert_score": 0.5963302850723267, + "expert_success": false, + "group_id": "ms-66cc354bbf4e8bdd1051", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.039834439754486084, + "oracle_score": 0.5963302850723267, + "oracle_success": false, + "progress": 0.5564958453178406, + "restore_error": 1.1920928955078125e-07, + "score": 0.5564958453178406, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42557328939437866, + "candidate_source_group_id": "ms-5367a8bae4304851384e;ms-a47818abd17d958ad6ca;ms-2bf2f3a2444b64f8230a;ms-dd4e13e425fbe9bd9140;ms-e0c2c1fbe39cd1d652b3;ms-128c7c43e30023e6b1a3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a13ee9983c139d34fca8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28191065788269043, + "candidate_source_group_id": "ms-486572c62484eb4d73db;ms-dd4f37e032d56b692a0e;ms-763c73c94818a090d358;ms-a6b029a958e91306966a;ms-b0aa24be399d843c9d50;ms-c7020fdb7cba871e8b3e", + "expert_regret": 1.4435485005378723, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c39b520dca0a325535f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4435485005378723, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5564514994621277, + "restore_error": 1.1920928955078125e-07, + "score": 0.5564514994621277, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6323400139808655, + "candidate_source_group_id": "ms-70381721e736d44afeaf;ms-0e12a6083750bfecca87;ms-f71c7cf8ca320b8eb7a4;ms-22588909538be867fb28;ms-7a17ceb004979b99a586;ms-72b7d76602371f044fe3", + "expert_regret": 1.490593671798706, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5a7891a58bac94796178", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.490593671798706, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.509406328201294, + "restore_error": 1.1920928955078125e-07, + "score": 0.509406328201294, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3450877368450165, + "candidate_source_group_id": "ms-8b972386cfdf0158a0a3;ms-6fc6a26da9fbe53dd616;ms-0915b75e9fd1468d464e;ms-19c0b893fda0e6bb05f7;ms-c679fdafdd776a14b66f;ms-40cb974de9da58dcd32b", + "expert_regret": 1.9786108247935772, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fed4628b22c7e42e32d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9786108247935772, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.021389175206422806, + "restore_error": 1.1920928955078125e-07, + "score": 0.021389175206422806, + "selected_candidate_index": 32, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6314989924430847, + "candidate_source_group_id": "ms-f5e621c9ae7bcca8e596;ms-49641ecf3e1326621609;ms-8a22f0da78e59cd1eb5f;ms-8c0b600aef5393f929cd;ms-4895312f7ef7a8e0109c;ms-17a04b4ac2d938261bff", + "expert_regret": 1.8937367871403694, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c91cae30acaa8dc7a12b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8937367871403694, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10626321285963058, + "restore_error": 1.1920928955078125e-07, + "score": 0.10626321285963058, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8329213261604309, + "candidate_source_group_id": "ms-dce346f7f90e29664890;ms-4143ca4fca04091084e4;ms-7eaea428dfdef7255a66;ms-dc26b448cce4164a23e6;ms-906dbd4dc79cb6be1e2c;ms-57be9ae181c077e7821f", + "expert_regret": 1.8340736329555511, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-070184c0f6831eb39bc1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8340736329555511, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16592636704444885, + "restore_error": 2.3096799850463867e-07, + "score": 0.16592636704444885, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.1936990022659302, + "candidate_source_group_id": "ms-778efc20fc2ee8a3dd02;ms-2e40499cb146da6f89e7;ms-4f0a59b7bc897c0d5e5e;ms-12c741253e1802aad9ec;ms-744702a88bec9222a30a;ms-3c223e8c7f870c807541", + "expert_regret": 1.770249143242836, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c62736c7767014960e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.770249143242836, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.229750856757164, + "restore_error": 2.3096799850463867e-07, + "score": 0.229750856757164, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.38881397247314453, + "candidate_source_group_id": "ms-f5dd1c43ebc4c0cfc3f1;ms-0dee962a5901fb8b5bbb;ms-b7d7021b782f73816083;ms-c2398cb80b194084dbfc;ms-62bd92bfcbc50801e008;ms-b8c3ec3ea915c5d35b3e", + "expert_regret": 0.0, + "expert_score": 0.18241576850414276, + "expert_success": false, + "group_id": "ms-a4d2c89304817ce28313", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.2059803009033203, + "oracle_success": false, + "progress": 0.23355507850646973, + "restore_error": 2.3096799850463867e-07, + "score": 0.23355507850646973, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6207147836685181, + "candidate_source_group_id": "ms-fd4b2d974e51fed9536e;ms-d92cec7cfd1915a30824;ms-ee30ebaf98622759d888;ms-b794f77d280289ce22a4;ms-ebacae0135af2832dfbb;ms-3089724d0eba0f7b5d91", + "expert_regret": 0.12242285162210464, + "expert_score": 0.17002534866333008, + "expert_success": false, + "group_id": "ms-7923b8196b397863cf4f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9523975029587746, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04760249704122543, + "restore_error": 2.3096799850463867e-07, + "score": 0.04760249704122543, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5903916358947754, + "candidate_source_group_id": "ms-4bda8533405961380322;ms-9229ce141dd41a11fac1;ms-1c2768099019b86daca7;ms-b7d7021b782f73816083;ms-ba11d52e628b2efe32ea;ms-7df455efd413d77e6ce3", + "expert_regret": 0.0, + "expert_score": 0.05257302522659302, + "expert_success": false, + "group_id": "ms-728b865677134d3788e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.1522042602300644, + "oracle_score": 0.22658847272396088, + "oracle_success": false, + "progress": 0.07438421249389648, + "restore_error": 2.3096799850463867e-07, + "score": 0.07438421249389648, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.37600797414779663, + "candidate_source_group_id": "ms-b7d7021b782f73816083;ms-45309d0bdc5e3babc17b;ms-0dee962a5901fb8b5bbb;ms-7a044cb6c7bb03f3ea10;ms-4bda8533405961380322;ms-6ddecc7f074b9e267409", + "expert_regret": 0.0, + "expert_score": 0.11683736741542816, + "expert_success": false, + "group_id": "ms-e87c704dfdbf7ee7f51f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.06071197986602783, + "oracle_score": 0.2421749234199524, + "oracle_success": false, + "progress": 0.18146294355392456, + "restore_error": 2.3096799850463867e-07, + "score": 0.18146294355392456, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4777471125125885, + "candidate_source_group_id": "ms-0dee962a5901fb8b5bbb;ms-f5dd1c43ebc4c0cfc3f1;ms-45309d0bdc5e3babc17b;ms-b7d7021b782f73816083;ms-082cb0ac119a83c42c2d;ms-c2398cb80b194084dbfc", + "expert_regret": 0.0, + "expert_score": 0.16706955432891846, + "expert_success": false, + "group_id": "ms-8b603da9f857de028798", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.21277980506420135, + "oracle_success": false, + "progress": 0.22220194339752197, + "restore_error": 2.3096799850463867e-07, + "score": 0.22220194339752197, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.240524023771286, + "candidate_source_group_id": "ms-ba11d52e628b2efe32ea;ms-d8e18d4d22b4cc73b803;ms-5dbfefbfb832855ef80a;ms-0fdb89ea83047c63b9b0;ms-22638e64d6a54980bc02;ms-ea8382de946b98af3bf8", + "expert_regret": 0.0, + "expert_score": 0.18874704837799072, + "expert_success": false, + "group_id": "ms-1a4979e969aa331fb126", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.036633312702178955, + "oracle_score": 0.2711350619792938, + "oracle_success": false, + "progress": 0.23450174927711487, + "restore_error": 2.3096799850463867e-07, + "score": 0.23450174927711487, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.1474418640136719, + "candidate_source_group_id": "ms-62bd92bfcbc50801e008;ms-c2398cb80b194084dbfc;ms-5ab7f487c7006dec473a;ms-b8c3ec3ea915c5d35b3e;ms-284545b8610706250f3c;ms-e4e21b9ec2546537fff0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cb5dc99d8c3b4c0c3616", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.1646651029586792, + "candidate_source_group_id": "ms-088ad33a4461de5ce0cb;ms-c5d53da10b561f402ee7;ms-3c223e8c7f870c807541;ms-6a3add21affa4796f9be;ms-620cd9e02d46b021f112;ms-3ed611d029d2ae0b12d8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-633308d7f0e52c013505", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4697171747684479, + "candidate_source_group_id": "ms-f5dd1c43ebc4c0cfc3f1;ms-0dee962a5901fb8b5bbb;ms-c2398cb80b194084dbfc;ms-62bd92bfcbc50801e008;ms-b7d7021b782f73816083;ms-b8c3ec3ea915c5d35b3e", + "expert_regret": 0.0, + "expert_score": 0.0869297981262207, + "expert_success": false, + "group_id": "ms-99357c610a8ebf4f5613", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.13653340935707092, + "oracle_score": 0.27952003479003906, + "oracle_success": false, + "progress": 0.14298662543296814, + "restore_error": 1.1920928955078125e-07, + "score": 0.14298662543296814, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3379891812801361, + "candidate_source_group_id": "ms-206099bab6bfe7c84fce;ms-8e56b0eaa2604db6749e;ms-35a50d2822c2c3cc4516;ms-7e88428497a6b13936c4;ms-c0e3ab57fcf0d12ea4d8;ms-bce8c4ec2bf882ca0b2e", + "expert_regret": 0.0, + "expert_score": 0.01088327169418335, + "expert_success": false, + "group_id": "ms-d81f9c2974c2d599f151", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1107872724533081, + "oracle_success": false, + "progress": 0.13803206384181976, + "restore_error": 1.1920928955078125e-07, + "score": 0.13803206384181976, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6155304312705994, + "candidate_source_group_id": "ms-45131c0aa974fa9602ad;ms-a04e804d3aad7b40f1ac;ms-ec2eec3ab528878445cd;ms-89c4edc5d083202b2443;ms-6d46dae312649c977b64;ms-3d31ef4f467b204b8477", + "expert_regret": 0.04730653762817383, + "expert_score": 0.22178253531455994, + "expert_success": false, + "group_id": "ms-9a50730a0ff65eb93ea5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.062086135149002075, + "oracle_score": 0.23656213283538818, + "oracle_success": false, + "progress": 0.1744759976863861, + "restore_error": 1.1920928955078125e-07, + "score": 0.1744759976863861, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3573990762233734, + "candidate_source_group_id": "ms-344d81289be624d70b0e;ms-19cb10d10516bd0216a6;ms-ee4ddb148e138fce841c;ms-6661b157c41ad4d6ab85;ms-53344c3bc69a3b0fe303;ms-f126e1cf5b3ee52a8476", + "expert_regret": 1.9543358460068703, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e2fe413566da0516273d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9543358460068703, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04566415399312973, + "restore_error": 1.1920928955078125e-07, + "score": 0.04566415399312973, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.1432991027832031, + "candidate_source_group_id": "ms-d92cec7cfd1915a30824;ms-ee30ebaf98622759d888;ms-5e422b9487b4a1efd7af;ms-be219977a9db8dbb1e58;ms-b794f77d280289ce22a4;ms-423347f93e1045f6bdd0", + "expert_regret": 1.940508246421814, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-109ea940d18ab80efabc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.940508246421814, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.059491753578186035, + "restore_error": 1.1920928955078125e-07, + "score": 0.059491753578186035, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8859996795654297, + "candidate_source_group_id": "ms-b6b7052345036de1448d;ms-97832747def371d6de99;ms-575c7eef4563e02ec689;ms-ac4fb33f3ab4db853995;ms-b6dae6677869af5f7f52;ms-8e12f7ad446482627dd3", + "expert_regret": 0.0, + "expert_score": 0.08186312764883041, + "expert_success": false, + "group_id": "ms-6388b5d2356c556c3e55", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8741902261972427, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.12580977380275726, + "restore_error": 1.1920928955078125e-07, + "score": 0.12580977380275726, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.40623071789741516, + "candidate_source_group_id": "ms-8577816da2917a2bb63d;ms-61c3c0e99a653d2a7fe2;ms-84388e63928e1a30ffc4;ms-1d3f30fae746c0b9cefc;ms-59d4cdcd401477b5adfc;ms-f2b2b2a1aa2863c3676f", + "expert_regret": 0.0, + "expert_score": 0.12672781944274902, + "expert_success": false, + "group_id": "ms-f7a54f4783da1d4129a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.30690255761146545, + "oracle_success": false, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.741382896900177, + "candidate_source_group_id": "ms-bce8c4ec2bf882ca0b2e;ms-97832747def371d6de99;ms-8e56b0eaa2604db6749e;ms-1772611570ffaf72c98c;ms-c09bd18e1017cc532aee;ms-b6dae6677869af5f7f52", + "expert_regret": 0.0464581698179245, + "expert_score": 0.15074965357780457, + "expert_success": false, + "group_id": "ms-61bde0225d6f4175b7cb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.11314509809017181, + "oracle_score": 0.21743658185005188, + "oracle_success": false, + "progress": 0.10429148375988007, + "restore_error": 2.3096799850463867e-07, + "score": 0.10429148375988007, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.042036771774292, + "candidate_source_group_id": "ms-652ad552ba98d2736620;ms-a9747843e0fddd993263;ms-aa45731e1b9734a493fd;ms-f7f4e41613e39d53b7c1;ms-9acbb20bd73584f0e215;ms-e6a58c859c498bb0f4d2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6d5f6a187b61ea26c2e2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.47270217537879944, + "candidate_source_group_id": "ms-b0c64b4a1c04972e47a1;ms-3ed611d029d2ae0b12d8;ms-620cd9e02d46b021f112;ms-151566379dfd7af6fe63;ms-7f57045c114ddad153b5;ms-6a3add21affa4796f9be", + "expert_regret": 0.0, + "expert_score": 0.14449183642864227, + "expert_success": false, + "group_id": "ms-a6a6de64c39abad45f86", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.21010009944438934, + "oracle_success": false, + "progress": 0.2661237418651581, + "restore_error": 2.3096799850463867e-07, + "score": 0.2661237418651581, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0099599361419678, + "candidate_source_group_id": "ms-7f57045c114ddad153b5;ms-3ed611d029d2ae0b12d8;ms-b0c64b4a1c04972e47a1;ms-620cd9e02d46b021f112;ms-6a3add21affa4796f9be;ms-3c223e8c7f870c807541", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f497cc22967badd9f8b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.9699584245681763, + "candidate_source_group_id": "ms-906dbd4dc79cb6be1e2c;ms-02d160e1d5db6e544363;ms-7eaea428dfdef7255a66;ms-554727d05aa9a2b32904;ms-26751f54c657b24b4da2;ms-7b2cb5c6abcc36a362d1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-340e4b5de99447fbcd5e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.8536207675933838, + "candidate_source_group_id": "ms-372f2ecb6685d8cae8d5;ms-02fd0338e80ef19ceec1;ms-6b789356d65b3312fbae;ms-45309d0bdc5e3babc17b;ms-0dee962a5901fb8b5bbb;ms-7a044cb6c7bb03f3ea10", + "expert_regret": 0.0804787427186966, + "expert_score": 0.24815547466278076, + "expert_success": false, + "group_id": "ms-cb8cbd90038493c30888", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.10790659487247467, + "oracle_score": 0.27558332681655884, + "oracle_success": false, + "progress": 0.16767673194408417, + "restore_error": 2.3096799850463867e-07, + "score": 0.16767673194408417, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5581140518188477, + "candidate_source_group_id": "ms-9229ce141dd41a11fac1;ms-2b7ca4255af28e33db96;ms-7df455efd413d77e6ce3;ms-38f7298184a2c5005e94;ms-387e6771a55be98f1a59;ms-397e502908d16b7804b0", + "expert_regret": 0.0, + "expert_score": 0.24371962249279022, + "expert_success": false, + "group_id": "ms-757b3e9ecfc21efc80a7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.24371962249279022, + "oracle_success": false, + "progress": 0.24592654407024384, + "restore_error": 2.3096799850463867e-07, + "score": 0.24592654407024384, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.165606141090393, + "candidate_source_group_id": "ms-c5d53da10b561f402ee7;ms-088ad33a4461de5ce0cb;ms-53b435e197011e0d48b3;ms-6a3add21affa4796f9be;ms-3c223e8c7f870c807541;ms-620cd9e02d46b021f112", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d915ee5030ef1ea1b0d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.14630530774593353, + "candidate_source_group_id": "ms-19cb10d10516bd0216a6;ms-ee4ddb148e138fce841c;ms-0819eb89e627595e7e1b;ms-47460f61b9edd000c05d;ms-15459afe7e32ce62fc1b;ms-4de1f6d71208bf1d182d", + "expert_regret": 0.0, + "expert_score": 0.13993772864341736, + "expert_success": false, + "group_id": "ms-e2bad6e99e8a281207cc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.04555313289165497, + "oracle_score": 0.20825156569480896, + "oracle_success": false, + "progress": 0.162698432803154, + "restore_error": 1.1920928955078125e-07, + "score": 0.162698432803154, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6245370507240295, + "candidate_source_group_id": "ms-80801b0de8334bd2bcc8;ms-d92cec7cfd1915a30824;ms-1150c257eb77fdf40f55;ms-ee30ebaf98622759d888;ms-b92ca6f216624d6305c2;ms-be219977a9db8dbb1e58", + "expert_regret": 0.17786362767219543, + "expert_score": 0.21821841597557068, + "expert_success": false, + "group_id": "ms-3d090ac2459c4b891dd1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9596452116966248, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.040354788303375244, + "restore_error": 1.1920928955078125e-07, + "score": 0.040354788303375244, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.7069625854492188, + "candidate_source_group_id": "ms-d024c00b780e0df06b55;ms-b92ca6f216624d6305c2;ms-22638e64d6a54980bc02;ms-ebacae0135af2832dfbb;ms-6d46dae312649c977b64;ms-d73fd5fce55fb58ef8e9", + "expert_regret": 1.9678900614380836, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b1ed7e9f28f7a3f924d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9678900614380836, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03210993856191635, + "restore_error": 1.1920928955078125e-07, + "score": 0.03210993856191635, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.130171298980713, + "candidate_source_group_id": "ms-ee30ebaf98622759d888;ms-fd4b2d974e51fed9536e;ms-d92cec7cfd1915a30824;ms-b794f77d280289ce22a4;ms-b92ca6f216624d6305c2;ms-be219977a9db8dbb1e58", + "expert_regret": 1.9533078260719776, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f59e0d91a187e6a48299", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9533078260719776, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.046692173928022385, + "restore_error": 1.1920928955078125e-07, + "score": 0.046692173928022385, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5502802729606628, + "candidate_source_group_id": "ms-ec2eec3ab528878445cd;ms-45131c0aa974fa9602ad;ms-a04e804d3aad7b40f1ac;ms-89c4edc5d083202b2443;ms-3d31ef4f467b204b8477;ms-4d400b68d540cebcc9e0", + "expert_regret": 0.0016435086727142334, + "expert_score": 0.18963214755058289, + "expert_success": false, + "group_id": "ms-f9740a08a98cb251b761", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8120113611221313, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18798863887786865, + "restore_error": 1.1920928955078125e-07, + "score": 0.18798863887786865, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2544279098510742, + "candidate_source_group_id": "ms-4aed2a49597da545e551;ms-53a86042af3c0887e556;ms-f3f1d07cfd59b823da47;ms-25ab20bb3da8ba34be95;ms-c9f45175ee5fcafa38ec;ms-02fd0338e80ef19ceec1", + "expert_regret": 0.041429564356803894, + "expert_score": 0.07850711047649384, + "expert_success": false, + "group_id": "ms-ccb8bd419b9cd771d12f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.2122248113155365, + "oracle_score": 0.24930235743522644, + "oracle_success": false, + "progress": 0.03707754611968994, + "restore_error": 1.1920928955078125e-07, + "score": 0.03707754611968994, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.33150574564933777, + "candidate_source_group_id": "ms-ebfb82df795e73599373;ms-49b9e0f9ceaf91314919;ms-f4a2d61f02d4224bad4f;ms-e6b654653119682cf01e;ms-20ca52baa214c31b3186;ms-35940a55db9e3f7e6ad0", + "expert_regret": 0.0, + "expert_score": 0.01361372135579586, + "expert_success": false, + "group_id": "ms-81f4e8858b2ba90aea2e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.1631626933813095, + "oracle_success": false, + "progress": 0.18636779487133026, + "restore_error": 1.1920928955078125e-07, + "score": 0.18636779487133026, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0786856412887573, + "candidate_source_group_id": "ms-eab38ab23e5fd0218632;ms-e9d7fc13264ff1c06637;ms-57e91ed3c8bd0299534f;ms-26c3a975205dfd16f076;ms-b28f44671fe871a8bea8;ms-e8afd0ad85d7e219a1ec", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9fbd54f73e56e3231631", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.0116567611694336e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6625381708145142, + "candidate_source_group_id": "ms-68b43d83b97196e0d27f;ms-465d531b9cec5bc77ed7;ms-cad6645f8175e38ad155;ms-37384bede4d1c03f3b80;ms-29f47a1dc1d9c3ec3365;ms-3f2aed5964eed6c4936a", + "expert_regret": 0.0, + "expert_score": 0.16178712248802185, + "expert_success": false, + "group_id": "ms-4cc40587ec490257b1d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.736283302307129, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2637166976928711, + "restore_error": 2.0116567611694336e-07, + "score": 0.2637166976928711, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2880965769290924, + "candidate_source_group_id": "ms-7ea98b8f4d2220347ee0;ms-89538d844f6299774906;ms-126eb8b36769f9ba4671;ms-45fbd749d5ed3fe37c13;ms-9826b7a6fdcc0fd3eb69;ms-674fad0e7c042d23629e", + "expert_regret": 0.038045771420001984, + "expert_score": 0.1594313085079193, + "expert_success": false, + "group_id": "ms-98eb81debb5186ebbe38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.11834994703531265, + "oracle_score": 0.23973548412322998, + "oracle_success": false, + "progress": 0.12138553708791733, + "restore_error": 2.0116567611694336e-07, + "score": 0.12138553708791733, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.30511775612831116, + "candidate_source_group_id": "ms-1ba37e30b90a3b28e62f;ms-9c6eae5aaafcbc2e7b1d;ms-70549468e433100cfaa6;ms-a1b57fcae964d7b531da;ms-cad33aa1136af34af6ec;ms-e3e9c08ff116ef32db75", + "expert_regret": 0.0, + "expert_score": 0.12880972027778625, + "expert_success": false, + "group_id": "ms-6e27d292a9cbea108fc9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.23463158309459686, + "oracle_success": false, + "progress": 0.2618752717971802, + "restore_error": 2.0116567611694336e-07, + "score": 0.2618752717971802, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.405151903629303, + "candidate_source_group_id": "ms-38e262365697885024d7;ms-206099bab6bfe7c84fce;ms-7e88428497a6b13936c4;ms-8e56b0eaa2604db6749e;ms-3a4e2d080c9c4b279895;ms-4c99c68cb7d1f50db857", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c8fa3c12dd48ffd82fcf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.0116567611694336e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.649170994758606, + "candidate_source_group_id": "ms-151566379dfd7af6fe63;ms-1cba84e4c11e030aeb3e;ms-1a4d443c5b80e0dac794;ms-b784fe769f0fb1d315e5;ms-b0c64b4a1c04972e47a1;ms-7f57045c114ddad153b5", + "expert_regret": 0.0, + "expert_score": 0.23240530490875244, + "expert_success": false, + "group_id": "ms-36f0ff5c96ebdd4644c2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.0116567611694336e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8908098340034485, + "candidate_source_group_id": "ms-387e6771a55be98f1a59;ms-397e502908d16b7804b0;ms-7df455efd413d77e6ce3;ms-2b7ca4255af28e33db96;ms-9229ce141dd41a11fac1;ms-38f7298184a2c5005e94", + "expert_regret": 0.08694660663604736, + "expert_score": 0.15188813209533691, + "expert_success": false, + "group_id": "ms-e0c576a5a78374889088", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13576126098632812, + "oracle_score": 0.20070278644561768, + "oracle_success": false, + "progress": 0.06494152545928955, + "restore_error": 2.0116567611694336e-07, + "score": 0.06494152545928955, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4726523756980896, + "candidate_source_group_id": "ms-9c6eae5aaafcbc2e7b1d;ms-4dc6f09c1beeb5314d11;ms-6f26118aa94bacd82250;ms-0093b06390890d181104;ms-c832439976a37f52d094;ms-2eabcf580547d2c133ce", + "expert_regret": 0.0, + "expert_score": 0.010581731796264648, + "expert_success": false, + "group_id": "ms-ec013396e4aff6170ee1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.24502670764923096, + "oracle_success": false, + "progress": 0.2754725515842438, + "restore_error": 2.0116567611694336e-07, + "score": 0.2754725515842438, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7060733437538147, + "candidate_source_group_id": "ms-ce524659487cd1d71390;ms-3798cbeab8a36b08c295;ms-20b11e3e581c2a865096;ms-49b9e0f9ceaf91314919;ms-60f0d45b604940db0058;ms-aab59ee607a5ba7e3bfa", + "expert_regret": 0.12827232480049133, + "expert_score": 0.1477116048336029, + "expert_success": false, + "group_id": "ms-0b93907b2a7261815f63", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.2137853503227234, + "oracle_score": 0.23322463035583496, + "oracle_success": false, + "progress": 0.019439280033111572, + "restore_error": 2.384185791015625e-07, + "score": 0.019439280033111572, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4017476439476013, + "candidate_source_group_id": "ms-0093b06390890d181104;ms-20b11e3e581c2a865096;ms-2eabcf580547d2c133ce;ms-d6cc29ec9fbbc53d0f68;ms-6f26118aa94bacd82250;ms-4dc6f09c1beeb5314d11", + "expert_regret": 0.0, + "expert_score": 0.013159613125026226, + "expert_success": false, + "group_id": "ms-ccc79c981e3a67ebeaf2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.1627672165632248, + "oracle_success": false, + "progress": 0.1729012429714203, + "restore_error": 2.384185791015625e-07, + "score": 0.1729012429714203, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.19280652701854706, + "candidate_source_group_id": "ms-8a87ddbfc0fce8bb13d5;ms-a2518826fa0a816cc46f;ms-f4a2d61f02d4224bad4f;ms-1ca019318ddec8ce5e8a;ms-52b4f33b924e82688187;ms-ebfb82df795e73599373", + "expert_regret": 0.0, + "expert_score": 0.20860514044761658, + "expert_success": false, + "group_id": "ms-7ec14cb44e2262c7b497", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.07605955004692078, + "oracle_score": 0.2868060767650604, + "oracle_success": false, + "progress": 0.21074652671813965, + "restore_error": 2.384185791015625e-07, + "score": 0.21074652671813965, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.258681058883667, + "candidate_source_group_id": "ms-dab8307a45ebe8220c83;ms-88012aab0303554a1736;ms-284545b8610706250f3c;ms-fbd73493bcf73542f735;ms-06babf453b22ba8f2407;ms-e4e21b9ec2546537fff0", + "expert_regret": 0.0, + "expert_score": 0.12086304277181625, + "expert_success": false, + "group_id": "ms-456cdaaa617fc54fd766", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.35995933413505554, + "candidate_source_group_id": "ms-4de1f6d71208bf1d182d;ms-4da03300d92420e80ed0;ms-47460f61b9edd000c05d;ms-0819eb89e627595e7e1b;ms-bce8c4ec2bf882ca0b2e;ms-15459afe7e32ce62fc1b", + "expert_regret": 0.0, + "expert_score": 0.17559778690338135, + "expert_success": false, + "group_id": "ms-d5da60ea045af7f677a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.1883772611618042, + "oracle_success": false, + "progress": 0.2804417908191681, + "restore_error": 2.384185791015625e-07, + "score": 0.2804417908191681, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3692804276943207, + "candidate_source_group_id": "ms-372f2ecb6685d8cae8d5;ms-45309d0bdc5e3babc17b;ms-6b789356d65b3312fbae;ms-0dee962a5901fb8b5bbb;ms-7a044cb6c7bb03f3ea10;ms-02fd0338e80ef19ceec1", + "expert_regret": 0.028609365224838257, + "expert_score": 0.2534019351005554, + "expert_success": false, + "group_id": "ms-45672e1bf3b083eb3fc3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.035961538553237915, + "oracle_score": 0.2607541084289551, + "oracle_success": false, + "progress": 0.22479256987571716, + "restore_error": 2.384185791015625e-07, + "score": 0.22479256987571716, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4990374445915222, + "candidate_source_group_id": "ms-267832544376e3727efb;ms-bce8c4ec2bf882ca0b2e;ms-5ecde7b64c80d2abbe1f;ms-615d4a98352149e15ff1;ms-bd90866faa10e62fce2c;ms-714913716f5f0a287401", + "expert_regret": 0.02159327268600464, + "expert_score": 0.21242734789848328, + "expert_success": false, + "group_id": "ms-aefa917c6b1659d6edd2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.06867793202400208, + "oracle_score": 0.2595120072364807, + "oracle_success": false, + "progress": 0.19083407521247864, + "restore_error": 2.384185791015625e-07, + "score": 0.19083407521247864, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5355437994003296, + "candidate_source_group_id": "ms-1a4d443c5b80e0dac794;ms-151566379dfd7af6fe63;ms-1cba84e4c11e030aeb3e;ms-02311c7783bc67e188b4;ms-20e1efbb745fd02abc95;ms-9df6734b8268172ea7e5", + "expert_regret": 0.0, + "expert_score": 0.24619130790233612, + "expert_success": false, + "group_id": "ms-b49043f15f4846de5b13", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5658755898475647, + "candidate_source_group_id": "ms-4bda8533405961380322;ms-3bfe7e8a312d53f966d0;ms-1c2768099019b86daca7;ms-b7d7021b782f73816083;ms-ba11d52e628b2efe32ea;ms-f087710511e9f9336ad6", + "expert_regret": 0.0, + "expert_score": 0.03362294286489487, + "expert_success": false, + "group_id": "ms-6754ed0131c952830729", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.19071342051029205, + "oracle_score": 0.28973090648651123, + "oracle_success": false, + "progress": 0.09901748597621918, + "restore_error": 1.1920928955078125e-07, + "score": 0.09901748597621918, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.13920031487941742, + "candidate_source_group_id": "ms-53344c3bc69a3b0fe303;ms-6661b157c41ad4d6ab85;ms-344d81289be624d70b0e;ms-cc07f96f3454a4643b9a;ms-c083dba0e5dcc8ca1004;ms-f126e1cf5b3ee52a8476", + "expert_regret": 0.0, + "expert_score": 0.1437651813030243, + "expert_success": false, + "group_id": "ms-6ad14a70593958c00a63", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.04039834439754486, + "oracle_score": 0.19063356518745422, + "oracle_success": false, + "progress": 0.15023522078990936, + "restore_error": 1.1920928955078125e-07, + "score": 0.15023522078990936, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.2241889238357544, + "candidate_source_group_id": "ms-12c741253e1802aad9ec;ms-778efc20fc2ee8a3dd02;ms-2e40499cb146da6f89e7;ms-4f0a59b7bc897c0d5e5e;ms-744702a88bec9222a30a;ms-53b435e197011e0d48b3", + "expert_regret": 1.7448800206184387, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-271889c9e921f7716135", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.7448800206184387, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2551199793815613, + "restore_error": 1.1920928955078125e-07, + "score": 0.2551199793815613, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3645484745502472, + "candidate_source_group_id": "ms-20b11e3e581c2a865096;ms-0093b06390890d181104;ms-f36d4df536c36d2c6ebb;ms-d6cc29ec9fbbc53d0f68;ms-2eabcf580547d2c133ce;ms-3798cbeab8a36b08c295", + "expert_regret": 0.0, + "expert_score": 0.0, + "expert_success": false, + "group_id": "ms-d277cb167868742373fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13433030247688293, + "oracle_score": 0.26472294330596924, + "oracle_success": false, + "progress": 0.1303926408290863, + "restore_error": 1.1920928955078125e-07, + "score": 0.1303926408290863, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5240548253059387, + "candidate_source_group_id": "ms-b0c64b4a1c04972e47a1;ms-3ed611d029d2ae0b12d8;ms-620cd9e02d46b021f112;ms-151566379dfd7af6fe63;ms-3c223e8c7f870c807541;ms-7f57045c114ddad153b5", + "expert_regret": 0.13129693269729614, + "expert_score": 0.26841363310813904, + "expert_success": false, + "group_id": "ms-babaeb20129c46551281", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.862883299589157, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1371167004108429, + "restore_error": 1.1920928955078125e-07, + "score": 0.1371167004108429, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6570636630058289, + "candidate_source_group_id": "ms-6661b157c41ad4d6ab85;ms-344d81289be624d70b0e;ms-bccd7bbe1b1b98254147;ms-c31b98b3d3702c6f9c8c;ms-cc07f96f3454a4643b9a;ms-ee4ddb148e138fce841c", + "expert_regret": 0.0, + "expert_score": 0.10120099782943726, + "expert_success": false, + "group_id": "ms-1faf779e909ec0415be0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.15691404044628143, + "oracle_success": false, + "progress": 0.16704797744750977, + "restore_error": 1.1920928955078125e-07, + "score": 0.16704797744750977, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.25315994024276733, + "candidate_source_group_id": "ms-02fd0338e80ef19ceec1;ms-372f2ecb6685d8cae8d5;ms-f3f1d07cfd59b823da47;ms-6b789356d65b3312fbae;ms-0dee962a5901fb8b5bbb;ms-d271e7de6bc331371e9c", + "expert_regret": 0.0, + "expert_score": 0.12615570425987244, + "expert_success": false, + "group_id": "ms-38dff128761905bb1507", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.027960628271102905, + "oracle_score": 0.2726711928844452, + "oracle_success": false, + "progress": 0.24471056461334229, + "restore_error": 1.1920928955078125e-07, + "score": 0.24471056461334229, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6815882921218872, + "candidate_source_group_id": "ms-ed375122594187ef997e;ms-003a2225c0892dcda683;ms-22638e64d6a54980bc02;ms-d024c00b780e0df06b55;ms-0bfb62b78032d6e1aa65;ms-b92ca6f216624d6305c2", + "expert_regret": 0.0, + "expert_score": 0.07457844913005829, + "expert_success": false, + "group_id": "ms-7dedf60ad41ea2d92ee5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7328604459762573, + "candidate_source_group_id": "ms-cad33aa1136af34af6ec;ms-c832439976a37f52d094;ms-6f26118aa94bacd82250;ms-2eabcf580547d2c133ce;ms-e30fd80adc089e9f697a;ms-4dc6f09c1beeb5314d11", + "expert_regret": 0.010809704661369324, + "expert_score": 0.08313547074794769, + "expert_success": false, + "group_id": "ms-f4f9dd2ff38f992d4fb9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.09933304786682129, + "oracle_score": 0.17165881395339966, + "oracle_success": false, + "progress": 0.07232576608657837, + "restore_error": 2.3096799850463867e-07, + "score": 0.07232576608657837, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.40739139914512634, + "candidate_source_group_id": "ms-b7d7021b782f73816083;ms-4bda8533405961380322;ms-b8c3ec3ea915c5d35b3e;ms-0dee962a5901fb8b5bbb;ms-372f2ecb6685d8cae8d5;ms-5ab7f487c7006dec473a", + "expert_regret": 0.0, + "expert_score": 0.14746789634227753, + "expert_success": false, + "group_id": "ms-9681d9cb43cc26adb0fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.23335996270179749, + "oracle_success": false, + "progress": 0.23653364181518555, + "restore_error": 2.3096799850463867e-07, + "score": 0.23653364181518555, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0439473390579224, + "candidate_source_group_id": "ms-28bcbcc6e675708de340;ms-35940a55db9e3f7e6ad0;ms-3a4e2d080c9c4b279895;ms-20ca52baa214c31b3186;ms-e6b654653119682cf01e;ms-dc5563c9b0dcd84e393b", + "expert_regret": 0.05105452239513397, + "expert_score": 0.1586810052394867, + "expert_success": false, + "group_id": "ms-85f911fca087fed2caff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.06851005554199219, + "oracle_score": 0.1761365383863449, + "oracle_success": false, + "progress": 0.10762648284435272, + "restore_error": 2.3096799850463867e-07, + "score": 0.10762648284435272, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0779598951339722, + "candidate_source_group_id": "ms-2dc5138251afd26a040d;ms-06babf453b22ba8f2407;ms-dab8307a45ebe8220c83;ms-e4e21b9ec2546537fff0;ms-88012aab0303554a1736;ms-fbd73493bcf73542f735", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe5a961ee9b8b8a91b44", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6729856729507446, + "candidate_source_group_id": "ms-20b11e3e581c2a865096;ms-d6cc29ec9fbbc53d0f68;ms-0093b06390890d181104;ms-2eabcf580547d2c133ce;ms-cad33aa1136af34af6ec;ms-d402ca600d53b2db9dbe", + "expert_regret": 0.04825262352824211, + "expert_score": 0.07016094774007797, + "expert_success": false, + "group_id": "ms-34726202b475d29cdf38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.2315123863518238, + "oracle_score": 0.25342071056365967, + "oracle_success": false, + "progress": 0.02190832421183586, + "restore_error": 2.3096799850463867e-07, + "score": 0.02190832421183586, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2661348879337311, + "candidate_source_group_id": "ms-fc87ea5245c2743bdb2d;ms-082cb0ac119a83c42c2d;ms-6b789356d65b3312fbae;ms-372f2ecb6685d8cae8d5;ms-d271e7de6bc331371e9c;ms-45309d0bdc5e3babc17b", + "expert_regret": 0.0, + "expert_score": 0.13208997249603271, + "expert_success": false, + "group_id": "ms-c673132197ce77ae8c9b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.20713643729686737, + "oracle_success": false, + "progress": 0.23910757899284363, + "restore_error": 2.3096799850463867e-07, + "score": 0.23910757899284363, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3120507299900055, + "candidate_source_group_id": "ms-53a86042af3c0887e556;ms-674fad0e7c042d23629e;ms-25ab20bb3da8ba34be95;ms-1e30e297540582d59926;ms-c79a79c1cbd7a472da65;ms-9826b7a6fdcc0fd3eb69", + "expert_regret": 0.0, + "expert_score": 0.028487306088209152, + "expert_success": false, + "group_id": "ms-9dbf65115872ab5360e4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.18980467319488525, + "oracle_success": false, + "progress": 0.1938103288412094, + "restore_error": 2.3096799850463867e-07, + "score": 0.1938103288412094, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.45435264706611633, + "candidate_source_group_id": "ms-3a4e2d080c9c4b279895;ms-9fd23a06ae1659cef27b;ms-dc5563c9b0dcd84e393b;ms-8e56b0eaa2604db6749e;ms-35a50d2822c2c3cc4516;ms-b6dae6677869af5f7f52", + "expert_regret": 0.0, + "expert_score": 0.07923875749111176, + "expert_success": false, + "group_id": "ms-a96bca1ef0b74f686018", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.04892309755086899, + "oracle_score": 0.1572066992521286, + "oracle_success": false, + "progress": 0.10828360170125961, + "restore_error": 2.3096799850463867e-07, + "score": 0.10828360170125961, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6683306097984314, + "candidate_source_group_id": "ms-12c741253e1802aad9ec;ms-e6a58c859c498bb0f4d2;ms-9acbb20bd73584f0e215;ms-778efc20fc2ee8a3dd02;ms-4f0a59b7bc897c0d5e5e;ms-2e40499cb146da6f89e7", + "expert_regret": 0.0, + "expert_score": 0.1722257137298584, + "expert_success": false, + "group_id": "ms-be0f2598cc527ad9040a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.8739244937896729, + "candidate_source_group_id": "ms-257c70d0b302f96fc23f;ms-fce6752dcf61a2b52d15;ms-c8a0f64b433a541481eb;ms-d21367899e99e3048dbe;ms-277531f5e24eeb525899;ms-7df455efd413d77e6ce3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-60bfcb3f019f01dfcfdb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5766171813011169, + "candidate_source_group_id": "ms-6661b157c41ad4d6ab85;ms-c31b98b3d3702c6f9c8c;ms-bccd7bbe1b1b98254147;ms-cc07f96f3454a4643b9a;ms-394edcd961226f337ce1;ms-fc87ea5245c2743bdb2d", + "expert_regret": 0.0, + "expert_score": 0.08069789409637451, + "expert_success": false, + "group_id": "ms-223b0a8319beb051a1ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1593424528837204, + "oracle_success": false, + "progress": 0.25469130277633667, + "restore_error": 1.1920928955078125e-07, + "score": 0.25469130277633667, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.186469316482544, + "candidate_source_group_id": "ms-7df455efd413d77e6ce3;ms-4f0a41c8fb3caaeb9540;ms-75da653dc43676d593ce;ms-fce6752dcf61a2b52d15;ms-397e502908d16b7804b0;ms-0345d8ac530f88cefd61", + "expert_regret": 0.16739778220653534, + "expert_score": 0.16739778220653534, + "expert_success": false, + "group_id": "ms-da555a03dd382d93e119", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 2.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0, + "restore_error": 1.1920928955078125e-07, + "score": 0.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4400283396244049, + "candidate_source_group_id": "ms-1ba37e30b90a3b28e62f;ms-70549468e433100cfaa6;ms-a1b57fcae964d7b531da;ms-fc3d80c6ea6b9a4878ab;ms-e3e9c08ff116ef32db75;ms-50e54f9608e1420ba11a", + "expert_regret": 0.0, + "expert_score": 0.015561699867248535, + "expert_success": false, + "group_id": "ms-338ba952f81d1215216e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.08971966803073883, + "oracle_score": 0.24602913856506348, + "oracle_success": false, + "progress": 0.15630947053432465, + "restore_error": 1.1920928955078125e-07, + "score": 0.15630947053432465, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3801001012325287, + "candidate_source_group_id": "ms-26b69e1e596d2e3163da;ms-f40162c64827e8c44a1a;ms-e50ef9df7287938b501c;ms-3bfe7e8a312d53f966d0;ms-c5d53da10b561f402ee7;ms-53b435e197011e0d48b3", + "expert_regret": 0.0, + "expert_score": 0.005320350639522076, + "expert_success": false, + "group_id": "ms-b2287fbbcd2b5d8372bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.15059608221054077, + "oracle_score": 0.21861237287521362, + "oracle_success": false, + "progress": 0.06801629066467285, + "restore_error": 1.1920928955078125e-07, + "score": 0.06801629066467285, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4052570164203644, + "candidate_source_group_id": "ms-1577a0922a9e53528571;ms-9757fc494e79b5543bb6;ms-52f9c8427a88de8dfa6b;ms-d402ca600d53b2db9dbe;ms-57be9ae181c077e7821f;ms-1f19fd22562f87bdb776", + "expert_regret": 0.0, + "expert_score": 0.12554395198822021, + "expert_success": false, + "group_id": "ms-d535b38d768633f6d922", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.027364149689674377, + "oracle_score": 0.204204723238945, + "oracle_success": false, + "progress": 0.17684057354927063, + "restore_error": 1.1920928955078125e-07, + "score": 0.17684057354927063, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5408247113227844, + "candidate_source_group_id": "ms-cd84deb86ca0c1f1c020;ms-575c7eef4563e02ec689;ms-b6b7052345036de1448d;ms-b94dfc54c3bf844d5146;ms-0e1ff8d16372796dac97;ms-ac94b48febe523da15a5", + "expert_regret": 0.0, + "expert_score": 0.1568639576435089, + "expert_success": false, + "group_id": "ms-d0158d7b3df11d64095c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.054382458329200745, + "oracle_score": 0.21547327935695648, + "oracle_success": false, + "progress": 0.16109082102775574, + "restore_error": 1.1920928955078125e-07, + "score": 0.16109082102775574, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.5823088884353638, + "candidate_source_group_id": "ms-d024c00b780e0df06b55;ms-b92ca6f216624d6305c2;ms-ebacae0135af2832dfbb;ms-003a2225c0892dcda683;ms-6d46dae312649c977b64;ms-22638e64d6a54980bc02", + "expert_regret": 1.951457817107439, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-36ce7b44f44c615347ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.951457817107439, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04854218289256096, + "restore_error": 1.1920928955078125e-07, + "score": 0.04854218289256096, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.291089415550232, + "candidate_source_group_id": "ms-61c3c0e99a653d2a7fe2;ms-59d4cdcd401477b5adfc;ms-f2b2b2a1aa2863c3676f;ms-8577816da2917a2bb63d;ms-84388e63928e1a30ffc4;ms-1d3f30fae746c0b9cefc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0f5ffa7a4448b22b7951", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5072232484817505, + "candidate_source_group_id": "ms-f5dd1c43ebc4c0cfc3f1;ms-02fd0338e80ef19ceec1;ms-0dee962a5901fb8b5bbb;ms-5ab7f487c7006dec473a;ms-fbd73493bcf73542f735;ms-284545b8610706250f3c", + "expert_regret": 0.0, + "expert_score": 0.15089315176010132, + "expert_success": false, + "group_id": "ms-d81e3048f5ae278c708f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.05163054168224335, + "oracle_score": 0.23822252452373505, + "oracle_success": false, + "progress": 0.1865919828414917, + "restore_error": 1.1920928955078125e-07, + "score": 0.1865919828414917, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3995524048805237, + "candidate_source_group_id": "ms-7b90f35aa521ef45ea27;ms-50e54f9608e1420ba11a;ms-cf4b63d109a88a4c42bf;ms-e3e9c08ff116ef32db75;ms-8a87ddbfc0fce8bb13d5;ms-a1b57fcae964d7b531da", + "expert_regret": 0.021049916744232178, + "expert_score": 0.057853661477565765, + "expert_success": false, + "group_id": "ms-db2c4015a0690cc80d24", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.15261314064264297, + "oracle_score": 0.18941688537597656, + "oracle_success": false, + "progress": 0.03680374473333359, + "restore_error": 1.1920928955078125e-07, + "score": 0.03680374473333359, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3605150282382965, + "candidate_source_group_id": "ms-ff08c0b84d984d3d8620;ms-85a4fc6e131dacc9d839;ms-aca9b69b504ede73bcac;ms-365d8c6de6de16f66744;ms-28a10bea0cf3f917e067;ms-f12b50fed09bbbf6c039", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cbdc087c47e35d3d93d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.48931336402893066, + "candidate_source_group_id": "ms-e7fcbe2b61632a79fe6a;ms-783ceec205863d92ef8a;ms-bfe867e8d518b9f8333a;ms-90a840c7cbbfe35e8a67;ms-db2cfd3c0ce8ece8a112;ms-82d6fc374e1f1808654b", + "expert_regret": 1.942877620458603, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-27eb5fd79735a667570a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.942877620458603, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.057122379541397095, + "restore_error": 1.1920928955078125e-07, + "score": 0.057122379541397095, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5547268986701965, + "candidate_source_group_id": "ms-2baa5b5b99121cff72c2;ms-b0d0004818ae853d5bc5;ms-6825a9112cb71ea137c9;ms-22f153f0d4fa656018e6;ms-ba0ee0c9c181cdc7de9d;ms-eea4df1b36e8a31b40a3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ecf6837325ac3bc3b66d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.11385723203420639, + "candidate_source_group_id": "ms-0a3ff306e1bebfd51ae4;ms-ea1abf4dd25aea30202b;ms-c01a70d845742d97e197;ms-2b27b1ecc0284ec3a993;ms-4a4de470c6c7cb5a3c34;ms-2a4f1cbd3f416f9084dc", + "expert_regret": 0.0, + "expert_score": 0.17443525791168213, + "expert_success": false, + "group_id": "ms-934e125b62165b614036", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6850908994674683, + "candidate_source_group_id": "ms-cdca8a6fff0640ab7f16;ms-4f291cdf6a62b9af9e5d;ms-fe5a68745bbc6b4256cf;ms-64b6e9f72ae5e2999f56;ms-b5dee7bdaf34270e6515;ms-29f7da1cd496619f45f5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d99360c1e4bb4bed6d50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4184686541557312, + "candidate_source_group_id": "ms-bb9f2f5b67bbb7e0f516;ms-66d3cc0e17bcbfb5f36e;ms-916b66e56329dbd05b29;ms-d97538effd225a910367;ms-f83aacaa71f0151421c7;ms-a6fbec34b57a97204a37", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-39f133217cde17cf4465", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.09079481661319733, + "candidate_source_group_id": "ms-0a001f1bda12891b219f;ms-82a5b63ed41420747fb9;ms-29f7da1cd496619f45f5;ms-de96f1dcca4527c03814;ms-7aaa46eaa657a3179a70;ms-88c39906a4e9c32ec286", + "expert_regret": 0.0, + "expert_score": 0.0007119327783584595, + "expert_success": false, + "group_id": "ms-dec13f2e40baaf5c8d40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.30973386764526367, + "candidate_source_group_id": "ms-109d9131cce2e94f40c1;ms-147e4106b5d337cefcb2;ms-670a696bd472769ac513;ms-b5ca4a8c438aadab9ec5;ms-998ac1af1755510c9229;ms-4c9ed894520169849bc6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7fac99962876b33e8d0b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.34800904989242554, + "candidate_source_group_id": "ms-876805da5863dc637246;ms-4a4de470c6c7cb5a3c34;ms-2a4f1cbd3f416f9084dc;ms-2413d1155c87f0442485;ms-98d8d5d728ee4cff6776;ms-9d1d3a7b2dcafeda3bf3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4aa2c82355bdbbb93f9d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.35068297386169434, + "candidate_source_group_id": "ms-c1f8e861c7c4485c361a;ms-0942bb0cc1143a2058f9;ms-64f98d163b6bff29332b;ms-027592312fc833e8768d;ms-9d943a2732771576e41d;ms-1fe4b5c84ee5c0e6fcdb", + "expert_regret": 1.9073949456214905, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d4ee30bf4815d04c391", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9073949456214905, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09260505437850952, + "restore_error": 1.1920928955078125e-07, + "score": 0.09260505437850952, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.26741406321525574, + "candidate_source_group_id": "ms-a18cc16207970cd8f84d;ms-c8902580575f6effb241;ms-f97fbc8f36f0af9ce18c;ms-8d23082fdeffba7cba51;ms-e9bb31726937713db23a;ms-84404222b954c48c48d8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8efd9238ae8d6ca1cd1a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4854848086833954, + "candidate_source_group_id": "ms-c10cf873dd3f68d97755;ms-383c0d1f90c5a0b55e07;ms-4015b8ac7c0a1397c076;ms-9f33c55b8e06fcb5e21e;ms-9d8348ba3054f969ad8e;ms-f6635cbacd4195f7f4ab", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3028df2c22f4c029b533", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4902838170528412, + "candidate_source_group_id": "ms-c257731ddcf5cf149393;ms-ca9a06f00b861bf34c4d;ms-f14cda80db7270dd0f86;ms-87f2f63d694d8ccca7f8;ms-44a69da62321224c1df9;ms-45b8b3cec97878df0d19", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9a00cd02aa3ea31af1c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.09199833869934082, + "candidate_source_group_id": "ms-14265f08eea0055edff3;ms-1e15448c374f47bee884;ms-64b6e9f72ae5e2999f56;ms-c333dcd8ec59f2ae8a3d;ms-33dcfa4725ad078cc898;ms-b5dee7bdaf34270e6515", + "expert_regret": 0.0, + "expert_score": 3.8057565689086914e-05, + "expert_success": false, + "group_id": "ms-bc4bf52af94d1469eaee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.11666642874479294, + "candidate_source_group_id": "ms-8b813b6035f0425892bd;ms-a649d9cf4fba45822ad9;ms-b25b49e16e98af4a554c;ms-17b435e93391674c7fdd;ms-65d0541a2ba23a8478fa;ms-346494921f998d7a48ab", + "expert_regret": 0.0, + "expert_score": 0.120394766330719, + "expert_success": false, + "group_id": "ms-fc8084d5cd7da937fc02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.551528811454773, + "candidate_source_group_id": "ms-1003d1fe41aba4c8af84;ms-2423891634e7b469eed8;ms-be8665e211c9b1cc13b4;ms-281b1eae3c1ac42cb40c;ms-918efaf9527826841090;ms-7a75d1290f292d92ca67", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c1607c435e4b43609693", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5621481537818909, + "candidate_source_group_id": "ms-90a840c7cbbfe35e8a67;ms-783ceec205863d92ef8a;ms-98d738638749a1c0999d;ms-25942684dfc6d81c449a;ms-db2cfd3c0ce8ece8a112;ms-2a7f05987ae1fd0fa33d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d130baa9773a108ae1b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.32098695635795593, + "candidate_source_group_id": "ms-bb9f2f5b67bbb7e0f516;ms-66d3cc0e17bcbfb5f36e;ms-234ce02cf98f85bda72c;ms-d97538effd225a910367;ms-6d48ff55845b6759a8c4;ms-916b66e56329dbd05b29", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-411a6db8809ff09857ff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6188467741012573, + "candidate_source_group_id": "ms-86909e2391a6a77883b3;ms-8750cccf83614187fe14;ms-30caf93619a0e2f94eae;ms-170a9228df2273649f1c;ms-7aaa46eaa657a3179a70;ms-031c526a8690cad1677c", + "expert_regret": 1.9165897369384766, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9574e0bf814256a11f3e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9165897369384766, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08341026306152344, + "restore_error": 1.1920928955078125e-07, + "score": 0.08341026306152344, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6690583825111389, + "candidate_source_group_id": "ms-2962fafa0fcd14e516bb;ms-cefef59d2909a69dd709;ms-d5d38df1f2dbae367af0;ms-c8ffa7d45ed61e2b94d6;ms-e6b0ee06238145e2a517;ms-5816c255ea56bc8a63c3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-63b9ac9cfd0a96150eb1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5717083811759949, + "candidate_source_group_id": "ms-1371e0e5fe7f126bbea2;ms-1188a1b8e0ac31187b3b;ms-f2f594b2492898e947f0;ms-e31553038464afab4ec1;ms-33e036c8224f052e6279;ms-9915a1632fdf65172a02", + "expert_regret": 1.8821434825658798, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a83154b77975bca93e5e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8821434825658798, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11785651743412018, + "restore_error": 1.1920928955078125e-07, + "score": 0.11785651743412018, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.460894912481308, + "candidate_source_group_id": "ms-65d0541a2ba23a8478fa;ms-e4656ad3c67bd430c1a6;ms-b25b49e16e98af4a554c;ms-130f96b49e1bdb7c0e7c;ms-2e237a4b84b582828c37;ms-8b813b6035f0425892bd", + "expert_regret": 1.9406643211841583, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-79d2ebbe5913e3a72313", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9406643211841583, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.059335678815841675, + "restore_error": 1.1920928955078125e-07, + "score": 0.059335678815841675, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6624216437339783, + "candidate_source_group_id": "ms-9d1d3a7b2dcafeda3bf3;ms-3a5eaa0095953c9d6241;ms-9d82d1927529dc675bc5;ms-f261341a4a394ae06c69;ms-4dbdc6ed61dccebbfe92;ms-3cb727b6501f5c1a5a16", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69b8e0564f16c652d900", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7399312257766724, + "candidate_source_group_id": "ms-605cecc07e3298489320;ms-44a69da62321224c1df9;ms-ca9a06f00b861bf34c4d;ms-c257731ddcf5cf149393;ms-7f22550a9f6707a45cd4;ms-733b04f5bd4720d79e99", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1dd7b6c07218e5e69494", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.12155432999134064, + "candidate_source_group_id": "ms-f12b50fed09bbbf6c039;ms-365d8c6de6de16f66744;ms-86508eb5d360c56023e1;ms-dae29d741eb65a2fc4b3;ms-0be67b60c98e4f3e692f;ms-265a3e206e8d55a9171a", + "expert_regret": 0.0, + "expert_score": 0.18926367163658142, + "expert_success": false, + "group_id": "ms-07aa7d1f9c01e93d04bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.34814852476119995, + "candidate_source_group_id": "ms-86909e2391a6a77883b3;ms-30caf93619a0e2f94eae;ms-170a9228df2273649f1c;ms-4401ec9ab8c89fb39f58;ms-f52fe666ef7c9b997778;ms-58950fed04d203b97ab9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a631a8d6314b7547f71f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.48318925499916077, + "candidate_source_group_id": "ms-cb51cbc4086bd452233d;ms-f6755a487459505d598f;ms-75dce23f7afca1f3e5b5;ms-d4c37ed44fb338c1d551;ms-05139cc8ec8867b8ea3d;ms-d97538effd225a910367", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de5cb4c5e0ba01be4568", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.49316638708114624, + "candidate_source_group_id": "ms-f044b20b0f2bb0983f5a;ms-2377ed2b717d22203e99;ms-4711dffcd73048a3656c;ms-2db29812d012d503054a;ms-84bc79aab8423997e8c4;ms-97939101c75832eb62cd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-abb9a0e2ba0163714374", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5073866248130798, + "candidate_source_group_id": "ms-627eaad017d31a933984;ms-bb6a2f2ae3014b135b40;ms-3589c30bbad90d19f2c4;ms-ea67d3a4697351095f09;ms-c2ae2b78ab7891e74c80;ms-0350672b45f92c437c22", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10450837f7f5319c4cab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8033033013343811, + "candidate_source_group_id": "ms-d2aed645029072f5c82f;ms-8c2312d2a272dbcbae71;ms-1be8db140ae74d18596f;ms-87f2f63d694d8ccca7f8;ms-f14cda80db7270dd0f86;ms-9df99aca252d63f555b2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-60c02d02de5f1e91124f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5357220768928528, + "candidate_source_group_id": "ms-4d96769e78d7391e43f7;ms-048c14d42c3f3b352f53;ms-f7db0d0ad0967af1d0c5;ms-3b99101d58e538cfbd6d;ms-653181f057aeaeeadfe2;ms-beb40d1c9533f7508aa5", + "expert_regret": 1.9263371229171753, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a0863466a999b4680737", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9263371229171753, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07366287708282471, + "restore_error": 1.1920928955078125e-07, + "score": 0.07366287708282471, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.10955440998077393, + "candidate_source_group_id": "ms-2377ed2b717d22203e99;ms-f044b20b0f2bb0983f5a;ms-4711dffcd73048a3656c;ms-97939101c75832eb62cd;ms-84bc79aab8423997e8c4;ms-ea694828fcd81abbbc7a", + "expert_regret": 0.0, + "expert_score": 0.18189409375190735, + "expert_success": false, + "group_id": "ms-7530a944fb0979ba91e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.39098232984542847, + "candidate_source_group_id": "ms-40bddbc4f8ee1ed19575;ms-97939101c75832eb62cd;ms-bb8ddc9a1e197eb7cee1;ms-2377ed2b717d22203e99;ms-e63468cc3772da77cc67;ms-c84dbd2afb3321e2f43c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a5970ba19b465cd86c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4035625457763672, + "candidate_source_group_id": "ms-85a4fc6e131dacc9d839;ms-ff08c0b84d984d3d8620;ms-663c7e7fdaea6a945a2b;ms-365d8c6de6de16f66744;ms-f492405ef825467ddcba;ms-2867deaca7e98582620b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b5f45644a5e3ed45c86d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5975111722946167, + "candidate_source_group_id": "ms-1188a1b8e0ac31187b3b;ms-1371e0e5fe7f126bbea2;ms-f2f594b2492898e947f0;ms-0b13513f98f2d3def73a;ms-beb40d1c9533f7508aa5;ms-33e036c8224f052e6279", + "expert_regret": 1.94303660094738, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29788f80c9da2d2d8b4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.94303660094738, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.056963399052619934, + "restore_error": 1.1920928955078125e-07, + "score": 0.056963399052619934, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2983514666557312, + "candidate_source_group_id": "ms-a18cc16207970cd8f84d;ms-c8902580575f6effb241;ms-f97fbc8f36f0af9ce18c;ms-8d23082fdeffba7cba51;ms-e9bb31726937713db23a;ms-84404222b954c48c48d8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-680b80c5d2872be1e66a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.34898796677589417, + "candidate_source_group_id": "ms-f813ff3f9ae188b0259c;ms-82a203dfa8631639ba7e;ms-5a0da896925f50a1d2ee;ms-c8593eabfdb5a6bca7bb;ms-bad55a54ecb4349a5323;ms-4c9ed894520169849bc6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf8cc7e3c4481783d5f5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6876491904258728, + "candidate_source_group_id": "ms-44a69da62321224c1df9;ms-f14cda80db7270dd0f86;ms-b8bfdd3e6c31bd98082d;ms-68dcba1af854c06fc0e6;ms-87f2f63d694d8ccca7f8;ms-31372cdadd8d9da23b8d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01fe80a36517a246929d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.74115389585495, + "candidate_source_group_id": "ms-49731d5e69272f3bd959;ms-7c72cdc319220ea76854;ms-f39cb13a5942ca3317d0;ms-1f9a8bf8a8c0882b4039;ms-b4293fc495a608f8063c;ms-83b649656afa71ab6bde", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c109289291b46fd832b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6005954742431641, + "candidate_source_group_id": "ms-fa637544793129258022;ms-b4293fc495a608f8063c;ms-7c72cdc319220ea76854;ms-70e24231e9bb560abb3e;ms-49731d5e69272f3bd959;ms-1f9a8bf8a8c0882b4039", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7dd90f1575d9612c456c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3830479085445404, + "candidate_source_group_id": "ms-998ac1af1755510c9229;ms-93cbf45c02a304a2f6dc;ms-147e4106b5d337cefcb2;ms-2b309050ebafdd5a3482;ms-ccccd221a821803e36c5;ms-670a696bd472769ac513", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-20bc116cad15b072a2ea", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5490038990974426, + "candidate_source_group_id": "ms-17723f5f0806414eda67;ms-a40d644441c878ac5292;ms-fa637544793129258022;ms-70e24231e9bb560abb3e;ms-9d190663aa55bb434720;ms-49b9fd364e000bc7d579", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2a4611f1099507f9babf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5315765142440796, + "candidate_source_group_id": "ms-f813ff3f9ae188b0259c;ms-82a203dfa8631639ba7e;ms-c8593eabfdb5a6bca7bb;ms-5a0da896925f50a1d2ee;ms-bad55a54ecb4349a5323;ms-4c9ed894520169849bc6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5d4b83a1d21ee90ef69f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4100222885608673, + "candidate_source_group_id": "ms-cefef59d2909a69dd709;ms-c8ffa7d45ed61e2b94d6;ms-5816c255ea56bc8a63c3;ms-d5d38df1f2dbae367af0;ms-fd66d311a01f9c4fc825;ms-e6b0ee06238145e2a517", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-80269804728c7aaaf9a7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4379417598247528, + "candidate_source_group_id": "ms-66d3cc0e17bcbfb5f36e;ms-bb9f2f5b67bbb7e0f516;ms-916b66e56329dbd05b29;ms-6d48ff55845b6759a8c4;ms-f83aacaa71f0151421c7;ms-234ce02cf98f85bda72c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f195ac1f3ae4b397c71", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1779651641845703, + "candidate_source_group_id": "ms-a012d1677923703d5a0c;ms-25119a8a2d03c8e71300;ms-79d4959d079594053125;ms-2ba02dcefa15a9371706;ms-eccd5c34e1762a33f643;ms-05f34a90fa7355262b8e", + "expert_regret": 0.0, + "expert_score": 0.1198970377445221, + "expert_success": false, + "group_id": "ms-8a38529670b19d605663", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.26149049401283264, + "candidate_source_group_id": "ms-1be8db140ae74d18596f;ms-b8bfdd3e6c31bd98082d;ms-d2aed645029072f5c82f;ms-9448b2a52a4a475af1f9;ms-9df99aca252d63f555b2;ms-8dd1387678e0e62a1298", + "expert_regret": 0.0, + "expert_score": 9.362399578094482e-05, + "expert_success": false, + "group_id": "ms-81eff749adbf328a93e1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.16225770115852356, + "candidate_source_group_id": "ms-31880fb2dfed92c021ef;ms-966895e247be1f41daee;ms-c1f8e861c7c4485c361a;ms-64f98d163b6bff29332b;ms-0942bb0cc1143a2058f9;ms-c9568dec28405d273943", + "expert_regret": 0.0, + "expert_score": 0.19493231177330017, + "expert_success": false, + "group_id": "ms-9fad82fd288e4296e354", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4418720602989197, + "candidate_source_group_id": "ms-22cfd6a9a619133478b6;ms-8ef0a258f0f502bdaad5;ms-2a738f03ee216527dfa6;ms-a5885ec43a0aa166a0e7;ms-a649d9cf4fba45822ad9;ms-9feb7d8fdc15e384b8b7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fc2e1272ed035d0b9066", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3855365216732025, + "candidate_source_group_id": "ms-3e86692ea2e52b8e009b;ms-acfecece1f8160045f0a;ms-9feb7d8fdc15e384b8b7;ms-67f2977ab7d070052b61;ms-4d8f2bf18e7556663104;ms-c8902580575f6effb241", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c58ff92a6fe47fd90684", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6221815347671509, + "candidate_source_group_id": "ms-68dcba1af854c06fc0e6;ms-b8bfdd3e6c31bd98082d;ms-1be8db140ae74d18596f;ms-44a69da62321224c1df9;ms-1aea30e99a4945020cc1;ms-d2aed645029072f5c82f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8a0577b3fc6f75776b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.331919401884079, + "candidate_source_group_id": "ms-2413d1155c87f0442485;ms-876805da5863dc637246;ms-1405ab4a382fd1a07e63;ms-98d8d5d728ee4cff6776;ms-6ed65c65b566e21474a8;ms-c1513a6417b0ba250dee", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4866796139a8dac6d73b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.24843871593475342, + "candidate_source_group_id": "ms-918efaf9527826841090;ms-1003d1fe41aba4c8af84;ms-be8665e211c9b1cc13b4;ms-f40f6fe1910a94971980;ms-2d9efcce135f0c9d2203;ms-23a02f5f0c3f979684ff", + "expert_regret": 0.03333823382854462, + "expert_score": 0.09440004825592041, + "expert_success": false, + "group_id": "ms-27c9f70e97b8850cc3ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9389381855726242, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06106181442737579, + "restore_error": 1.1920928955078125e-07, + "score": 0.06106181442737579, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4026215374469757, + "candidate_source_group_id": "ms-674d9e270ff9ba879886;ms-c4a78f303c7f2b1a437b;ms-adf081811af7bca643a1;ms-e95a64701812302bd039;ms-07321628f307d0c91b44;ms-9d943a2732771576e41d", + "expert_regret": 1.9489344507455826, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb7c4ead34050a60dbdd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9489344507455826, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05106554925441742, + "restore_error": 1.1920928955078125e-07, + "score": 0.05106554925441742, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.14355313777923584, + "candidate_source_group_id": "ms-f2f594b2492898e947f0;ms-beb40d1c9533f7508aa5;ms-34ea26afcb2c6fe1a1fe;ms-889dd046ec7b0fc0a7a4;ms-048c14d42c3f3b352f53;ms-653181f057aeaeeadfe2", + "expert_regret": 0.0, + "expert_score": 0.0006054937839508057, + "expert_success": false, + "group_id": "ms-081952a63087fc8f83cd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.32745423913002014, + "candidate_source_group_id": "ms-847200a83b8ce5835fd9;ms-ccccd221a821803e36c5;ms-0818eb8cc217c9b3040a;ms-7a102c1d0334bab9656e;ms-634dce5b0ce43bfaa04e;ms-579eb7a700037d011e3f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3e17d03f9d640185853b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5516889691352844, + "candidate_source_group_id": "ms-beb40d1c9533f7508aa5;ms-eb0a75800f4ab451b92e;ms-b2f6b95c91f5d672d3a0;ms-f2f594b2492898e947f0;ms-3b99101d58e538cfbd6d;ms-889dd046ec7b0fc0a7a4", + "expert_regret": 1.9521708935499191, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65b3fb1b7924487ebe2b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9521708935499191, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04782910645008087, + "restore_error": 1.1920928955078125e-07, + "score": 0.04782910645008087, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7192851305007935, + "candidate_source_group_id": "ms-31372cdadd8d9da23b8d;ms-44a69da62321224c1df9;ms-f14cda80db7270dd0f86;ms-c257731ddcf5cf149393;ms-87f2f63d694d8ccca7f8;ms-1aea30e99a4945020cc1", + "expert_regret": 0.0, + "expert_score": 0.0, + "expert_success": false, + "group_id": "ms-54fdd49dc2c46e162fc6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1592712104320526, + "candidate_source_group_id": "ms-ee72e3f1115cfb8294ee;ms-a649d9cf4fba45822ad9;ms-04020456c994946d9a76;ms-7838ea128d16b455b2f9;ms-973f50778408dcecccdd;ms-346494921f998d7a48ab", + "expert_regret": 0.0, + "expert_score": 0.051515787839889526, + "expert_success": false, + "group_id": "ms-2ca0290759891500c6bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.45200273394584656, + "candidate_source_group_id": "ms-d5d38df1f2dbae367af0;ms-fd66d311a01f9c4fc825;ms-e6b0ee06238145e2a517;ms-c8ffa7d45ed61e2b94d6;ms-7a699e157f311f764b46;ms-4ed913628b5f121bbf34", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6f6c2f554a8e1c33ab32", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5953741669654846, + "candidate_source_group_id": "ms-bfe867e8d518b9f8333a;ms-b559638a0a726e441847;ms-f2f594b2492898e947f0;ms-e31553038464afab4ec1;ms-0b13513f98f2d3def73a;ms-33e036c8224f052e6279", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cece69f5a160c40d613a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6519313454627991, + "candidate_source_group_id": "ms-f14cda80db7270dd0f86;ms-87f2f63d694d8ccca7f8;ms-44a69da62321224c1df9;ms-b187043687d88d509fc7;ms-d2aed645029072f5c82f;ms-1be8db140ae74d18596f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cbdf12e174c323015f38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.17570960521697998, + "candidate_source_group_id": "ms-ff08c0b84d984d3d8620;ms-31880fb2dfed92c021ef;ms-a649d9cf4fba45822ad9;ms-85a4fc6e131dacc9d839;ms-2867deaca7e98582620b;ms-28a10bea0cf3f917e067", + "expert_regret": 0.0, + "expert_score": 0.11025479435920715, + "expert_success": false, + "group_id": "ms-ec5ac79449116b0a30c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4339187443256378, + "candidate_source_group_id": "ms-f12b50fed09bbbf6c039;ms-86508eb5d360c56023e1;ms-97939101c75832eb62cd;ms-0be67b60c98e4f3e692f;ms-c60bfb966aa2f6e5f183;ms-0b28e6af81d42a73cbeb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f8a4e83bdb9d628ac483", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6783572435379028, + "candidate_source_group_id": "ms-0a3ff306e1bebfd51ae4;ms-167bd325bc0845dcaba3;ms-5c7ab237037e9344a2ed;ms-2b27b1ecc0284ec3a993;ms-c1513a6417b0ba250dee;ms-edeb8cb36d3d06244421", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b929d6015e41aa9a9de8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.41742590069770813, + "candidate_source_group_id": "ms-82a203dfa8631639ba7e;ms-f813ff3f9ae188b0259c;ms-c8593eabfdb5a6bca7bb;ms-5a0da896925f50a1d2ee;ms-bad55a54ecb4349a5323;ms-4c9ed894520169849bc6", + "expert_regret": 0.0, + "expert_score": 0.2145896553993225, + "expert_success": false, + "group_id": "ms-1044e227d00afb01a5dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1287274956703186, + "candidate_source_group_id": "ms-2a738f03ee216527dfa6;ms-4096e2d9cf2e9d4943c7;ms-a5885ec43a0aa166a0e7;ms-9feb7d8fdc15e384b8b7;ms-8b813b6035f0425892bd;ms-acfecece1f8160045f0a", + "expert_regret": 0.0, + "expert_score": 0.10130771994590759, + "expert_success": false, + "group_id": "ms-630c7d4c0ef39da64304", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4708734154701233, + "candidate_source_group_id": "ms-e7fcbe2b61632a79fe6a;ms-783ceec205863d92ef8a;ms-e333fb7b8697ebeb474e;ms-90a840c7cbbfe35e8a67;ms-3f6cd47af5e9e6781b73;ms-98d738638749a1c0999d", + "expert_regret": 1.9198327213525772, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-44e2ba085128234ef9eb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9198327213525772, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08016727864742279, + "restore_error": 1.1920928955078125e-07, + "score": 0.08016727864742279, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5951856970787048, + "candidate_source_group_id": "ms-b2f6b95c91f5d672d3a0;ms-653181f057aeaeeadfe2;ms-048c14d42c3f3b352f53;ms-beb40d1c9533f7508aa5;ms-f6174dd8dd65bd736685;ms-889dd046ec7b0fc0a7a4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8293ae7689b30820278f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3370240032672882, + "candidate_source_group_id": "ms-93cbf45c02a304a2f6dc;ms-ccccd221a821803e36c5;ms-579eb7a700037d011e3f;ms-cb51cbc4086bd452233d;ms-3aa0b904cd3565b6c7ba;ms-4c9ed894520169849bc6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-62033042dcde101a0c9e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.44240623712539673, + "candidate_source_group_id": "ms-4401ec9ab8c89fb39f58;ms-933425ede670e8efc04e;ms-031c526a8690cad1677c;ms-58950fed04d203b97ab9;ms-e825bdad55212cb330da;ms-fb23602361466c57dd2d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d65e80424e917743d9a4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.548385739326477, + "candidate_source_group_id": "ms-74704688fb63757619e1;ms-f1b05f75f6ad032a0cd1;ms-3579b51b91daa627d195;ms-49b9fd364e000bc7d579;ms-17723f5f0806414eda67;ms-54346a8f79bd9dca1dfe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-79636173ebff4c91da03", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.36170220375061035, + "candidate_source_group_id": "ms-876805da5863dc637246;ms-98d8d5d728ee4cff6776;ms-2413d1155c87f0442485;ms-4dbdc6ed61dccebbfe92;ms-2a4f1cbd3f416f9084dc;ms-9d1d3a7b2dcafeda3bf3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d5f6186b51268063515e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.28041356801986694, + "candidate_source_group_id": "ms-66d3cc0e17bcbfb5f36e;ms-bb9f2f5b67bbb7e0f516;ms-916b66e56329dbd05b29;ms-f83aacaa71f0151421c7;ms-6d48ff55845b6759a8c4;ms-234ce02cf98f85bda72c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-351f07141fc0a8885759", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4540410041809082, + "candidate_source_group_id": "ms-a5f722aaecb894444ac4;ms-1f6006a647438280a273;ms-25942684dfc6d81c449a;ms-f3b9739bcb72c30a5535;ms-47d33f56890889e86355;ms-5d646fb3dbdcd5443729", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e132f1526b2090e440e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5263187885284424, + "candidate_source_group_id": "ms-d867fd6ed17aeaa97c2b;ms-ea6878cc654f7f255811;ms-30caf93619a0e2f94eae;ms-170a9228df2273649f1c;ms-217aa98e4a691e43cf68;ms-7aaa46eaa657a3179a70", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8682e5b9068871041b74", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6598971486091614, + "candidate_source_group_id": "ms-167bd325bc0845dcaba3;ms-5c7ab237037e9344a2ed;ms-e2a1bc3e5cd509eb08c2;ms-c1513a6417b0ba250dee;ms-2b27b1ecc0284ec3a993;ms-edeb8cb36d3d06244421", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97ccdc4668a995776663", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4949236512184143, + "candidate_source_group_id": "ms-dae29d741eb65a2fc4b3;ms-5dab866561f657e9aa8d;ms-5ae7b4d324285dfe6e80;ms-9b50c72d20e7510258b8;ms-f492405ef825467ddcba;ms-f52fe666ef7c9b997778", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10a1077a32c1abd486f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3236435055732727, + "candidate_source_group_id": "ms-2413d1155c87f0442485;ms-1405ab4a382fd1a07e63;ms-c1513a6417b0ba250dee;ms-2b27b1ecc0284ec3a993;ms-6ed65c65b566e21474a8;ms-876805da5863dc637246", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-575e151c0d1622c7ccd1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.29339882731437683, + "candidate_source_group_id": "ms-298fc552bfc93c2b32bf;ms-5dab866561f657e9aa8d;ms-f492405ef825467ddcba;ms-f52fe666ef7c9b997778;ms-5ae7b4d324285dfe6e80;ms-9b50c72d20e7510258b8", + "expert_regret": 0.0, + "expert_score": 0.19285303354263306, + "expert_success": false, + "group_id": "ms-3c9527725515347ba7de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3713407516479492, + "candidate_source_group_id": "ms-33905bad392928d3a217;ms-22cfd6a9a619133478b6;ms-217aa98e4a691e43cf68;ms-663c7e7fdaea6a945a2b;ms-30caf93619a0e2f94eae;ms-4096e2d9cf2e9d4943c7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a2766876467c8fbd5379", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.41964468359947205, + "candidate_source_group_id": "ms-c1f8e861c7c4485c361a;ms-0942bb0cc1143a2058f9;ms-64f98d163b6bff29332b;ms-9d943a2732771576e41d;ms-027592312fc833e8768d;ms-e95a64701812302bd039", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-72da580865509f75d6eb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6457937955856323, + "candidate_source_group_id": "ms-4f291cdf6a62b9af9e5d;ms-cdca8a6fff0640ab7f16;ms-b5dee7bdaf34270e6515;ms-29f7da1cd496619f45f5;ms-fe5a68745bbc6b4256cf;ms-fb23602361466c57dd2d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-111355c28fcb5ef51167", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5452026724815369, + "candidate_source_group_id": "ms-db2cfd3c0ce8ece8a112;ms-a39c5eb6453fab13bb3f;ms-33e036c8224f052e6279;ms-e2058192b3065ce7dc60;ms-3d208c1e04bb84341859;ms-d593c823d7fa1cd02635", + "expert_regret": 1.9499156177043915, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-88de0a1035cb8f8ef16a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9499156177043915, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05008438229560852, + "restore_error": 1.1920928955078125e-07, + "score": 0.05008438229560852, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.48254600167274475, + "candidate_source_group_id": "ms-58950fed04d203b97ab9;ms-4f291cdf6a62b9af9e5d;ms-29f7da1cd496619f45f5;ms-fe5a68745bbc6b4256cf;ms-cdca8a6fff0640ab7f16;ms-b5dee7bdaf34270e6515", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f49fbce5bf7a0a169f1e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4766271710395813, + "candidate_source_group_id": "ms-686b6de62b641e0dba0d;ms-31880fb2dfed92c021ef;ms-551020d425c370126f59;ms-1fe4b5c84ee5c0e6fcdb;ms-33885f2999b6dbe71f42;ms-64f98d163b6bff29332b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-771e632c1b0f3181ff36", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4606468677520752, + "candidate_source_group_id": "ms-28a10bea0cf3f917e067;ms-2867deaca7e98582620b;ms-ff08c0b84d984d3d8620;ms-f492405ef825467ddcba;ms-aca9b69b504ede73bcac;ms-31880fb2dfed92c021ef", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9fd5ccb16c4e5d0c4579", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3859008252620697, + "candidate_source_group_id": "ms-cefef59d2909a69dd709;ms-d5d38df1f2dbae367af0;ms-fd66d311a01f9c4fc825;ms-7a699e157f311f764b46;ms-e6b0ee06238145e2a517;ms-5816c255ea56bc8a63c3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-06c528eb38baee4e31b8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4947078227996826, + "candidate_source_group_id": "ms-9d8348ba3054f969ad8e;ms-f6635cbacd4195f7f4ab;ms-4015b8ac7c0a1397c076;ms-c10cf873dd3f68d97755;ms-1c4df81cce643ca4fb3e;ms-9f33c55b8e06fcb5e21e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0952da757675889102ec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7749789357185364, + "candidate_source_group_id": "ms-fa637544793129258022;ms-b4293fc495a608f8063c;ms-70e24231e9bb560abb3e;ms-7c72cdc319220ea76854;ms-1f9a8bf8a8c0882b4039;ms-49731d5e69272f3bd959", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5884cb0ce8ef0e034fec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3423004746437073, + "candidate_source_group_id": "ms-5ae7b4d324285dfe6e80;ms-4711dffcd73048a3656c;ms-f52fe666ef7c9b997778;ms-5dab866561f657e9aa8d;ms-298fc552bfc93c2b32bf;ms-9b50c72d20e7510258b8", + "expert_regret": 1.8564096689224243, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c3191d9c08e5756e90e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8564096689224243, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.14359033107757568, + "restore_error": 1.1920928955078125e-07, + "score": 0.14359033107757568, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.30168479681015015, + "candidate_source_group_id": "ms-b0f5b97b1bc7d3173183;ms-eec1c80f2bdd990118d8;ms-6a82cd518812ae55f97d;ms-698e09998c5dbfa6b7e3;ms-84404222b954c48c48d8;ms-8d23082fdeffba7cba51", + "expert_regret": 1.9609413743019104, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8188aaeda131829b7c9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9609413743019104, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0390586256980896, + "restore_error": 1.1920928955078125e-07, + "score": 0.0390586256980896, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.23499025404453278, + "candidate_source_group_id": "ms-c5df8e13dba07b355c14;ms-b6ed7cdf9226aa0b0d1e;ms-1f5c191aa8a6978b4020;ms-cb51cbc4086bd452233d;ms-3aa0b904cd3565b6c7ba;ms-9c49860c264bb0bec403", + "expert_regret": 0.0, + "expert_score": 0.042847394943237305, + "expert_success": false, + "group_id": "ms-14c6516a0f22d20ef6b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.41153231263160706, + "candidate_source_group_id": "ms-2c65718a6134a46b048f;ms-9c49860c264bb0bec403;ms-01236ae561190e7a5f8f;ms-b6ed7cdf9226aa0b0d1e;ms-ea1abf4dd25aea30202b;ms-c5df8e13dba07b355c14", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-32767ca96808a18b5a43", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.09296516329050064, + "candidate_source_group_id": "ms-ea6878cc654f7f255811;ms-e4656ad3c67bd430c1a6;ms-130f96b49e1bdb7c0e7c;ms-d867fd6ed17aeaa97c2b;ms-2e237a4b84b582828c37;ms-65d0541a2ba23a8478fa", + "expert_regret": 0.0, + "expert_score": 0.01401551067829132, + "expert_success": false, + "group_id": "ms-6ffe441e29681c8f116e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.469576895236969, + "candidate_source_group_id": "ms-383c0d1f90c5a0b55e07;ms-c10cf873dd3f68d97755;ms-e411015630dcff33d0f7;ms-9f33c55b8e06fcb5e21e;ms-183174ef761d19fb85d9;ms-608a539637578968beb3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7f5fe657331466b2e262", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.508165717124939, + "candidate_source_group_id": "ms-29f7da1cd496619f45f5;ms-0a001f1bda12891b219f;ms-fb23602361466c57dd2d;ms-82a5b63ed41420747fb9;ms-58950fed04d203b97ab9;ms-de96f1dcca4527c03814", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ef0d8b87e9a145873ca7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.603542685508728, + "candidate_source_group_id": "ms-9d190663aa55bb434720;ms-a40d644441c878ac5292;ms-1f9a8bf8a8c0882b4039;ms-238b0d92a2c0a61289b7;ms-ba0d059f1c55c5737e17;ms-17723f5f0806414eda67", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ce6cbc6d7664766f1285", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4119848608970642, + "candidate_source_group_id": "ms-84404222b954c48c48d8;ms-f97fbc8f36f0af9ce18c;ms-8d23082fdeffba7cba51;ms-698e09998c5dbfa6b7e3;ms-e9bb31726937713db23a;ms-c8902580575f6effb241", + "expert_regret": 1.9632211029529572, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d0005f84908a87243dd6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9632211029529572, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03677889704704285, + "restore_error": 1.1920928955078125e-07, + "score": 0.03677889704704285, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2629925310611725, + "candidate_source_group_id": "ms-b0f5b97b1bc7d3173183;ms-eec1c80f2bdd990118d8;ms-6a82cd518812ae55f97d;ms-84404222b954c48c48d8;ms-698e09998c5dbfa6b7e3;ms-8d23082fdeffba7cba51", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7efe34ce17cffdcb43d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1839262694120407, + "candidate_source_group_id": "ms-b6ed7cdf9226aa0b0d1e;ms-121bc2e6676c1ac10911;ms-9c49860c264bb0bec403;ms-2c4224657fa8115b2b8b;ms-3a5eaa0095953c9d6241;ms-68054c6c805197b033a7", + "expert_regret": 0.0, + "expert_score": 0.1821424663066864, + "expert_success": false, + "group_id": "ms-398ddbf730ed8830b08b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4624268710613251, + "candidate_source_group_id": "ms-86909e2391a6a77883b3;ms-30caf93619a0e2f94eae;ms-f52fe666ef7c9b997778;ms-8750cccf83614187fe14;ms-170a9228df2273649f1c;ms-97939101c75832eb62cd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-42f077d286655b676709", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.23589618504047394, + "candidate_source_group_id": "ms-7208ab12aba7b4a0da1e;ms-973f50778408dcecccdd;ms-04020456c994946d9a76;ms-ee72e3f1115cfb8294ee;ms-2288d0eb01482bc757e5;ms-16619fc9e4f3627b8dd1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2c71dc14945b7bd8a60", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6560258865356445, + "candidate_source_group_id": "ms-4c8a03e5d6e3b7a13c29;ms-70dd7025d2b038824c72;ms-9d190663aa55bb434720;ms-1f9a8bf8a8c0882b4039;ms-83b649656afa71ab6bde;ms-f39cb13a5942ca3317d0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbfbee34b928dbb775da", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7796339392662048, + "candidate_source_group_id": "ms-7f22550a9f6707a45cd4;ms-33dcfa4725ad078cc898;ms-c333dcd8ec59f2ae8a3d;ms-605cecc07e3298489320;ms-3333e935277a2e1f4e05;ms-733b04f5bd4720d79e99", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ec5819de002710aa5d97", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3590763509273529, + "candidate_source_group_id": "ms-ed52ffcd2b3e222b5175;ms-c8902580575f6effb241;ms-57fd761853dfc47e8059;ms-4d8f2bf18e7556663104;ms-2cbe83da02847008bf24;ms-84404222b954c48c48d8", + "expert_regret": 1.9700983464717865, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c806a5814c3e727cac8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9700983464717865, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0299016535282135, + "restore_error": 1.7881393432617188e-07, + "score": 0.0299016535282135, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.23176638782024384, + "candidate_source_group_id": "ms-aec40fad850827331244;ms-eea4df1b36e8a31b40a3;ms-fae97eb60014b2866413;ms-ba0ee0c9c181cdc7de9d;ms-79d4959d079594053125;ms-4dbdc6ed61dccebbfe92", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-09bceb938cc530125601", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.28669533133506775, + "candidate_source_group_id": "ms-c8902580575f6effb241;ms-ed52ffcd2b3e222b5175;ms-4d8f2bf18e7556663104;ms-a18cc16207970cd8f84d;ms-84404222b954c48c48d8;ms-f97fbc8f36f0af9ce18c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7fc804389bb1de250c84", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5206109285354614, + "candidate_source_group_id": "ms-783ceec205863d92ef8a;ms-e7fcbe2b61632a79fe6a;ms-c57abcef044f324c2f1d;ms-3f6cd47af5e9e6781b73;ms-90a840c7cbbfe35e8a67;ms-4e67cfd30a257b4bad0c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-269731d0630cffc1a216", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5390264987945557, + "candidate_source_group_id": "ms-170a9228df2273649f1c;ms-de96f1dcca4527c03814;ms-7aaa46eaa657a3179a70;ms-0a001f1bda12891b219f;ms-82a5b63ed41420747fb9;ms-88c39906a4e9c32ec286", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b8f5ebd4732c0274945b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4422934353351593, + "candidate_source_group_id": "ms-aec40fad850827331244;ms-25119a8a2d03c8e71300;ms-ba0ee0c9c181cdc7de9d;ms-2ba02dcefa15a9371706;ms-9d82d1927529dc675bc5;ms-a012d1677923703d5a0c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c95a3e52494c7727dbf6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6874871253967285, + "candidate_source_group_id": "ms-269815a0f9c1a1ba5a6b;ms-e0e2a425cce52e820a7e;ms-d4c5d7eea19d94314e2e;ms-8c67f938fb3d0264393c;ms-ba396eb71806ac992acd;ms-97e2c618a3045e0a759e", + "expert_regret": 1.8159644901752472, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c6a9b0840052fd62261", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8159644901752472, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1840355098247528, + "restore_error": 1.1920928955078125e-07, + "score": 0.1840355098247528, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.651073694229126, + "candidate_source_group_id": "ms-10bdda377f6b2353d200;ms-97e2c618a3045e0a759e;ms-a40882954ff51b61c49c;ms-dc4738f9c7a8af86722d;ms-e0e2a425cce52e820a7e;ms-d4c5d7eea19d94314e2e", + "expert_regret": 1.8233038783073425, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-535c35e29640f289d7d1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8233038783073425, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17669612169265747, + "restore_error": 1.1920928955078125e-07, + "score": 0.17669612169265747, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7064337134361267, + "candidate_source_group_id": "ms-8c67f938fb3d0264393c;ms-e0e2a425cce52e820a7e;ms-a4e3e9c634e92a46fc15;ms-652234a929b7ed4d3b23;ms-4c5469e5b4af75482d89;ms-97e2c618a3045e0a759e", + "expert_regret": 1.8084741830825806, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f2259eac5ed12ee61c19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8084741830825806, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19152581691741943, + "restore_error": 1.1920928955078125e-07, + "score": 0.19152581691741943, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.10111641883850098, + "candidate_source_group_id": "ms-49e1584a68d8f465e8e3;ms-652234a929b7ed4d3b23;ms-94b9114b294d56e3f88a;ms-4c5469e5b4af75482d89;ms-e0e2a425cce52e820a7e;ms-a4e3e9c634e92a46fc15", + "expert_regret": 0.6436619311571121, + "expert_score": 0.8352248668670654, + "expert_success": false, + "group_id": "ms-77536801924a2a78688e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8084370642900467, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1915629357099533, + "restore_error": 1.1920928955078125e-07, + "score": 0.1915629357099533, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6125797033309937, + "candidate_source_group_id": "ms-020ab0b7cfa5045f3fc7;ms-350716d0809bd7ef12df;ms-0f2cd78c21a012784e1b;ms-b651d43182be35524aad;ms-7c300541f4986f403b47;ms-573ab0ef1d4166be9b54", + "expert_regret": 0.0, + "expert_score": 0.8541442155838013, + "expert_success": false, + "group_id": "ms-97cdb4c400ad4ae36518", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.8541442155838013, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6177857518196106, + "candidate_source_group_id": "ms-a601803235735bea0610;ms-804705b564058a7ac34c;ms-c72d626356a30cbef93b;ms-b1ea4f7f813ac0c87079;ms-4c788310cab7df5251e1;ms-dc26a7037003b94b9f93", + "expert_regret": 1.1857663989067078, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-acb486cbc23907df2568", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1857663989067078, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8142336010932922, + "restore_error": 1.1920928955078125e-07, + "score": 0.8142336010932922, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6136608719825745, + "candidate_source_group_id": "ms-57ccc6bbce43f1c7c000;ms-230391b47c390f51bc07;ms-0ee3134ab4e9435f2c2c;ms-fe763444e70a58ff8b1e;ms-151e5f61c8e3c2ece4e7;ms-65f4ea8ed88ed5301430", + "expert_regret": 1.1827991604804993, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cdd9ca03b64c4145587b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.1827991604804993, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8172008395195007, + "restore_error": 1.1920928955078125e-07, + "score": 0.8172008395195007, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8035849332809448, + "candidate_source_group_id": "ms-8b45028168ed68ec8303;ms-cc21e4000cabb2fad805;ms-01e08f0dcb4e2c030a79;ms-49685adafe2cb8da301f;ms-90777a893f2fff27728c;ms-64b4e29bb42bf0b35d4d", + "expert_regret": 1.883267879486084, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-19dbfb3664d48598041e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.883267879486084, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11673212051391602, + "restore_error": 1.1920928955078125e-07, + "score": 0.11673212051391602, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.003820538520813, + "candidate_source_group_id": "ms-36bc1364d2439099e9ed;ms-bc96a8973358d1c20ed3;ms-aa7cc7e3e5eb86e58ee9;ms-e95a846b4e77792e3e6f;ms-728ce6cbfd4c82607908;ms-7ac4c9b07c994cd878f9", + "expert_regret": 0.7943303883075714, + "expert_score": 0.8508474826812744, + "expert_success": false, + "group_id": "ms-5922d6b0cb028950a6a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.7943303883075714, + "oracle_score": 0.8508474826812744, + "oracle_success": false, + "progress": 0.056517094373703, + "restore_error": 1.1920928955078125e-07, + "score": 0.056517094373703, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9113418459892273, + "candidate_source_group_id": "ms-fe22e55457c78877c2d9;ms-44940e96c327541acf19;ms-bc02d87b2ed5769ee484;ms-7dca31b0d7d6fab018f3;ms-4d687a60b9ce1f0f1ddd;ms-f774646335321f6c5980", + "expert_regret": 1.4251136779785156, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ffc732b968c030ba1d0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4251136779785156, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5748863220214844, + "restore_error": 1.1920928955078125e-07, + "score": 0.5748863220214844, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.16531240940094, + "candidate_source_group_id": "ms-49e1584a68d8f465e8e3;ms-d6af11918833ace7c694;ms-554f2960f25ff627b596;ms-a5eb6b813b57d14f6573;ms-b4f96b4975ceb839c5e3;ms-3945306c3b05b122fa9b", + "expert_regret": 1.3981652855873108, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e6e8b4cdcadec645d910", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.3981652855873108, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6018347144126892, + "restore_error": 1.1920928955078125e-07, + "score": 0.6018347144126892, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.42002519965171814, + "candidate_source_group_id": "ms-da2f79e022bb63a2af11;ms-f5bc4935790fb8ef7b81;ms-495b33a30a68ee055eef;ms-185c13ec401a35f393b7;ms-ab5acce4dba71f19d5ad;ms-a7760c53ebe20579190e", + "expert_regret": 1.8330853879451752, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ccc81e9a63663c50096", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8330853879451752, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16691461205482483, + "restore_error": 1.1920928955078125e-07, + "score": 0.16691461205482483, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.26948097348213196, + "candidate_source_group_id": "ms-19b9e8a1108ac25f3476;ms-dd8ebc7d7211ece74e03;ms-325cd8b08e89bb498c82;ms-aa1da4bf5f94c6a74839;ms-01094af881b751ef29aa;ms-7dca31b0d7d6fab018f3", + "expert_regret": 0.6827382743358612, + "expert_score": 0.8273264169692993, + "expert_success": false, + "group_id": "ms-68f53650da9a9354b58f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.7090827524662018, + "oracle_score": 0.8536708950996399, + "oracle_success": false, + "progress": 0.1445881426334381, + "restore_error": 1.1920928955078125e-07, + "score": 0.1445881426334381, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6703460812568665, + "candidate_source_group_id": "ms-a50b6ab3c59b1c953197;ms-f2a349cfaa6f7422237b;ms-0ac85b1b15125006eb50;ms-584219be39de32d776d4;ms-9dd1ff4c297a81b13071;ms-511bcece89a5ea3b849e", + "expert_regret": 0.1571168601512909, + "expert_score": 0.23011930286884308, + "expert_success": false, + "group_id": "ms-e2f303a0d1e6017e1fc4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.1571168601512909, + "oracle_score": 0.23011930286884308, + "oracle_success": false, + "progress": 0.07300244271755219, + "restore_error": 1.1920928955078125e-07, + "score": 0.07300244271755219, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.20345352590084076, + "candidate_source_group_id": "ms-e0e2a425cce52e820a7e;ms-94b9114b294d56e3f88a;ms-a40882954ff51b61c49c;ms-97e2c618a3045e0a759e;ms-4c5469e5b4af75482d89;ms-652234a929b7ed4d3b23", + "expert_regret": 0.7232455313205719, + "expert_score": 0.8555290699005127, + "expert_success": false, + "group_id": "ms-9ae5c6c4132218ecf49e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8677164614200592, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1322835385799408, + "restore_error": 1.1920928955078125e-07, + "score": 0.1322835385799408, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1915738880634308, + "candidate_source_group_id": "ms-a50b6ab3c59b1c953197;ms-0ac85b1b15125006eb50;ms-584219be39de32d776d4;ms-f2a349cfaa6f7422237b;ms-9dd1ff4c297a81b13071;ms-511bcece89a5ea3b849e", + "expert_regret": 0.17195841670036316, + "expert_score": 0.22322958707809448, + "expert_success": false, + "group_id": "ms-0a4d4909900fb0bc4a9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.8015133440494537, + "oracle_score": 0.8527845144271851, + "oracle_success": false, + "progress": 0.05127117037773132, + "restore_error": 1.1920928955078125e-07, + "score": 0.05127117037773132, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.009042501449585, + "candidate_source_group_id": "ms-0460b73af19ce1336bba;ms-d6b0d6d7c66509eb4543;ms-79b745efd36e00515fa7;ms-7e2762eb1b21b04fe873;ms-bc1ca12b92e3561b95b3;ms-f79778f4c5ec302bbfb4", + "expert_regret": 0.7564709633588791, + "expert_score": 0.7803360819816589, + "expert_success": false, + "group_id": "ms-1c9cd9629e4a927ed921", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.7564709633588791, + "oracle_score": 0.7803360819816589, + "oracle_success": false, + "progress": 0.023865118622779846, + "restore_error": 1.1920928955078125e-07, + "score": 0.023865118622779846, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7294292449951172, + "candidate_source_group_id": "ms-0b226017db7f07c5307e;ms-7ac4c9b07c994cd878f9;ms-36bc1364d2439099e9ed;ms-aa7cc7e3e5eb86e58ee9;ms-bc96a8973358d1c20ed3;ms-797db95b24deab760f10", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5a0e07161aefc71d4f33", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.40007147192955017, + "candidate_source_group_id": "ms-f90e4d887f4c840a0b25;ms-a31b52cc38a95273af77;ms-2cc60867f3629a801fc4;ms-4b6cf86fc2450321163a;ms-6c8d06bace98a28a8e4e;ms-f0696e3657ed996dec15", + "expert_regret": 0.6322041153907776, + "expert_score": 0.8326650857925415, + "expert_success": false, + "group_id": "ms-5b26c33feed6992386b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.799539029598236, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20046097040176392, + "restore_error": 1.1920928955078125e-07, + "score": 0.20046097040176392, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.38391202688217163, + "candidate_source_group_id": "ms-ff4c9c58b742da7135da;ms-a2ee6034df65b51c4d97;ms-63ac245579b1188935ad;ms-a4d692315fd15700e75b;ms-97343fa03fd05700c270;ms-4c788310cab7df5251e1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e7f710fb5e661e71fd3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7338286638259888, + "candidate_source_group_id": "ms-7e2762eb1b21b04fe873;ms-d6b0d6d7c66509eb4543;ms-79b745efd36e00515fa7;ms-0460b73af19ce1336bba;ms-be0ca7fa48a7ea391aa8;ms-578fcc1f0f27f76ff933", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-75ddae05fd4d968ebac7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.16263459622859955, + "candidate_source_group_id": "ms-0cdb564903c69734321f;ms-1cba14e90a2d067bc198;ms-625f1a55bfa2bcd57e24;ms-8c83fb7e9f1a7a8ad58f;ms-5a32c809ed679663dcb1;ms-875a4668671c02054a3c", + "expert_regret": 0.0, + "expert_score": 0.8467738032341003, + "expert_success": false, + "group_id": "ms-0949097d19e597fc7f63", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7158618569374084, + "candidate_source_group_id": "ms-0ac85b1b15125006eb50;ms-511bcece89a5ea3b849e;ms-584219be39de32d776d4;ms-a50b6ab3c59b1c953197;ms-f2a349cfaa6f7422237b;ms-2da5f229550b61852483", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f2509e6c3c468c4e30f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9517542719841003, + "candidate_source_group_id": "ms-6c7b2b62ba170ac8133e;ms-86b55250e01b9b6fba7e;ms-0f2cd78c21a012784e1b;ms-350716d0809bd7ef12df;ms-573ab0ef1d4166be9b54;ms-9e96728c711ffe98fe69", + "expert_regret": 1.7991545349359512, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0b6ba12f99b3554c0e88", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.7991545349359512, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20084546506404877, + "restore_error": 1.1920928955078125e-07, + "score": 0.20084546506404877, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5335946083068848, + "candidate_source_group_id": "ms-02aa62c077c9d4f86e61;ms-060d5756eac8f17652ee;ms-0c490961b934978e5b1c;ms-0fce9fe598d9ed1471b1;ms-4bbd30ae37fda61aa3c2;ms-ffaf8ddbbe21af6dea95", + "expert_regret": 1.8502707928419113, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-89782a37ecf6a44d23dc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8502707928419113, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.14972920715808868, + "restore_error": 1.1920928955078125e-07, + "score": 0.14972920715808868, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.518247663974762, + "candidate_source_group_id": "ms-a13e71cca2a60d77aed4;ms-b4f96b4975ceb839c5e3;ms-1e4219bffa35c646ebc9;ms-d6af11918833ace7c694;ms-f3ec6a4e6e3a778054d1;ms-4aed1197d0906ae51c34", + "expert_regret": 1.7926893681287766, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ec0b095d57014b86f5e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7926893681287766, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20731063187122345, + "restore_error": 1.1920928955078125e-07, + "score": 0.20731063187122345, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.2508223056793213, + "candidate_source_group_id": "ms-eaccbf417256e38345aa;ms-bf36bafb9ac562480022;ms-5a32c809ed679663dcb1;ms-220e8ddf7349fcbaf64d;ms-8f84a0371a7ac44c1b1a;ms-584d52e4f9515f695251", + "expert_regret": 1.4567422270774841, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6ab6c8a66fc509e2113e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4567422270774841, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5432577729225159, + "restore_error": 1.1920928955078125e-07, + "score": 0.5432577729225159, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5735388994216919, + "candidate_source_group_id": "ms-2b6ab8760ea5d558797c;ms-65f4ea8ed88ed5301430;ms-fe763444e70a58ff8b1e;ms-b8492a3a812095651d75;ms-f5bc4935790fb8ef7b81;ms-ab5acce4dba71f19d5ad", + "expert_regret": 1.9689410030841827, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61cb49c57a8600267d61", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9689410030841827, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03105899691581726, + "restore_error": 1.1920928955078125e-07, + "score": 0.03105899691581726, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.034561038017273, + "candidate_source_group_id": "ms-dd1eec30969c12ec89af;ms-921a0cd2d5ef7e70229a;ms-df6a1fb4b1ccbb410b4c;ms-d648b2c7a7b42db45550;ms-ebf15fd96b4a62e0b393;ms-71c5493fbcd8ea88898b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08077ae7bcd1d20bb2a6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0493429899215698, + "candidate_source_group_id": "ms-b651d43182be35524aad;ms-b2b93411a16dbb5d4202;ms-7c300541f4986f403b47;ms-01f463a409e2ec0c6c3e;ms-dfcbf1a7d2e3b33eb3e9;ms-13243cd92a78eba8c08b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5e19aac5dcd26c992bfd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3890947699546814, + "candidate_source_group_id": "ms-fe763444e70a58ff8b1e;ms-0d8e00d0e73f9a7b4ce8;ms-1d7505b80dff9c229a99;ms-57ccc6bbce43f1c7c000;ms-2b6ab8760ea5d558797c;ms-0841a07e9aeb84cff70f", + "expert_regret": 1.8103633522987366, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b1ab88b6b9dbb2dc602e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8103633522987366, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18963664770126343, + "restore_error": 1.1920928955078125e-07, + "score": 0.18963664770126343, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8891536593437195, + "candidate_source_group_id": "ms-cbe2659ec7884f00dc8a;ms-c5945ca04bebc81e72a8;ms-bf36bafb9ac562480022;ms-eaccbf417256e38345aa;ms-f90e4d887f4c840a0b25;ms-2cc60867f3629a801fc4", + "expert_regret": 0.6906086802482605, + "expert_score": 0.7810322046279907, + "expert_success": false, + "group_id": "ms-2c7a75422c4e47ee680c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.6906086802482605, + "oracle_score": 0.7810322046279907, + "oracle_success": false, + "progress": 0.09042352437973022, + "restore_error": 1.1920928955078125e-07, + "score": 0.09042352437973022, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5183922648429871, + "candidate_source_group_id": "ms-c3747425fe51bb3facbb;ms-9e99b7303fbd7ecbb17d;ms-c5d2ddd0416072b20d5d;ms-5bddb39f792f20e5e6d4;ms-8c2dade5b58489e26a4b;ms-8fb45ef2b489499fc7a7", + "expert_regret": 1.1416691541671753, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f7819cf58a2f9abd1e4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1416691541671753, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8583308458328247, + "restore_error": 1.1920928955078125e-07, + "score": 0.8583308458328247, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2134903222322464, + "candidate_source_group_id": "ms-1e25b12c832314a0b015;ms-cb752f1a3b24f95b34a2;ms-fe22e55457c78877c2d9;ms-f774646335321f6c5980;ms-787b74c3c67428d63b72;ms-bfb169ce850eae1c3995", + "expert_regret": 1.8223941028118134, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b3a1c65d7357ca4300b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8223941028118134, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17760589718818665, + "restore_error": 1.1920928955078125e-07, + "score": 0.17760589718818665, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1769324690103531, + "candidate_source_group_id": "ms-aa7cc7e3e5eb86e58ee9;ms-797db95b24deab760f10;ms-7ac4c9b07c994cd878f9;ms-e95a846b4e77792e3e6f;ms-bc96a8973358d1c20ed3;ms-a9eb9fab62fb296d2cf3", + "expert_regret": 0.7884360402822495, + "expert_score": 0.8128174543380737, + "expert_success": false, + "group_id": "ms-7bdf9cab1f7071533bbc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.7904075235128403, + "oracle_score": 0.8147889375686646, + "oracle_success": false, + "progress": 0.02438141405582428, + "restore_error": 1.1920928955078125e-07, + "score": 0.02438141405582428, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.30716732144355774, + "candidate_source_group_id": "ms-852c671b0adeccfa4bf1;ms-e887dbfa0133af46829d;ms-05ab68d4cd79b74a45ee;ms-6d7030c17759f787a361;ms-ce9505086ea115f86649;ms-bc2d3b425d9163a62dbb", + "expert_regret": 0.5981456786394119, + "expert_score": 0.844826340675354, + "expert_success": false, + "group_id": "ms-55e78c04643bd06fd5f8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.753319337964058, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.24668066203594208, + "restore_error": 1.1920928955078125e-07, + "score": 0.24668066203594208, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.49523046612739563, + "candidate_source_group_id": "ms-fe763444e70a58ff8b1e;ms-fffe17005e577cb2ac1c;ms-4dc0defd156f4c30aaf8;ms-57ccc6bbce43f1c7c000;ms-185c13ec401a35f393b7;ms-65f4ea8ed88ed5301430", + "expert_regret": 1.7744030356407166, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4af6806104210ccf74b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.7744030356407166, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22559696435928345, + "restore_error": 1.1920928955078125e-07, + "score": 0.22559696435928345, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0061711072921753, + "candidate_source_group_id": "ms-c9804ff90a86259f7149;ms-fd2387aeed9bfc9a0d08;ms-e3bbabc7ac3950eb91a2;ms-dc4738f9c7a8af86722d;ms-ecb37ebbab21a506d8ca;ms-d50a82b8770f333f1947", + "expert_regret": 1.9674311578273773, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-16850056120649fcc370", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9674311578273773, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03256884217262268, + "restore_error": 1.1920928955078125e-07, + "score": 0.03256884217262268, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.38949447870254517, + "candidate_source_group_id": "ms-e0e2a425cce52e820a7e;ms-94b9114b294d56e3f88a;ms-4c5469e5b4af75482d89;ms-97e2c618a3045e0a759e;ms-652234a929b7ed4d3b23;ms-1cb54e3347c49dcdf28e", + "expert_regret": 1.8230376243591309, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ea6d57781e366b578c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8230376243591309, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17696237564086914, + "restore_error": 1.1920928955078125e-07, + "score": 0.17696237564086914, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.19516706466674805, + "candidate_source_group_id": "ms-b33c18c58125678627a6;ms-54f4d544f76358c09ee9;ms-5dfeb87aa77e4660d09b;ms-dd1eec30969c12ec89af;ms-265435476b51eb83fb9b;ms-d8cc5ba8ab1cd4a46519", + "expert_regret": 0.0, + "expert_score": 0.829584002494812, + "expert_success": false, + "group_id": "ms-829c9968f0750cd9aed6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1674394011497498, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8325605988502502, + "restore_error": 1.1920928955078125e-07, + "score": 0.8325605988502502, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.2903708219528198, + "candidate_source_group_id": "ms-4dc0defd156f4c30aaf8;ms-b8492a3a812095651d75;ms-fe763444e70a58ff8b1e;ms-65f4ea8ed88ed5301430;ms-151e5f61c8e3c2ece4e7;ms-9b89af1761e33e733a56", + "expert_regret": 1.9545805752277374, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fc68c8b1bef631b6cae9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9545805752277374, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04541942477226257, + "restore_error": 1.1920928955078125e-07, + "score": 0.04541942477226257, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9750260710716248, + "candidate_source_group_id": "ms-c9804ff90a86259f7149;ms-fd2387aeed9bfc9a0d08;ms-dc4738f9c7a8af86722d;ms-a4e3e9c634e92a46fc15;ms-652234a929b7ed4d3b23;ms-a40882954ff51b61c49c", + "expert_regret": 1.436453402042389, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-983f35821c4f83c6e4bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.436453402042389, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5635465979576111, + "restore_error": 1.1920928955078125e-07, + "score": 0.5635465979576111, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.014578104019165, + "candidate_source_group_id": "ms-8ccec039b839e612969b;ms-87efe56140dec7d3ffb8;ms-15248c64e70b0dafcb33;ms-a77b8d61c09ed6ea23a2;ms-13243cd92a78eba8c08b;ms-58e6bcca0d74ea38d3dc", + "expert_regret": 1.7898693531751633, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-daff16c01452c735345f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7898693531751633, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21013064682483673, + "restore_error": 1.1920928955078125e-07, + "score": 0.21013064682483673, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.12796126306056976, + "candidate_source_group_id": "ms-bc2d3b425d9163a62dbb;ms-9e7e3b675db86ea3e212;ms-ce9505086ea115f86649;ms-2360ac84ff893ee51c5f;ms-9d4cfe1888484d9da1ee;ms-bc8e9fc055c591071ea3", + "expert_regret": 0.6519603580236435, + "expert_score": 0.8385780453681946, + "expert_success": false, + "group_id": "ms-9d12ad4ebdf37419994c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.813382312655449, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1866176873445511, + "restore_error": 1.1920928955078125e-07, + "score": 0.1866176873445511, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.41698893904685974, + "candidate_source_group_id": "ms-6c7b2b62ba170ac8133e;ms-0f2cd78c21a012784e1b;ms-86b55250e01b9b6fba7e;ms-350716d0809bd7ef12df;ms-573ab0ef1d4166be9b54;ms-3ff1aedb72f65a182b58", + "expert_regret": 0.2828764319419861, + "expert_score": 0.8363267779350281, + "expert_success": false, + "group_id": "ms-7fc5696cb3dc7b9bb9f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.446549654006958, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.553450345993042, + "restore_error": 1.1920928955078125e-07, + "score": 0.553450345993042, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1910417377948761, + "candidate_source_group_id": "ms-68067370d3b20b9bd4e2;ms-49e1584a68d8f465e8e3;ms-554f2960f25ff627b596;ms-a5eb6b813b57d14f6573;ms-88070bf04696eceac1e9;ms-d1960368ef76bbb10669", + "expert_regret": 0.6461300700902939, + "expert_score": 0.8355538845062256, + "expert_success": false, + "group_id": "ms-3c87c16acc91c68c522f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.6462593525648117, + "oracle_score": 0.8356831669807434, + "oracle_success": false, + "progress": 0.1894238144159317, + "restore_error": 1.1920928955078125e-07, + "score": 0.1894238144159317, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.1213940382003784, + "candidate_source_group_id": "ms-2cc60867f3629a801fc4;ms-a31b52cc38a95273af77;ms-f90e4d887f4c840a0b25;ms-3945306c3b05b122fa9b;ms-274ef8c6420a669dd5b4;ms-6c8d06bace98a28a8e4e", + "expert_regret": 1.187155544757843, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-283f98eecc655a33d459", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.187155544757843, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.812844455242157, + "restore_error": 1.1920928955078125e-07, + "score": 0.812844455242157, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0805398225784302, + "candidate_source_group_id": "ms-571d878853654c42a521;ms-f0696e3657ed996dec15;ms-6c8d06bace98a28a8e4e;ms-dc2e360a4876f6edce82;ms-f50f1c1b673d0c96d4ce;ms-3efaacea10b7eb4adb57", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e297545a438d902a680e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6172730326652527, + "candidate_source_group_id": "ms-13243cd92a78eba8c08b;ms-b2b93411a16dbb5d4202;ms-01f463a409e2ec0c6c3e;ms-41847ae4ccfbee4666d8;ms-242302c2a1e59588b319;ms-fee86da43c17dbf07059", + "expert_regret": 0.2715444564819336, + "expert_score": 0.8587179183959961, + "expert_success": false, + "group_id": "ms-ff0d7559bf7f39d82ded", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.2715444564819336, + "oracle_score": 0.8587179183959961, + "oracle_success": false, + "progress": 0.5871734619140625, + "restore_error": 1.9371509552001953e-07, + "score": 0.5871734619140625, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6760782599449158, + "candidate_source_group_id": "ms-511bcece89a5ea3b849e;ms-1a9e9bcd6cbae272a459;ms-d7254aa722729aa1a031;ms-b1ea4f7f813ac0c87079;ms-a50b6ab3c59b1c953197;ms-f2a349cfaa6f7422237b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-52a2ef2f862cee509ce1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9371509552001953e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1650892198085785, + "candidate_source_group_id": "ms-5c1ed0b96c4b99d64dd9;ms-a4d692315fd15700e75b;ms-63ac245579b1188935ad;ms-ff4c9c58b742da7135da;ms-97343fa03fd05700c270;ms-a9eb9fab62fb296d2cf3", + "expert_regret": 0.029223084449768066, + "expert_score": 0.8537713289260864, + "expert_success": false, + "group_id": "ms-eb7189a4f2b0f0a5d4bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1754517555236816, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8245482444763184, + "restore_error": 1.9371509552001953e-07, + "score": 0.8245482444763184, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9715412259101868, + "candidate_source_group_id": "ms-1ed36d926d5d640b4a04;ms-7d484dd14e9d001a07b1;ms-efdc07c985935d871adf;ms-36bc1364d2439099e9ed;ms-be0ca7fa48a7ea391aa8;ms-bc96a8973358d1c20ed3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-37d6b220ad58fb776f7b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9371509552001953e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.27707549929618835, + "candidate_source_group_id": "ms-7f58527819036c01daa4;ms-720c704eeac615b41763;ms-e2a5f29a9c0d835f3cd8;ms-c5945ca04bebc81e72a8;ms-ceb81989361d018a9e67;ms-0f7cd7813265e3795e0a", + "expert_regret": 1.8005297482013702, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-253682457d6db5d265bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8005297482013702, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19947025179862976, + "restore_error": 1.9371509552001953e-07, + "score": 0.19947025179862976, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.2705460786819458, + "candidate_source_group_id": "ms-733f43f6aaed1e84c020;ms-06e6e1db86d9e82e56cf;ms-bf2b9cc05ccb6bce0d30;ms-6c8d06bace98a28a8e4e;ms-68067370d3b20b9bd4e2;ms-5bddb39f792f20e5e6d4", + "expert_regret": 1.4004170894622803, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-39cea5dde6dc1718d478", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4004170894622803, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5995829105377197, + "restore_error": 1.9371509552001953e-07, + "score": 0.5995829105377197, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7596889138221741, + "candidate_source_group_id": "ms-a50b6ab3c59b1c953197;ms-3cdc09425d5b71524854;ms-f2a349cfaa6f7422237b;ms-bb299baa34e49eafb9fc;ms-71e32140ee4d77f3b275;ms-36112cc5608a9f625764", + "expert_regret": 1.8558651804924011, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-da5f2c1dbafa907d725b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8558651804924011, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.14413481950759888, + "restore_error": 1.9371509552001953e-07, + "score": 0.14413481950759888, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.10078486055135727, + "candidate_source_group_id": "ms-19a3669e096e98232ec8;ms-a601803235735bea0610;ms-3451f857ec88eeb49c38;ms-b1ea4f7f813ac0c87079;ms-804705b564058a7ac34c;ms-c72d626356a30cbef93b", + "expert_regret": 0.0, + "expert_score": 0.8589632511138916, + "expert_success": false, + "group_id": "ms-6bd5870eb5ff0dd76919", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9371509552001953e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 2.0297739505767822, + "candidate_source_group_id": "ms-da2f79e022bb63a2af11;ms-741c227f6249d1c8c9f1;ms-42b26451056c6dd2150e;ms-15fc8cc6f74cf589056f;ms-a7760c53ebe20579190e;ms-8d02415bb9af319f215a", + "expert_regret": 1.8976593762636185, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65a8786e4fb1527342f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8976593762636185, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10234062373638153, + "restore_error": 1.1920928955078125e-07, + "score": 0.10234062373638153, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.7663484811782837, + "candidate_source_group_id": "ms-d9e7096b437e7ce7cda8;ms-a13e71cca2a60d77aed4;ms-2503df67073b4c59e640;ms-0547201761e8e1873482;ms-1e4219bffa35c646ebc9;ms-6989f2ad4ed53dc07e1f", + "expert_regret": 0.09808702766895294, + "expert_score": 0.2056313455104828, + "expert_success": false, + "group_id": "ms-df346e952d6eaab76d40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.09808702766895294, + "oracle_score": 0.2056313455104828, + "oracle_success": false, + "progress": 0.10754431784152985, + "restore_error": 1.1920928955078125e-07, + "score": 0.10754431784152985, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.18307101726531982, + "candidate_source_group_id": "ms-720c704eeac615b41763;ms-76c9576538106cb9d5db;ms-54f7cae3bd3cb84062d3;ms-0982ec8847911627c519;ms-b1b98e21cd4886f70563;ms-ceb81989361d018a9e67", + "expert_regret": 0.045755624771118164, + "expert_score": 0.8584641218185425, + "expert_success": false, + "group_id": "ms-03df3e12e1d61aa9ebbf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1872915029525757, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8127084970474243, + "restore_error": 1.1920928955078125e-07, + "score": 0.8127084970474243, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8523472547531128, + "candidate_source_group_id": "ms-9e96728c711ffe98fe69;ms-0c2f2dc98424b6704c79;ms-86b55250e01b9b6fba7e;ms-7c300541f4986f403b47;ms-573ab0ef1d4166be9b54;ms-b651d43182be35524aad", + "expert_regret": 1.4047901034355164, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4118fc55a3d3e6bee8c0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4047901034355164, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5952098965644836, + "restore_error": 1.1920928955078125e-07, + "score": 0.5952098965644836, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2894248962402344, + "candidate_source_group_id": "ms-c72d626356a30cbef93b;ms-b86c44375ba5328a1608;ms-a601803235735bea0610;ms-119db4f7ab55afe5b9f6;ms-804705b564058a7ac34c;ms-b1ea4f7f813ac0c87079", + "expert_regret": 0.0, + "expert_score": 0.8631211519241333, + "expert_success": false, + "group_id": "ms-c80e71e55d51d8595499", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.2213929891586304, + "candidate_source_group_id": "ms-420280f15a522ce21c72;ms-9e96728c711ffe98fe69;ms-350716d0809bd7ef12df;ms-9a14552b7db695dee92c;ms-020ab0b7cfa5045f3fc7;ms-0f2cd78c21a012784e1b", + "expert_regret": 1.4158049821853638, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-579af9eb582ab20522a9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4158049821853638, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5841950178146362, + "restore_error": 1.1920928955078125e-07, + "score": 0.5841950178146362, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.3810627460479736, + "candidate_source_group_id": "ms-fffe17005e577cb2ac1c;ms-fe763444e70a58ff8b1e;ms-185c13ec401a35f393b7;ms-0fb946120bcbd8ed0632;ms-57ccc6bbce43f1c7c000;ms-0ee3134ab4e9435f2c2c", + "expert_regret": 1.9100386500358582, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-20ab0b7fffdbb23e6d53", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9100386500358582, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08996134996414185, + "restore_error": 1.1920928955078125e-07, + "score": 0.08996134996414185, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3442641794681549, + "candidate_source_group_id": "ms-baba39ca95aa09893dc0;ms-f5bc4935790fb8ef7b81;ms-ab5acce4dba71f19d5ad;ms-ba396eb71806ac992acd;ms-da2f79e022bb63a2af11;ms-185c13ec401a35f393b7", + "expert_regret": 0.751490980386734, + "expert_score": 0.8134564161300659, + "expert_success": false, + "group_id": "ms-c8706d0aa14a930236de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.938034564256668, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06196543574333191, + "restore_error": 1.1920928955078125e-07, + "score": 0.06196543574333191, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9066888093948364, + "candidate_source_group_id": "ms-4aed1197d0906ae51c34;ms-ebf15fd96b4a62e0b393;ms-2fef2f43af8009bb88f1;ms-7fba35a6c125e88b8f54;ms-500ed73f6d891e237b30;ms-ce827a7939377a151af9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-77c4a01dcf26dcd8f0f3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4875676929950714, + "candidate_source_group_id": "ms-5c1ed0b96c4b99d64dd9;ms-a9eb9fab62fb296d2cf3;ms-36112cc5608a9f625764;ms-63ac245579b1188935ad;ms-f413b168078609ed4fe4;ms-97343fa03fd05700c270", + "expert_regret": 1.9425444602966309, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-44b52b73161bb03c5a27", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9425444602966309, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05745553970336914, + "restore_error": 1.1920928955078125e-07, + "score": 0.05745553970336914, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6579049229621887, + "candidate_source_group_id": "ms-1ed36d926d5d640b4a04;ms-4aed1197d0906ae51c34;ms-f6cfaf92977f7b72aa24;ms-921a0cd2d5ef7e70229a;ms-9747840abee181e3e4cf;ms-a13e71cca2a60d77aed4", + "expert_regret": 1.8100630044937134, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1b50d8927c080cd97a79", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8100630044937134, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18993699550628662, + "restore_error": 1.1920928955078125e-07, + "score": 0.18993699550628662, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7428278923034668, + "candidate_source_group_id": "ms-f2a349cfaa6f7422237b;ms-a50b6ab3c59b1c953197;ms-9dd1ff4c297a81b13071;ms-71e32140ee4d77f3b275;ms-07b479748a91a9c92b20;ms-584219be39de32d776d4", + "expert_regret": 0.18682575225830078, + "expert_score": 0.78147292137146, + "expert_success": false, + "group_id": "ms-dd9b840c99c305ac1977", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.18682575225830078, + "oracle_score": 0.78147292137146, + "oracle_success": false, + "progress": 0.5946471691131592, + "restore_error": 1.1920928955078125e-07, + "score": 0.5946471691131592, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1715737134218216, + "candidate_source_group_id": "ms-d8cc5ba8ab1cd4a46519;ms-dd1eec30969c12ec89af;ms-3cdc09425d5b71524854;ms-9dd1ff4c297a81b13071;ms-f2a349cfaa6f7422237b;ms-71e32140ee4d77f3b275", + "expert_regret": 0.0, + "expert_score": 0.8544998168945312, + "expert_success": false, + "group_id": "ms-9f5d57fe2153fd267774", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1445806622505188, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8554193377494812, + "restore_error": 1.1920928955078125e-07, + "score": 0.8554193377494812, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.38970598578453064, + "candidate_source_group_id": "ms-f4579acd00ff9f578098;ms-bc99c1baec671e7f85a0;ms-b1b98e21cd4886f70563;ms-e1bce061511b584c5381;ms-f0fdcc26c648ce089746;ms-dab618f516ccc10f176e", + "expert_regret": 1.8207663297653198, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7bc1b098e6c696f6d4de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8207663297653198, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17923367023468018, + "restore_error": 1.1920928955078125e-07, + "score": 0.17923367023468018, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4288586676120758, + "candidate_source_group_id": "ms-4c788310cab7df5251e1;ms-dc26a7037003b94b9f93;ms-499d2429a00f3cc35add;ms-d8cc5ba8ab1cd4a46519;ms-511bcece89a5ea3b849e;ms-54f4d544f76358c09ee9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-96ebb8e6e71464ac9172", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.83026522397995, + "candidate_source_group_id": "ms-f4579acd00ff9f578098;ms-54f7cae3bd3cb84062d3;ms-b1b98e21cd4886f70563;ms-720c704eeac615b41763;ms-dab618f516ccc10f176e;ms-f0fdcc26c648ce089746", + "expert_regret": 1.7736780494451523, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10405f0fac390b29a04b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.7736780494451523, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22632195055484772, + "restore_error": 1.1920928955078125e-07, + "score": 0.22632195055484772, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.3990243673324585, + "candidate_source_group_id": "ms-c72d626356a30cbef93b;ms-7d484dd14e9d001a07b1;ms-7d5da9bf431cb1294c82;ms-a601803235735bea0610;ms-b86c44375ba5328a1608;ms-804705b564058a7ac34c", + "expert_regret": 1.1819635033607483, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1e17eb687986f7c5bc22", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1819635033607483, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8180364966392517, + "restore_error": 1.1920928955078125e-07, + "score": 0.8180364966392517, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7306477427482605, + "candidate_source_group_id": "ms-242302c2a1e59588b319;ms-5902e6c4037ecda77a5f;ms-01f463a409e2ec0c6c3e;ms-b2b93411a16dbb5d4202;ms-13243cd92a78eba8c08b;ms-020ab0b7cfa5045f3fc7", + "expert_regret": 1.7853931784629822, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-60f5fff0649ceb50ab60", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7853931784629822, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21460682153701782, + "restore_error": 1.1920928955078125e-07, + "score": 0.21460682153701782, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9949364066123962, + "candidate_source_group_id": "ms-8b45028168ed68ec8303;ms-01e08f0dcb4e2c030a79;ms-074bf4470a893ac7955a;ms-cc21e4000cabb2fad805;ms-49685adafe2cb8da301f;ms-64b4e29bb42bf0b35d4d", + "expert_regret": 1.9703480154275894, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9f80c93ae6940a427c83", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9703480154275894, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.029651984572410583, + "restore_error": 1.1920928955078125e-07, + "score": 0.029651984572410583, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.4086252450942993, + "candidate_source_group_id": "ms-00e356a462bdc3380f4f;ms-ab72e600d0bfb162ea80;ms-cb752f1a3b24f95b34a2;ms-9b89af1761e33e733a56;ms-de304cefeb20dcc17ede;ms-4bbd30ae37fda61aa3c2", + "expert_regret": 1.9615775495767593, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f020e53a077d4e6bf383", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9615775495767593, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03842245042324066, + "restore_error": 1.1920928955078125e-07, + "score": 0.03842245042324066, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9499913454055786, + "candidate_source_group_id": "ms-eff3caf3c103c5232495;ms-cbc1fadecdd913c44ce5;ms-b75d7924ddc6f1056f17;ms-a4d692315fd15700e75b;ms-97343fa03fd05700c270;ms-3945306c3b05b122fa9b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-035231abc135f925e1cc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.684419572353363, + "candidate_source_group_id": "ms-180d0e0a6315a06a7021;ms-495b33a30a68ee055eef;ms-1cb54e3347c49dcdf28e;ms-94b9114b294d56e3f88a;ms-185c13ec401a35f393b7;ms-ab5acce4dba71f19d5ad", + "expert_regret": 1.858063206076622, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9c7464444eaec0fa07c0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.858063206076622, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.141936793923378, + "restore_error": 1.1920928955078125e-07, + "score": 0.141936793923378, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0439999103546143, + "candidate_source_group_id": "ms-19a3669e096e98232ec8;ms-d9e7096b437e7ce7cda8;ms-0cdb564903c69734321f;ms-63a1574267ccbdaf6cc2;ms-3451f857ec88eeb49c38;ms-552acc881ce2bbff59f8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-caa5773983c25018c3f8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6360889077186584, + "candidate_source_group_id": "ms-95028134c6e3670b89d5;ms-4734f618e638d42bae46;ms-7ab0027224139e5332d5;ms-42b26451056c6dd2150e;ms-741c227f6249d1c8c9f1;ms-15fc8cc6f74cf589056f", + "expert_regret": 1.9470374286174774, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4cab45c9b21452c1b523", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9470374286174774, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05296257138252258, + "restore_error": 1.1920928955078125e-07, + "score": 0.05296257138252258, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9442124366760254, + "candidate_source_group_id": "ms-3945306c3b05b122fa9b;ms-554f2960f25ff627b596;ms-49e1584a68d8f465e8e3;ms-88070bf04696eceac1e9;ms-9747840abee181e3e4cf;ms-68067370d3b20b9bd4e2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-63f384579c130870fde3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0030161142349243, + "candidate_source_group_id": "ms-4c788310cab7df5251e1;ms-499d2429a00f3cc35add;ms-ff4c9c58b742da7135da;ms-a2ee6034df65b51c4d97;ms-54f4d544f76358c09ee9;ms-dc26a7037003b94b9f93", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-141aab4472db1ecc0ea2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.27072274684906, + "candidate_source_group_id": "ms-479ebfcc567538b3b582;ms-cb752f1a3b24f95b34a2;ms-ab72e600d0bfb162ea80;ms-90777a893f2fff27728c;ms-1e25b12c832314a0b015;ms-0b1dd0e538b8df15a6e4", + "expert_regret": 1.9527317434549332, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-54b553c42a8d825beb38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9527317434549332, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.047268256545066833, + "restore_error": 1.1920928955078125e-07, + "score": 0.047268256545066833, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7459877133369446, + "candidate_source_group_id": "ms-110944a3259f0e310db9;ms-741c227f6249d1c8c9f1;ms-15fc8cc6f74cf589056f;ms-495b33a30a68ee055eef;ms-42b26451056c6dd2150e;ms-0fa473b2c94d12bc3945", + "expert_regret": 1.800697386264801, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3a5cf404fd30dd8a2f76", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.800697386264801, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19930261373519897, + "restore_error": 1.1920928955078125e-07, + "score": 0.19930261373519897, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9367693662643433, + "candidate_source_group_id": "ms-efdc07c985935d871adf;ms-be0ca7fa48a7ea391aa8;ms-1ed36d926d5d640b4a04;ms-d6b0d6d7c66509eb4543;ms-7e2762eb1b21b04fe873;ms-d648b2c7a7b42db45550", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-02cdd56290c7ab888393", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4991771876811981, + "candidate_source_group_id": "ms-ceb81989361d018a9e67;ms-720c704eeac615b41763;ms-f0fdcc26c648ce089746;ms-76c9576538106cb9d5db;ms-5d6aa86eb739a9ef05cf;ms-7f58527819036c01daa4", + "expert_regret": 0.0, + "expert_score": 0.8598829507827759, + "expert_success": false, + "group_id": "ms-fdf4af00031d452221d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.8598829507827759, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6754487156867981, + "candidate_source_group_id": "ms-666f00775d4c54be1282;ms-8b45028168ed68ec8303;ms-aa1da4bf5f94c6a74839;ms-01e08f0dcb4e2c030a79;ms-64b4e29bb42bf0b35d4d;ms-dd8ebc7d7211ece74e03", + "expert_regret": 1.9517653286457062, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-744cdc2b2570c3c26326", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9517653286457062, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04823467135429382, + "restore_error": 1.1920928955078125e-07, + "score": 0.04823467135429382, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9555285573005676, + "candidate_source_group_id": "ms-a9eb9fab62fb296d2cf3;ms-5c1ed0b96c4b99d64dd9;ms-36112cc5608a9f625764;ms-f413b168078609ed4fe4;ms-e7959111ef1429bcf699;ms-22457d523f50e99d7acb", + "expert_regret": 1.945484384894371, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ec57b5bc28a71d3aac0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.945484384894371, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05451561510562897, + "restore_error": 1.1920928955078125e-07, + "score": 0.05451561510562897, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7835640907287598, + "candidate_source_group_id": "ms-016c5de39ed3c111889a;ms-074bf4470a893ac7955a;ms-8b45028168ed68ec8303;ms-cc21e4000cabb2fad805;ms-49685adafe2cb8da301f;ms-01e08f0dcb4e2c030a79", + "expert_regret": 1.7992055714130402, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2c6ff8d807763f665bac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.7992055714130402, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20079442858695984, + "restore_error": 1.1920928955078125e-07, + "score": 0.20079442858695984, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8080173134803772, + "candidate_source_group_id": "ms-94b9114b294d56e3f88a;ms-1cb54e3347c49dcdf28e;ms-652234a929b7ed4d3b23;ms-4c5469e5b4af75482d89;ms-e0e2a425cce52e820a7e;ms-180d0e0a6315a06a7021", + "expert_regret": 1.871119111776352, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9ad3b276d9ccaf668d30", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.871119111776352, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.12888088822364807, + "restore_error": 1.1920928955078125e-07, + "score": 0.12888088822364807, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.19918592274188995, + "candidate_source_group_id": "ms-38ed02dacc133a888d3a;ms-ecc526493f8048cf4c56;ms-016c5de39ed3c111889a;ms-0c490961b934978e5b1c;ms-716586cf73f853a45bfd;ms-b6ce87522fcc35b563c7", + "expert_regret": 0.6750151216983795, + "expert_score": 0.8573464751243591, + "expert_success": false, + "group_id": "ms-146ff6c3f22b3a49af3a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8176686465740204, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18233135342597961, + "restore_error": 1.1920928955078125e-07, + "score": 0.18233135342597961, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + } + ], + "seed": 1, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 190, + "retrieval_residual_residual_near_miss": 73, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 65, + "retrieval_residual_residual_no_op": 113, + "retrieval_residual_residual_wrong_gripper": 134 + }, + "selected_residual_scale_counts": { + "0.35": 291, + "0.4": 46, + "0.45": 238 + }, + "selection_margin": 0.0, + "selection_mode": "retrieval_residual", + "split": "validation_groups" +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_type005.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_type005.json new file mode 100644 index 0000000000000000000000000000000000000000..513d00403f0a878b66837e258df4259fae430ee3 --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_type005.json @@ -0,0 +1,12263 @@ +{ + "action_mse_to_best": 0.5130820817589435, + "backbone_model": null, + "backbone_type": "native", + "candidate_oracle_rollouts": 0, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_sigma": 0.0, + "candidate_type_bonus_components": false, + "candidate_type_bonuses": {}, + "candidate_type_bonuses_by_task": { + "*": { + "retrieval_residual_policy_residual": -0.0012401471832529098, + "retrieval_residual_residual_near_miss": 0.0057842019292060455, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.011004950010703764, + "retrieval_residual_residual_no_op": -0.0022653539217073306, + "retrieval_residual_residual_wrong_gripper": -0.007465196847490946 + }, + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.0005599490005630981, + "retrieval_residual_residual_near_miss": 0.0006278194285271321, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.02, + "retrieval_residual_residual_no_op": -0.015505780222401922, + "retrieval_residual_residual_wrong_gripper": -0.00587988936286949 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": -0.0013123488781204785, + "retrieval_residual_residual_near_miss": 0.01243703307203733, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": -0.0025590240648290076, + "retrieval_residual_residual_no_op": 0.001024714808254179, + "retrieval_residual_residual_wrong_gripper": -0.008499915333138435 + } + }, + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/best_transport.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "expert_success_rate": 0.7704347826086957, + "field_optim_l2_penalty": 0.0, + "field_optim_step_size": 0.0, + "field_optim_steps": 0, + "field_optim_trust_radius": 0.0, + "field_rank_biases_by_task": { + "*": [ + 0.0, + -0.0, + -0.0, + -0.0 + ], + "LiftPegUpright-v1": [ + 0.0, + -0.0, + -0.0, + -0.0 + ], + "PickCube-v1": [ + 0.0, + -0.0, + 0.0, + 0.0 + ] + }, + "group_batch_size": 8, + "lattice_exclude_type_tasks": {}, + "lattice_exclude_types": [ + "residual_random_negative", + "residual_wrong_direction", + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper" + ], + "num_candidates": 48, + "num_groups": 575, + "objective": "lattice_field", + "observation_mode": "state", + "oracle_success_rate": 0.8695652173913043, + "per_task": { + "LiftPegUpright-v1": { + "action_mse_to_best": 0.4154428023704847, + "expert_success_rate": 0.8584070796460177, + "num_groups": 113, + "oracle_success_rate": 0.9380530973451328, + "policy_expert_regret": 0.991370276803464, + "policy_oracle_regret": 1.0708220318882866, + "policy_rollout_progress": 0.6288485018025457, + "policy_rollout_success_rate": 0.22123893805309736, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "action_mse_to_best": 0.45199366407873837, + "expert_success_rate": 0.9402173913043478, + "num_groups": 184, + "oracle_success_rate": 0.9456521739130435, + "policy_expert_regret": 1.0320501891015421, + "policy_oracle_regret": 1.0320741935764723, + "policy_rollout_progress": 0.5805429644710587, + "policy_rollout_success_rate": 0.32608695652173914, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "action_mse_to_best": 0.6718020235237322, + "expert_success_rate": 0.25, + "num_groups": 76, + "oracle_success_rate": 0.40789473684210525, + "policy_expert_regret": 0.21559112572944478, + "policy_oracle_regret": 0.41171999996233927, + "policy_rollout_progress": 0.34024715506912845, + "policy_rollout_success_rate": 0.2236842105263158, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "action_mse_to_best": 0.43130593981828774, + "expert_success_rate": 0.8198198198198198, + "num_groups": 111, + "oracle_success_rate": 1.0, + "policy_expert_regret": 0.27839531823321506, + "policy_oracle_regret": 0.2955628853660446, + "policy_rollout_progress": 0.8575902677871086, + "policy_rollout_success_rate": 0.8468468468468469, + "restore_max_error": 2.3795291781425476e-07 + }, + "StackCube-v1": { + "action_mse_to_best": 0.7250375059934763, + "expert_success_rate": 0.6923076923076923, + "num_groups": 91, + "oracle_success_rate": 0.8571428571428571, + "policy_expert_regret": 0.9994869302589815, + "policy_oracle_regret": 1.159309256699059, + "policy_rollout_progress": 0.4543729935373579, + "policy_rollout_success_rate": 0.23076923076923078, + "restore_max_error": 1.9371509552001953e-07 + } + }, + "policy_expert_regret": 0.7654994654023777, + "policy_oracle_regret": 0.8356519719197051, + "policy_rollout_progress": 0.5917896210224084, + "policy_rollout_success_rate": 0.3773913043478261, + "prepend_policy_candidate": false, + "proposal_lattice_types": [], + "proposal_types": [], + "restore_max_error": 2.384185791015625e-07, + "retrieval_metric": "raw", + "retrieval_neighbors": 6, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_anchor": "expert", + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_type_tasks": {}, + "retrieval_residual_challenger_types": [], + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_by_task": { + "*": 0.0, + "PickCube-v1": 0.01, + "StackCube-v1": 0.05 + }, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "rows": [ + { + "action_mse_to_best": 0.4245049059391022, + "candidate_source_group_id": "ms-4906f3adfda6dace862d;ms-131a98e2d4a78a9645f8;ms-03495469257613a802b4;ms-675833805d1139c2f2a0;ms-b3d9d9570bf9b64c18fe;ms-4c638b9bb924547f69cb", + "expert_regret": 1.6816423833370209, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29027a8e3742362fd477", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6816423833370209, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3183576166629791, + "restore_error": 1.1920928955078125e-07, + "score": 0.3183576166629791, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31471627950668335, + "candidate_source_group_id": "ms-c7677b8f230103dd3c51;ms-e705fef3e4caa4c49718;ms-64a755437c34f39cda2a;ms-0251a326271aa1cab82b;ms-619d3d285d2cae3abbb9;ms-88f7199271947fc4c7e8", + "expert_regret": 1.5994932055473328, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5dcf9054c3c1c4e1d50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5994932055473328, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.40050679445266724, + "restore_error": 1.1920928955078125e-07, + "score": 0.40050679445266724, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5471398234367371, + "candidate_source_group_id": "ms-cf44ae14778c60c36af0;ms-b04b489f4fbad93b65ca;ms-a5bd3a36c6fe41cd0b35;ms-22d006041320a4487c21;ms-9f4b47c80d59166302ab;ms-1a2d298bf9972ddc1a7e", + "expert_regret": 1.6204249858856201, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-851d25e7a1dde4242f33", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6204249858856201, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3795750141143799, + "restore_error": 1.1920928955078125e-07, + "score": 0.3795750141143799, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.28386732935905457, + "candidate_source_group_id": "ms-aa46bb6dc8e6274963b6;ms-118ba8926eda06ffc61e;ms-28c139f34a954b692962;ms-7334e620435d1f3545fd;ms-8bc7aa419d17368d81b5;ms-a1a99e83fb2868164e40", + "expert_regret": 1.2778228521347046, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b0302a41f75a827cd4e4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2778228521347046, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7221771478652954, + "restore_error": 1.1920928955078125e-07, + "score": 0.7221771478652954, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3326335549354553, + "candidate_source_group_id": "ms-b5b68468bf26d19252f0;ms-bb567fcac946f012535a;ms-92070f417bd9d14d6fc7;ms-debd7e5668e2acdf6bb0;ms-20cd6d8ccbf13e36dcdb;ms-aee5716b3e4fc47e46ba", + "expert_regret": 1.28260999917984, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6e2b02ee71a4a44bc325", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.28260999917984, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7173900008201599, + "restore_error": 1.1920928955078125e-07, + "score": 0.7173900008201599, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7238252758979797, + "candidate_source_group_id": "ms-35babd5f83dcf1561f9a;ms-051860c228aa5160d5a6;ms-062addb9da32a0c2ea97;ms-c7c812bb98308442d95b;ms-8fcf4d9d042de2f74d76;ms-1145e0f6add300eee9bd", + "expert_regret": 1.7758309990167618, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c7f34ae8218aa0952c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7758309990167618, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22416900098323822, + "restore_error": 1.1920928955078125e-07, + "score": 0.22416900098323822, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.24290931224823, + "candidate_source_group_id": "ms-44a607bf50304347ead8;ms-f3211ecde366ca9f6ac7;ms-0e48a13af39db4a58bbc;ms-3af721139694f7f3ec04;ms-c910a469460f71880556;ms-8c8cf210aa675c5db1fe", + "expert_regret": 1.7853140234947205, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0a8109ce7ab2ddc1bb1e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7853140234947205, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21468597650527954, + "restore_error": 1.1920928955078125e-07, + "score": 0.21468597650527954, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.49061158299446106, + "candidate_source_group_id": "ms-cc0b4a1deec28e53722a;ms-ac6e78b1c56d020d0c09;ms-8b18ea4e0982a1352696;ms-aee5716b3e4fc47e46ba;ms-5cc5e6359fc006559eae;ms-7272e1e33d4ecc07470c", + "expert_regret": 1.2860559225082397, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cc5f2a24e2571cb23050", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2860559225082397, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7139440774917603, + "restore_error": 1.1920928955078125e-07, + "score": 0.7139440774917603, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4215092062950134, + "candidate_source_group_id": "ms-1e41619ab39cf51b7822;ms-88f748134c3fd27fcf72;ms-6a03497f97765ffd444e;ms-e6ca7414c5035e80d0ac;ms-a4420cda0b159dda82a2;ms-c7c812bb98308442d95b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c1f3359c70d068a36081", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4542083740234375, + "candidate_source_group_id": "ms-b3d9d9570bf9b64c18fe;ms-22aaa483f5e7d381b63d;ms-0ef5d3238b33bdebae4d;ms-e4090b0b0c1739070201;ms-131a98e2d4a78a9645f8;ms-675833805d1139c2f2a0", + "expert_regret": 1.7675793319940567, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-295dab0e1d105e758827", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7675793319940567, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2324206680059433, + "restore_error": 1.1920928955078125e-07, + "score": 0.2324206680059433, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.341036856174469, + "candidate_source_group_id": "ms-5bbc4c4b1b51e2a088db;ms-502c195c0e4810814bac;ms-4906f3adfda6dace862d;ms-9f993a6e9bb26846d4f4;ms-3db845076f92a16d1840;ms-cdbfe4d3b05f4ed12db3", + "expert_regret": 1.710267573595047, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3661d65df223386f1be9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.710267573595047, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.289732426404953, + "restore_error": 1.1920928955078125e-07, + "score": 0.289732426404953, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4503609836101532, + "candidate_source_group_id": "ms-73c99a7a25cd025e5f2d;ms-98c8fcf4c9f098cebe8d;ms-6959fa589edc996753d7;ms-cf7bdf0776c928ee2342;ms-7ce799eb9d3b741e8960;ms-18ab33df290e3919a468", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-483520829af0d733cb2a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30870428681373596, + "candidate_source_group_id": "ms-3e0dbff4309ecbd35d36;ms-44e7935dbed5f3b3c739;ms-080e034927abe2f30d60;ms-a4ade4de51ca437ac432;ms-ebeb5587176e3877b98a;ms-f0d2ffde521e268efc83", + "expert_regret": 1.289667010307312, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-835bd462e505aa659d16", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.289667010307312, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.710332989692688, + "restore_error": 1.1920928955078125e-07, + "score": 0.710332989692688, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.44200700521469116, + "candidate_source_group_id": "ms-30e2d8b7825053276e0c;ms-af91167a0cf15457c6ba;ms-4b4cd12d70c0615e0930;ms-251c1dfd1010906f559f;ms-e12808f670338ca180c6;ms-c0ed69f549e56aa55f3d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-320d99264926ea029f95", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3915325999259949, + "candidate_source_group_id": "ms-aee5716b3e4fc47e46ba;ms-7272e1e33d4ecc07470c;ms-20cd6d8ccbf13e36dcdb;ms-92070f417bd9d14d6fc7;ms-8b18ea4e0982a1352696;ms-062a265cedee2107eb17", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6a4398375c43dbf887b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.15016743540763855, + "candidate_source_group_id": "ms-33294c8fed5a847bf149;ms-83019373a06eb384c886;ms-cbd6cc8b2708d5e3e4a9;ms-8e23d2d44e709420e46d;ms-83c62951219e6599b630;ms-f5ebbab81506fa27fc6d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9551db96b60a51ccf62a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6540576219558716, + "candidate_source_group_id": "ms-13d8bae55d3c3710138f;ms-c2b904f450b45e2a8c9a;ms-e1b6bcb41532a800d3cb;ms-29a11d7bdcf49c86bd7a;ms-28835618507e7bc71227;ms-9852b3671856321cecc8", + "expert_regret": 1.7917158603668213, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-36d1128e3bd512cffe18", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7917158603668213, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2082841396331787, + "restore_error": 1.1920928955078125e-07, + "score": 0.2082841396331787, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4507935047149658, + "candidate_source_group_id": "ms-7a3daad6772d2384ea66;ms-2f2b16367db3db120235;ms-1d728ae415a4d3cb782e;ms-01a86e5f5731af7002ab;ms-e91b824c3841686ed053;ms-8be46dac6fc06c6c928a", + "expert_regret": 1.545185625553131, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e56b37f0e3881a70ef54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.545185625553131, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4548143744468689, + "restore_error": 1.1920928955078125e-07, + "score": 0.4548143744468689, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.395370751619339, + "candidate_source_group_id": "ms-118ba8926eda06ffc61e;ms-a1a99e83fb2868164e40;ms-aa46bb6dc8e6274963b6;ms-aee5716b3e4fc47e46ba;ms-28c139f34a954b692962;ms-7272e1e33d4ecc07470c", + "expert_regret": 1.289462387561798, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9a72e47e2204fa794718", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.289462387561798, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7105376124382019, + "restore_error": 1.1920928955078125e-07, + "score": 0.7105376124382019, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.380025178194046, + "candidate_source_group_id": "ms-22aaa483f5e7d381b63d;ms-0ef5d3238b33bdebae4d;ms-8556e974064f31ae1468;ms-e4090b0b0c1739070201;ms-3a09e411ee6c882ef7df;ms-a20322ed13a2be7a99c6", + "expert_regret": 1.3035972118377686, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d26dc2146eb8ae9a5434", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3035972118377686, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6964027881622314, + "restore_error": 1.1920928955078125e-07, + "score": 0.6964027881622314, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38078659772872925, + "candidate_source_group_id": "ms-85e3feba1c0f3084cfa0;ms-6ca37421eb5405e1a9a5;ms-e467ecc93a4793286423;ms-577341cca32521f4045e;ms-b55ca348be8b64323714;ms-6a9c4c704edd84c21cda", + "expert_regret": 1.59490305185318, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c7bbc80458fce91a1ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.59490305185318, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.40509694814682007, + "restore_error": 1.1920928955078125e-07, + "score": 0.40509694814682007, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35227730870246887, + "candidate_source_group_id": "ms-b55ca348be8b64323714;ms-d8f42ed6b0b686d819ab;ms-a195f05e99bccc48907e;ms-80e3d8a34c3cb94cad65;ms-6a9c4c704edd84c21cda;ms-8be46dac6fc06c6c928a", + "expert_regret": 1.318571388721466, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ff012c1c8597c8db3cc7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.318571388721466, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6814286112785339, + "restore_error": 1.1920928955078125e-07, + "score": 0.6814286112785339, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3136642873287201, + "candidate_source_group_id": "ms-f6f0d14ef7c24b9e4621;ms-675833805d1139c2f2a0;ms-e89a3ba400f81d2795f3;ms-0a6bff8326e7e32702f3;ms-a40dee47c502e73949af;ms-a6e4ac1995198def96a8", + "expert_regret": 1.392489731311798, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-31fe1d98bc7adcd515db", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.392489731311798, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6075102686882019, + "restore_error": 1.1920928955078125e-07, + "score": 0.6075102686882019, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.233131542801857, + "candidate_source_group_id": "ms-fae3c6a2f1b575ddc3f7;ms-d2839c13649000454a65;ms-b383acd9844466b19579;ms-4b3a296acc66a14476c3;ms-ecb5cc61f0b736e3f06f;ms-662379c2c351807b9cdf", + "expert_regret": 0.005734145641326904, + "expert_score": 0.6959263682365417, + "expert_success": false, + "group_id": "ms-ed4f6388ae96f9da76fa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.033953070640563965, + "oracle_score": 0.7241452932357788, + "oracle_success": false, + "progress": 0.6901922225952148, + "restore_error": 1.1920928955078125e-07, + "score": 0.6901922225952148, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5815258026123047, + "candidate_source_group_id": "ms-ecb5cc61f0b736e3f06f;ms-662379c2c351807b9cdf;ms-80d8d8fc4a3308139975;ms-a40abdebe8a9c17de878;ms-7a1b60ea1461eb460bed;ms-6abc3749b5df33ea621e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ed30f8fbb80b2cf46fbc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3806097209453583, + "candidate_source_group_id": "ms-3a09e411ee6c882ef7df;ms-22aaa483f5e7d381b63d;ms-0ef5d3238b33bdebae4d;ms-e4090b0b0c1739070201;ms-2b59042e27453aff03a7;ms-b483cac145e16ccdf42a", + "expert_regret": 1.3006014823913574, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dd94921779f12b249579", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3006014823913574, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6993985176086426, + "restore_error": 1.1920928955078125e-07, + "score": 0.6993985176086426, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2843671143054962, + "candidate_source_group_id": "ms-01bef10a5ccfd38294fe;ms-125287f805d320b2eff7;ms-30e4ae59842091fe16b2;ms-f4060cdbe6d39b9215ac;ms-a905b84bd3ab703c025f;ms-14a2c3eb293175cb76f3", + "expert_regret": 1.613783597946167, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5fc588b9c9d52034f4c4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.613783597946167, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.386216402053833, + "restore_error": 1.1920928955078125e-07, + "score": 0.386216402053833, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2779662311077118, + "candidate_source_group_id": "ms-0251a326271aa1cab82b;ms-ee28aef4a7ee25ff7f7c;ms-b4af9d7c922b1676e516;ms-eeeff97e2c39be877cb0;ms-22d1b2dcc954dcdff384;ms-04cc31b72a8dc8a91911", + "expert_regret": 1.4527642726898193, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8fabc0ac20ec87ead026", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4527642726898193, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5472357273101807, + "restore_error": 1.1920928955078125e-07, + "score": 0.5472357273101807, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.06293687969446182, + "candidate_source_group_id": "ms-f5ebbab81506fa27fc6d;ms-83c62951219e6599b630;ms-83019373a06eb384c886;ms-cbd6cc8b2708d5e3e4a9;ms-a323215fb409ab3e9287;ms-8e23d2d44e709420e46d", + "expert_regret": 0.0, + "expert_score": 0.728268027305603, + "expert_success": false, + "group_id": "ms-8864796e31bbe93d7c5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3961597979068756, + "candidate_source_group_id": "ms-c663f7e73e7e8376a05c;ms-3c3fb1d170c1a7965ac4;ms-0bc111c5ce4e0052716b;ms-73e3079ce5eb7cd14ec8;ms-efbde8652e75274fbd69;ms-b0861c414f8690d62a82", + "expert_regret": 1.2838863134384155, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b37738e210bf33a45a1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2838863134384155, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7161136865615845, + "restore_error": 1.1920928955078125e-07, + "score": 0.7161136865615845, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2463909238576889, + "candidate_source_group_id": "ms-36f204d04ec4c4af3169;ms-caa0a38b7df789550f8a;ms-bdc14f3225a9c9f26513;ms-83c62951219e6599b630;ms-76b0b0463fdb323b6233;ms-83019373a06eb384c886", + "expert_regret": 0.0009024143218994141, + "expert_score": 0.6975592374801636, + "expert_success": false, + "group_id": "ms-f81ea99a1ec3423f3b6e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.019176781177520752, + "oracle_score": 0.7158336043357849, + "oracle_success": false, + "progress": 0.6966568231582642, + "restore_error": 1.1920928955078125e-07, + "score": 0.6966568231582642, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7101384997367859, + "candidate_source_group_id": "ms-a96ff9a1d5571ec4a6f2;ms-d8295b43b30ceea30907;ms-88fb2bebd038dc786c01;ms-ef2d84500e27679d22d9;ms-d2839c13649000454a65;ms-4b3a296acc66a14476c3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-957002faf092f769aa8e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.23149064183235168, + "candidate_source_group_id": "ms-fc9b4c94b51f8b2a521b;ms-ec4c6be448348c8021a9;ms-d8f42ed6b0b686d819ab;ms-e467ecc93a4793286423;ms-b025d8068f740557d630;ms-a195f05e99bccc48907e", + "expert_regret": 1.294361650943756, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3a97ee208c6be9ed8b74", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.294361650943756, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7056383490562439, + "restore_error": 1.1920928955078125e-07, + "score": 0.7056383490562439, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16457273066043854, + "candidate_source_group_id": "ms-59bff662e0ecb913ed81;ms-502dba1003c09ec60ba0;ms-605dbfbe6bef2b15b58c;ms-5cc5e6359fc006559eae;ms-f2c8835e8a162283a646;ms-ac6e78b1c56d020d0c09", + "expert_regret": 1.2948582768440247, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3d862f2a32d3404926c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2948582768440247, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7051417231559753, + "restore_error": 1.1920928955078125e-07, + "score": 0.7051417231559753, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39186471700668335, + "candidate_source_group_id": "ms-c910a469460f71880556;ms-e12808f670338ca180c6;ms-f3211ecde366ca9f6ac7;ms-8c8cf210aa675c5db1fe;ms-44a607bf50304347ead8;ms-251c1dfd1010906f559f", + "expert_regret": 1.3133373260498047, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83c0299c23fa800452c7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3133373260498047, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6866626739501953, + "restore_error": 1.1920928955078125e-07, + "score": 0.6866626739501953, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.17706002295017242, + "candidate_source_group_id": "ms-bbefdf03d0471be60f8f;ms-ea164b21572d39ffed58;ms-06cb0796d1097e6ca111;ms-0f02ff35b7fa1234c52e;ms-7334e620435d1f3545fd;ms-1cb9edbe8bd7ed4106c1", + "expert_regret": 1.2815313935279846, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4a86d570dabb0916f020", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2815313935279846, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7184686064720154, + "restore_error": 1.1920928955078125e-07, + "score": 0.7184686064720154, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.33610862493515015, + "candidate_source_group_id": "ms-8fcf4d9d042de2f74d76;ms-7dfc3684b46df95070e2;ms-13aa39b96923ad8c913a;ms-bc56601ca069f65cd08f;ms-5bbc4c4b1b51e2a088db;ms-4906f3adfda6dace862d", + "expert_regret": 1.687185525894165, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c871c1157a16e19e6150", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.687185525894165, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.31281447410583496, + "restore_error": 1.1920928955078125e-07, + "score": 0.31281447410583496, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3935496211051941, + "candidate_source_group_id": "ms-2f2b16367db3db120235;ms-6a9c4c704edd84c21cda;ms-a195f05e99bccc48907e;ms-b55ca348be8b64323714;ms-7a3daad6772d2384ea66;ms-d8f42ed6b0b686d819ab", + "expert_regret": 1.541308045387268, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-84264ef080ec4f3631df", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.541308045387268, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.45869195461273193, + "restore_error": 1.1920928955078125e-07, + "score": 0.45869195461273193, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.010319090448319912, + "candidate_source_group_id": "ms-9f993a6e9bb26846d4f4;ms-4c638b9bb924547f69cb;ms-ef8de99d917753ec603c;ms-502c195c0e4810814bac;ms-ff3256da4e1731651937;ms-7cd314f076bfe5c32088", + "expert_regret": 0.04230421781539917, + "expert_score": 0.7187107801437378, + "expert_success": false, + "group_id": "ms-caeb4c3d358f256799a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3235934376716614, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6764065623283386, + "restore_error": 1.1920928955078125e-07, + "score": 0.6764065623283386, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.23665443062782288, + "candidate_source_group_id": "ms-eeeff97e2c39be877cb0;ms-b4af9d7c922b1676e516;ms-0251a326271aa1cab82b;ms-ee28aef4a7ee25ff7f7c;ms-64a755437c34f39cda2a;ms-e705fef3e4caa4c49718", + "expert_regret": 1.4375720620155334, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f0c6556f6c7df39ec2d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4375720620155334, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5624279379844666, + "restore_error": 1.1920928955078125e-07, + "score": 0.5624279379844666, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.405322402715683, + "candidate_source_group_id": "ms-3996b923bb25440c29e3;ms-324a58dd51dfecb51fa8;ms-8c4a08985213114fffb7;ms-7b1a03be4a61ba27261c;ms-2590f9fd91265598fb45;ms-55e89d326b6531345902", + "expert_regret": 1.3049929738044739, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d602b7370c5b90f8a439", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3049929738044739, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6950070261955261, + "restore_error": 1.1920928955078125e-07, + "score": 0.6950070261955261, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3900124132633209, + "candidate_source_group_id": "ms-35babd5f83dcf1561f9a;ms-c7c812bb98308442d95b;ms-062addb9da32a0c2ea97;ms-a4420cda0b159dda82a2;ms-684a66885f21739d826b;ms-076246c4c5d1ca8ccd9d", + "expert_regret": 1.2739605903625488, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5a56eefeb2de0abe600", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2739605903625488, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7260394096374512, + "restore_error": 1.1920928955078125e-07, + "score": 0.7260394096374512, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.007675953675061464, + "candidate_source_group_id": "ms-26322bd4de52dbd5743c;ms-e2950dcb50ed2b955be6;ms-3f56672eac1c00e9c2b0;ms-fb329ccd569163c53415;ms-e3f38594991aafbffc23;ms-9156a9a9c1b829b742ad", + "expert_regret": 0.0, + "expert_score": 0.49721559882164, + "expert_success": false, + "group_id": "ms-059d7962a5f998edf668", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2845547199249268, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7154452800750732, + "restore_error": 1.1920928955078125e-07, + "score": 0.7154452800750732, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5271774530410767, + "candidate_source_group_id": "ms-c0142e4a5d15dd8d647a;ms-40392e5aeef63551f9ac;ms-49c99f285560483a85ee;ms-8a9e7d69f7ade362fe40;ms-9b687dc2de14c6813d44;ms-1955408aeb8a8a4d0847", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e2f90eb6c79dfd9ce6fd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5124027132987976, + "candidate_source_group_id": "ms-af91167a0cf15457c6ba;ms-30e2d8b7825053276e0c;ms-8c8cf210aa675c5db1fe;ms-251c1dfd1010906f559f;ms-89520c3ac8779d9e81e7;ms-4b4cd12d70c0615e0930", + "expert_regret": 1.7897977232933044, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e7573c5d29c3a1a3f228", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7897977232933044, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21020227670669556, + "restore_error": 1.1920928955078125e-07, + "score": 0.21020227670669556, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3556840717792511, + "candidate_source_group_id": "ms-aa46bb6dc8e6274963b6;ms-118ba8926eda06ffc61e;ms-28c139f34a954b692962;ms-a1a99e83fb2868164e40;ms-7334e620435d1f3545fd;ms-99f263cb3f383b1f6243", + "expert_regret": 0.001954317092895508, + "expert_score": 0.714394211769104, + "expert_success": false, + "group_id": "ms-c76aba3db8d4ce0062bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.001954317092895508, + "oracle_score": 0.714394211769104, + "oracle_success": false, + "progress": 0.7124398946762085, + "restore_error": 1.1920928955078125e-07, + "score": 0.7124398946762085, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36700984835624695, + "candidate_source_group_id": "ms-14a2c3eb293175cb76f3;ms-30e4ae59842091fe16b2;ms-a8eb841beb710c8fbfb1;ms-01bef10a5ccfd38294fe;ms-8054283375aeefc8f2c1;ms-f7169e27b3743aa48e77", + "expert_regret": 1.6275580525398254, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0fe7053483f72737eaec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6275580525398254, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.37244194746017456, + "restore_error": 1.1920928955078125e-07, + "score": 0.37244194746017456, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16099348664283752, + "candidate_source_group_id": "ms-c6c7803c56c24c460c7f;ms-f237f72fe3db2b4f8e12;ms-4abb3dced67d5a70fa38;ms-794706690fbf8c028bda;ms-33294c8fed5a847bf149;ms-761ab1e423462aa44e3d", + "expert_regret": 1.3017526268959045, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b8956f04f70d6eeecb07", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.3017526268959045, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6982473731040955, + "restore_error": 1.1920928955078125e-07, + "score": 0.6982473731040955, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6612639427185059, + "candidate_source_group_id": "ms-88fb2bebd038dc786c01;ms-d8295b43b30ceea30907;ms-ef2d84500e27679d22d9;ms-a96ff9a1d5571ec4a6f2;ms-fa077183f74add357112;ms-80d8d8fc4a3308139975", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ea41340182245326a218", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6521096229553223, + "candidate_source_group_id": "ms-3aa33c0fda88e08e75fa;ms-760c73ea34418ce7a006;ms-3efca8ee8623914a4faf;ms-b483cac145e16ccdf42a;ms-2b59042e27453aff03a7;ms-9fd14cc61816c2d4360e", + "expert_regret": 1.7458744645118713, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d3a7e3f163b142a3e56b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7458744645118713, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25412553548812866, + "restore_error": 2.384185791015625e-07, + "score": 0.25412553548812866, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.1237618923187256, + "candidate_source_group_id": "ms-f3211ecde366ca9f6ac7;ms-44a607bf50304347ead8;ms-ba9541c7192498a1d8bd;ms-3af721139694f7f3ec04;ms-68c63442972f322789b5;ms-e6478d71ed92dae06539", + "expert_regret": 0.5095877051353455, + "expert_score": 0.7226133346557617, + "expert_success": false, + "group_id": "ms-a103dfbc0567d05ade6e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5095877051353455, + "oracle_score": 0.7226133346557617, + "oracle_success": false, + "progress": 0.21302562952041626, + "restore_error": 2.384185791015625e-07, + "score": 0.21302562952041626, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40501219034194946, + "candidate_source_group_id": "ms-785fb44f1371895f7721;ms-dbad4f4d0df3c19c7bbb;ms-76b0b0463fdb323b6233;ms-dfc38c43e9a87f99ef7f;ms-83c62951219e6599b630;ms-83019373a06eb384c886", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-938b53ef53e669518a56", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.44034475088119507, + "candidate_source_group_id": "ms-261f6f6b578cee63be20;ms-8be46dac6fc06c6c928a;ms-48db1178206eee52434a;ms-e91b824c3841686ed053;ms-7a3daad6772d2384ea66;ms-fb131b52f94500da894b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-35d84da6eb1afcf8a811", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3418883681297302, + "candidate_source_group_id": "ms-619d3d285d2cae3abbb9;ms-64a755437c34f39cda2a;ms-88f7199271947fc4c7e8;ms-c7677b8f230103dd3c51;ms-40eb8d19498413d4e730;ms-69785feff08dbf9a50be", + "expert_regret": 1.290425181388855, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-865f9d670f806778ae61", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.290425181388855, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.709574818611145, + "restore_error": 2.384185791015625e-07, + "score": 0.709574818611145, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32544347643852234, + "candidate_source_group_id": "ms-e705fef3e4caa4c49718;ms-88f7199271947fc4c7e8;ms-894cd0e5dafb2d38831d;ms-c7677b8f230103dd3c51;ms-4c72a9ad08cbf51799fb;ms-55e89d326b6531345902", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0fe90299788e1f71f98a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22819410264492035, + "candidate_source_group_id": "ms-2e7fc6c97e5ce1f024e5;ms-32943eea3e70cd02f313;ms-73e3079ce5eb7cd14ec8;ms-3c3fb1d170c1a7965ac4;ms-efbde8652e75274fbd69;ms-507199452c6d42562a38", + "expert_regret": 1.6240392327308655, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d30b515ab0ee174afa58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6240392327308655, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3759607672691345, + "restore_error": 2.384185791015625e-07, + "score": 0.3759607672691345, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31272071599960327, + "candidate_source_group_id": "ms-faeff0379a053e9ea351;ms-3f56672eac1c00e9c2b0;ms-e2950dcb50ed2b955be6;ms-caa0a38b7df789550f8a;ms-2f1164357c9732e059d4;ms-26322bd4de52dbd5743c", + "expert_regret": 1.2875560522079468, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe790caba27d92511f71", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2875560522079468, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7124439477920532, + "restore_error": 1.1920928955078125e-07, + "score": 0.7124439477920532, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.452287495136261, + "candidate_source_group_id": "ms-aa46bb6dc8e6274963b6;ms-118ba8926eda06ffc61e;ms-28c139f34a954b692962;ms-a1a99e83fb2868164e40;ms-7334e620435d1f3545fd;ms-8bc7aa419d17368d81b5", + "expert_regret": 1.2904335260391235, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ec4accef21246e0c9213", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2904335260391235, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7095664739608765, + "restore_error": 1.1920928955078125e-07, + "score": 0.7095664739608765, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38081783056259155, + "candidate_source_group_id": "ms-3c1e7b47135487435fc1;ms-8b461b0929537fbc1d41;ms-f1529c9d823325056e8d;ms-131a98e2d4a78a9645f8;ms-e89a3ba400f81d2795f3;ms-a6e4ac1995198def96a8", + "expert_regret": 1.7432265281677246, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08dc71adea7d8efeb298", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7432265281677246, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2567734718322754, + "restore_error": 1.1920928955078125e-07, + "score": 0.2567734718322754, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3453432023525238, + "candidate_source_group_id": "ms-125287f805d320b2eff7;ms-f4060cdbe6d39b9215ac;ms-a905b84bd3ab703c025f;ms-01bef10a5ccfd38294fe;ms-9257b89b9b635a0fb174;ms-69cb3fa758f707a58076", + "expert_regret": 1.3002782464027405, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d799435b5f6b8fae2ffb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3002782464027405, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6997217535972595, + "restore_error": 1.1920928955078125e-07, + "score": 0.6997217535972595, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6271886229515076, + "candidate_source_group_id": "ms-7a1b60ea1461eb460bed;ms-a40abdebe8a9c17de878;ms-662379c2c351807b9cdf;ms-ecb5cc61f0b736e3f06f;ms-80d8d8fc4a3308139975;ms-89feb4366865cfaf2273", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-96e1562aaca7ef49db28", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.414641797542572, + "candidate_source_group_id": "ms-9b687dc2de14c6813d44;ms-917b0f051489227842f0;ms-1955408aeb8a8a4d0847;ms-8a9e7d69f7ade362fe40;ms-40392e5aeef63551f9ac;ms-17a5e9b7bd8c1f255307", + "expert_regret": 1.608191192150116, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-524ae7618ed9b6a272ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.608191192150116, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.39180880784988403, + "restore_error": 1.1920928955078125e-07, + "score": 0.39180880784988403, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5317721366882324, + "candidate_source_group_id": "ms-13d8bae55d3c3710138f;ms-29a11d7bdcf49c86bd7a;ms-c2b904f450b45e2a8c9a;ms-af91167a0cf15457c6ba;ms-4b4cd12d70c0615e0930;ms-30e2d8b7825053276e0c", + "expert_regret": 0.5251690149307251, + "expert_score": 0.7285350561141968, + "expert_success": false, + "group_id": "ms-33a0bdb4bcee42c79a2b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5251690149307251, + "oracle_score": 0.7285350561141968, + "oracle_success": false, + "progress": 0.20336604118347168, + "restore_error": 1.1920928955078125e-07, + "score": 0.20336604118347168, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31834229826927185, + "candidate_source_group_id": "ms-35babd5f83dcf1561f9a;ms-c7c812bb98308442d95b;ms-076246c4c5d1ca8ccd9d;ms-684a66885f21739d826b;ms-a4420cda0b159dda82a2;ms-062addb9da32a0c2ea97", + "expert_regret": 1.5644829273223877, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97c28a7584b35207bf84", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5644829273223877, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4355170726776123, + "restore_error": 1.1920928955078125e-07, + "score": 0.4355170726776123, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1275118738412857, + "candidate_source_group_id": "ms-5003e0cda1e13bd4850a;ms-472376eba1a5e1c706bf;ms-908213fef55ccf1dfda6;ms-dfc38c43e9a87f99ef7f;ms-785fb44f1371895f7721;ms-76b0b0463fdb323b6233", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-14dabc3ac1e1a339ebe4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39949655532836914, + "candidate_source_group_id": "ms-472376eba1a5e1c706bf;ms-dfc38c43e9a87f99ef7f;ms-908213fef55ccf1dfda6;ms-785fb44f1371895f7721;ms-76b0b0463fdb323b6233;ms-5003e0cda1e13bd4850a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-487d0fe2a13fb699dd7a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5158498883247375, + "candidate_source_group_id": "ms-7d68051ee4e3b8a5c9a4;ms-3c1e7b47135487435fc1;ms-8bab784ae53525967763;ms-d9ed0a9faf86ca5f5caa;ms-3aa33c0fda88e08e75fa;ms-675833805d1139c2f2a0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-76c7efad95ae67dba1ca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2694433927536011, + "candidate_source_group_id": "ms-ee28aef4a7ee25ff7f7c;ms-0251a326271aa1cab82b;ms-22d1b2dcc954dcdff384;ms-04cc31b72a8dc8a91911;ms-52ea0261959dfacdbcac;ms-b025d8068f740557d630", + "expert_regret": 1.2892059087753296, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cba95475cb68ea42b041", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2892059087753296, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7107940912246704, + "restore_error": 1.1920928955078125e-07, + "score": 0.7107940912246704, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5947832465171814, + "candidate_source_group_id": "ms-c0142e4a5d15dd8d647a;ms-40392e5aeef63551f9ac;ms-49c99f285560483a85ee;ms-8a9e7d69f7ade362fe40;ms-9b687dc2de14c6813d44;ms-1955408aeb8a8a4d0847", + "expert_regret": 1.7964310199022293, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf2603516869355b8b13", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7964310199022293, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2035689800977707, + "restore_error": 1.1920928955078125e-07, + "score": 0.2035689800977707, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6525471806526184, + "candidate_source_group_id": "ms-f237f72fe3db2b4f8e12;ms-794706690fbf8c028bda;ms-c6c7803c56c24c460c7f;ms-5b4f2522663bec742b02;ms-737e72810112f3246b05;ms-62b88f5cbc4f137e3bba", + "expert_regret": 1.3051927089691162, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f601aab1d8f7e4f1b97f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.3051927089691162, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6948072910308838, + "restore_error": 1.1920928955078125e-07, + "score": 0.6948072910308838, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3210226893424988, + "candidate_source_group_id": "ms-de8d6051e6ee74b62fec;ms-ba9541c7192498a1d8bd;ms-3af721139694f7f3ec04;ms-f3211ecde366ca9f6ac7;ms-251c1dfd1010906f559f;ms-a43b35c03282fe0c8464", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-35c12c467fb8a54f89f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.17787528038024902, + "candidate_source_group_id": "ms-bbefdf03d0471be60f8f;ms-06cb0796d1097e6ca111;ms-ea164b21572d39ffed58;ms-1cb9edbe8bd7ed4106c1;ms-73259d17883355f7fa88;ms-0f02ff35b7fa1234c52e", + "expert_regret": 1.2881348729133606, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-832f0e966173abd16c34", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2881348729133606, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7118651270866394, + "restore_error": 1.1920928955078125e-07, + "score": 0.7118651270866394, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.27671512961387634, + "candidate_source_group_id": "ms-a905b84bd3ab703c025f;ms-f4060cdbe6d39b9215ac;ms-9257b89b9b635a0fb174;ms-125287f805d320b2eff7;ms-cf8c5d9c874edc9f000d;ms-3176a570b75767d1d729", + "expert_regret": 1.3121393322944641, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9554f100dd5be3a4fa47", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3121393322944641, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6878606677055359, + "restore_error": 1.1920928955078125e-07, + "score": 0.6878606677055359, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3986041247844696, + "candidate_source_group_id": "ms-85e3feba1c0f3084cfa0;ms-6a9c4c704edd84c21cda;ms-b55ca348be8b64323714;ms-6ca37421eb5405e1a9a5;ms-577341cca32521f4045e;ms-a195f05e99bccc48907e", + "expert_regret": 1.7209884524345398, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e825996818ee6f2f7d26", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7209884524345398, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2790115475654602, + "restore_error": 1.1920928955078125e-07, + "score": 0.2790115475654602, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5514193773269653, + "candidate_source_group_id": "ms-6ceb341dfa656e485a13;ms-b2d1a5e132eaeb353782;ms-6f03b16858c35025503e;ms-27251a7c7f13bf165e21;ms-1a2d298bf9972ddc1a7e;ms-741e906eafd57d115b5d", + "expert_regret": 1.3031979203224182, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0d80d6d87a27a53951fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3031979203224182, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6968020796775818, + "restore_error": 1.1920928955078125e-07, + "score": 0.6968020796775818, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.20750446617603302, + "candidate_source_group_id": "ms-7272e1e33d4ecc07470c;ms-9ced92cccacfe4d157b0;ms-cc0b4a1deec28e53722a;ms-92070f417bd9d14d6fc7;ms-aee5716b3e4fc47e46ba;ms-8b18ea4e0982a1352696", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-145f60d5fff285e7d05b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.8588756918907166, + "candidate_source_group_id": "ms-76b0b0463fdb323b6233;ms-785fb44f1371895f7721;ms-dfc38c43e9a87f99ef7f;ms-472376eba1a5e1c706bf;ms-908213fef55ccf1dfda6;ms-3f56672eac1c00e9c2b0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-34f60c9a263bd0a5641f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4737146198749542, + "candidate_source_group_id": "ms-fc9b4c94b51f8b2a521b;ms-d8f42ed6b0b686d819ab;ms-b025d8068f740557d630;ms-3176a570b75767d1d729;ms-a195f05e99bccc48907e;ms-80e3d8a34c3cb94cad65", + "expert_regret": 1.6911925673484802, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fc3c8a3572fd96442723", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6911925673484802, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3088074326515198, + "restore_error": 1.1920928955078125e-07, + "score": 0.3088074326515198, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.46718165278434753, + "candidate_source_group_id": "ms-1955408aeb8a8a4d0847;ms-917b0f051489227842f0;ms-8a9e7d69f7ade362fe40;ms-9b687dc2de14c6813d44;ms-17a5e9b7bd8c1f255307;ms-85fcc6b4797417c3473f", + "expert_regret": 1.4186664819717407, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b15f77ad3436ac282ba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4186664819717407, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5813335180282593, + "restore_error": 1.1920928955078125e-07, + "score": 0.5813335180282593, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.19720086455345154, + "candidate_source_group_id": "ms-457db124a2f46a06175b;ms-340913cb08bfca09a4e3;ms-f0d2ffde521e268efc83;ms-b4281a37b8b48a0b4c54;ms-fdb2637276b27c46c757;ms-e536e40f6902c6ba0927", + "expert_regret": 1.6449675559997559, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01ab68aa5051226638ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6449675559997559, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.35503244400024414, + "restore_error": 1.1920928955078125e-07, + "score": 0.35503244400024414, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4464258551597595, + "candidate_source_group_id": "ms-4b4cd12d70c0615e0930;ms-e12808f670338ca180c6;ms-8c8cf210aa675c5db1fe;ms-c910a469460f71880556;ms-0e48a13af39db4a58bbc;ms-f3211ecde366ca9f6ac7", + "expert_regret": 0.052265703678131104, + "expert_score": 0.7284893989562988, + "expert_success": false, + "group_id": "ms-1bbd61ce613ae75c8bb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.052265703678131104, + "oracle_score": 0.7284893989562988, + "oracle_success": false, + "progress": 0.6762236952781677, + "restore_error": 1.862645149230957e-07, + "score": 0.6762236952781677, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.45750945806503296, + "candidate_source_group_id": "ms-91710558482886874dd7;ms-7614105b40956cc606ee;ms-490e2c471adbabec6304;ms-4f54ed10d332989ae524;ms-5b4f2522663bec742b02;ms-62b88f5cbc4f137e3bba", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-73906fdb1ffcfbe4aaf4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.862645149230957e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.447094589471817, + "candidate_source_group_id": "ms-0bc111c5ce4e0052716b;ms-c663f7e73e7e8376a05c;ms-777412474251e64d7e24;ms-4f54ed10d332989ae524;ms-3c3fb1d170c1a7965ac4;ms-efbde8652e75274fbd69", + "expert_regret": 1.74392431974411, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6818a4edf6ef35dacfb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.74392431974411, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2560756802558899, + "restore_error": 1.862645149230957e-07, + "score": 0.2560756802558899, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.15365096926689148, + "candidate_source_group_id": "ms-bc56601ca069f65cd08f;ms-a4ade4de51ca437ac432;ms-1145e0f6add300eee9bd;ms-bbefdf03d0471be60f8f;ms-988537a36edfece3d073;ms-ea164b21572d39ffed58", + "expert_regret": 1.4197071194648743, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-38758efd8620a312267d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4197071194648743, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5802928805351257, + "restore_error": 1.862645149230957e-07, + "score": 0.5802928805351257, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.039025068283081055, + "candidate_source_group_id": "ms-cce5ef6cfa69a08a1e05;ms-e12808f670338ca180c6;ms-c0ed69f549e56aa55f3d;ms-715db95b13ebc6c977c8;ms-4b4cd12d70c0615e0930;ms-251c1dfd1010906f559f", + "expert_regret": 0.5235019028186798, + "expert_score": 0.725497841835022, + "expert_success": false, + "group_id": "ms-0660d5f65df5fc4b6132", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7980040609836578, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20199593901634216, + "restore_error": 1.862645149230957e-07, + "score": 0.20199593901634216, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.19578464329242706, + "candidate_source_group_id": "ms-a242f1d12ebfcd82de05;ms-051860c228aa5160d5a6;ms-bc56601ca069f65cd08f;ms-e3526036a5bf85cac0bf;ms-a2c1429e7b81479b52db;ms-f6f0d14ef7c24b9e4621", + "expert_regret": 1.3039326667785645, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-078317e23cc56a9d719d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3039326667785645, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6960673332214355, + "restore_error": 1.862645149230957e-07, + "score": 0.6960673332214355, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4037862718105316, + "candidate_source_group_id": "ms-a74a87e26362d09598fe;ms-69785feff08dbf9a50be;ms-73c99a7a25cd025e5f2d;ms-17a5e9b7bd8c1f255307;ms-9b687dc2de14c6813d44;ms-40eb8d19498413d4e730", + "expert_regret": 1.2812621593475342, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-57dc9349b8f2c9c49105", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2812621593475342, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7187378406524658, + "restore_error": 1.862645149230957e-07, + "score": 0.7187378406524658, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3265671730041504, + "candidate_source_group_id": "ms-5bbc4c4b1b51e2a088db;ms-3e0dbff4309ecbd35d36;ms-080e034927abe2f30d60;ms-13aa39b96923ad8c913a;ms-7dfc3684b46df95070e2;ms-a4ade4de51ca437ac432", + "expert_regret": 1.7453166842460632, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bdb04ada069c35d51e2e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7453166842460632, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25468331575393677, + "restore_error": 1.862645149230957e-07, + "score": 0.25468331575393677, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1521720141172409, + "candidate_source_group_id": "ms-b383acd9844466b19579;ms-4b3a296acc66a14476c3;ms-662379c2c351807b9cdf;ms-d8295b43b30ceea30907;ms-80d8d8fc4a3308139975;ms-a40abdebe8a9c17de878", + "expert_regret": 0.0, + "expert_score": 0.695741593837738, + "expert_success": false, + "group_id": "ms-5799584ed40e211c50a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2796778976917267, + "candidate_source_group_id": "ms-debd7e5668e2acdf6bb0;ms-92070f417bd9d14d6fc7;ms-b5b68468bf26d19252f0;ms-aee5716b3e4fc47e46ba;ms-bb567fcac946f012535a;ms-20cd6d8ccbf13e36dcdb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-59474486dd5cb4e5bfd5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4188116490840912, + "candidate_source_group_id": "ms-a74a87e26362d09598fe;ms-17a5e9b7bd8c1f255307;ms-40eb8d19498413d4e730;ms-69785feff08dbf9a50be;ms-9b687dc2de14c6813d44;ms-917b0f051489227842f0", + "expert_regret": 0.5280466228723526, + "expert_score": 0.7287594079971313, + "expert_success": false, + "group_id": "ms-01926c30568d417edd91", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5280466228723526, + "oracle_score": 0.7287594079971313, + "oracle_success": false, + "progress": 0.20071278512477875, + "restore_error": 1.1920928955078125e-07, + "score": 0.20071278512477875, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37527942657470703, + "candidate_source_group_id": "ms-aee5716b3e4fc47e46ba;ms-062a265cedee2107eb17;ms-118ba8926eda06ffc61e;ms-cc0b4a1deec28e53722a;ms-7272e1e33d4ecc07470c;ms-92070f417bd9d14d6fc7", + "expert_regret": 1.3012558221817017, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b933fbfb7c8fa68a445f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3012558221817017, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6987441778182983, + "restore_error": 1.1920928955078125e-07, + "score": 0.6987441778182983, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3251826763153076, + "candidate_source_group_id": "ms-5003e0cda1e13bd4850a;ms-908213fef55ccf1dfda6;ms-472376eba1a5e1c706bf;ms-dfc38c43e9a87f99ef7f;ms-785fb44f1371895f7721;ms-76b0b0463fdb323b6233", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-067e0fe46e4e9483e2a1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.43596866726875305, + "candidate_source_group_id": "ms-f63a0e43f0923369edc3;ms-2c6000014d31fc0bb21c;ms-40a961867249ddccb68f;ms-dd0fad10ce064047d62e;ms-f1eb6805ec9b483bba41;ms-f97bd60d5430c32f9494", + "expert_regret": 1.290088713169098, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-02663903d88aa84c9c10", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.290088713169098, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7099112868309021, + "restore_error": 1.1920928955078125e-07, + "score": 0.7099112868309021, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2961170971393585, + "candidate_source_group_id": "ms-988537a36edfece3d073;ms-3e0dbff4309ecbd35d36;ms-cdbfe4d3b05f4ed12db3;ms-3db845076f92a16d1840;ms-25195d526c9adb43ac79;ms-9f993a6e9bb26846d4f4", + "expert_regret": 1.3110650777816772, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9c33d4837de7d23232d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3110650777816772, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6889349222183228, + "restore_error": 1.1920928955078125e-07, + "score": 0.6889349222183228, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35902929306030273, + "candidate_source_group_id": "ms-4906f3adfda6dace862d;ms-5bbc4c4b1b51e2a088db;ms-ff3256da4e1731651937;ms-03495469257613a802b4;ms-502c195c0e4810814bac;ms-4c638b9bb924547f69cb", + "expert_regret": 1.678761601448059, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1b8e9b173562648021f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.678761601448059, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3212383985519409, + "restore_error": 1.1920928955078125e-07, + "score": 0.3212383985519409, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3190729022026062, + "candidate_source_group_id": "ms-7cd314f076bfe5c32088;ms-ff3256da4e1731651937;ms-502c195c0e4810814bac;ms-5bbc4c4b1b51e2a088db;ms-ef8de99d917753ec603c;ms-4906f3adfda6dace862d", + "expert_regret": 1.3096007108688354, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4dc9ab19fbe571f09699", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3096007108688354, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6903992891311646, + "restore_error": 1.1920928955078125e-07, + "score": 0.6903992891311646, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7053652405738831, + "candidate_source_group_id": "ms-af91167a0cf15457c6ba;ms-89520c3ac8779d9e81e7;ms-e2a037eadb166228b1dd;ms-4b4cd12d70c0615e0930;ms-0e48a13af39db4a58bbc;ms-c910a469460f71880556", + "expert_regret": 1.4065852165222168, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-efb5a07185a3a1b33226", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4065852165222168, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5934147834777832, + "restore_error": 1.1920928955078125e-07, + "score": 0.5934147834777832, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30428317189216614, + "candidate_source_group_id": "ms-3f6e7085c865144a7408;ms-2590f9fd91265598fb45;ms-65e9da4468e522823587;ms-69cb3fa758f707a58076;ms-5b24bcde90348f24bb19;ms-484ea653bbca2de3a4a2", + "expert_regret": 1.2914587259292603, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6939f3ecafd5e0a4bfee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2914587259292603, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7085412740707397, + "restore_error": 1.1920928955078125e-07, + "score": 0.7085412740707397, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4463598430156708, + "candidate_source_group_id": "ms-9f844e24c570295e0497;ms-effca6c13ef9ccfd21a0;ms-ce7b349699ed248bb67c;ms-69785feff08dbf9a50be;ms-40eb8d19498413d4e730;ms-a74a87e26362d09598fe", + "expert_regret": 1.2940860390663147, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8de8d619c0cf5fd633e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2940860390663147, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7059139609336853, + "restore_error": 1.1920928955078125e-07, + "score": 0.7059139609336853, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40787792205810547, + "candidate_source_group_id": "ms-85fcc6b4797417c3473f;ms-17a5e9b7bd8c1f255307;ms-9b687dc2de14c6813d44;ms-917b0f051489227842f0;ms-a829d650eb9914fb2983;ms-1955408aeb8a8a4d0847", + "expert_regret": 1.2763414978981018, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-50b9f93dd246400d20c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2763414978981018, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7236585021018982, + "restore_error": 1.1920928955078125e-07, + "score": 0.7236585021018982, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.12107442319393158, + "candidate_source_group_id": "ms-c0ed69f549e56aa55f3d;ms-29a11d7bdcf49c86bd7a;ms-c2b904f450b45e2a8c9a;ms-13d8bae55d3c3710138f;ms-9852b3671856321cecc8;ms-715db95b13ebc6c977c8", + "expert_regret": 0.5245758891105652, + "expert_score": 0.727162778377533, + "expert_success": false, + "group_id": "ms-ec2e4afb34b439731136", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7974131107330322, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20258688926696777, + "restore_error": 1.1920928955078125e-07, + "score": 0.20258688926696777, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1482519805431366, + "candidate_source_group_id": "ms-785fb44f1371895f7721;ms-76b0b0463fdb323b6233;ms-dfc38c43e9a87f99ef7f;ms-472376eba1a5e1c706bf;ms-908213fef55ccf1dfda6;ms-3f56672eac1c00e9c2b0", + "expert_regret": 0.02829200029373169, + "expert_score": 0.7244810461997986, + "expert_success": false, + "group_id": "ms-2436538e05fdcf8e44fc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.303810954093933, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6961890459060669, + "restore_error": 1.1920928955078125e-07, + "score": 0.6961890459060669, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.4024404287338257, + "candidate_source_group_id": "ms-c910a469460f71880556;ms-0e48a13af39db4a58bbc;ms-af91167a0cf15457c6ba;ms-8c8cf210aa675c5db1fe;ms-f3211ecde366ca9f6ac7;ms-89520c3ac8779d9e81e7", + "expert_regret": 1.7727104425430298, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-95264bfdaa3892cf66ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7727104425430298, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22728955745697021, + "restore_error": 1.1920928955078125e-07, + "score": 0.22728955745697021, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.048525918275117874, + "candidate_source_group_id": "ms-40eb8d19498413d4e730;ms-619d3d285d2cae3abbb9;ms-69785feff08dbf9a50be;ms-a74a87e26362d09598fe;ms-88f7199271947fc4c7e8;ms-a829d650eb9914fb2983", + "expert_regret": 0.011271178722381592, + "expert_score": 0.7279428839683533, + "expert_success": false, + "group_id": "ms-c090bce47703a4c4bb0b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2833282947540283, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7166717052459717, + "restore_error": 2.384185791015625e-07, + "score": 0.7166717052459717, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.3895753622055054, + "candidate_source_group_id": "ms-c910a469460f71880556;ms-0e48a13af39db4a58bbc;ms-f3211ecde366ca9f6ac7;ms-8c8cf210aa675c5db1fe;ms-89520c3ac8779d9e81e7;ms-e2a037eadb166228b1dd", + "expert_regret": 1.783932402729988, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-288ce929957d627c569c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.783932402729988, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2160675972700119, + "restore_error": 2.384185791015625e-07, + "score": 0.2160675972700119, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.507637083530426, + "candidate_source_group_id": "ms-8b461b0929537fbc1d41;ms-9bbea286acf66b5cfb8e;ms-02cacb03f445c8a460e8;ms-25195d526c9adb43ac79;ms-8d3d849234ceb98c3dc1;ms-e89a3ba400f81d2795f3", + "expert_regret": 1.2894690036773682, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ad7b7d5d7fb25961859f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2894690036773682, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7105309963226318, + "restore_error": 2.384185791015625e-07, + "score": 0.7105309963226318, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2690674960613251, + "candidate_source_group_id": "ms-cf8c5d9c874edc9f000d;ms-9257b89b9b635a0fb174;ms-3176a570b75767d1d729;ms-a905b84bd3ab703c025f;ms-d8f42ed6b0b686d819ab;ms-2f2b16367db3db120235", + "expert_regret": 1.5353983640670776, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28fe4b5a2888189c28d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5353983640670776, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.46460163593292236, + "restore_error": 2.384185791015625e-07, + "score": 0.46460163593292236, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.06475100666284561, + "candidate_source_group_id": "ms-c6c7803c56c24c460c7f;ms-794706690fbf8c028bda;ms-5b4f2522663bec742b02;ms-a323215fb409ab3e9287;ms-f5ebbab81506fa27fc6d;ms-737e72810112f3246b05", + "expert_regret": 0.03563278913497925, + "expert_score": 0.7292043566703796, + "expert_success": false, + "group_id": "ms-dd32ce9859c365c535b4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3064284324645996, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6935715675354004, + "restore_error": 2.384185791015625e-07, + "score": 0.6935715675354004, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37396520376205444, + "candidate_source_group_id": "ms-8556e974064f31ae1468;ms-22aaa483f5e7d381b63d;ms-a20322ed13a2be7a99c6;ms-0ef5d3238b33bdebae4d;ms-3a09e411ee6c882ef7df;ms-e4090b0b0c1739070201", + "expert_regret": 1.2996588945388794, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c3818c2c4474a784fc6b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2996588945388794, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7003411054611206, + "restore_error": 2.384185791015625e-07, + "score": 0.7003411054611206, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31066614389419556, + "candidate_source_group_id": "ms-40a961867249ddccb68f;ms-a8eb841beb710c8fbfb1;ms-65e9da4468e522823587;ms-30e4ae59842091fe16b2;ms-14a2c3eb293175cb76f3;ms-f7169e27b3743aa48e77", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9756d07ed207e9ab1d53", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.4031740427017212, + "candidate_source_group_id": "ms-8f3d4e1d07bb5dcc7c57;ms-0e48a13af39db4a58bbc;ms-c910a469460f71880556;ms-de8d6051e6ee74b62fec;ms-af91167a0cf15457c6ba;ms-f3211ecde366ca9f6ac7", + "expert_regret": 1.7774111926555634, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dfc111660c0d1c7b7e04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7774111926555634, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22258880734443665, + "restore_error": 2.384185791015625e-07, + "score": 0.22258880734443665, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.4721524715423584, + "candidate_source_group_id": "ms-a5bd3a36c6fe41cd0b35;ms-1a2d298bf9972ddc1a7e;ms-cf44ae14778c60c36af0;ms-9f4b47c80d59166302ab;ms-6f03b16858c35025503e;ms-b60078e9e6ea9c26dedc", + "expert_regret": 1.7871270924806595, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0a57aa04002f1b843856", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7871270924806595, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21287290751934052, + "restore_error": 1.1920928955078125e-07, + "score": 0.21287290751934052, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.8191561698913574, + "candidate_source_group_id": "ms-7a17ceb004979b99a586;ms-ffa71e2ef6c284477c5d;ms-47fd1407ae4e17ed4bee;ms-67f602a0e4efc9984d72;ms-8d9b2a5ccd43461f827e;ms-1158e6997b2f1281b105", + "expert_regret": 1.4653493165969849, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f88a44616a0985aac518", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4653493165969849, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5346506834030151, + "restore_error": 2.384185791015625e-07, + "score": 0.5346506834030151, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48970869183540344, + "candidate_source_group_id": "ms-81951a4920488e6c62e9;ms-3731f1c5af3c4a133633;ms-5425964a186feaf6fd99;ms-193063285cdb9faff39b;ms-4746e04d636d13cfbe6c;ms-42117385b9e6e57c7e63", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-570c074dbf28b5faae58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20408642292022705, + "candidate_source_group_id": "ms-32435d71bb817daf01d9;ms-f80ae137a8d9981f8c98;ms-339ae3ec9482aa259eec;ms-5ac153f97fd3c2f689c5;ms-3950f823020f08f8e8cd;ms-50d83ce148904504ec50", + "expert_regret": 1.450685739517212, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a10d8368c33b56390f77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.450685739517212, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5493142604827881, + "restore_error": 2.384185791015625e-07, + "score": 0.5493142604827881, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2528716027736664, + "candidate_source_group_id": "ms-4aa0c1a37cdb70ba8877;ms-f1d1776b7a5bd0a7b02c;ms-2b56888f10733707f14b;ms-47662cfa5e75ac8250e7;ms-62ece8fe2f85092ca96f;ms-3c12da28c8edab3fa554", + "expert_regret": 1.4394920468330383, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11930c353a2b4fefab82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4394920468330383, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5605079531669617, + "restore_error": 2.384185791015625e-07, + "score": 0.5605079531669617, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29026684165000916, + "candidate_source_group_id": "ms-45ed57caa698d87a99cf;ms-4385e9c56007fdaa94b5;ms-0adce283894b0a2b7b94;ms-9bcf8a1e5e7b0f7ff6f5;ms-ffba357213945be5f9f7;ms-ee32e6bb3c0bb45702b9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c1ac63fb3644e3a2ae06", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2457503080368042, + "candidate_source_group_id": "ms-782893a3eb2e3dcfd15e;ms-bcd9be34f050d97499bd;ms-f6db4e8bed63ed868487;ms-9ffeb1600c04f08bdfcb;ms-29eab654e4adf7ca9c4b;ms-4f938bd3599c372c8bff", + "expert_regret": 1.4606207013130188, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-55c2bba961a327aa5260", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4606207013130188, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5393792986869812, + "restore_error": 2.384185791015625e-07, + "score": 0.5393792986869812, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2500123679637909, + "candidate_source_group_id": "ms-d05d9bbb98f24da55981;ms-869a04e41dc5cc90916b;ms-910364d2d86091c5e0cf;ms-5085e45e6ca37192d2e5;ms-bb0d941f78d3d9c5a886;ms-22412b51e61621b6025b", + "expert_regret": 1.4099949598312378, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d0e4bdc60ab8ea52a320", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4099949598312378, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5900050401687622, + "restore_error": 2.384185791015625e-07, + "score": 0.5900050401687622, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8545273542404175, + "candidate_source_group_id": "ms-06935a084a7af6d7596c;ms-b1c9975d1a007dd03dc4;ms-10a5b6cc3ec06dfdc5c5;ms-97598e118c5cc8c254a5;ms-2073841ae01f224365a1;ms-503d0b1d27ed78b6130f", + "expert_regret": 1.8831712678074837, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f4860c7945db15b54d2e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8831712678074837, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11682873219251633, + "restore_error": 2.384185791015625e-07, + "score": 0.11682873219251633, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.21010027825832367, + "candidate_source_group_id": "ms-2ae57bab6d2ea11f6638;ms-b671fa9fcef84dbf2a13;ms-910d27b58a0585327a27;ms-57ac136bd68be6387c6f;ms-8fcc78fba7b3bec0fab6;ms-4a0ae3deadb8560fd315", + "expert_regret": 1.4379165768623352, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-48d490ed21088bb5ba85", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4379165768623352, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5620834231376648, + "restore_error": 2.384185791015625e-07, + "score": 0.5620834231376648, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4111296236515045, + "candidate_source_group_id": "ms-f07607bc0ce1c4e202b0;ms-1d36e5be82aee5a8e3b8;ms-a2908e99b0a12a9980cc;ms-02acbd591a961c0dbd46;ms-9e87481ce12fa45b2554;ms-7fa85a7251186eb18d0b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6d7b10e8b2b0a516b786", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4263668358325958, + "candidate_source_group_id": "ms-2073841ae01f224365a1;ms-97598e118c5cc8c254a5;ms-06935a084a7af6d7596c;ms-0584242e924d240ca0c8;ms-10a5b6cc3ec06dfdc5c5;ms-80fbba5636cb4f9c64a3", + "expert_regret": 1.4495607018470764, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d94c7c692c91a962f25", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4495607018470764, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5504392981529236, + "restore_error": 2.384185791015625e-07, + "score": 0.5504392981529236, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4324619472026825, + "candidate_source_group_id": "ms-1d36e5be82aee5a8e3b8;ms-f07607bc0ce1c4e202b0;ms-a2908e99b0a12a9980cc;ms-9c8a90334c3b933c8976;ms-02acbd591a961c0dbd46;ms-97aebe1dd42939e3b340", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e793d78eaff3fb28deb6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47336453199386597, + "candidate_source_group_id": "ms-6af227c07aaf7c0f0aea;ms-3e971096794f04f325f2;ms-0843bef6b0c13c3ede69;ms-3b0ad4f07f1813ecf670;ms-74868f62709b91077e27;ms-950df0830b2e57010248", + "expert_regret": 1.9492148868739605, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a1846ef1f00eb54e2d60", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9492148868739605, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.050785113126039505, + "restore_error": 2.384185791015625e-07, + "score": 0.050785113126039505, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5795316696166992, + "candidate_source_group_id": "ms-3deb9fa600781abb51c1;ms-f69d6aec4ddb12d88c5b;ms-175375383979526d80b5;ms-1fb2f4c1e17e99767558;ms-e7f2d1f0de50c6fcccb4;ms-ee7463f3d937dbc16f89", + "expert_regret": 1.955020997673273, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6558f35ae2a2871a4bfd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.955020997673273, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04497900232672691, + "restore_error": 2.384185791015625e-07, + "score": 0.04497900232672691, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8472291231155396, + "candidate_source_group_id": "ms-b4af4c8b9dcd6976546c;ms-50f29e19c798fee5422f;ms-1451f536f2ac0df844f6;ms-67f602a0e4efc9984d72;ms-c81880a77c4d978a0b7a;ms-7de8743758ec505a3294", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-49219cb8ed7dad70c897", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6421152949333191, + "candidate_source_group_id": "ms-432ca73236be93cb76df;ms-0584242e924d240ca0c8;ms-06935a084a7af6d7596c;ms-5316151a88a3282436ca;ms-5071d49489e1900dfa91;ms-10a5b6cc3ec06dfdc5c5", + "expert_regret": 1.473000407218933, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-54f34c73458181a65e9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.473000407218933, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5269995927810669, + "restore_error": 2.384185791015625e-07, + "score": 0.5269995927810669, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5088377594947815, + "candidate_source_group_id": "ms-b4af4c8b9dcd6976546c;ms-746436cac05100783ad7;ms-16d5b122db1824caf92b;ms-67f602a0e4efc9984d72;ms-4e86b87d6e5f6ab914fe;ms-10af171aa279a879207d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c3a1cf0e424a4f065459", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18897327780723572, + "candidate_source_group_id": "ms-c684df0b998b593db723;ms-f28fbb82a51d4de7811b;ms-97a18aeeea0b34f7c606;ms-1add4cf84fdadf5703d6;ms-b6fd2931116c15db0f0a;ms-1d1969094d91fe52667d", + "expert_regret": 1.448294758796692, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0a48fbd111be17b50be5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.448294758796692, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5517052412033081, + "restore_error": 1.1920928955078125e-07, + "score": 0.5517052412033081, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3854448199272156, + "candidate_source_group_id": "ms-67f602a0e4efc9984d72;ms-90464666adfd66056785;ms-813cac6d08ed5af48b12;ms-30ad687dc1bc8318fa45;ms-84b677a48d338212ceb7;ms-4b1561bd0029228fdbbe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-32b9c353a4890631f1bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29323095083236694, + "candidate_source_group_id": "ms-1c0e2bb3a811fac6d567;ms-2e5c2f75d3f6311e0a1c;ms-307f9067d5b66f55b3a6;ms-5c8b50523e0de37d80b8;ms-d305a11348461ae1622c;ms-8af2224cc82636ef1dd7", + "expert_regret": 1.934994138777256, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5415e349e8f9f2bce641", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.934994138777256, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06500586122274399, + "restore_error": 1.1920928955078125e-07, + "score": 0.06500586122274399, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1565479189157486, + "candidate_source_group_id": "ms-3c4ff3dae26217f22a8b;ms-f3e40db5e157647d463d;ms-fe2964cc8940ee7c24aa;ms-6f1db8895d5164cc5ae5;ms-93e3d9968204474eff49;ms-52c6c227fd4b61609031", + "expert_regret": 0.01571834087371826, + "expert_score": 0.5548074245452881, + "expert_success": false, + "group_id": "ms-29f1abb869ff206a4d52", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.020135164260864258, + "oracle_score": 0.5592242479324341, + "oracle_success": false, + "progress": 0.5390890836715698, + "restore_error": 1.1920928955078125e-07, + "score": 0.5390890836715698, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8229649662971497, + "candidate_source_group_id": "ms-311a52ec4b0ca8d71889;ms-d67409d8ecfd5d97336d;ms-b36673c3905a123cbd50;ms-382000b79932b7c68326;ms-dea17c1c383f54d05636;ms-6c0ef0ef8b493232246c", + "expert_regret": 1.4598773121833801, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9cf068e0d2896f655ad2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4598773121833801, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5401226878166199, + "restore_error": 1.1920928955078125e-07, + "score": 0.5401226878166199, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.36476725339889526, + "candidate_source_group_id": "ms-166b7f66bf9f4eec432b;ms-e1972ebf2c5587a6fdf9;ms-759ba8b7be233ca47c30;ms-f39bbaa063044719a98d;ms-ee0986397bc7267882d8;ms-9c8a90334c3b933c8976", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bcc70292f404cd1c7f75", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42444083094596863, + "candidate_source_group_id": "ms-1bfca22d4af29f0e14b1;ms-4fe7fdaf946c97803c82;ms-07e0726dedce0a0e4419;ms-61068da67676a95e5065;ms-e093f85b121d443b61e2;ms-fb92a1e6b67121783fff", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-81085eba1dd49b17ec9c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6845751404762268, + "candidate_source_group_id": "ms-7a17ceb004979b99a586;ms-79c7332b2b329eaa6a13;ms-1158e6997b2f1281b105;ms-708baf01c22c75cafd22;ms-61b1188974f35233b883;ms-0e12a6083750bfecca87", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-95320371ce6b820c85f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.37950262427330017, + "candidate_source_group_id": "ms-f80ae137a8d9981f8c98;ms-45d4b692eda9ecacaa55;ms-68970d9d9bf975e25eb5;ms-25839c690d85a4f5b986;ms-32435d71bb817daf01d9;ms-f4d6da245d340cd16d30", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dc2a8fa76e1ceb0d8925", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15384531021118164, + "candidate_source_group_id": "ms-8b68d8b4d22e6ff0451d;ms-cca07eb504a242633931;ms-239a07967247700a8ed1;ms-5fc884c238818acdde08;ms-f39bbaa063044719a98d;ms-1781d9c562b4425df7c8", + "expert_regret": 1.455059826374054, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a3d0c460532de2d801ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.455059826374054, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.544940173625946, + "restore_error": 1.1920928955078125e-07, + "score": 0.544940173625946, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.27789777517318726, + "candidate_source_group_id": "ms-d462cff6e1b4b201a6ce;ms-f947dbf28ad85666e2f1;ms-1cdd36810a138190ce3c;ms-8e741ca11a7fbe85ba1d;ms-08c39d9cc9eb7578e6e9;ms-d16053a4f8b95c94dc46", + "expert_regret": 1.9871645094826818, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-739a89fb4521bc481a9f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9871645094826818, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.012835490517318249, + "restore_error": 1.1920928955078125e-07, + "score": 0.012835490517318249, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3361518681049347, + "candidate_source_group_id": "ms-79d500110f3723b57da8;ms-7af1e453acf970f40546;ms-8fdde5008d12abb7ae6a;ms-a3c53708416dbfb9fbc5;ms-88e10d1be12a407b3926;ms-53fdabb5d8ef20778214", + "expert_regret": 1.4539352059364319, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2a67eea0b1293de9bcf9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4539352059364319, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5460647940635681, + "restore_error": 1.1920928955078125e-07, + "score": 0.5460647940635681, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22908414900302887, + "candidate_source_group_id": "ms-53fdabb5d8ef20778214;ms-fb98254adaa23dc128df;ms-774e954ffdc5da041261;ms-f1eb908e172570b07cae;ms-88e10d1be12a407b3926;ms-7af1e453acf970f40546", + "expert_regret": 1.4373286366462708, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2b3e081263ed25d45dc8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4373286366462708, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5626713633537292, + "restore_error": 1.1920928955078125e-07, + "score": 0.5626713633537292, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5656489729881287, + "candidate_source_group_id": "ms-72b7d76602371f044fe3;ms-7d962acc9cfbc27c599c;ms-13192a27f5fcf4fd24d7;ms-11bb3387454624de8143;ms-4742d169606f3ec2b474;ms-38507741c3b5d91a7b33", + "expert_regret": 1.4441009759902954, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-766b6fe7c08a3525ce94", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4441009759902954, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5558990240097046, + "restore_error": 1.1920928955078125e-07, + "score": 0.5558990240097046, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.07197775691747665, + "candidate_source_group_id": "ms-488a34fe7b7e84250616;ms-2b556c4c1b55a20b14c8;ms-5780f9e1e9f9e740d474;ms-7057de70d36f5cc31472;ms-8f241450069e74460a40;ms-97a18aeeea0b34f7c606", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f8439d39ae9ed028a4cd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33595868945121765, + "candidate_source_group_id": "ms-41b0258c4e329a734da7;ms-c7041c6f758f8e4a3698;ms-6a7e80154a9a4e5e9c08;ms-d4aab6f9b6717dd5712e;ms-8fcc78fba7b3bec0fab6;ms-0cfef0ba35d4e6097003", + "expert_regret": 1.4665534496307373, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-00b9ad6a8fe73fccc6fc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4665534496307373, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5334465503692627, + "restore_error": 1.1920928955078125e-07, + "score": 0.5334465503692627, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4841659963130951, + "candidate_source_group_id": "ms-c86956f3f1333e136186;ms-338a891eb2a21ec4a63d;ms-e058c0dba52df04b8642;ms-782893a3eb2e3dcfd15e;ms-bcd9be34f050d97499bd;ms-f6db4e8bed63ed868487", + "expert_regret": 1.9595324732363224, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e20f5d43f319248c5001", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9595324732363224, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0404675267636776, + "restore_error": 1.1920928955078125e-07, + "score": 0.0404675267636776, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48491349816322327, + "candidate_source_group_id": "ms-ff3f17774184180998f0;ms-c6d4f51c1adffc449778;ms-869a04e41dc5cc90916b;ms-d05d9bbb98f24da55981;ms-c0bfce3c9dd10f9d3231;ms-5e3b1693ad7b75221847", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6be8614a1bd50b974b95", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46284547448158264, + "candidate_source_group_id": "ms-97a18aeeea0b34f7c606;ms-f28fbb82a51d4de7811b;ms-f4fd59b4d1bce2d6b6a4;ms-6edb3f8fe977a81f8979;ms-d19573dc65181befd83d;ms-7057de70d36f5cc31472", + "expert_regret": 1.5155378878116608, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f3f6a1b34fdf35290a6c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5155378878116608, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.48446211218833923, + "restore_error": 1.1920928955078125e-07, + "score": 0.48446211218833923, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8120009303092957, + "candidate_source_group_id": "ms-2649df827a3c1017ccd8;ms-89c0c15f7bb38eaf59e4;ms-f4fd59b4d1bce2d6b6a4;ms-b6827e38768a63212d73;ms-61b1188974f35233b883;ms-6edb3f8fe977a81f8979", + "expert_regret": 1.495289146900177, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9184c93267b4bbfa4cae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.495289146900177, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.504710853099823, + "restore_error": 1.1920928955078125e-07, + "score": 0.504710853099823, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29550471901893616, + "candidate_source_group_id": "ms-683b1d258a1cafbf87b9;ms-b90d7926b23eabbbed04;ms-beb3567748ba228bdfce;ms-b0aa24be399d843c9d50;ms-dbcc3da47d96ceeaf9f0;ms-32435d71bb817daf01d9", + "expert_regret": 1.4477412104606628, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe54b45b549a55d45c0e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4477412104606628, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5522587895393372, + "restore_error": 1.1920928955078125e-07, + "score": 0.5522587895393372, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.32130998373031616, + "candidate_source_group_id": "ms-a3c53708416dbfb9fbc5;ms-88e10d1be12a407b3926;ms-79d500110f3723b57da8;ms-8fdde5008d12abb7ae6a;ms-8a74cf665984273be00d;ms-7af1e453acf970f40546", + "expert_regret": 1.4604149460792542, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9e31a19a776a861f9d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4604149460792542, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5395850539207458, + "restore_error": 1.1920928955078125e-07, + "score": 0.5395850539207458, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5687915086746216, + "candidate_source_group_id": "ms-fd6deac5a281d169bc75;ms-8f0e2c9caad14bd37ecf;ms-f3e40db5e157647d463d;ms-d91cbe61314c18955b6b;ms-c2107b650136a20fc4a3;ms-561f4f913d7b4991d81a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-753929cfdc4aaa652b32", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6125818490982056, + "candidate_source_group_id": "ms-02ab2e7a74d970154eb7;ms-8b85ebf659960395db9c;ms-263556e167dc363ebc42;ms-893159691d11a40c7537;ms-7020f1cda882b79bffa3;ms-5d169f059bde8e429786", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a01f0549a18d924d31c0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5042261481285095, + "candidate_source_group_id": "ms-fa911d56cdf9bf122b5c;ms-e218d19c595e580c3e32;ms-fe650308e25459ee64c6;ms-a01e21b91a5b37a16afe;ms-319a6c0cef0ac1a872d5;ms-3b7c5c91ae441f282006", + "expert_regret": 0.5877448562532663, + "expert_score": 0.6087449193000793, + "expert_success": false, + "group_id": "ms-b9e46b7345a63ded4397", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5877448562532663, + "oracle_score": 0.6087449193000793, + "oracle_success": false, + "progress": 0.02100006304681301, + "restore_error": 1.1920928955078125e-07, + "score": 0.02100006304681301, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.34511420130729675, + "candidate_source_group_id": "ms-e441e4042cb7d77a4986;ms-4276f24b1b5dce771bff;ms-b97cb4ec02e8234b08c5;ms-3e51a1bdc3a2cc4eb06d;ms-d965f63e091a5d6dd6d7;ms-4742d169606f3ec2b474", + "expert_regret": 1.434781789779663, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a145b708d79b243da21f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.434781789779663, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5652182102203369, + "restore_error": 1.1920928955078125e-07, + "score": 0.5652182102203369, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6278926134109497, + "candidate_source_group_id": "ms-0915b75e9fd1468d464e;ms-8b972386cfdf0158a0a3;ms-a01e21b91a5b37a16afe;ms-19c0b893fda0e6bb05f7;ms-aea09fb002af52e12bd8;ms-319a6c0cef0ac1a872d5", + "expert_regret": 1.9585731960833073, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9233eae706910c204b79", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9585731960833073, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.041426803916692734, + "restore_error": 1.1920928955078125e-07, + "score": 0.041426803916692734, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39450153708457947, + "candidate_source_group_id": "ms-5df54a8baaceb8c73c8a;ms-de066fc4200163ebd06b;ms-1fb2f4c1e17e99767558;ms-22325628db75967cf779;ms-81f48d29d0404300ea93;ms-c425c810f7865e9564ee", + "expert_regret": 1.977472698315978, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13557287cd450bc12c6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.977472698315978, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02252730168402195, + "restore_error": 1.1920928955078125e-07, + "score": 0.02252730168402195, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5289939641952515, + "candidate_source_group_id": "ms-0ca11ec8f7fbf0c1d66e;ms-17e8d6ba42404c7b7d07;ms-10f4c68dcad8285f4acd;ms-0ece7b8c91d9d82f244b;ms-cda24997adbad130b09d;ms-1cea800b74c1ea2f6338", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9e1f3c14116ebca6164d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42689862847328186, + "candidate_source_group_id": "ms-a949424c5fa615565d72;ms-dd7f9cc9585878b84824;ms-eff5f21c51f26a85f07c;ms-0cfef0ba35d4e6097003;ms-32346c22352f72d3de3a;ms-fd225482b96686f51dc8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8522a9364bf70311450d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4585924744606018, + "candidate_source_group_id": "ms-07e0726dedce0a0e4419;ms-fb92a1e6b67121783fff;ms-4fe7fdaf946c97803c82;ms-1bfca22d4af29f0e14b1;ms-635a384c88604ad7ba4f;ms-61068da67676a95e5065", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87b44e6219279322a723", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5871215462684631, + "candidate_source_group_id": "ms-99df75798ec5da5ec7f3;ms-8c9f657875cf334b1f17;ms-49641ecf3e1326621609;ms-19e6e6e341aebb7ec693;ms-8c0b600aef5393f929cd;ms-4c7138016830a563fb1b", + "expert_regret": 1.9203515276312828, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b666f24369c548cd56ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9203515276312828, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0796484723687172, + "restore_error": 1.1920928955078125e-07, + "score": 0.0796484723687172, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1417197734117508, + "candidate_source_group_id": "ms-127908707208e993527d;ms-f625d521be1e85b1c49d;ms-29653e236de96058ef6d;ms-9eb40f856528204bbcfd;ms-d1aac7be45644e12a976;ms-b59a7ccfb736df4c4c68", + "expert_regret": 1.4614572525024414, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bdc942e2c7fb26b79162", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4614572525024414, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5385427474975586, + "restore_error": 1.1920928955078125e-07, + "score": 0.5385427474975586, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44775155186653137, + "candidate_source_group_id": "ms-3c458f671129e1ebe7b4;ms-87fd37bcc6b666e220ef;ms-1f458832fc85f00873cc;ms-28817fe297f38fd9550a;ms-17a17b212837b7f1309f;ms-2259a78b2187e22f9f37", + "expert_regret": 1.9557744972407818, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-732d0515ed28df031b8e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9557744972407818, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.044225502759218216, + "restore_error": 1.1920928955078125e-07, + "score": 0.044225502759218216, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4943292438983917, + "candidate_source_group_id": "ms-9e87481ce12fa45b2554;ms-6f1ec735350c81ef9fca;ms-c4cb99b887c88c707ba9;ms-8b68d8b4d22e6ff0451d;ms-97aebe1dd42939e3b340;ms-7fa85a7251186eb18d0b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b4483fb034248fe882d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47890791296958923, + "candidate_source_group_id": "ms-23a355317920e192147f;ms-22675530f3a401b3fd6d;ms-618c9e3c06f4879ba788;ms-7d32f6b32c14e33b1eb1;ms-ff96d76fba5b6ceb1289;ms-893159691d11a40c7537", + "expert_regret": 1.8994803056120872, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4f833710c2706ee077af", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8994803056120872, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10051969438791275, + "restore_error": 1.1920928955078125e-07, + "score": 0.10051969438791275, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5187336206436157, + "candidate_source_group_id": "ms-6fc6a26da9fbe53dd616;ms-8b972386cfdf0158a0a3;ms-0ca1c25fddb7da05d80a;ms-0915b75e9fd1468d464e;ms-40cb974de9da58dcd32b;ms-19c0b893fda0e6bb05f7", + "expert_regret": 1.936357781291008, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-98427ae2d94c1f85811a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.936357781291008, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.063642218708992, + "restore_error": 1.1920928955078125e-07, + "score": 0.063642218708992, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19684161245822906, + "candidate_source_group_id": "ms-4b94e0333251263012ec;ms-751daa0137578c486f3d;ms-e15eeda61ed4064a5c9f;ms-7a1ce0a81e4f34902622;ms-155ec4624d261f6ca16e;ms-ce8d2ef7d19bed381822", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a073398629e6943ad1fb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6949573159217834, + "candidate_source_group_id": "ms-1df0775c4ef08d0cf1bf;ms-561f4f913d7b4991d81a;ms-73e36360221b6732c688;ms-d69b907e65875420bab7;ms-8b5b5e5f9237c41e0fe9;ms-bb0d941f78d3d9c5a886", + "expert_regret": 1.4559271335601807, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3d095a49ed03de972849", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4559271335601807, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5440728664398193, + "restore_error": 1.1920928955078125e-07, + "score": 0.5440728664398193, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5361462831497192, + "candidate_source_group_id": "ms-b0d54c14a65fb73f08ca;ms-999a8c1454dd4597a834;ms-3fae81854f4c927f1f8d;ms-a76ae18568c88af1da6b;ms-547f4204888aee978bf0;ms-ed9addab41f3298db7bc", + "expert_regret": 1.9558867700397968, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7670f25745871759e69e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9558867700397968, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04411322996020317, + "restore_error": 1.1920928955078125e-07, + "score": 0.04411322996020317, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6575579047203064, + "candidate_source_group_id": "ms-b42e0a68875b0405904b;ms-61b1188974f35233b883;ms-b6827e38768a63212d73;ms-1158e6997b2f1281b105;ms-f71c7cf8ca320b8eb7a4;ms-79c7332b2b329eaa6a13", + "expert_regret": 1.4728378653526306, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-478f754a15221314d15e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4728378653526306, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5271621346473694, + "restore_error": 1.1920928955078125e-07, + "score": 0.5271621346473694, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7486080527305603, + "candidate_source_group_id": "ms-362ba7cebb2bab1421e8;ms-60a28a9b282e7586d4d2;ms-982922e263d07c54c136;ms-de709118c78966c5aff7;ms-91ad1a5f945470b4346e;ms-859d0ea38fb5e8aa6b98", + "expert_regret": 0.0, + "expert_score": 0.6102733612060547, + "expert_success": false, + "group_id": "ms-12a997dde50b7a7f35cb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.6102733612060547, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5764607787132263, + "candidate_source_group_id": "ms-d19573dc65181befd83d;ms-f4fd59b4d1bce2d6b6a4;ms-7057de70d36f5cc31472;ms-6edb3f8fe977a81f8979;ms-2649df827a3c1017ccd8;ms-f28fbb82a51d4de7811b", + "expert_regret": 1.4364421963691711, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fffe378a3bad31bbed52", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4364421963691711, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5635578036308289, + "restore_error": 1.1920928955078125e-07, + "score": 0.5635578036308289, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5055391192436218, + "candidate_source_group_id": "ms-d19c9e3ab1d7daf06344;ms-5f98f13f17e8f41f7436;ms-cddf387bbcd6aed98fca;ms-b97cb4ec02e8234b08c5;ms-225fbe08f2933f91d603;ms-4276f24b1b5dce771bff", + "expert_regret": 1.4789975881576538, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-625b5d55ca76cc565049", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4789975881576538, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5210024118423462, + "restore_error": 1.1920928955078125e-07, + "score": 0.5210024118423462, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5365966558456421, + "candidate_source_group_id": "ms-d462cff6e1b4b201a6ce;ms-8e741ca11a7fbe85ba1d;ms-1fb2f4c1e17e99767558;ms-d16053a4f8b95c94dc46;ms-de066fc4200163ebd06b;ms-1cdd36810a138190ce3c", + "expert_regret": 1.9782959576696157, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d988976b029886d18476", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9782959576696157, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.021704042330384254, + "restore_error": 1.1920928955078125e-07, + "score": 0.021704042330384254, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4101685881614685, + "candidate_source_group_id": "ms-9eb40f856528204bbcfd;ms-51f2c34d5f8f132af1ed;ms-caeb59971565b08f2513;ms-f07589760f67c1100667;ms-f625d521be1e85b1c49d;ms-0cfef0ba35d4e6097003", + "expert_regret": 1.4390220046043396, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9af03b651b5e36ac2ae3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4390220046043396, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5609779953956604, + "restore_error": 1.1920928955078125e-07, + "score": 0.5609779953956604, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6881523132324219, + "candidate_source_group_id": "ms-fbb609a3f2a334986245;ms-910364d2d86091c5e0cf;ms-054a02413d31389d1b7f;ms-3a07c49566decfea04de;ms-29dd2cdbb66fe13ab877;ms-23d6e5835aa90a62b6ef", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f897cc2141a0a303fc6a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48510581254959106, + "candidate_source_group_id": "ms-578537600f7a649c2dd5;ms-c2bc492ab5eb87a73789;ms-f9c00ba41392adec3fd1;ms-2cf1227610d4602f88ed;ms-7fd4a05174dcc8eaff38;ms-c86956f3f1333e136186", + "expert_regret": 0.535976804792881, + "expert_score": 0.6007381677627563, + "expert_success": false, + "group_id": "ms-cd340bca589f0cebd7da", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.535976804792881, + "oracle_score": 0.6007381677627563, + "oracle_success": false, + "progress": 0.06476136296987534, + "restore_error": 1.1920928955078125e-07, + "score": 0.06476136296987534, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4858655035495758, + "candidate_source_group_id": "ms-802e63c9d42228a69c22;ms-910d27b58a0585327a27;ms-1a4ecfbe9c97214d5c78;ms-b671fa9fcef84dbf2a13;ms-d33444117889b5aa9cfb;ms-e589f7d40c12eff1712e", + "expert_regret": 1.4004406929016113, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28b1f1e4380d434605de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4004406929016113, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5995593070983887, + "restore_error": 1.1920928955078125e-07, + "score": 0.5995593070983887, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5447873473167419, + "candidate_source_group_id": "ms-0adce283894b0a2b7b94;ms-9bcf8a1e5e7b0f7ff6f5;ms-daaac2887015a6e4f3e0;ms-7a460f3c1b67817c19de;ms-ffba357213945be5f9f7;ms-4385e9c56007fdaa94b5", + "expert_regret": 0.008993387222290039, + "expert_score": 0.5644459128379822, + "expert_success": false, + "group_id": "ms-28d5618562729c763eb6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.008993387222290039, + "oracle_score": 0.5644459128379822, + "oracle_success": false, + "progress": 0.5554525256156921, + "restore_error": 1.1920928955078125e-07, + "score": 0.5554525256156921, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40249982476234436, + "candidate_source_group_id": "ms-0f219ce35aff264455e2;ms-d5d7c690819019cb7869;ms-76b9f40367a1ee020744;ms-295de2ad6c52ab50de1a;ms-486ff31b7a04a7e9e8f9;ms-39450dbba738dbd8a764", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6b2d805dc063382ade2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7401624917984009, + "candidate_source_group_id": "ms-578537600f7a649c2dd5;ms-cd71a93dcab09ba15592;ms-f9c00ba41392adec3fd1;ms-2cf1227610d4602f88ed;ms-7fd4a05174dcc8eaff38;ms-c2bc492ab5eb87a73789", + "expert_regret": 1.486357569694519, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ac79bc3a841958ce127f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.486357569694519, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.513642430305481, + "restore_error": 1.1920928955078125e-07, + "score": 0.513642430305481, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6877402067184448, + "candidate_source_group_id": "ms-16cd0a94ad2cb78b1ada;ms-10dbf8bb0c239a44ec0f;ms-3abfb4c309360a304d54;ms-793a98188fd57ed5291f;ms-fcfb7dd60d966e20b98d;ms-0541a144afe57b5a7ae6", + "expert_regret": 1.50252366065979, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c8198e44eea32f98ca7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.50252366065979, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49747633934020996, + "restore_error": 1.1920928955078125e-07, + "score": 0.49747633934020996, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4231184422969818, + "candidate_source_group_id": "ms-57ac136bd68be6387c6f;ms-f101cf5cc8575be3c201;ms-8420ccaff5986c85063f;ms-f39bbaa063044719a98d;ms-d5bfdabc97e56c680680;ms-2ae57bab6d2ea11f6638", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-935ff204de9424ec00a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.34382012486457825, + "candidate_source_group_id": "ms-a5a651f9e28ea52016fe;ms-351818a836474e594d3c;ms-13b3c492538e5b3c7bdd;ms-dbb32d9fd6999e09f589;ms-c6d4f51c1adffc449778;ms-8f5255815f8b70b48734", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2af09f91e05d19f7f181", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4076118469238281, + "candidate_source_group_id": "ms-ea72196e20393870bcbb;ms-af16712eadcaebf175ff;ms-519fb779d24a0bdf3809;ms-c104c2ebba7bf9b34680;ms-4bc32bd893d0cff76423;ms-ee19bfbcb2f4fbf5a44d", + "expert_regret": 1.4511809349060059, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bb60defa0d234da9e0bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4511809349060059, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5488190650939941, + "restore_error": 1.1920928955078125e-07, + "score": 0.5488190650939941, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5385991930961609, + "candidate_source_group_id": "ms-89c0c15f7bb38eaf59e4;ms-2649df827a3c1017ccd8;ms-f4fd59b4d1bce2d6b6a4;ms-b6827e38768a63212d73;ms-61b1188974f35233b883;ms-1158e6997b2f1281b105", + "expert_regret": 0.07877933979034424, + "expert_score": 0.6047953963279724, + "expert_success": false, + "group_id": "ms-a202dd8923327af132da", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.07877933979034424, + "oracle_score": 0.6047953963279724, + "oracle_success": false, + "progress": 0.5260160565376282, + "restore_error": 1.1920928955078125e-07, + "score": 0.5260160565376282, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4347963333129883, + "candidate_source_group_id": "ms-493f7fe7164e2c3e7616;ms-191a2180e4ad5bbeb3b1;ms-88b1a0f8f758f7956c0f;ms-486b916e7b4ad1566788;ms-b809a8756abec7015aac;ms-af16712eadcaebf175ff", + "expert_regret": 0.034184157848358154, + "expert_score": 0.5814382433891296, + "expert_success": false, + "group_id": "ms-ec498d0c649d108513c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.034184157848358154, + "oracle_score": 0.5814382433891296, + "oracle_success": false, + "progress": 0.5472540855407715, + "restore_error": 1.1920928955078125e-07, + "score": 0.5472540855407715, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41650840640068054, + "candidate_source_group_id": "ms-6af227c07aaf7c0f0aea;ms-3e971096794f04f325f2;ms-2259a78b2187e22f9f37;ms-3b0ad4f07f1813ecf670;ms-950df0830b2e57010248;ms-46f10a29b484c9461204", + "expert_regret": 1.4661592841148376, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cea745484a24f376d7e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4661592841148376, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5338407158851624, + "restore_error": 1.1920928955078125e-07, + "score": 0.5338407158851624, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2196444422006607, + "candidate_source_group_id": "ms-15ef6ee70a8df3cfa578;ms-116bd511ce8862ab73b5;ms-060512e03c9833bae633;ms-cfcd7c9f3afe2215588f;ms-03acca095918dea64872;ms-e15eeda61ed4064a5c9f", + "expert_regret": 1.4605740904808044, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ad10dacf462663ab68ad", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4605740904808044, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5394259095191956, + "restore_error": 1.1920928955078125e-07, + "score": 0.5394259095191956, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39513248205184937, + "candidate_source_group_id": "ms-fd6deac5a281d169bc75;ms-d91cbe61314c18955b6b;ms-8f0e2c9caad14bd37ecf;ms-561f4f913d7b4991d81a;ms-f3e40db5e157647d463d;ms-c2107b650136a20fc4a3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eb16021deb5d03f15c9d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4627019464969635, + "candidate_source_group_id": "ms-acd4bde23cf4608facc2;ms-12ac4329c5bca5f2bb62;ms-351c397795d9af204ec6;ms-4cd1ceea2dda2732110a;ms-caed5c1b1c882141e2e9;ms-80fbba5636cb4f9c64a3", + "expert_regret": 1.968007255345583, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4b970be37419ce0be0ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.968007255345583, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03199274465441704, + "restore_error": 1.1920928955078125e-07, + "score": 0.03199274465441704, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5579360127449036, + "candidate_source_group_id": "ms-6c0ef0ef8b493232246c;ms-a2c5c9fd35d9fda5ce9e;ms-311a52ec4b0ca8d71889;ms-227fe0347d2ea57a66a3;ms-ddb4e5a1f88dfd017319;ms-96da3b7a3c2a2411fa66", + "expert_regret": 1.4471577405929565, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ddb8f148dff1db91851f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4471577405929565, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5528422594070435, + "restore_error": 1.1920928955078125e-07, + "score": 0.5528422594070435, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.545535683631897, + "candidate_source_group_id": "ms-0adce283894b0a2b7b94;ms-9bcf8a1e5e7b0f7ff6f5;ms-daaac2887015a6e4f3e0;ms-7a460f3c1b67817c19de;ms-4385e9c56007fdaa94b5;ms-45ed57caa698d87a99cf", + "expert_regret": 1.4414158463478088, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc30ca6b7675f4de5041", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4414158463478088, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5585841536521912, + "restore_error": 1.1920928955078125e-07, + "score": 0.5585841536521912, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.37299707531929016, + "candidate_source_group_id": "ms-51f2c34d5f8f132af1ed;ms-f07589760f67c1100667;ms-9eb40f856528204bbcfd;ms-220641931ae709280b14;ms-0cfef0ba35d4e6097003;ms-a949424c5fa615565d72", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2592e5fa970f1b474388", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5496811270713806, + "candidate_source_group_id": "ms-8f0e2c9caad14bd37ecf;ms-4ec67456479f53e605e1;ms-8b5b5e5f9237c41e0fe9;ms-561f4f913d7b4991d81a;ms-73e36360221b6732c688;ms-17330235d51598ebcb4e", + "expert_regret": 1.475329577922821, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ed7b02bc8f37b8524a56", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.475329577922821, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.524670422077179, + "restore_error": 1.1920928955078125e-07, + "score": 0.524670422077179, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6156140565872192, + "candidate_source_group_id": "ms-a01e21b91a5b37a16afe;ms-0915b75e9fd1468d464e;ms-8b972386cfdf0158a0a3;ms-e218d19c595e580c3e32;ms-aea09fb002af52e12bd8;ms-319a6c0cef0ac1a872d5", + "expert_regret": 1.9343188777565956, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-706943f06888dd5bbb3a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9343188777565956, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06568112224340439, + "restore_error": 1.1920928955078125e-07, + "score": 0.06568112224340439, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.13810618221759796, + "candidate_source_group_id": "ms-f71c7cf8ca320b8eb7a4;ms-b35643e98e1b846e27cf;ms-08858c7ba8d4a3357e05;ms-7d962acc9cfbc27c599c;ms-70381721e736d44afeaf;ms-b42e0a68875b0405904b", + "expert_regret": 1.4562854766845703, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-71452ba714a10880870b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4562854766845703, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5437145233154297, + "restore_error": 1.1920928955078125e-07, + "score": 0.5437145233154297, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4486294686794281, + "candidate_source_group_id": "ms-8e741ca11a7fbe85ba1d;ms-d16053a4f8b95c94dc46;ms-f763382872d8e89017c2;ms-d462cff6e1b4b201a6ce;ms-de066fc4200163ebd06b;ms-d6e14cec49894dd329f0", + "expert_regret": 1.9536168910562992, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-18fb80871b8e11d1ae9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9536168910562992, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04638310894370079, + "restore_error": 1.1920928955078125e-07, + "score": 0.04638310894370079, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5232075452804565, + "candidate_source_group_id": "ms-3b0ad4f07f1813ecf670;ms-0019f809318a077c3910;ms-59cc3cdf6918248d7f78;ms-12ac4329c5bca5f2bb62;ms-5922c28e4a71a88c6d21;ms-0584242e924d240ca0c8", + "expert_regret": 1.4670653939247131, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4f190184d3920a0add8b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4670653939247131, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5329346060752869, + "restore_error": 1.1920928955078125e-07, + "score": 0.5329346060752869, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7558581233024597, + "candidate_source_group_id": "ms-b1bf2ab59a5385d22e54;ms-7fa85a7251186eb18d0b;ms-525a7841d99bba385bc5;ms-1fec069b4a095dd0425a;ms-c07472c627b51086ff33;ms-c8666cbd7e5a9d0fd036", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9e53ca6bc5ddb9133ffa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3530116081237793, + "candidate_source_group_id": "ms-20e5ffa93544d6d8b313;ms-4fad1f976cc64cc06826;ms-28817fe297f38fd9550a;ms-7e94769c30229d5cc7b8;ms-cf274fbe4c657d04d7c4;ms-351c397795d9af204ec6", + "expert_regret": 1.9514166340231895, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f682952c6ecb2b833c35", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9514166340231895, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.048583365976810455, + "restore_error": 1.1920928955078125e-07, + "score": 0.048583365976810455, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3692971169948578, + "candidate_source_group_id": "ms-61068da67676a95e5065;ms-fb92a1e6b67121783fff;ms-07e0726dedce0a0e4419;ms-ee055e1282f6302ad9e8;ms-1bfca22d4af29f0e14b1;ms-4fe7fdaf946c97803c82", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-09de52dad7e40970c938", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.656570315361023, + "candidate_source_group_id": "ms-d849d754f346b826e052;ms-b7ed399f40d2d554b16d;ms-288532d255e4828bb15b;ms-1abd8c7cc1c683f88d3d;ms-fb228a036fe5973bcad1;ms-8af87d14945da6a910e4", + "expert_regret": 1.4717625379562378, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a8e6435948250f5e163d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4717625379562378, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5282374620437622, + "restore_error": 1.1920928955078125e-07, + "score": 0.5282374620437622, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4531472325325012, + "candidate_source_group_id": "ms-f101cf5cc8575be3c201;ms-0d1db6695acdf1ec3eaf;ms-57ac136bd68be6387c6f;ms-8420ccaff5986c85063f;ms-8fcc78fba7b3bec0fab6;ms-c7041c6f758f8e4a3698", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d73a2a984d5829e884f9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3915434181690216, + "candidate_source_group_id": "ms-197fee321caebfd320f5;ms-a68740208f81c5d6c97b;ms-0ac53e56b4852c85ca2e;ms-0ec98183be760ea25a45;ms-f5483f0819e0e8bc352e;ms-8330999c6669ec42122a", + "expert_regret": 1.4480212330818176, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b786173f210fcaa65a6e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4480212330818176, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5519787669181824, + "restore_error": 1.1920928955078125e-07, + "score": 0.5519787669181824, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3474830090999603, + "candidate_source_group_id": "ms-86b0447349029dfaa6ab;ms-c86956f3f1333e136186;ms-f9c00ba41392adec3fd1;ms-578537600f7a649c2dd5;ms-4cd1ceea2dda2732110a;ms-7fd4a05174dcc8eaff38", + "expert_regret": 1.9655701145529747, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7651a7f31eae24958ef0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9655701145529747, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0344298854470253, + "restore_error": 1.1920928955078125e-07, + "score": 0.0344298854470253, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.21027310192584991, + "candidate_source_group_id": "ms-1781d9c562b4425df7c8;ms-8b68d8b4d22e6ff0451d;ms-f39bbaa063044719a98d;ms-9320da73e81045277fae;ms-9c8a90334c3b933c8976;ms-4c83412fa0aa5180ad89", + "expert_regret": 1.4422290325164795, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3b4b0b8c60ad41bb16b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4422290325164795, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5577709674835205, + "restore_error": 1.1920928955078125e-07, + "score": 0.5577709674835205, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4146741032600403, + "candidate_source_group_id": "ms-fe650308e25459ee64c6;ms-319a6c0cef0ac1a872d5;ms-e218d19c595e580c3e32;ms-a01e21b91a5b37a16afe;ms-fa911d56cdf9bf122b5c;ms-aea09fb002af52e12bd8", + "expert_regret": 1.9627690054476261, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-630663751ab841a96d5a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9627690054476261, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.037230994552373886, + "restore_error": 1.1920928955078125e-07, + "score": 0.037230994552373886, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5202120542526245, + "candidate_source_group_id": "ms-99df75798ec5da5ec7f3;ms-d1dd16f03551d840a922;ms-19e6e6e341aebb7ec693;ms-8c9f657875cf334b1f17;ms-2d995e39f2b95fed1a67;ms-4c7138016830a563fb1b", + "expert_regret": 1.923444077372551, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a43a663a3c4b15ec3ac2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.923444077372551, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07655592262744904, + "restore_error": 1.1920928955078125e-07, + "score": 0.07655592262744904, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4437870681285858, + "candidate_source_group_id": "ms-910d27b58a0585327a27;ms-b671fa9fcef84dbf2a13;ms-e589f7d40c12eff1712e;ms-802e63c9d42228a69c22;ms-f3d9efbde383ef5f742f;ms-e1972ebf2c5587a6fdf9", + "expert_regret": 1.4768983125686646, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4177936dc3e043366181", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4768983125686646, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5231016874313354, + "restore_error": 1.1920928955078125e-07, + "score": 0.5231016874313354, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19170106947422028, + "candidate_source_group_id": "ms-ffef7730418c831245b3;ms-7785d335d4a95e21a84d;ms-4c7e5a40768c0e27027a;ms-30fe784e67f732ef9a3d;ms-b606af28580a38cea636;ms-ca10d8b9d03f4d59806c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c151229bc1dd03ed2feb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5728136301040649, + "candidate_source_group_id": "ms-1b83fc0981e283975488;ms-cd71a93dcab09ba15592;ms-ebb616f9b291184677b3;ms-adfe268e473c03b72c65;ms-2cf1227610d4602f88ed;ms-c2bc492ab5eb87a73789", + "expert_regret": 1.9692520499229431, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b98e8aa8ecee10bea27", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9692520499229431, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.030747950077056885, + "restore_error": 1.1920928955078125e-07, + "score": 0.030747950077056885, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.09175854176282883, + "candidate_source_group_id": "ms-ce8d2ef7d19bed381822;ms-0de368e8d16fd01f4e67;ms-a26c2ffdac089c72ade5;ms-0bf5f9b5ab423eb0a7c3;ms-eb206a3dda0ac16e1643;ms-478b7b8b729f9212a522", + "expert_regret": 1.446676790714264, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1735d1abca4a91293d78", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.446676790714264, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5533232092857361, + "restore_error": 1.1920928955078125e-07, + "score": 0.5533232092857361, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19808803498744965, + "candidate_source_group_id": "ms-70d994c15153752d0dce;ms-8f5255815f8b70b48734;ms-4e86b87d6e5f6ab914fe;ms-b40ee5a75332685d5cec;ms-746436cac05100783ad7;ms-d807915e233a0c74b809", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f77305a344da6a4ccc84", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6284152269363403, + "candidate_source_group_id": "ms-a5775906ce2fb6556103;ms-5071d49489e1900dfa91;ms-578e24198ed828a74485;ms-10a5b6cc3ec06dfdc5c5;ms-80d5c509e83845ab1bc7;ms-bc53e550cb202b5fcdf3", + "expert_regret": 1.45609849691391, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b15f9c696a2661346cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.45609849691391, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5439015030860901, + "restore_error": 1.1920928955078125e-07, + "score": 0.5439015030860901, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.38329288363456726, + "candidate_source_group_id": "ms-06715386190189185900;ms-32346c22352f72d3de3a;ms-f101cf5cc8575be3c201;ms-eaf612349e2da547ee98;ms-bca6fa102f94cb145cd2;ms-dd7f9cc9585878b84824", + "expert_regret": 1.45114666223526, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5daa8575a80e98a83170", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.45114666223526, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.54885333776474, + "restore_error": 1.1920928955078125e-07, + "score": 0.54885333776474, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.364043653011322, + "candidate_source_group_id": "ms-b59a7ccfb736df4c4c68;ms-d1aac7be45644e12a976;ms-b01677be2df71c474d1f;ms-c6beb139304a0ea6f7ae;ms-57ac136bd68be6387c6f;ms-d5bfdabc97e56c680680", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dfc737e32df79e1fc429", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40514013171195984, + "candidate_source_group_id": "ms-cd71a93dcab09ba15592;ms-1b83fc0981e283975488;ms-adfe268e473c03b72c65;ms-ebb616f9b291184677b3;ms-4015c296239564108da2;ms-2cf1227610d4602f88ed", + "expert_regret": 1.9698643684387207, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b5deb1971bf3b3484282", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9698643684387207, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.030135631561279297, + "restore_error": 1.1920928955078125e-07, + "score": 0.030135631561279297, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5661618709564209, + "candidate_source_group_id": "ms-b6df140b235c8fe0eaad;ms-66540aefd55a84b5088f;ms-38d3e0274ddfa4ed7202;ms-76c78750d7abc6570487;ms-61781d30cb05657c5f5d;ms-4c83412fa0aa5180ad89", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61ac2be70a9798adeda0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3373405635356903, + "candidate_source_group_id": "ms-a927d1bd67068f1d9302;ms-d33444117889b5aa9cfb;ms-0d1db6695acdf1ec3eaf;ms-c7041c6f758f8e4a3698;ms-da46296bd4e9032570df;ms-e589f7d40c12eff1712e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e45b5de01eafae73e492", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4338913559913635, + "candidate_source_group_id": "ms-0541a144afe57b5a7ae6;ms-3eeaca32feb66f450a0b;ms-5e23219a8e2aadd039c7;ms-2470946f31fee328ad6c;ms-16cd0a94ad2cb78b1ada;ms-10dbf8bb0c239a44ec0f", + "expert_regret": 0.5461550839245319, + "expert_score": 0.6058399081230164, + "expert_success": false, + "group_id": "ms-c2e07545267c612a022c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5461550839245319, + "oracle_score": 0.6058399081230164, + "oracle_success": false, + "progress": 0.05968482419848442, + "restore_error": 1.1920928955078125e-07, + "score": 0.05968482419848442, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3808353841304779, + "candidate_source_group_id": "ms-d26a60e383a2e822615a;ms-a3cb33ed1e34d229773c;ms-4a7b774ee02339c4ca19;ms-6053d8ef243250b88f96;ms-dd4f37e032d56b692a0e;ms-c7020fdb7cba871e8b3e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f4967102c7b10057ab9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42060136795043945, + "candidate_source_group_id": "ms-6f1ec735350c81ef9fca;ms-c4cb99b887c88c707ba9;ms-f2433bc89b10851b7187;ms-9e87481ce12fa45b2554;ms-03cdc738473ac1df9dfc;ms-8b68d8b4d22e6ff0451d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1924e52af208c9f66592", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5012277960777283, + "candidate_source_group_id": "ms-bca6fa102f94cb145cd2;ms-57ac136bd68be6387c6f;ms-f1fb6cdb836269adb2cc;ms-dd7f9cc9585878b84824;ms-eff5f21c51f26a85f07c;ms-a949424c5fa615565d72", + "expert_regret": 1.4271289110183716, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b73e5dfa1f2a01e6017", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4271289110183716, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5728710889816284, + "restore_error": 1.1920928955078125e-07, + "score": 0.5728710889816284, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45323580503463745, + "candidate_source_group_id": "ms-d9db15929a99dea0e9b3;ms-8a00723a184a6ca740b2;ms-da855323619ebf257b19;ms-9c8a90334c3b933c8976;ms-f3d9efbde383ef5f742f;ms-e1972ebf2c5587a6fdf9", + "expert_regret": 1.4823529124259949, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2cc8c1975139989940f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4823529124259949, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5176470875740051, + "restore_error": 2.384185791015625e-07, + "score": 0.5176470875740051, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4167957007884979, + "candidate_source_group_id": "ms-ee055e1282f6302ad9e8;ms-bee62a6ef02134938aae;ms-fb92a1e6b67121783fff;ms-3c8ba3016f7269bfe44f;ms-07e0726dedce0a0e4419;ms-17330235d51598ebcb4e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1abf5e6d483e2788b086", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7134802937507629, + "candidate_source_group_id": "ms-486b916e7b4ad1566788;ms-b809a8756abec7015aac;ms-4021797e9499e6aaab7a;ms-08c75f74bf7813b1c257;ms-ae6d60345612be32478c;ms-af16712eadcaebf175ff", + "expert_regret": 1.4305716156959534, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-867fd9318b2445dcefb5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4305716156959534, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5694283843040466, + "restore_error": 2.384185791015625e-07, + "score": 0.5694283843040466, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3715791702270508, + "candidate_source_group_id": "ms-91ad1a5f945470b4346e;ms-432ca73236be93cb76df;ms-b1c9975d1a007dd03dc4;ms-de709118c78966c5aff7;ms-0a4c4442237909d5f7b7;ms-e110d8ef3eb852a0f564", + "expert_regret": 1.9524570107460022, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bfda95ffffd5d1a2683a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9524570107460022, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0475429892539978, + "restore_error": 2.384185791015625e-07, + "score": 0.0475429892539978, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2850474715232849, + "candidate_source_group_id": "ms-910fe3f3a4cbc2d8e6f5;ms-64e28ad134f73fdce800;ms-3352e05afd9065cd09bf;ms-478b7b8b729f9212a522;ms-a26c2ffdac089c72ade5;ms-8beca0622be320b282c1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97140da7cf409922f6ce", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4701941907405853, + "candidate_source_group_id": "ms-b36673c3905a123cbd50;ms-d67409d8ecfd5d97336d;ms-60a28a9b282e7586d4d2;ms-382000b79932b7c68326;ms-311a52ec4b0ca8d71889;ms-de709118c78966c5aff7", + "expert_regret": 1.4531803727149963, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87f65c35c9d8b3ced6fc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4531803727149963, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5468196272850037, + "restore_error": 2.384185791015625e-07, + "score": 0.5468196272850037, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7229878306388855, + "candidate_source_group_id": "ms-045f5adce6d38ea2794f;ms-dc965b3a72976440156c;ms-b40ee5a75332685d5cec;ms-f32035837f7df88396a3;ms-82e28eb350e21d43d3eb;ms-8315ae30e2cf041c8674", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2f846e9f31e2b8c4965f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44778138399124146, + "candidate_source_group_id": "ms-1cea800b74c1ea2f6338;ms-0ca11ec8f7fbf0c1d66e;ms-d824135bf97b907f7cc2;ms-17e8d6ba42404c7b7d07;ms-23f9cca8edfca421a4a6;ms-10f4c68dcad8285f4acd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c78721d9c4196a9e8ec5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.36743423342704773, + "candidate_source_group_id": "ms-f07607bc0ce1c4e202b0;ms-a2908e99b0a12a9980cc;ms-1d36e5be82aee5a8e3b8;ms-7fa85a7251186eb18d0b;ms-02acbd591a961c0dbd46;ms-6f1ec735350c81ef9fca", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6995d4366e7c20010126", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7192692160606384, + "candidate_source_group_id": "ms-b36673c3905a123cbd50;ms-d67409d8ecfd5d97336d;ms-311a52ec4b0ca8d71889;ms-382000b79932b7c68326;ms-dea17c1c383f54d05636;ms-c2fde2d79cdf38555865", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-59020093d2eeaf58aa84", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7868848443031311, + "candidate_source_group_id": "ms-dc5a883a3e28b90ebf1a;ms-39450dbba738dbd8a764;ms-4ec67456479f53e605e1;ms-486ff31b7a04a7e9e8f9;ms-17330235d51598ebcb4e;ms-635a384c88604ad7ba4f", + "expert_regret": 1.4768181443214417, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cafa65eeb953aff47f30", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4768181443214417, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5231818556785583, + "restore_error": 1.1920928955078125e-07, + "score": 0.5231818556785583, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45100054144859314, + "candidate_source_group_id": "ms-2c9685cffc73e47cc8cf;ms-96da3b7a3c2a2411fa66;ms-fd99b14bf152ebc0ef8e;ms-227fe0347d2ea57a66a3;ms-59cc3cdf6918248d7f78;ms-c2fde2d79cdf38555865", + "expert_regret": 1.45553058385849, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cdd69b5acc8119e600c7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.45553058385849, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.54446941614151, + "restore_error": 1.1920928955078125e-07, + "score": 0.54446941614151, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.0996476262807846, + "candidate_source_group_id": "ms-be8eff6e6d520ae11a0d;ms-e441e4042cb7d77a4986;ms-3e51a1bdc3a2cc4eb06d;ms-4742d169606f3ec2b474;ms-d965f63e091a5d6dd6d7;ms-38507741c3b5d91a7b33", + "expert_regret": 1.4554060101509094, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6133ea5e61638487dd46", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4554060101509094, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5445939898490906, + "restore_error": 1.1920928955078125e-07, + "score": 0.5445939898490906, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.30573204159736633, + "candidate_source_group_id": "ms-1d5b929cb9614dc18304;ms-72cf68c15631675b063f;ms-793a98188fd57ed5291f;ms-7361bfba9d2ab4f1913e;ms-ba156a5cdaf40cc85cc4;ms-54a7c3d32b6a267d81a2", + "expert_regret": 1.9528655037283897, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8fa24da5c97dc1dad5c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9528655037283897, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04713449627161026, + "restore_error": 1.1920928955078125e-07, + "score": 0.04713449627161026, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3377590775489807, + "candidate_source_group_id": "ms-f1eb908e172570b07cae;ms-53fdabb5d8ef20778214;ms-fb98254adaa23dc128df;ms-5e3b1693ad7b75221847;ms-4d9cef437c77474dc62d;ms-978bbf0a6fc563f745ab", + "expert_regret": 1.4595001935958862, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-41c5500153912a1743de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4595001935958862, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5404998064041138, + "restore_error": 1.1920928955078125e-07, + "score": 0.5404998064041138, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7864153981208801, + "candidate_source_group_id": "ms-311a52ec4b0ca8d71889;ms-d67409d8ecfd5d97336d;ms-b36673c3905a123cbd50;ms-a2c5c9fd35d9fda5ce9e;ms-382000b79932b7c68326;ms-c2fde2d79cdf38555865", + "expert_regret": 1.4547942280769348, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-03ed7e57992354e27896", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4547942280769348, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5452057719230652, + "restore_error": 1.1920928955078125e-07, + "score": 0.5452057719230652, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.21328231692314148, + "candidate_source_group_id": "ms-cb70b56d6ad32b11c3cf;ms-4c83412fa0aa5180ad89;ms-76c78750d7abc6570487;ms-b6df140b235c8fe0eaad;ms-66540aefd55a84b5088f;ms-38d3e0274ddfa4ed7202", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11a2794efa24f4d93d83", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28196069598197937, + "candidate_source_group_id": "ms-62b597990a3d637e5a8a;ms-5c8b50523e0de37d80b8;ms-8af2224cc82636ef1dd7;ms-7e94769c30229d5cc7b8;ms-2e5c2f75d3f6311e0a1c;ms-1c0e2bb3a811fac6d567", + "expert_regret": 1.9562659747898579, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a1d69e0b112064914357", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9562659747898579, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.043734025210142136, + "restore_error": 1.1920928955078125e-07, + "score": 0.043734025210142136, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48990482091903687, + "candidate_source_group_id": "ms-5316151a88a3282436ca;ms-432ca73236be93cb76df;ms-80d5c509e83845ab1bc7;ms-91ad1a5f945470b4346e;ms-a5775906ce2fb6556103;ms-06935a084a7af6d7596c", + "expert_regret": 1.8922587260603905, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbea3b8005a30431cb52", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8922587260603905, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10774127393960953, + "restore_error": 1.1920928955078125e-07, + "score": 0.10774127393960953, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28659993410110474, + "candidate_source_group_id": "ms-cb16b458af723bf7cd0a;ms-2df0b9d5fa91156e430a;ms-1d1969094d91fe52667d;ms-e07f80b44faf328c5e58;ms-81c855f8645b35f0856d;ms-b6fd2931116c15db0f0a", + "expert_regret": 1.4466455578804016, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ae5421846020d2765f82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4466455578804016, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5533544421195984, + "restore_error": 1.1920928955078125e-07, + "score": 0.5533544421195984, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9776261448860168, + "candidate_source_group_id": "ms-0ca1c25fddb7da05d80a;ms-40cb974de9da58dcd32b;ms-6fc6a26da9fbe53dd616;ms-8b972386cfdf0158a0a3;ms-0915b75e9fd1468d464e;ms-ff96d76fba5b6ceb1289", + "expert_regret": 1.9146807864308357, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5bae191ebad7c9f2687", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9146807864308357, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08531921356916428, + "restore_error": 1.1920928955078125e-07, + "score": 0.08531921356916428, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41412559151649475, + "candidate_source_group_id": "ms-dbcc3da47d96ceeaf9f0;ms-b7800060cd4a8c3cb6b9;ms-c3f7b780f604922f4f67;ms-4681331b496c8a9cf14d;ms-ad5ad5314850df7b0853;ms-b0aa24be399d843c9d50", + "expert_regret": 1.4792965054512024, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-732819b0c220a4c06870", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4792965054512024, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5207034945487976, + "restore_error": 1.1920928955078125e-07, + "score": 0.5207034945487976, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8359498977661133, + "candidate_source_group_id": "ms-c86956f3f1333e136186;ms-7fd4a05174dcc8eaff38;ms-c2bc492ab5eb87a73789;ms-2cf1227610d4602f88ed;ms-de0abc7a53a48164f82d;ms-1b83fc0981e283975488", + "expert_regret": 1.4814825057983398, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68e331088400739273da", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4814825057983398, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5185174942016602, + "restore_error": 1.1920928955078125e-07, + "score": 0.5185174942016602, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.389798104763031, + "candidate_source_group_id": "ms-311a52ec4b0ca8d71889;ms-a2c5c9fd35d9fda5ce9e;ms-6c0ef0ef8b493232246c;ms-227fe0347d2ea57a66a3;ms-d67409d8ecfd5d97336d;ms-fd99b14bf152ebc0ef8e", + "expert_regret": 1.4769527316093445, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fa62bbb3e8416561ed69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4769527316093445, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5230472683906555, + "restore_error": 1.1920928955078125e-07, + "score": 0.5230472683906555, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2333730310201645, + "candidate_source_group_id": "ms-3352e05afd9065cd09bf;ms-478b7b8b729f9212a522;ms-64e28ad134f73fdce800;ms-910fe3f3a4cbc2d8e6f5;ms-eb206a3dda0ac16e1643;ms-a26c2ffdac089c72ade5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bcfeba2af1e844c22aed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 1.1268521547317505, + "candidate_source_group_id": "ms-22675530f3a401b3fd6d;ms-ff96d76fba5b6ceb1289;ms-0ca1c25fddb7da05d80a;ms-c679fdafdd776a14b66f;ms-23a355317920e192147f;ms-7d32f6b32c14e33b1eb1", + "expert_regret": 1.9079431518912315, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7cbbc5e7dc896a803efa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9079431518912315, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09205684810876846, + "restore_error": 1.1920928955078125e-07, + "score": 0.09205684810876846, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3050791919231415, + "candidate_source_group_id": "ms-288532d255e4828bb15b;ms-b7ed399f40d2d554b16d;ms-1abd8c7cc1c683f88d3d;ms-fb228a036fe5973bcad1;ms-8af87d14945da6a910e4;ms-b82cc8ce5d9d348ba6b4", + "expert_regret": 1.4538047909736633, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-26e09c86be9068a34acf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4538047909736633, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5461952090263367, + "restore_error": 1.1920928955078125e-07, + "score": 0.5461952090263367, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18302978575229645, + "candidate_source_group_id": "ms-ffef7730418c831245b3;ms-7785d335d4a95e21a84d;ms-b606af28580a38cea636;ms-79d500110f3723b57da8;ms-30fe784e67f732ef9a3d;ms-ca10d8b9d03f4d59806c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-47a55ae1d3a858eed51c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5917258858680725, + "candidate_source_group_id": "ms-a7179e4e4e2a0d5335b3;ms-8c6e41e7542bc6924a1f;ms-61781d30cb05657c5f5d;ms-2f57eadf546710065684;ms-13af3f2f8e0b8444fe68;ms-38d3e0274ddfa4ed7202", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3417f5f2f1470c61d0a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.424835205078125, + "candidate_source_group_id": "ms-4ca84594a789c9abd5d9;ms-9cdebdcdad56bd8d87cc;ms-edcdf99767068f94bcb4;ms-a9ac13384fe5afc835f1;ms-86b302005e0461f28c43;ms-69962cd1c448094e4fb0", + "expert_regret": 0.0, + "expert_score": 0.582298219203949, + "expert_success": false, + "group_id": "ms-eac0d7dd54b1e797fdbd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.582298219203949, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4324665069580078, + "candidate_source_group_id": "ms-55ea22014575410563a4;ms-25a8e32c071be83d913b;ms-22412b51e61621b6025b;ms-d05d9bbb98f24da55981;ms-5085e45e6ca37192d2e5;ms-c0bfce3c9dd10f9d3231", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f8c4e700a751537ebb16", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.384392112493515, + "candidate_source_group_id": "ms-29eab654e4adf7ca9c4b;ms-4f938bd3599c372c8bff;ms-de0abc7a53a48164f82d;ms-cdfe8f580576f4c577b0;ms-9ffeb1600c04f08bdfcb;ms-f6db4e8bed63ed868487", + "expert_regret": 1.9713891614228487, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fd1c44c6d5d8f7f11451", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9713891614228487, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0286108385771513, + "restore_error": 1.1920928955078125e-07, + "score": 0.0286108385771513, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5062060952186584, + "candidate_source_group_id": "ms-f763382872d8e89017c2;ms-a3fa10726c656e851515;ms-de066fc4200163ebd06b;ms-d6e14cec49894dd329f0;ms-e7f2d1f0de50c6fcccb4;ms-d16053a4f8b95c94dc46", + "expert_regret": 1.4940776824951172, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cc0b33f92229d32bd84f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4940776824951172, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5059223175048828, + "restore_error": 1.1920928955078125e-07, + "score": 0.5059223175048828, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3896501362323761, + "candidate_source_group_id": "ms-351c397795d9af204ec6;ms-12ac4329c5bca5f2bb62;ms-caed5c1b1c882141e2e9;ms-acd4bde23cf4608facc2;ms-4cd1ceea2dda2732110a;ms-20e5ffa93544d6d8b313", + "expert_regret": 1.964863084256649, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f8e2d5d25706493821d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.964863084256649, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03513691574335098, + "restore_error": 1.1920928955078125e-07, + "score": 0.03513691574335098, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28372466564178467, + "candidate_source_group_id": "ms-08c39d9cc9eb7578e6e9;ms-10f2865bef6da7b66423;ms-f947dbf28ad85666e2f1;ms-fbda7bc51ca269d1cda4;ms-f69d6aec4ddb12d88c5b;ms-1cdd36810a138190ce3c", + "expert_regret": 1.9321197345852852, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-66ec6692758e9a7f2e01", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9321197345852852, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06788026541471481, + "restore_error": 1.1920928955078125e-07, + "score": 0.06788026541471481, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5170589089393616, + "candidate_source_group_id": "ms-0ac53e56b4852c85ca2e;ms-8330999c6669ec42122a;ms-076d67ac4d2de4e0c627;ms-a68740208f81c5d6c97b;ms-197fee321caebfd320f5;ms-e318e13f77e75e7cd802", + "expert_regret": 1.93156848102808, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7156b26670838d40934", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.93156848102808, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06843151897192001, + "restore_error": 1.1920928955078125e-07, + "score": 0.06843151897192001, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3761560022830963, + "candidate_source_group_id": "ms-339ae3ec9482aa259eec;ms-32435d71bb817daf01d9;ms-88b1a0f8f758f7956c0f;ms-683b1d258a1cafbf87b9;ms-4681331b496c8a9cf14d;ms-b7800060cd4a8c3cb6b9", + "expert_regret": 1.4432498812675476, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-53cfcc878e30fc078bba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4432498812675476, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5567501187324524, + "restore_error": 1.1920928955078125e-07, + "score": 0.5567501187324524, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.21844403445720673, + "candidate_source_group_id": "ms-4bc023d8d1f7748b0e12;ms-91d86cba2602d1fa780d;ms-a699ee643e76a610b444;ms-d67409d8ecfd5d97336d;ms-a2c5c9fd35d9fda5ce9e;ms-0b7f8ba789c00b37caa0", + "expert_regret": 0.0, + "expert_score": 0.6176263093948364, + "expert_success": false, + "group_id": "ms-a509a572b3871e591d26", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20741169154644012, + "candidate_source_group_id": "ms-c7020fdb7cba871e8b3e;ms-4a7b774ee02339c4ca19;ms-0de368e8d16fd01f4e67;ms-dd4f37e032d56b692a0e;ms-9b56e5007c76d9fefd1f;ms-486572c62484eb4d73db", + "expert_regret": 1.4158138632774353, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a576ca39e26c4e1ab240", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4158138632774353, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5841861367225647, + "restore_error": 1.1920928955078125e-07, + "score": 0.5841861367225647, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18518175184726715, + "candidate_source_group_id": "ms-a927d1bd67068f1d9302;ms-d33444117889b5aa9cfb;ms-0d1db6695acdf1ec3eaf;ms-c7041c6f758f8e4a3698;ms-da46296bd4e9032570df;ms-e589f7d40c12eff1712e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-36e8cb2e7f34f8dceb05", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.436752587556839, + "candidate_source_group_id": "ms-b82cc8ce5d9d348ba6b4;ms-8af87d14945da6a910e4;ms-386220c339b7de7f222b;ms-1abd8c7cc1c683f88d3d;ms-288532d255e4828bb15b;ms-b7ed399f40d2d554b16d", + "expert_regret": 1.4450559616088867, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b570fe64df70560c8ab6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4450559616088867, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5549440383911133, + "restore_error": 1.1920928955078125e-07, + "score": 0.5549440383911133, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3788755238056183, + "candidate_source_group_id": "ms-d4bde31fd7e7cee76b09;ms-8315ae30e2cf041c8674;ms-d807915e233a0c74b809;ms-7b932868f83725def2ed;ms-b4af4c8b9dcd6976546c;ms-99a5ffff5b73cf604b3d", + "expert_regret": 1.4505256414413452, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6029bab18ae94b126d79", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4505256414413452, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5494743585586548, + "restore_error": 1.1920928955078125e-07, + "score": 0.5494743585586548, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.16039790213108063, + "candidate_source_group_id": "ms-88bdd8987f890af7e9ea;ms-99ecd2226d7187416316;ms-3aa5793c449b59c77b6f;ms-9783ccaf76f1b20c766e;ms-ee32e6bb3c0bb45702b9;ms-30fe784e67f732ef9a3d", + "expert_regret": 1.4405108094215393, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c5d026dffb39f2f1d38a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4405108094215393, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5594891905784607, + "restore_error": 1.1920928955078125e-07, + "score": 0.5594891905784607, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44982147216796875, + "candidate_source_group_id": "ms-9783ccaf76f1b20c766e;ms-30fe784e67f732ef9a3d;ms-88bdd8987f890af7e9ea;ms-3aa5793c449b59c77b6f;ms-ee32e6bb3c0bb45702b9;ms-99ecd2226d7187416316", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c70be4072fb4e49ac106", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5813859105110168, + "candidate_source_group_id": "ms-79c7332b2b329eaa6a13;ms-7a17ceb004979b99a586;ms-61b1188974f35233b883;ms-1158e6997b2f1281b105;ms-708baf01c22c75cafd22;ms-3a64af2410ea932a6267", + "expert_regret": 1.446348488330841, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3aa864ead19c9cb9fb49", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.446348488330841, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5536515116691589, + "restore_error": 1.1920928955078125e-07, + "score": 0.5536515116691589, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9352668523788452, + "candidate_source_group_id": "ms-d1dd16f03551d840a922;ms-19e6e6e341aebb7ec693;ms-8c9f657875cf334b1f17;ms-99df75798ec5da5ec7f3;ms-3e7befcb3d8fc7884e8f;ms-8a22f0da78e59cd1eb5f", + "expert_regret": 1.4488266110420227, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-aaf1c4931e054f52623c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4488266110420227, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5511733889579773, + "restore_error": 1.1920928955078125e-07, + "score": 0.5511733889579773, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22279170155525208, + "candidate_source_group_id": "ms-1abd8c7cc1c683f88d3d;ms-b7ed399f40d2d554b16d;ms-288532d255e4828bb15b;ms-8af87d14945da6a910e4;ms-b82cc8ce5d9d348ba6b4;ms-d849d754f346b826e052", + "expert_regret": 1.4657900929450989, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3ea30989082ec714e12d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4657900929450989, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5342099070549011, + "restore_error": 1.1920928955078125e-07, + "score": 0.5342099070549011, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3554401993751526, + "candidate_source_group_id": "ms-c412fba3624c72fe2a27;ms-0f219ce35aff264455e2;ms-295de2ad6c52ab50de1a;ms-8a22f0da78e59cd1eb5f;ms-f5e621c9ae7bcca8e596;ms-49641ecf3e1326621609", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1309e1770b6ca6e71c7e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6493068337440491, + "candidate_source_group_id": "ms-97598e118c5cc8c254a5;ms-2073841ae01f224365a1;ms-0584242e924d240ca0c8;ms-59cc3cdf6918248d7f78;ms-5922c28e4a71a88c6d21;ms-296b75a11f61d61d5fba", + "expert_regret": 1.4815878868103027, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-81729abe5d83a1ca280d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4815878868103027, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5184121131896973, + "restore_error": 1.1920928955078125e-07, + "score": 0.5184121131896973, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40478429198265076, + "candidate_source_group_id": "ms-e0c2c1fbe39cd1d652b3;ms-3d0d437ee74041fc61bb;ms-5425964a186feaf6fd99;ms-2bf2f3a2444b64f8230a;ms-42117385b9e6e57c7e63;ms-a7f98a43ff113d74f009", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5d430ebe6f7933dc6c8c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5233121514320374, + "candidate_source_group_id": "ms-6c081eee5edb633d6caf;ms-239a07967247700a8ed1;ms-5fc884c238818acdde08;ms-4bf0620f8d1294466596;ms-d75a00b1388f50bf8919;ms-cca07eb504a242633931", + "expert_regret": 1.4885473847389221, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68ab6033433b360464f8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4885473847389221, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5114526152610779, + "restore_error": 1.1920928955078125e-07, + "score": 0.5114526152610779, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.704818844795227, + "candidate_source_group_id": "ms-7361bfba9d2ab4f1913e;ms-3b0639bfe64ecfd35594;ms-3a65e7b378a87a7eeb11;ms-fcbac5ac63b87452c719;ms-8adf1cf09ddabdc5fe5f;ms-0b7f8ba789c00b37caa0", + "expert_regret": 1.9715113043785095, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fef1cf4879be83a77574", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9715113043785095, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02848869562149048, + "restore_error": 1.1920928955078125e-07, + "score": 0.02848869562149048, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33673545718193054, + "candidate_source_group_id": "ms-7d962acc9cfbc27c599c;ms-72b7d76602371f044fe3;ms-a6273302894af3505ca8;ms-13192a27f5fcf4fd24d7;ms-11bb3387454624de8143;ms-a22fbce4503f088acb1f", + "expert_regret": 1.4648368954658508, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7241a1c25af41f4c0b5a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4648368954658508, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5351631045341492, + "restore_error": 1.1920928955078125e-07, + "score": 0.5351631045341492, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4482731819152832, + "candidate_source_group_id": "ms-9ff81e54049443a0f3d3;ms-b42e0a68875b0405904b;ms-d19573dc65181befd83d;ms-f71c7cf8ca320b8eb7a4;ms-b6827e38768a63212d73;ms-8f241450069e74460a40", + "expert_regret": 1.433536946773529, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a73f46824bdbdfb96238", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.433536946773529, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.566463053226471, + "restore_error": 1.1920928955078125e-07, + "score": 0.566463053226471, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5365245938301086, + "candidate_source_group_id": "ms-8c0b600aef5393f929cd;ms-49641ecf3e1326621609;ms-17a04b4ac2d938261bff;ms-7982e5af0d533320432f;ms-4895312f7ef7a8e0109c;ms-f5e621c9ae7bcca8e596", + "expert_regret": 1.9715731497853994, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7f427f37d47501932e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9715731497853994, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.028426850214600563, + "restore_error": 1.1920928955078125e-07, + "score": 0.028426850214600563, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5303257703781128, + "candidate_source_group_id": "ms-76c78750d7abc6570487;ms-b6df140b235c8fe0eaad;ms-66540aefd55a84b5088f;ms-38d3e0274ddfa4ed7202;ms-a7179e4e4e2a0d5335b3;ms-a7f98a43ff113d74f009", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a6060f858cb9f93c5588", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5835391283035278, + "candidate_source_group_id": "ms-d88107eff1e361cdcc4c;ms-813cac6d08ed5af48b12;ms-ce2924d08bdd6c379777;ms-16d5b122db1824caf92b;ms-dbb32d9fd6999e09f589;ms-64ab703e7a82799a47dd", + "expert_regret": 1.4395153522491455, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-70342af6b601660d7c69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4395153522491455, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5604846477508545, + "restore_error": 1.1920928955078125e-07, + "score": 0.5604846477508545, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.17377400398254395, + "candidate_source_group_id": "ms-763c73c94818a090d358;ms-c7020fdb7cba871e8b3e;ms-486572c62484eb4d73db;ms-9b56e5007c76d9fefd1f;ms-0de368e8d16fd01f4e67;ms-4fe47d946641f0096a85", + "expert_regret": 1.4383211731910706, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d81f3e8b6a42695871d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4383211731910706, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5616788268089294, + "restore_error": 1.1920928955078125e-07, + "score": 0.5616788268089294, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2310105711221695, + "candidate_source_group_id": "ms-a7179e4e4e2a0d5335b3;ms-2f57eadf546710065684;ms-76c78750d7abc6570487;ms-b6df140b235c8fe0eaad;ms-66540aefd55a84b5088f;ms-38d3e0274ddfa4ed7202", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-39af5447d3c90872c25f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5564748644828796, + "candidate_source_group_id": "ms-486572c62484eb4d73db;ms-763c73c94818a090d358;ms-b0aa24be399d843c9d50;ms-4fe47d946641f0096a85;ms-dd4f37e032d56b692a0e;ms-a6b029a958e91306966a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a44a2c9eee8baea5d29e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4650707244873047, + "candidate_source_group_id": "ms-5fc884c238818acdde08;ms-38d3e0274ddfa4ed7202;ms-66540aefd55a84b5088f;ms-4d6099258a3a6e037aff;ms-b6df140b235c8fe0eaad;ms-85eef30b36b044b33f60", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d44f5bd2488ea182132b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5717225074768066, + "candidate_source_group_id": "ms-859d0ea38fb5e8aa6b98;ms-ee7463f3d937dbc16f89;ms-e7f2d1f0de50c6fcccb4;ms-3deb9fa600781abb51c1;ms-a3fa10726c656e851515;ms-ffc3f18cbc674bdcc085", + "expert_regret": 1.9745220188051462, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0cc80a2933abf1b4853f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9745220188051462, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.025477981194853783, + "restore_error": 1.1920928955078125e-07, + "score": 0.025477981194853783, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2520544230937958, + "candidate_source_group_id": "ms-bd6b2dc41ba42b44462a;ms-642670f4bb658d32970b;ms-5721bb074a97f9773eca;ms-4082ce1f04dbacd6a5b9;ms-ae33e3afb57e61026d72;ms-57a213acdc6a7231f799", + "expert_regret": 1.4638789296150208, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6905c1d3bc8157697499", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4638789296150208, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5361210703849792, + "restore_error": 1.1920928955078125e-07, + "score": 0.5361210703849792, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6236665844917297, + "candidate_source_group_id": "ms-80fbba5636cb4f9c64a3;ms-4cd1ceea2dda2732110a;ms-12ac4329c5bca5f2bb62;ms-97598e118c5cc8c254a5;ms-0584242e924d240ca0c8;ms-2073841ae01f224365a1", + "expert_regret": 1.863457903265953, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8e4755f1627d85c12bd8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.863457903265953, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.13654209673404694, + "restore_error": 1.1920928955078125e-07, + "score": 0.13654209673404694, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4345700442790985, + "candidate_source_group_id": "ms-2df0b9d5fa91156e430a;ms-b0fd98bae1ed5d543f35;ms-81c855f8645b35f0856d;ms-e07f80b44faf328c5e58;ms-cb16b458af723bf7cd0a;ms-1d1969094d91fe52667d", + "expert_regret": 1.4462987780570984, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6305829d7ca1c68a3ce", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4462987780570984, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5537012219429016, + "restore_error": 1.1920928955078125e-07, + "score": 0.5537012219429016, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5666297078132629, + "candidate_source_group_id": "ms-fd6deac5a281d169bc75;ms-561f4f913d7b4991d81a;ms-8f0e2c9caad14bd37ecf;ms-d91cbe61314c18955b6b;ms-1df0775c4ef08d0cf1bf;ms-f3e40db5e157647d463d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-023e021f079a8774c741", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45956167578697205, + "candidate_source_group_id": "ms-79c7332b2b329eaa6a13;ms-61b1188974f35233b883;ms-708baf01c22c75cafd22;ms-ee19bfbcb2f4fbf5a44d;ms-519fb779d24a0bdf3809;ms-ea72196e20393870bcbb", + "expert_regret": 0.039834439754486084, + "expert_score": 0.5963302850723267, + "expert_success": false, + "group_id": "ms-66cc354bbf4e8bdd1051", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.039834439754486084, + "oracle_score": 0.5963302850723267, + "oracle_success": false, + "progress": 0.5564958453178406, + "restore_error": 1.1920928955078125e-07, + "score": 0.5564958453178406, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42557328939437866, + "candidate_source_group_id": "ms-5367a8bae4304851384e;ms-a47818abd17d958ad6ca;ms-2bf2f3a2444b64f8230a;ms-dd4e13e425fbe9bd9140;ms-e0c2c1fbe39cd1d652b3;ms-128c7c43e30023e6b1a3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a13ee9983c139d34fca8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28191065788269043, + "candidate_source_group_id": "ms-486572c62484eb4d73db;ms-dd4f37e032d56b692a0e;ms-763c73c94818a090d358;ms-a6b029a958e91306966a;ms-b0aa24be399d843c9d50;ms-c7020fdb7cba871e8b3e", + "expert_regret": 1.4435485005378723, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c39b520dca0a325535f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4435485005378723, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5564514994621277, + "restore_error": 1.1920928955078125e-07, + "score": 0.5564514994621277, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6323713660240173, + "candidate_source_group_id": "ms-70381721e736d44afeaf;ms-0e12a6083750bfecca87;ms-f71c7cf8ca320b8eb7a4;ms-22588909538be867fb28;ms-7a17ceb004979b99a586;ms-72b7d76602371f044fe3", + "expert_regret": 1.4891955852508545, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5a7891a58bac94796178", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4891955852508545, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5108044147491455, + "restore_error": 1.1920928955078125e-07, + "score": 0.5108044147491455, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3450877368450165, + "candidate_source_group_id": "ms-8b972386cfdf0158a0a3;ms-6fc6a26da9fbe53dd616;ms-0915b75e9fd1468d464e;ms-19c0b893fda0e6bb05f7;ms-c679fdafdd776a14b66f;ms-40cb974de9da58dcd32b", + "expert_regret": 1.9786108247935772, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fed4628b22c7e42e32d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9786108247935772, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.021389175206422806, + "restore_error": 1.1920928955078125e-07, + "score": 0.021389175206422806, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6314989924430847, + "candidate_source_group_id": "ms-f5e621c9ae7bcca8e596;ms-49641ecf3e1326621609;ms-8a22f0da78e59cd1eb5f;ms-8c0b600aef5393f929cd;ms-4895312f7ef7a8e0109c;ms-17a04b4ac2d938261bff", + "expert_regret": 1.8937367871403694, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c91cae30acaa8dc7a12b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8937367871403694, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10626321285963058, + "restore_error": 1.1920928955078125e-07, + "score": 0.10626321285963058, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8329213261604309, + "candidate_source_group_id": "ms-dce346f7f90e29664890;ms-4143ca4fca04091084e4;ms-7eaea428dfdef7255a66;ms-dc26b448cce4164a23e6;ms-906dbd4dc79cb6be1e2c;ms-57be9ae181c077e7821f", + "expert_regret": 1.8340736329555511, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-070184c0f6831eb39bc1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8340736329555511, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16592636704444885, + "restore_error": 2.3096799850463867e-07, + "score": 0.16592636704444885, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.1936990022659302, + "candidate_source_group_id": "ms-778efc20fc2ee8a3dd02;ms-2e40499cb146da6f89e7;ms-4f0a59b7bc897c0d5e5e;ms-12c741253e1802aad9ec;ms-744702a88bec9222a30a;ms-3c223e8c7f870c807541", + "expert_regret": 1.770249143242836, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c62736c7767014960e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.770249143242836, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.229750856757164, + "restore_error": 2.3096799850463867e-07, + "score": 0.229750856757164, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.38881397247314453, + "candidate_source_group_id": "ms-f5dd1c43ebc4c0cfc3f1;ms-0dee962a5901fb8b5bbb;ms-b7d7021b782f73816083;ms-c2398cb80b194084dbfc;ms-62bd92bfcbc50801e008;ms-b8c3ec3ea915c5d35b3e", + "expert_regret": 0.0, + "expert_score": 0.18241576850414276, + "expert_success": false, + "group_id": "ms-a4d2c89304817ce28313", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.2059803009033203, + "oracle_success": false, + "progress": 0.23355507850646973, + "restore_error": 2.3096799850463867e-07, + "score": 0.23355507850646973, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6207147836685181, + "candidate_source_group_id": "ms-fd4b2d974e51fed9536e;ms-d92cec7cfd1915a30824;ms-ee30ebaf98622759d888;ms-b794f77d280289ce22a4;ms-ebacae0135af2832dfbb;ms-3089724d0eba0f7b5d91", + "expert_regret": 0.12242285162210464, + "expert_score": 0.17002534866333008, + "expert_success": false, + "group_id": "ms-7923b8196b397863cf4f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9523975029587746, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04760249704122543, + "restore_error": 2.3096799850463867e-07, + "score": 0.04760249704122543, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5852798819541931, + "candidate_source_group_id": "ms-4bda8533405961380322;ms-9229ce141dd41a11fac1;ms-1c2768099019b86daca7;ms-b7d7021b782f73816083;ms-ba11d52e628b2efe32ea;ms-7df455efd413d77e6ce3", + "expert_regret": 0.0, + "expert_score": 0.05257302522659302, + "expert_success": false, + "group_id": "ms-728b865677134d3788e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.16139698028564453, + "oracle_score": 0.22658847272396088, + "oracle_success": false, + "progress": 0.06519149243831635, + "restore_error": 2.3096799850463867e-07, + "score": 0.06519149243831635, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.37600797414779663, + "candidate_source_group_id": "ms-b7d7021b782f73816083;ms-45309d0bdc5e3babc17b;ms-0dee962a5901fb8b5bbb;ms-7a044cb6c7bb03f3ea10;ms-4bda8533405961380322;ms-6ddecc7f074b9e267409", + "expert_regret": 0.0, + "expert_score": 0.11683736741542816, + "expert_success": false, + "group_id": "ms-e87c704dfdbf7ee7f51f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.06071197986602783, + "oracle_score": 0.2421749234199524, + "oracle_success": false, + "progress": 0.18146294355392456, + "restore_error": 2.3096799850463867e-07, + "score": 0.18146294355392456, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4777471125125885, + "candidate_source_group_id": "ms-0dee962a5901fb8b5bbb;ms-f5dd1c43ebc4c0cfc3f1;ms-45309d0bdc5e3babc17b;ms-b7d7021b782f73816083;ms-082cb0ac119a83c42c2d;ms-c2398cb80b194084dbfc", + "expert_regret": 0.0, + "expert_score": 0.16706955432891846, + "expert_success": false, + "group_id": "ms-8b603da9f857de028798", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.21277980506420135, + "oracle_success": false, + "progress": 0.22220194339752197, + "restore_error": 2.3096799850463867e-07, + "score": 0.22220194339752197, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.240524023771286, + "candidate_source_group_id": "ms-ba11d52e628b2efe32ea;ms-d8e18d4d22b4cc73b803;ms-5dbfefbfb832855ef80a;ms-0fdb89ea83047c63b9b0;ms-22638e64d6a54980bc02;ms-ea8382de946b98af3bf8", + "expert_regret": 0.0, + "expert_score": 0.18874704837799072, + "expert_success": false, + "group_id": "ms-1a4979e969aa331fb126", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.036633312702178955, + "oracle_score": 0.2711350619792938, + "oracle_success": false, + "progress": 0.23450174927711487, + "restore_error": 2.3096799850463867e-07, + "score": 0.23450174927711487, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.1474418640136719, + "candidate_source_group_id": "ms-62bd92bfcbc50801e008;ms-c2398cb80b194084dbfc;ms-5ab7f487c7006dec473a;ms-b8c3ec3ea915c5d35b3e;ms-284545b8610706250f3c;ms-e4e21b9ec2546537fff0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cb5dc99d8c3b4c0c3616", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.1646651029586792, + "candidate_source_group_id": "ms-088ad33a4461de5ce0cb;ms-c5d53da10b561f402ee7;ms-3c223e8c7f870c807541;ms-6a3add21affa4796f9be;ms-620cd9e02d46b021f112;ms-3ed611d029d2ae0b12d8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-633308d7f0e52c013505", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4697171747684479, + "candidate_source_group_id": "ms-f5dd1c43ebc4c0cfc3f1;ms-0dee962a5901fb8b5bbb;ms-c2398cb80b194084dbfc;ms-62bd92bfcbc50801e008;ms-b7d7021b782f73816083;ms-b8c3ec3ea915c5d35b3e", + "expert_regret": 0.0, + "expert_score": 0.0869297981262207, + "expert_success": false, + "group_id": "ms-99357c610a8ebf4f5613", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.13653340935707092, + "oracle_score": 0.27952003479003906, + "oracle_success": false, + "progress": 0.14298662543296814, + "restore_error": 1.1920928955078125e-07, + "score": 0.14298662543296814, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3052809238433838, + "candidate_source_group_id": "ms-206099bab6bfe7c84fce;ms-8e56b0eaa2604db6749e;ms-35a50d2822c2c3cc4516;ms-7e88428497a6b13936c4;ms-c0e3ab57fcf0d12ea4d8;ms-bce8c4ec2bf882ca0b2e", + "expert_regret": 0.0, + "expert_score": 0.01088327169418335, + "expert_success": false, + "group_id": "ms-d81f9c2974c2d599f151", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.1107872724533081, + "oracle_success": false, + "progress": 0.13801714777946472, + "restore_error": 1.1920928955078125e-07, + "score": 0.13801714777946472, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6155304312705994, + "candidate_source_group_id": "ms-45131c0aa974fa9602ad;ms-a04e804d3aad7b40f1ac;ms-ec2eec3ab528878445cd;ms-89c4edc5d083202b2443;ms-6d46dae312649c977b64;ms-3d31ef4f467b204b8477", + "expert_regret": 0.04730653762817383, + "expert_score": 0.22178253531455994, + "expert_success": false, + "group_id": "ms-9a50730a0ff65eb93ea5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.062086135149002075, + "oracle_score": 0.23656213283538818, + "oracle_success": false, + "progress": 0.1744759976863861, + "restore_error": 1.1920928955078125e-07, + "score": 0.1744759976863861, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3223894536495209, + "candidate_source_group_id": "ms-344d81289be624d70b0e;ms-19cb10d10516bd0216a6;ms-ee4ddb148e138fce841c;ms-6661b157c41ad4d6ab85;ms-53344c3bc69a3b0fe303;ms-f126e1cf5b3ee52a8476", + "expert_regret": 1.950979232788086, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e2fe413566da0516273d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.950979232788086, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04902076721191406, + "restore_error": 1.1920928955078125e-07, + "score": 0.04902076721191406, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.1432991027832031, + "candidate_source_group_id": "ms-d92cec7cfd1915a30824;ms-ee30ebaf98622759d888;ms-5e422b9487b4a1efd7af;ms-be219977a9db8dbb1e58;ms-b794f77d280289ce22a4;ms-423347f93e1045f6bdd0", + "expert_regret": 1.940508246421814, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-109ea940d18ab80efabc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.940508246421814, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.059491753578186035, + "restore_error": 1.1920928955078125e-07, + "score": 0.059491753578186035, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8859996795654297, + "candidate_source_group_id": "ms-b6b7052345036de1448d;ms-97832747def371d6de99;ms-575c7eef4563e02ec689;ms-ac4fb33f3ab4db853995;ms-b6dae6677869af5f7f52;ms-8e12f7ad446482627dd3", + "expert_regret": 0.0, + "expert_score": 0.08186312764883041, + "expert_success": false, + "group_id": "ms-6388b5d2356c556c3e55", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8741902261972427, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.12580977380275726, + "restore_error": 1.1920928955078125e-07, + "score": 0.12580977380275726, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.40623071789741516, + "candidate_source_group_id": "ms-8577816da2917a2bb63d;ms-61c3c0e99a653d2a7fe2;ms-84388e63928e1a30ffc4;ms-1d3f30fae746c0b9cefc;ms-59d4cdcd401477b5adfc;ms-f2b2b2a1aa2863c3676f", + "expert_regret": 0.0, + "expert_score": 0.12672781944274902, + "expert_success": false, + "group_id": "ms-f7a54f4783da1d4129a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.30690255761146545, + "oracle_success": false, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.741382896900177, + "candidate_source_group_id": "ms-bce8c4ec2bf882ca0b2e;ms-97832747def371d6de99;ms-8e56b0eaa2604db6749e;ms-1772611570ffaf72c98c;ms-c09bd18e1017cc532aee;ms-b6dae6677869af5f7f52", + "expert_regret": 0.0464581698179245, + "expert_score": 0.15074965357780457, + "expert_success": false, + "group_id": "ms-61bde0225d6f4175b7cb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.11314509809017181, + "oracle_score": 0.21743658185005188, + "oracle_success": false, + "progress": 0.10429148375988007, + "restore_error": 2.3096799850463867e-07, + "score": 0.10429148375988007, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.042036771774292, + "candidate_source_group_id": "ms-652ad552ba98d2736620;ms-a9747843e0fddd993263;ms-aa45731e1b9734a493fd;ms-f7f4e41613e39d53b7c1;ms-9acbb20bd73584f0e215;ms-e6a58c859c498bb0f4d2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6d5f6a187b61ea26c2e2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.47270217537879944, + "candidate_source_group_id": "ms-b0c64b4a1c04972e47a1;ms-3ed611d029d2ae0b12d8;ms-620cd9e02d46b021f112;ms-151566379dfd7af6fe63;ms-7f57045c114ddad153b5;ms-6a3add21affa4796f9be", + "expert_regret": 0.0, + "expert_score": 0.14449183642864227, + "expert_success": false, + "group_id": "ms-a6a6de64c39abad45f86", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.21010009944438934, + "oracle_success": false, + "progress": 0.2661237418651581, + "restore_error": 2.3096799850463867e-07, + "score": 0.2661237418651581, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0099599361419678, + "candidate_source_group_id": "ms-7f57045c114ddad153b5;ms-3ed611d029d2ae0b12d8;ms-b0c64b4a1c04972e47a1;ms-620cd9e02d46b021f112;ms-6a3add21affa4796f9be;ms-3c223e8c7f870c807541", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f497cc22967badd9f8b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.9699584245681763, + "candidate_source_group_id": "ms-906dbd4dc79cb6be1e2c;ms-02d160e1d5db6e544363;ms-7eaea428dfdef7255a66;ms-554727d05aa9a2b32904;ms-26751f54c657b24b4da2;ms-7b2cb5c6abcc36a362d1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-340e4b5de99447fbcd5e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.8536207675933838, + "candidate_source_group_id": "ms-372f2ecb6685d8cae8d5;ms-02fd0338e80ef19ceec1;ms-6b789356d65b3312fbae;ms-45309d0bdc5e3babc17b;ms-0dee962a5901fb8b5bbb;ms-7a044cb6c7bb03f3ea10", + "expert_regret": 0.0804787427186966, + "expert_score": 0.24815547466278076, + "expert_success": false, + "group_id": "ms-cb8cbd90038493c30888", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.10790659487247467, + "oracle_score": 0.27558332681655884, + "oracle_success": false, + "progress": 0.16767673194408417, + "restore_error": 2.3096799850463867e-07, + "score": 0.16767673194408417, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5581140518188477, + "candidate_source_group_id": "ms-9229ce141dd41a11fac1;ms-2b7ca4255af28e33db96;ms-7df455efd413d77e6ce3;ms-38f7298184a2c5005e94;ms-387e6771a55be98f1a59;ms-397e502908d16b7804b0", + "expert_regret": 0.0, + "expert_score": 0.24371962249279022, + "expert_success": false, + "group_id": "ms-757b3e9ecfc21efc80a7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.24371962249279022, + "oracle_success": false, + "progress": 0.24592654407024384, + "restore_error": 2.3096799850463867e-07, + "score": 0.24592654407024384, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.165606141090393, + "candidate_source_group_id": "ms-c5d53da10b561f402ee7;ms-088ad33a4461de5ce0cb;ms-53b435e197011e0d48b3;ms-6a3add21affa4796f9be;ms-3c223e8c7f870c807541;ms-620cd9e02d46b021f112", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d915ee5030ef1ea1b0d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.14630530774593353, + "candidate_source_group_id": "ms-19cb10d10516bd0216a6;ms-ee4ddb148e138fce841c;ms-0819eb89e627595e7e1b;ms-47460f61b9edd000c05d;ms-15459afe7e32ce62fc1b;ms-4de1f6d71208bf1d182d", + "expert_regret": 0.0, + "expert_score": 0.13993772864341736, + "expert_success": false, + "group_id": "ms-e2bad6e99e8a281207cc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.04555313289165497, + "oracle_score": 0.20825156569480896, + "oracle_success": false, + "progress": 0.162698432803154, + "restore_error": 1.1920928955078125e-07, + "score": 0.162698432803154, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6245370507240295, + "candidate_source_group_id": "ms-80801b0de8334bd2bcc8;ms-d92cec7cfd1915a30824;ms-1150c257eb77fdf40f55;ms-ee30ebaf98622759d888;ms-b92ca6f216624d6305c2;ms-be219977a9db8dbb1e58", + "expert_regret": 0.17786362767219543, + "expert_score": 0.21821841597557068, + "expert_success": false, + "group_id": "ms-3d090ac2459c4b891dd1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9596452116966248, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.040354788303375244, + "restore_error": 1.1920928955078125e-07, + "score": 0.040354788303375244, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.7069625854492188, + "candidate_source_group_id": "ms-d024c00b780e0df06b55;ms-b92ca6f216624d6305c2;ms-22638e64d6a54980bc02;ms-ebacae0135af2832dfbb;ms-6d46dae312649c977b64;ms-d73fd5fce55fb58ef8e9", + "expert_regret": 1.9678900614380836, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b1ed7e9f28f7a3f924d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9678900614380836, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03210993856191635, + "restore_error": 1.1920928955078125e-07, + "score": 0.03210993856191635, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.130171298980713, + "candidate_source_group_id": "ms-ee30ebaf98622759d888;ms-fd4b2d974e51fed9536e;ms-d92cec7cfd1915a30824;ms-b794f77d280289ce22a4;ms-b92ca6f216624d6305c2;ms-be219977a9db8dbb1e58", + "expert_regret": 1.9533078260719776, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f59e0d91a187e6a48299", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9533078260719776, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.046692173928022385, + "restore_error": 1.1920928955078125e-07, + "score": 0.046692173928022385, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5502802729606628, + "candidate_source_group_id": "ms-ec2eec3ab528878445cd;ms-45131c0aa974fa9602ad;ms-a04e804d3aad7b40f1ac;ms-89c4edc5d083202b2443;ms-3d31ef4f467b204b8477;ms-4d400b68d540cebcc9e0", + "expert_regret": 0.0016435086727142334, + "expert_score": 0.18963214755058289, + "expert_success": false, + "group_id": "ms-f9740a08a98cb251b761", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8120113611221313, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18798863887786865, + "restore_error": 1.1920928955078125e-07, + "score": 0.18798863887786865, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2544279098510742, + "candidate_source_group_id": "ms-4aed2a49597da545e551;ms-53a86042af3c0887e556;ms-f3f1d07cfd59b823da47;ms-25ab20bb3da8ba34be95;ms-c9f45175ee5fcafa38ec;ms-02fd0338e80ef19ceec1", + "expert_regret": 0.041429564356803894, + "expert_score": 0.07850711047649384, + "expert_success": false, + "group_id": "ms-ccb8bd419b9cd771d12f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.2122248113155365, + "oracle_score": 0.24930235743522644, + "oracle_success": false, + "progress": 0.03707754611968994, + "restore_error": 1.1920928955078125e-07, + "score": 0.03707754611968994, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.33150574564933777, + "candidate_source_group_id": "ms-ebfb82df795e73599373;ms-49b9e0f9ceaf91314919;ms-f4a2d61f02d4224bad4f;ms-e6b654653119682cf01e;ms-20ca52baa214c31b3186;ms-35940a55db9e3f7e6ad0", + "expert_regret": 0.0, + "expert_score": 0.01361372135579586, + "expert_success": false, + "group_id": "ms-81f4e8858b2ba90aea2e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.1631626933813095, + "oracle_success": false, + "progress": 0.18636779487133026, + "restore_error": 1.1920928955078125e-07, + "score": 0.18636779487133026, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0786856412887573, + "candidate_source_group_id": "ms-eab38ab23e5fd0218632;ms-e9d7fc13264ff1c06637;ms-57e91ed3c8bd0299534f;ms-26c3a975205dfd16f076;ms-b28f44671fe871a8bea8;ms-e8afd0ad85d7e219a1ec", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9fbd54f73e56e3231631", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.0116567611694336e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6625381708145142, + "candidate_source_group_id": "ms-68b43d83b97196e0d27f;ms-465d531b9cec5bc77ed7;ms-cad6645f8175e38ad155;ms-37384bede4d1c03f3b80;ms-29f47a1dc1d9c3ec3365;ms-3f2aed5964eed6c4936a", + "expert_regret": 0.0, + "expert_score": 0.16178712248802185, + "expert_success": false, + "group_id": "ms-4cc40587ec490257b1d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.736283302307129, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2637166976928711, + "restore_error": 2.0116567611694336e-07, + "score": 0.2637166976928711, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2880965769290924, + "candidate_source_group_id": "ms-7ea98b8f4d2220347ee0;ms-89538d844f6299774906;ms-126eb8b36769f9ba4671;ms-45fbd749d5ed3fe37c13;ms-9826b7a6fdcc0fd3eb69;ms-674fad0e7c042d23629e", + "expert_regret": 0.038045771420001984, + "expert_score": 0.1594313085079193, + "expert_success": false, + "group_id": "ms-98eb81debb5186ebbe38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.11834994703531265, + "oracle_score": 0.23973548412322998, + "oracle_success": false, + "progress": 0.12138553708791733, + "restore_error": 2.0116567611694336e-07, + "score": 0.12138553708791733, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.30511775612831116, + "candidate_source_group_id": "ms-1ba37e30b90a3b28e62f;ms-9c6eae5aaafcbc2e7b1d;ms-70549468e433100cfaa6;ms-a1b57fcae964d7b531da;ms-cad33aa1136af34af6ec;ms-e3e9c08ff116ef32db75", + "expert_regret": 0.0, + "expert_score": 0.12880972027778625, + "expert_success": false, + "group_id": "ms-6e27d292a9cbea108fc9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.23463158309459686, + "oracle_success": false, + "progress": 0.2618752717971802, + "restore_error": 2.0116567611694336e-07, + "score": 0.2618752717971802, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.405151903629303, + "candidate_source_group_id": "ms-38e262365697885024d7;ms-206099bab6bfe7c84fce;ms-7e88428497a6b13936c4;ms-8e56b0eaa2604db6749e;ms-3a4e2d080c9c4b279895;ms-4c99c68cb7d1f50db857", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c8fa3c12dd48ffd82fcf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.0116567611694336e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.649170994758606, + "candidate_source_group_id": "ms-151566379dfd7af6fe63;ms-1cba84e4c11e030aeb3e;ms-1a4d443c5b80e0dac794;ms-b784fe769f0fb1d315e5;ms-b0c64b4a1c04972e47a1;ms-7f57045c114ddad153b5", + "expert_regret": 0.0, + "expert_score": 0.23240530490875244, + "expert_success": false, + "group_id": "ms-36f0ff5c96ebdd4644c2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.0116567611694336e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8908098340034485, + "candidate_source_group_id": "ms-387e6771a55be98f1a59;ms-397e502908d16b7804b0;ms-7df455efd413d77e6ce3;ms-2b7ca4255af28e33db96;ms-9229ce141dd41a11fac1;ms-38f7298184a2c5005e94", + "expert_regret": 0.08694660663604736, + "expert_score": 0.15188813209533691, + "expert_success": false, + "group_id": "ms-e0c576a5a78374889088", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13576126098632812, + "oracle_score": 0.20070278644561768, + "oracle_success": false, + "progress": 0.06494152545928955, + "restore_error": 2.0116567611694336e-07, + "score": 0.06494152545928955, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4726523756980896, + "candidate_source_group_id": "ms-9c6eae5aaafcbc2e7b1d;ms-4dc6f09c1beeb5314d11;ms-6f26118aa94bacd82250;ms-0093b06390890d181104;ms-c832439976a37f52d094;ms-2eabcf580547d2c133ce", + "expert_regret": 0.0, + "expert_score": 0.010581731796264648, + "expert_success": false, + "group_id": "ms-ec013396e4aff6170ee1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.24502670764923096, + "oracle_success": false, + "progress": 0.2754725515842438, + "restore_error": 2.0116567611694336e-07, + "score": 0.2754725515842438, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7060733437538147, + "candidate_source_group_id": "ms-ce524659487cd1d71390;ms-3798cbeab8a36b08c295;ms-20b11e3e581c2a865096;ms-49b9e0f9ceaf91314919;ms-60f0d45b604940db0058;ms-aab59ee607a5ba7e3bfa", + "expert_regret": 0.12827232480049133, + "expert_score": 0.1477116048336029, + "expert_success": false, + "group_id": "ms-0b93907b2a7261815f63", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.2137853503227234, + "oracle_score": 0.23322463035583496, + "oracle_success": false, + "progress": 0.019439280033111572, + "restore_error": 2.384185791015625e-07, + "score": 0.019439280033111572, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4017476439476013, + "candidate_source_group_id": "ms-0093b06390890d181104;ms-20b11e3e581c2a865096;ms-2eabcf580547d2c133ce;ms-d6cc29ec9fbbc53d0f68;ms-6f26118aa94bacd82250;ms-4dc6f09c1beeb5314d11", + "expert_regret": 0.0, + "expert_score": 0.013159613125026226, + "expert_success": false, + "group_id": "ms-ccc79c981e3a67ebeaf2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.1627672165632248, + "oracle_success": false, + "progress": 0.1729012429714203, + "restore_error": 2.384185791015625e-07, + "score": 0.1729012429714203, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.19280652701854706, + "candidate_source_group_id": "ms-8a87ddbfc0fce8bb13d5;ms-a2518826fa0a816cc46f;ms-f4a2d61f02d4224bad4f;ms-1ca019318ddec8ce5e8a;ms-52b4f33b924e82688187;ms-ebfb82df795e73599373", + "expert_regret": 0.0, + "expert_score": 0.20860514044761658, + "expert_success": false, + "group_id": "ms-7ec14cb44e2262c7b497", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.07605955004692078, + "oracle_score": 0.2868060767650604, + "oracle_success": false, + "progress": 0.21074652671813965, + "restore_error": 2.384185791015625e-07, + "score": 0.21074652671813965, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.258681058883667, + "candidate_source_group_id": "ms-dab8307a45ebe8220c83;ms-88012aab0303554a1736;ms-284545b8610706250f3c;ms-fbd73493bcf73542f735;ms-06babf453b22ba8f2407;ms-e4e21b9ec2546537fff0", + "expert_regret": 0.0, + "expert_score": 0.12086304277181625, + "expert_success": false, + "group_id": "ms-456cdaaa617fc54fd766", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.35995933413505554, + "candidate_source_group_id": "ms-4de1f6d71208bf1d182d;ms-4da03300d92420e80ed0;ms-47460f61b9edd000c05d;ms-0819eb89e627595e7e1b;ms-bce8c4ec2bf882ca0b2e;ms-15459afe7e32ce62fc1b", + "expert_regret": 0.0, + "expert_score": 0.17559778690338135, + "expert_success": false, + "group_id": "ms-d5da60ea045af7f677a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.1883772611618042, + "oracle_success": false, + "progress": 0.2804417908191681, + "restore_error": 2.384185791015625e-07, + "score": 0.2804417908191681, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3692804276943207, + "candidate_source_group_id": "ms-372f2ecb6685d8cae8d5;ms-45309d0bdc5e3babc17b;ms-6b789356d65b3312fbae;ms-0dee962a5901fb8b5bbb;ms-7a044cb6c7bb03f3ea10;ms-02fd0338e80ef19ceec1", + "expert_regret": 0.028609365224838257, + "expert_score": 0.2534019351005554, + "expert_success": false, + "group_id": "ms-45672e1bf3b083eb3fc3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.035961538553237915, + "oracle_score": 0.2607541084289551, + "oracle_success": false, + "progress": 0.22479256987571716, + "restore_error": 2.384185791015625e-07, + "score": 0.22479256987571716, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4990374445915222, + "candidate_source_group_id": "ms-267832544376e3727efb;ms-bce8c4ec2bf882ca0b2e;ms-5ecde7b64c80d2abbe1f;ms-615d4a98352149e15ff1;ms-bd90866faa10e62fce2c;ms-714913716f5f0a287401", + "expert_regret": 0.02159327268600464, + "expert_score": 0.21242734789848328, + "expert_success": false, + "group_id": "ms-aefa917c6b1659d6edd2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.06867793202400208, + "oracle_score": 0.2595120072364807, + "oracle_success": false, + "progress": 0.19083407521247864, + "restore_error": 2.384185791015625e-07, + "score": 0.19083407521247864, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5355437994003296, + "candidate_source_group_id": "ms-1a4d443c5b80e0dac794;ms-151566379dfd7af6fe63;ms-1cba84e4c11e030aeb3e;ms-02311c7783bc67e188b4;ms-20e1efbb745fd02abc95;ms-9df6734b8268172ea7e5", + "expert_regret": 0.0, + "expert_score": 0.24619130790233612, + "expert_success": false, + "group_id": "ms-b49043f15f4846de5b13", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5658755898475647, + "candidate_source_group_id": "ms-4bda8533405961380322;ms-3bfe7e8a312d53f966d0;ms-1c2768099019b86daca7;ms-b7d7021b782f73816083;ms-ba11d52e628b2efe32ea;ms-f087710511e9f9336ad6", + "expert_regret": 0.0, + "expert_score": 0.03362294286489487, + "expert_success": false, + "group_id": "ms-6754ed0131c952830729", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.19071342051029205, + "oracle_score": 0.28973090648651123, + "oracle_success": false, + "progress": 0.09901748597621918, + "restore_error": 1.1920928955078125e-07, + "score": 0.09901748597621918, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.19363978505134583, + "candidate_source_group_id": "ms-53344c3bc69a3b0fe303;ms-6661b157c41ad4d6ab85;ms-344d81289be624d70b0e;ms-cc07f96f3454a4643b9a;ms-c083dba0e5dcc8ca1004;ms-f126e1cf5b3ee52a8476", + "expert_regret": 0.029506012797355652, + "expert_score": 0.1437651813030243, + "expert_success": false, + "group_id": "ms-6ad14a70593958c00a63", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.07637439668178558, + "oracle_score": 0.19063356518745422, + "oracle_success": false, + "progress": 0.11425916850566864, + "restore_error": 1.1920928955078125e-07, + "score": 0.11425916850566864, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.2241889238357544, + "candidate_source_group_id": "ms-12c741253e1802aad9ec;ms-778efc20fc2ee8a3dd02;ms-2e40499cb146da6f89e7;ms-4f0a59b7bc897c0d5e5e;ms-744702a88bec9222a30a;ms-53b435e197011e0d48b3", + "expert_regret": 1.7448800206184387, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-271889c9e921f7716135", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.7448800206184387, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2551199793815613, + "restore_error": 1.1920928955078125e-07, + "score": 0.2551199793815613, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3645484745502472, + "candidate_source_group_id": "ms-20b11e3e581c2a865096;ms-0093b06390890d181104;ms-f36d4df536c36d2c6ebb;ms-d6cc29ec9fbbc53d0f68;ms-2eabcf580547d2c133ce;ms-3798cbeab8a36b08c295", + "expert_regret": 0.0, + "expert_score": 0.0, + "expert_success": false, + "group_id": "ms-d277cb167868742373fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13433030247688293, + "oracle_score": 0.26472294330596924, + "oracle_success": false, + "progress": 0.1303926408290863, + "restore_error": 1.1920928955078125e-07, + "score": 0.1303926408290863, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5240548253059387, + "candidate_source_group_id": "ms-b0c64b4a1c04972e47a1;ms-3ed611d029d2ae0b12d8;ms-620cd9e02d46b021f112;ms-151566379dfd7af6fe63;ms-3c223e8c7f870c807541;ms-7f57045c114ddad153b5", + "expert_regret": 0.13129693269729614, + "expert_score": 0.26841363310813904, + "expert_success": false, + "group_id": "ms-babaeb20129c46551281", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.862883299589157, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1371167004108429, + "restore_error": 1.1920928955078125e-07, + "score": 0.1371167004108429, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6570636630058289, + "candidate_source_group_id": "ms-6661b157c41ad4d6ab85;ms-344d81289be624d70b0e;ms-bccd7bbe1b1b98254147;ms-c31b98b3d3702c6f9c8c;ms-cc07f96f3454a4643b9a;ms-ee4ddb148e138fce841c", + "expert_regret": 0.0, + "expert_score": 0.10120099782943726, + "expert_success": false, + "group_id": "ms-1faf779e909ec0415be0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.15691404044628143, + "oracle_success": false, + "progress": 0.16704797744750977, + "restore_error": 1.1920928955078125e-07, + "score": 0.16704797744750977, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.25315994024276733, + "candidate_source_group_id": "ms-02fd0338e80ef19ceec1;ms-372f2ecb6685d8cae8d5;ms-f3f1d07cfd59b823da47;ms-6b789356d65b3312fbae;ms-0dee962a5901fb8b5bbb;ms-d271e7de6bc331371e9c", + "expert_regret": 0.0, + "expert_score": 0.12615570425987244, + "expert_success": false, + "group_id": "ms-38dff128761905bb1507", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.027960628271102905, + "oracle_score": 0.2726711928844452, + "oracle_success": false, + "progress": 0.24471056461334229, + "restore_error": 1.1920928955078125e-07, + "score": 0.24471056461334229, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6815882921218872, + "candidate_source_group_id": "ms-ed375122594187ef997e;ms-003a2225c0892dcda683;ms-22638e64d6a54980bc02;ms-d024c00b780e0df06b55;ms-0bfb62b78032d6e1aa65;ms-b92ca6f216624d6305c2", + "expert_regret": 0.0, + "expert_score": 0.07457844913005829, + "expert_success": false, + "group_id": "ms-7dedf60ad41ea2d92ee5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7328604459762573, + "candidate_source_group_id": "ms-cad33aa1136af34af6ec;ms-c832439976a37f52d094;ms-6f26118aa94bacd82250;ms-2eabcf580547d2c133ce;ms-e30fd80adc089e9f697a;ms-4dc6f09c1beeb5314d11", + "expert_regret": 0.010809704661369324, + "expert_score": 0.08313547074794769, + "expert_success": false, + "group_id": "ms-f4f9dd2ff38f992d4fb9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.09933304786682129, + "oracle_score": 0.17165881395339966, + "oracle_success": false, + "progress": 0.07232576608657837, + "restore_error": 2.3096799850463867e-07, + "score": 0.07232576608657837, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.40739139914512634, + "candidate_source_group_id": "ms-b7d7021b782f73816083;ms-4bda8533405961380322;ms-b8c3ec3ea915c5d35b3e;ms-0dee962a5901fb8b5bbb;ms-372f2ecb6685d8cae8d5;ms-5ab7f487c7006dec473a", + "expert_regret": 0.0, + "expert_score": 0.14746789634227753, + "expert_success": false, + "group_id": "ms-9681d9cb43cc26adb0fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.23335996270179749, + "oracle_success": false, + "progress": 0.23653364181518555, + "restore_error": 2.3096799850463867e-07, + "score": 0.23653364181518555, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0439473390579224, + "candidate_source_group_id": "ms-28bcbcc6e675708de340;ms-35940a55db9e3f7e6ad0;ms-3a4e2d080c9c4b279895;ms-20ca52baa214c31b3186;ms-e6b654653119682cf01e;ms-dc5563c9b0dcd84e393b", + "expert_regret": 0.05105452239513397, + "expert_score": 0.1586810052394867, + "expert_success": false, + "group_id": "ms-85f911fca087fed2caff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.06851005554199219, + "oracle_score": 0.1761365383863449, + "oracle_success": false, + "progress": 0.10762648284435272, + "restore_error": 2.3096799850463867e-07, + "score": 0.10762648284435272, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0779598951339722, + "candidate_source_group_id": "ms-2dc5138251afd26a040d;ms-06babf453b22ba8f2407;ms-dab8307a45ebe8220c83;ms-e4e21b9ec2546537fff0;ms-88012aab0303554a1736;ms-fbd73493bcf73542f735", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe5a961ee9b8b8a91b44", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6581653952598572, + "candidate_source_group_id": "ms-20b11e3e581c2a865096;ms-d6cc29ec9fbbc53d0f68;ms-0093b06390890d181104;ms-2eabcf580547d2c133ce;ms-cad33aa1136af34af6ec;ms-d402ca600d53b2db9dbe", + "expert_regret": 0.03939436003565788, + "expert_score": 0.07016094774007797, + "expert_success": false, + "group_id": "ms-34726202b475d29cdf38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.22265412285923958, + "oracle_score": 0.25342071056365967, + "oracle_success": false, + "progress": 0.03076658770442009, + "restore_error": 2.3096799850463867e-07, + "score": 0.03076658770442009, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2661348879337311, + "candidate_source_group_id": "ms-fc87ea5245c2743bdb2d;ms-082cb0ac119a83c42c2d;ms-6b789356d65b3312fbae;ms-372f2ecb6685d8cae8d5;ms-d271e7de6bc331371e9c;ms-45309d0bdc5e3babc17b", + "expert_regret": 0.0, + "expert_score": 0.13208997249603271, + "expert_success": false, + "group_id": "ms-c673132197ce77ae8c9b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.20713643729686737, + "oracle_success": false, + "progress": 0.23910757899284363, + "restore_error": 2.3096799850463867e-07, + "score": 0.23910757899284363, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3120507299900055, + "candidate_source_group_id": "ms-53a86042af3c0887e556;ms-674fad0e7c042d23629e;ms-25ab20bb3da8ba34be95;ms-1e30e297540582d59926;ms-c79a79c1cbd7a472da65;ms-9826b7a6fdcc0fd3eb69", + "expert_regret": 0.0, + "expert_score": 0.028487306088209152, + "expert_success": false, + "group_id": "ms-9dbf65115872ab5360e4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.18980467319488525, + "oracle_success": false, + "progress": 0.1938103288412094, + "restore_error": 2.3096799850463867e-07, + "score": 0.1938103288412094, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.45435264706611633, + "candidate_source_group_id": "ms-3a4e2d080c9c4b279895;ms-9fd23a06ae1659cef27b;ms-dc5563c9b0dcd84e393b;ms-8e56b0eaa2604db6749e;ms-35a50d2822c2c3cc4516;ms-b6dae6677869af5f7f52", + "expert_regret": 0.0, + "expert_score": 0.07923875749111176, + "expert_success": false, + "group_id": "ms-a96bca1ef0b74f686018", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.04892309755086899, + "oracle_score": 0.1572066992521286, + "oracle_success": false, + "progress": 0.10828360170125961, + "restore_error": 2.3096799850463867e-07, + "score": 0.10828360170125961, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6683306097984314, + "candidate_source_group_id": "ms-12c741253e1802aad9ec;ms-e6a58c859c498bb0f4d2;ms-9acbb20bd73584f0e215;ms-778efc20fc2ee8a3dd02;ms-4f0a59b7bc897c0d5e5e;ms-2e40499cb146da6f89e7", + "expert_regret": 0.0, + "expert_score": 0.1722257137298584, + "expert_success": false, + "group_id": "ms-be0f2598cc527ad9040a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.8739244937896729, + "candidate_source_group_id": "ms-257c70d0b302f96fc23f;ms-fce6752dcf61a2b52d15;ms-c8a0f64b433a541481eb;ms-d21367899e99e3048dbe;ms-277531f5e24eeb525899;ms-7df455efd413d77e6ce3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-60bfcb3f019f01dfcfdb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5766171813011169, + "candidate_source_group_id": "ms-6661b157c41ad4d6ab85;ms-c31b98b3d3702c6f9c8c;ms-bccd7bbe1b1b98254147;ms-cc07f96f3454a4643b9a;ms-394edcd961226f337ce1;ms-fc87ea5245c2743bdb2d", + "expert_regret": 0.0, + "expert_score": 0.08069789409637451, + "expert_success": false, + "group_id": "ms-223b0a8319beb051a1ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1593424528837204, + "oracle_success": false, + "progress": 0.25469130277633667, + "restore_error": 1.1920928955078125e-07, + "score": 0.25469130277633667, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.186469316482544, + "candidate_source_group_id": "ms-7df455efd413d77e6ce3;ms-4f0a41c8fb3caaeb9540;ms-75da653dc43676d593ce;ms-fce6752dcf61a2b52d15;ms-397e502908d16b7804b0;ms-0345d8ac530f88cefd61", + "expert_regret": 0.16739778220653534, + "expert_score": 0.16739778220653534, + "expert_success": false, + "group_id": "ms-da555a03dd382d93e119", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 2.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0, + "restore_error": 1.1920928955078125e-07, + "score": 0.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4400283396244049, + "candidate_source_group_id": "ms-1ba37e30b90a3b28e62f;ms-70549468e433100cfaa6;ms-a1b57fcae964d7b531da;ms-fc3d80c6ea6b9a4878ab;ms-e3e9c08ff116ef32db75;ms-50e54f9608e1420ba11a", + "expert_regret": 0.0, + "expert_score": 0.015561699867248535, + "expert_success": false, + "group_id": "ms-338ba952f81d1215216e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.08971966803073883, + "oracle_score": 0.24602913856506348, + "oracle_success": false, + "progress": 0.15630947053432465, + "restore_error": 1.1920928955078125e-07, + "score": 0.15630947053432465, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3591592311859131, + "candidate_source_group_id": "ms-26b69e1e596d2e3163da;ms-f40162c64827e8c44a1a;ms-e50ef9df7287938b501c;ms-3bfe7e8a312d53f966d0;ms-c5d53da10b561f402ee7;ms-53b435e197011e0d48b3", + "expert_regret": 0.0, + "expert_score": 0.005320350639522076, + "expert_success": false, + "group_id": "ms-b2287fbbcd2b5d8372bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.15066704899072647, + "oracle_score": 0.21861237287521362, + "oracle_success": false, + "progress": 0.06794532388448715, + "restore_error": 1.1920928955078125e-07, + "score": 0.06794532388448715, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4052570164203644, + "candidate_source_group_id": "ms-1577a0922a9e53528571;ms-9757fc494e79b5543bb6;ms-52f9c8427a88de8dfa6b;ms-d402ca600d53b2db9dbe;ms-57be9ae181c077e7821f;ms-1f19fd22562f87bdb776", + "expert_regret": 0.0, + "expert_score": 0.12554395198822021, + "expert_success": false, + "group_id": "ms-d535b38d768633f6d922", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.027364149689674377, + "oracle_score": 0.204204723238945, + "oracle_success": false, + "progress": 0.17684057354927063, + "restore_error": 1.1920928955078125e-07, + "score": 0.17684057354927063, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5408247113227844, + "candidate_source_group_id": "ms-cd84deb86ca0c1f1c020;ms-575c7eef4563e02ec689;ms-b6b7052345036de1448d;ms-b94dfc54c3bf844d5146;ms-0e1ff8d16372796dac97;ms-ac94b48febe523da15a5", + "expert_regret": 0.0, + "expert_score": 0.1568639576435089, + "expert_success": false, + "group_id": "ms-d0158d7b3df11d64095c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.054382458329200745, + "oracle_score": 0.21547327935695648, + "oracle_success": false, + "progress": 0.16109082102775574, + "restore_error": 1.1920928955078125e-07, + "score": 0.16109082102775574, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.5823088884353638, + "candidate_source_group_id": "ms-d024c00b780e0df06b55;ms-b92ca6f216624d6305c2;ms-ebacae0135af2832dfbb;ms-003a2225c0892dcda683;ms-6d46dae312649c977b64;ms-22638e64d6a54980bc02", + "expert_regret": 1.951457817107439, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-36ce7b44f44c615347ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.951457817107439, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04854218289256096, + "restore_error": 1.1920928955078125e-07, + "score": 0.04854218289256096, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.291089415550232, + "candidate_source_group_id": "ms-61c3c0e99a653d2a7fe2;ms-59d4cdcd401477b5adfc;ms-f2b2b2a1aa2863c3676f;ms-8577816da2917a2bb63d;ms-84388e63928e1a30ffc4;ms-1d3f30fae746c0b9cefc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0f5ffa7a4448b22b7951", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5072232484817505, + "candidate_source_group_id": "ms-f5dd1c43ebc4c0cfc3f1;ms-02fd0338e80ef19ceec1;ms-0dee962a5901fb8b5bbb;ms-5ab7f487c7006dec473a;ms-fbd73493bcf73542f735;ms-284545b8610706250f3c", + "expert_regret": 0.0, + "expert_score": 0.15089315176010132, + "expert_success": false, + "group_id": "ms-d81e3048f5ae278c708f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.05163054168224335, + "oracle_score": 0.23822252452373505, + "oracle_success": false, + "progress": 0.1865919828414917, + "restore_error": 1.1920928955078125e-07, + "score": 0.1865919828414917, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3995524048805237, + "candidate_source_group_id": "ms-7b90f35aa521ef45ea27;ms-50e54f9608e1420ba11a;ms-cf4b63d109a88a4c42bf;ms-e3e9c08ff116ef32db75;ms-8a87ddbfc0fce8bb13d5;ms-a1b57fcae964d7b531da", + "expert_regret": 0.021049916744232178, + "expert_score": 0.057853661477565765, + "expert_success": false, + "group_id": "ms-db2c4015a0690cc80d24", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.15261314064264297, + "oracle_score": 0.18941688537597656, + "oracle_success": false, + "progress": 0.03680374473333359, + "restore_error": 1.1920928955078125e-07, + "score": 0.03680374473333359, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3605150282382965, + "candidate_source_group_id": "ms-ff08c0b84d984d3d8620;ms-85a4fc6e131dacc9d839;ms-aca9b69b504ede73bcac;ms-365d8c6de6de16f66744;ms-28a10bea0cf3f917e067;ms-f12b50fed09bbbf6c039", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cbdc087c47e35d3d93d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.48931336402893066, + "candidate_source_group_id": "ms-e7fcbe2b61632a79fe6a;ms-783ceec205863d92ef8a;ms-bfe867e8d518b9f8333a;ms-90a840c7cbbfe35e8a67;ms-db2cfd3c0ce8ece8a112;ms-82d6fc374e1f1808654b", + "expert_regret": 1.942877620458603, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-27eb5fd79735a667570a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.942877620458603, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.057122379541397095, + "restore_error": 1.1920928955078125e-07, + "score": 0.057122379541397095, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5547268986701965, + "candidate_source_group_id": "ms-2baa5b5b99121cff72c2;ms-b0d0004818ae853d5bc5;ms-6825a9112cb71ea137c9;ms-22f153f0d4fa656018e6;ms-ba0ee0c9c181cdc7de9d;ms-eea4df1b36e8a31b40a3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ecf6837325ac3bc3b66d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.24796606600284576, + "candidate_source_group_id": "ms-0a3ff306e1bebfd51ae4;ms-ea1abf4dd25aea30202b;ms-c01a70d845742d97e197;ms-2b27b1ecc0284ec3a993;ms-4a4de470c6c7cb5a3c34;ms-2a4f1cbd3f416f9084dc", + "expert_regret": 0.0, + "expert_score": 0.17443525791168213, + "expert_success": false, + "group_id": "ms-934e125b62165b614036", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6228188276290894, + "candidate_source_group_id": "ms-cdca8a6fff0640ab7f16;ms-4f291cdf6a62b9af9e5d;ms-fe5a68745bbc6b4256cf;ms-64b6e9f72ae5e2999f56;ms-b5dee7bdaf34270e6515;ms-29f7da1cd496619f45f5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d99360c1e4bb4bed6d50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4184686541557312, + "candidate_source_group_id": "ms-bb9f2f5b67bbb7e0f516;ms-66d3cc0e17bcbfb5f36e;ms-916b66e56329dbd05b29;ms-d97538effd225a910367;ms-f83aacaa71f0151421c7;ms-a6fbec34b57a97204a37", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-39f133217cde17cf4465", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.09079481661319733, + "candidate_source_group_id": "ms-0a001f1bda12891b219f;ms-82a5b63ed41420747fb9;ms-29f7da1cd496619f45f5;ms-de96f1dcca4527c03814;ms-7aaa46eaa657a3179a70;ms-88c39906a4e9c32ec286", + "expert_regret": 0.0, + "expert_score": 0.0007119327783584595, + "expert_success": false, + "group_id": "ms-dec13f2e40baaf5c8d40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.30973386764526367, + "candidate_source_group_id": "ms-109d9131cce2e94f40c1;ms-147e4106b5d337cefcb2;ms-670a696bd472769ac513;ms-b5ca4a8c438aadab9ec5;ms-998ac1af1755510c9229;ms-4c9ed894520169849bc6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7fac99962876b33e8d0b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.34800904989242554, + "candidate_source_group_id": "ms-876805da5863dc637246;ms-4a4de470c6c7cb5a3c34;ms-2a4f1cbd3f416f9084dc;ms-2413d1155c87f0442485;ms-98d8d5d728ee4cff6776;ms-9d1d3a7b2dcafeda3bf3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4aa2c82355bdbbb93f9d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.35068297386169434, + "candidate_source_group_id": "ms-c1f8e861c7c4485c361a;ms-0942bb0cc1143a2058f9;ms-64f98d163b6bff29332b;ms-027592312fc833e8768d;ms-9d943a2732771576e41d;ms-1fe4b5c84ee5c0e6fcdb", + "expert_regret": 1.9073949456214905, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d4ee30bf4815d04c391", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9073949456214905, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09260505437850952, + "restore_error": 1.1920928955078125e-07, + "score": 0.09260505437850952, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.26741406321525574, + "candidate_source_group_id": "ms-a18cc16207970cd8f84d;ms-c8902580575f6effb241;ms-f97fbc8f36f0af9ce18c;ms-8d23082fdeffba7cba51;ms-e9bb31726937713db23a;ms-84404222b954c48c48d8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8efd9238ae8d6ca1cd1a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4854848086833954, + "candidate_source_group_id": "ms-c10cf873dd3f68d97755;ms-383c0d1f90c5a0b55e07;ms-4015b8ac7c0a1397c076;ms-9f33c55b8e06fcb5e21e;ms-9d8348ba3054f969ad8e;ms-f6635cbacd4195f7f4ab", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3028df2c22f4c029b533", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4902838170528412, + "candidate_source_group_id": "ms-c257731ddcf5cf149393;ms-ca9a06f00b861bf34c4d;ms-f14cda80db7270dd0f86;ms-87f2f63d694d8ccca7f8;ms-44a69da62321224c1df9;ms-45b8b3cec97878df0d19", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9a00cd02aa3ea31af1c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.09199833869934082, + "candidate_source_group_id": "ms-14265f08eea0055edff3;ms-1e15448c374f47bee884;ms-64b6e9f72ae5e2999f56;ms-c333dcd8ec59f2ae8a3d;ms-33dcfa4725ad078cc898;ms-b5dee7bdaf34270e6515", + "expert_regret": 0.0, + "expert_score": 3.8057565689086914e-05, + "expert_success": false, + "group_id": "ms-bc4bf52af94d1469eaee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.11666642874479294, + "candidate_source_group_id": "ms-8b813b6035f0425892bd;ms-a649d9cf4fba45822ad9;ms-b25b49e16e98af4a554c;ms-17b435e93391674c7fdd;ms-65d0541a2ba23a8478fa;ms-346494921f998d7a48ab", + "expert_regret": 0.0, + "expert_score": 0.120394766330719, + "expert_success": false, + "group_id": "ms-fc8084d5cd7da937fc02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.551528811454773, + "candidate_source_group_id": "ms-1003d1fe41aba4c8af84;ms-2423891634e7b469eed8;ms-be8665e211c9b1cc13b4;ms-281b1eae3c1ac42cb40c;ms-918efaf9527826841090;ms-7a75d1290f292d92ca67", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c1607c435e4b43609693", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5621481537818909, + "candidate_source_group_id": "ms-90a840c7cbbfe35e8a67;ms-783ceec205863d92ef8a;ms-98d738638749a1c0999d;ms-25942684dfc6d81c449a;ms-db2cfd3c0ce8ece8a112;ms-2a7f05987ae1fd0fa33d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d130baa9773a108ae1b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.32098695635795593, + "candidate_source_group_id": "ms-bb9f2f5b67bbb7e0f516;ms-66d3cc0e17bcbfb5f36e;ms-234ce02cf98f85bda72c;ms-d97538effd225a910367;ms-6d48ff55845b6759a8c4;ms-916b66e56329dbd05b29", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-411a6db8809ff09857ff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6188467741012573, + "candidate_source_group_id": "ms-86909e2391a6a77883b3;ms-8750cccf83614187fe14;ms-30caf93619a0e2f94eae;ms-170a9228df2273649f1c;ms-7aaa46eaa657a3179a70;ms-031c526a8690cad1677c", + "expert_regret": 1.9165897369384766, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9574e0bf814256a11f3e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9165897369384766, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08341026306152344, + "restore_error": 1.1920928955078125e-07, + "score": 0.08341026306152344, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6690583825111389, + "candidate_source_group_id": "ms-2962fafa0fcd14e516bb;ms-cefef59d2909a69dd709;ms-d5d38df1f2dbae367af0;ms-c8ffa7d45ed61e2b94d6;ms-e6b0ee06238145e2a517;ms-5816c255ea56bc8a63c3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-63b9ac9cfd0a96150eb1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5717083811759949, + "candidate_source_group_id": "ms-1371e0e5fe7f126bbea2;ms-1188a1b8e0ac31187b3b;ms-f2f594b2492898e947f0;ms-e31553038464afab4ec1;ms-33e036c8224f052e6279;ms-9915a1632fdf65172a02", + "expert_regret": 1.8821434825658798, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a83154b77975bca93e5e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8821434825658798, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11785651743412018, + "restore_error": 1.1920928955078125e-07, + "score": 0.11785651743412018, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.460894912481308, + "candidate_source_group_id": "ms-65d0541a2ba23a8478fa;ms-e4656ad3c67bd430c1a6;ms-b25b49e16e98af4a554c;ms-130f96b49e1bdb7c0e7c;ms-2e237a4b84b582828c37;ms-8b813b6035f0425892bd", + "expert_regret": 1.9406643211841583, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-79d2ebbe5913e3a72313", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9406643211841583, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.059335678815841675, + "restore_error": 1.1920928955078125e-07, + "score": 0.059335678815841675, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6624216437339783, + "candidate_source_group_id": "ms-9d1d3a7b2dcafeda3bf3;ms-3a5eaa0095953c9d6241;ms-9d82d1927529dc675bc5;ms-f261341a4a394ae06c69;ms-4dbdc6ed61dccebbfe92;ms-3cb727b6501f5c1a5a16", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69b8e0564f16c652d900", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7399312257766724, + "candidate_source_group_id": "ms-605cecc07e3298489320;ms-44a69da62321224c1df9;ms-ca9a06f00b861bf34c4d;ms-c257731ddcf5cf149393;ms-7f22550a9f6707a45cd4;ms-733b04f5bd4720d79e99", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1dd7b6c07218e5e69494", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.12155432999134064, + "candidate_source_group_id": "ms-f12b50fed09bbbf6c039;ms-365d8c6de6de16f66744;ms-86508eb5d360c56023e1;ms-dae29d741eb65a2fc4b3;ms-0be67b60c98e4f3e692f;ms-265a3e206e8d55a9171a", + "expert_regret": 0.0, + "expert_score": 0.18926367163658142, + "expert_success": false, + "group_id": "ms-07aa7d1f9c01e93d04bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.34814852476119995, + "candidate_source_group_id": "ms-86909e2391a6a77883b3;ms-30caf93619a0e2f94eae;ms-170a9228df2273649f1c;ms-4401ec9ab8c89fb39f58;ms-f52fe666ef7c9b997778;ms-58950fed04d203b97ab9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a631a8d6314b7547f71f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.48318925499916077, + "candidate_source_group_id": "ms-cb51cbc4086bd452233d;ms-f6755a487459505d598f;ms-75dce23f7afca1f3e5b5;ms-d4c37ed44fb338c1d551;ms-05139cc8ec8867b8ea3d;ms-d97538effd225a910367", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de5cb4c5e0ba01be4568", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.49316638708114624, + "candidate_source_group_id": "ms-f044b20b0f2bb0983f5a;ms-2377ed2b717d22203e99;ms-4711dffcd73048a3656c;ms-2db29812d012d503054a;ms-84bc79aab8423997e8c4;ms-97939101c75832eb62cd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-abb9a0e2ba0163714374", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5073866248130798, + "candidate_source_group_id": "ms-627eaad017d31a933984;ms-bb6a2f2ae3014b135b40;ms-3589c30bbad90d19f2c4;ms-ea67d3a4697351095f09;ms-c2ae2b78ab7891e74c80;ms-0350672b45f92c437c22", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10450837f7f5319c4cab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8033033013343811, + "candidate_source_group_id": "ms-d2aed645029072f5c82f;ms-8c2312d2a272dbcbae71;ms-1be8db140ae74d18596f;ms-87f2f63d694d8ccca7f8;ms-f14cda80db7270dd0f86;ms-9df99aca252d63f555b2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-60c02d02de5f1e91124f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5357220768928528, + "candidate_source_group_id": "ms-4d96769e78d7391e43f7;ms-048c14d42c3f3b352f53;ms-f7db0d0ad0967af1d0c5;ms-3b99101d58e538cfbd6d;ms-653181f057aeaeeadfe2;ms-beb40d1c9533f7508aa5", + "expert_regret": 1.9263371229171753, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a0863466a999b4680737", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9263371229171753, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07366287708282471, + "restore_error": 1.1920928955078125e-07, + "score": 0.07366287708282471, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.10955440998077393, + "candidate_source_group_id": "ms-2377ed2b717d22203e99;ms-f044b20b0f2bb0983f5a;ms-4711dffcd73048a3656c;ms-97939101c75832eb62cd;ms-84bc79aab8423997e8c4;ms-ea694828fcd81abbbc7a", + "expert_regret": 0.0, + "expert_score": 0.18189409375190735, + "expert_success": false, + "group_id": "ms-7530a944fb0979ba91e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.39098232984542847, + "candidate_source_group_id": "ms-40bddbc4f8ee1ed19575;ms-97939101c75832eb62cd;ms-bb8ddc9a1e197eb7cee1;ms-2377ed2b717d22203e99;ms-e63468cc3772da77cc67;ms-c84dbd2afb3321e2f43c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a5970ba19b465cd86c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4035625457763672, + "candidate_source_group_id": "ms-85a4fc6e131dacc9d839;ms-ff08c0b84d984d3d8620;ms-663c7e7fdaea6a945a2b;ms-365d8c6de6de16f66744;ms-f492405ef825467ddcba;ms-2867deaca7e98582620b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b5f45644a5e3ed45c86d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5975111722946167, + "candidate_source_group_id": "ms-1188a1b8e0ac31187b3b;ms-1371e0e5fe7f126bbea2;ms-f2f594b2492898e947f0;ms-0b13513f98f2d3def73a;ms-beb40d1c9533f7508aa5;ms-33e036c8224f052e6279", + "expert_regret": 1.94303660094738, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29788f80c9da2d2d8b4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.94303660094738, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.056963399052619934, + "restore_error": 1.1920928955078125e-07, + "score": 0.056963399052619934, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2983514666557312, + "candidate_source_group_id": "ms-a18cc16207970cd8f84d;ms-c8902580575f6effb241;ms-f97fbc8f36f0af9ce18c;ms-8d23082fdeffba7cba51;ms-e9bb31726937713db23a;ms-84404222b954c48c48d8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-680b80c5d2872be1e66a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4721774756908417, + "candidate_source_group_id": "ms-f813ff3f9ae188b0259c;ms-82a203dfa8631639ba7e;ms-5a0da896925f50a1d2ee;ms-c8593eabfdb5a6bca7bb;ms-bad55a54ecb4349a5323;ms-4c9ed894520169849bc6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf8cc7e3c4481783d5f5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6876491904258728, + "candidate_source_group_id": "ms-44a69da62321224c1df9;ms-f14cda80db7270dd0f86;ms-b8bfdd3e6c31bd98082d;ms-68dcba1af854c06fc0e6;ms-87f2f63d694d8ccca7f8;ms-31372cdadd8d9da23b8d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01fe80a36517a246929d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.74115389585495, + "candidate_source_group_id": "ms-49731d5e69272f3bd959;ms-7c72cdc319220ea76854;ms-f39cb13a5942ca3317d0;ms-1f9a8bf8a8c0882b4039;ms-b4293fc495a608f8063c;ms-83b649656afa71ab6bde", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c109289291b46fd832b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6005954742431641, + "candidate_source_group_id": "ms-fa637544793129258022;ms-b4293fc495a608f8063c;ms-7c72cdc319220ea76854;ms-70e24231e9bb560abb3e;ms-49731d5e69272f3bd959;ms-1f9a8bf8a8c0882b4039", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7dd90f1575d9612c456c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3830479085445404, + "candidate_source_group_id": "ms-998ac1af1755510c9229;ms-93cbf45c02a304a2f6dc;ms-147e4106b5d337cefcb2;ms-2b309050ebafdd5a3482;ms-ccccd221a821803e36c5;ms-670a696bd472769ac513", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-20bc116cad15b072a2ea", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5490038990974426, + "candidate_source_group_id": "ms-17723f5f0806414eda67;ms-a40d644441c878ac5292;ms-fa637544793129258022;ms-70e24231e9bb560abb3e;ms-9d190663aa55bb434720;ms-49b9fd364e000bc7d579", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2a4611f1099507f9babf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5315765142440796, + "candidate_source_group_id": "ms-f813ff3f9ae188b0259c;ms-82a203dfa8631639ba7e;ms-c8593eabfdb5a6bca7bb;ms-5a0da896925f50a1d2ee;ms-bad55a54ecb4349a5323;ms-4c9ed894520169849bc6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5d4b83a1d21ee90ef69f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4100222885608673, + "candidate_source_group_id": "ms-cefef59d2909a69dd709;ms-c8ffa7d45ed61e2b94d6;ms-5816c255ea56bc8a63c3;ms-d5d38df1f2dbae367af0;ms-fd66d311a01f9c4fc825;ms-e6b0ee06238145e2a517", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-80269804728c7aaaf9a7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4379417598247528, + "candidate_source_group_id": "ms-66d3cc0e17bcbfb5f36e;ms-bb9f2f5b67bbb7e0f516;ms-916b66e56329dbd05b29;ms-6d48ff55845b6759a8c4;ms-f83aacaa71f0151421c7;ms-234ce02cf98f85bda72c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f195ac1f3ae4b397c71", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1779651641845703, + "candidate_source_group_id": "ms-a012d1677923703d5a0c;ms-25119a8a2d03c8e71300;ms-79d4959d079594053125;ms-2ba02dcefa15a9371706;ms-eccd5c34e1762a33f643;ms-05f34a90fa7355262b8e", + "expert_regret": 0.0, + "expert_score": 0.1198970377445221, + "expert_success": false, + "group_id": "ms-8a38529670b19d605663", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.26149049401283264, + "candidate_source_group_id": "ms-1be8db140ae74d18596f;ms-b8bfdd3e6c31bd98082d;ms-d2aed645029072f5c82f;ms-9448b2a52a4a475af1f9;ms-9df99aca252d63f555b2;ms-8dd1387678e0e62a1298", + "expert_regret": 0.0, + "expert_score": 9.362399578094482e-05, + "expert_success": false, + "group_id": "ms-81eff749adbf328a93e1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.16225770115852356, + "candidate_source_group_id": "ms-31880fb2dfed92c021ef;ms-966895e247be1f41daee;ms-c1f8e861c7c4485c361a;ms-64f98d163b6bff29332b;ms-0942bb0cc1143a2058f9;ms-c9568dec28405d273943", + "expert_regret": 0.0, + "expert_score": 0.19493231177330017, + "expert_success": false, + "group_id": "ms-9fad82fd288e4296e354", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4418720602989197, + "candidate_source_group_id": "ms-22cfd6a9a619133478b6;ms-8ef0a258f0f502bdaad5;ms-2a738f03ee216527dfa6;ms-a5885ec43a0aa166a0e7;ms-a649d9cf4fba45822ad9;ms-9feb7d8fdc15e384b8b7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fc2e1272ed035d0b9066", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3855365216732025, + "candidate_source_group_id": "ms-3e86692ea2e52b8e009b;ms-acfecece1f8160045f0a;ms-9feb7d8fdc15e384b8b7;ms-67f2977ab7d070052b61;ms-4d8f2bf18e7556663104;ms-c8902580575f6effb241", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c58ff92a6fe47fd90684", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6221815347671509, + "candidate_source_group_id": "ms-68dcba1af854c06fc0e6;ms-b8bfdd3e6c31bd98082d;ms-1be8db140ae74d18596f;ms-44a69da62321224c1df9;ms-1aea30e99a4945020cc1;ms-d2aed645029072f5c82f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8a0577b3fc6f75776b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.331919401884079, + "candidate_source_group_id": "ms-2413d1155c87f0442485;ms-876805da5863dc637246;ms-1405ab4a382fd1a07e63;ms-98d8d5d728ee4cff6776;ms-6ed65c65b566e21474a8;ms-c1513a6417b0ba250dee", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4866796139a8dac6d73b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.24843871593475342, + "candidate_source_group_id": "ms-918efaf9527826841090;ms-1003d1fe41aba4c8af84;ms-be8665e211c9b1cc13b4;ms-f40f6fe1910a94971980;ms-2d9efcce135f0c9d2203;ms-23a02f5f0c3f979684ff", + "expert_regret": 0.03333823382854462, + "expert_score": 0.09440004825592041, + "expert_success": false, + "group_id": "ms-27c9f70e97b8850cc3ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9389381855726242, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06106181442737579, + "restore_error": 1.1920928955078125e-07, + "score": 0.06106181442737579, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4026215374469757, + "candidate_source_group_id": "ms-674d9e270ff9ba879886;ms-c4a78f303c7f2b1a437b;ms-adf081811af7bca643a1;ms-e95a64701812302bd039;ms-07321628f307d0c91b44;ms-9d943a2732771576e41d", + "expert_regret": 1.9489344507455826, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb7c4ead34050a60dbdd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9489344507455826, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05106554925441742, + "restore_error": 1.1920928955078125e-07, + "score": 0.05106554925441742, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.14355313777923584, + "candidate_source_group_id": "ms-f2f594b2492898e947f0;ms-beb40d1c9533f7508aa5;ms-34ea26afcb2c6fe1a1fe;ms-889dd046ec7b0fc0a7a4;ms-048c14d42c3f3b352f53;ms-653181f057aeaeeadfe2", + "expert_regret": 0.0, + "expert_score": 0.0006054937839508057, + "expert_success": false, + "group_id": "ms-081952a63087fc8f83cd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.24271033704280853, + "candidate_source_group_id": "ms-847200a83b8ce5835fd9;ms-ccccd221a821803e36c5;ms-0818eb8cc217c9b3040a;ms-7a102c1d0334bab9656e;ms-634dce5b0ce43bfaa04e;ms-579eb7a700037d011e3f", + "expert_regret": 1.8879740834236145, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3e17d03f9d640185853b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8879740834236145, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1120259165763855, + "restore_error": 1.1920928955078125e-07, + "score": 0.1120259165763855, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5516889691352844, + "candidate_source_group_id": "ms-beb40d1c9533f7508aa5;ms-eb0a75800f4ab451b92e;ms-b2f6b95c91f5d672d3a0;ms-f2f594b2492898e947f0;ms-3b99101d58e538cfbd6d;ms-889dd046ec7b0fc0a7a4", + "expert_regret": 1.9521708935499191, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65b3fb1b7924487ebe2b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9521708935499191, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04782910645008087, + "restore_error": 1.1920928955078125e-07, + "score": 0.04782910645008087, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7192851305007935, + "candidate_source_group_id": "ms-31372cdadd8d9da23b8d;ms-44a69da62321224c1df9;ms-f14cda80db7270dd0f86;ms-c257731ddcf5cf149393;ms-87f2f63d694d8ccca7f8;ms-1aea30e99a4945020cc1", + "expert_regret": 0.0, + "expert_score": 0.0, + "expert_success": false, + "group_id": "ms-54fdd49dc2c46e162fc6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1592712104320526, + "candidate_source_group_id": "ms-ee72e3f1115cfb8294ee;ms-a649d9cf4fba45822ad9;ms-04020456c994946d9a76;ms-7838ea128d16b455b2f9;ms-973f50778408dcecccdd;ms-346494921f998d7a48ab", + "expert_regret": 0.0, + "expert_score": 0.051515787839889526, + "expert_success": false, + "group_id": "ms-2ca0290759891500c6bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.45200273394584656, + "candidate_source_group_id": "ms-d5d38df1f2dbae367af0;ms-fd66d311a01f9c4fc825;ms-e6b0ee06238145e2a517;ms-c8ffa7d45ed61e2b94d6;ms-7a699e157f311f764b46;ms-4ed913628b5f121bbf34", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6f6c2f554a8e1c33ab32", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5953741669654846, + "candidate_source_group_id": "ms-bfe867e8d518b9f8333a;ms-b559638a0a726e441847;ms-f2f594b2492898e947f0;ms-e31553038464afab4ec1;ms-0b13513f98f2d3def73a;ms-33e036c8224f052e6279", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cece69f5a160c40d613a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6519313454627991, + "candidate_source_group_id": "ms-f14cda80db7270dd0f86;ms-87f2f63d694d8ccca7f8;ms-44a69da62321224c1df9;ms-b187043687d88d509fc7;ms-d2aed645029072f5c82f;ms-1be8db140ae74d18596f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cbdf12e174c323015f38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.17570960521697998, + "candidate_source_group_id": "ms-ff08c0b84d984d3d8620;ms-31880fb2dfed92c021ef;ms-a649d9cf4fba45822ad9;ms-85a4fc6e131dacc9d839;ms-2867deaca7e98582620b;ms-28a10bea0cf3f917e067", + "expert_regret": 0.0, + "expert_score": 0.11025479435920715, + "expert_success": false, + "group_id": "ms-ec5ac79449116b0a30c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4339187443256378, + "candidate_source_group_id": "ms-f12b50fed09bbbf6c039;ms-86508eb5d360c56023e1;ms-97939101c75832eb62cd;ms-0be67b60c98e4f3e692f;ms-c60bfb966aa2f6e5f183;ms-0b28e6af81d42a73cbeb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f8a4e83bdb9d628ac483", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6783572435379028, + "candidate_source_group_id": "ms-0a3ff306e1bebfd51ae4;ms-167bd325bc0845dcaba3;ms-5c7ab237037e9344a2ed;ms-2b27b1ecc0284ec3a993;ms-c1513a6417b0ba250dee;ms-edeb8cb36d3d06244421", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b929d6015e41aa9a9de8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.41742590069770813, + "candidate_source_group_id": "ms-82a203dfa8631639ba7e;ms-f813ff3f9ae188b0259c;ms-c8593eabfdb5a6bca7bb;ms-5a0da896925f50a1d2ee;ms-bad55a54ecb4349a5323;ms-4c9ed894520169849bc6", + "expert_regret": 0.0, + "expert_score": 0.2145896553993225, + "expert_success": false, + "group_id": "ms-1044e227d00afb01a5dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1287274956703186, + "candidate_source_group_id": "ms-2a738f03ee216527dfa6;ms-4096e2d9cf2e9d4943c7;ms-a5885ec43a0aa166a0e7;ms-9feb7d8fdc15e384b8b7;ms-8b813b6035f0425892bd;ms-acfecece1f8160045f0a", + "expert_regret": 0.0, + "expert_score": 0.10130771994590759, + "expert_success": false, + "group_id": "ms-630c7d4c0ef39da64304", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4708734154701233, + "candidate_source_group_id": "ms-e7fcbe2b61632a79fe6a;ms-783ceec205863d92ef8a;ms-e333fb7b8697ebeb474e;ms-90a840c7cbbfe35e8a67;ms-3f6cd47af5e9e6781b73;ms-98d738638749a1c0999d", + "expert_regret": 1.9198327213525772, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-44e2ba085128234ef9eb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9198327213525772, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08016727864742279, + "restore_error": 1.1920928955078125e-07, + "score": 0.08016727864742279, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5951856970787048, + "candidate_source_group_id": "ms-b2f6b95c91f5d672d3a0;ms-653181f057aeaeeadfe2;ms-048c14d42c3f3b352f53;ms-beb40d1c9533f7508aa5;ms-f6174dd8dd65bd736685;ms-889dd046ec7b0fc0a7a4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8293ae7689b30820278f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3370240032672882, + "candidate_source_group_id": "ms-93cbf45c02a304a2f6dc;ms-ccccd221a821803e36c5;ms-579eb7a700037d011e3f;ms-cb51cbc4086bd452233d;ms-3aa0b904cd3565b6c7ba;ms-4c9ed894520169849bc6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-62033042dcde101a0c9e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.44240623712539673, + "candidate_source_group_id": "ms-4401ec9ab8c89fb39f58;ms-933425ede670e8efc04e;ms-031c526a8690cad1677c;ms-58950fed04d203b97ab9;ms-e825bdad55212cb330da;ms-fb23602361466c57dd2d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d65e80424e917743d9a4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.548385739326477, + "candidate_source_group_id": "ms-74704688fb63757619e1;ms-f1b05f75f6ad032a0cd1;ms-3579b51b91daa627d195;ms-49b9fd364e000bc7d579;ms-17723f5f0806414eda67;ms-54346a8f79bd9dca1dfe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-79636173ebff4c91da03", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.36170220375061035, + "candidate_source_group_id": "ms-876805da5863dc637246;ms-98d8d5d728ee4cff6776;ms-2413d1155c87f0442485;ms-4dbdc6ed61dccebbfe92;ms-2a4f1cbd3f416f9084dc;ms-9d1d3a7b2dcafeda3bf3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d5f6186b51268063515e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.28041356801986694, + "candidate_source_group_id": "ms-66d3cc0e17bcbfb5f36e;ms-bb9f2f5b67bbb7e0f516;ms-916b66e56329dbd05b29;ms-f83aacaa71f0151421c7;ms-6d48ff55845b6759a8c4;ms-234ce02cf98f85bda72c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-351f07141fc0a8885759", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4540410041809082, + "candidate_source_group_id": "ms-a5f722aaecb894444ac4;ms-1f6006a647438280a273;ms-25942684dfc6d81c449a;ms-f3b9739bcb72c30a5535;ms-47d33f56890889e86355;ms-5d646fb3dbdcd5443729", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e132f1526b2090e440e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5263187885284424, + "candidate_source_group_id": "ms-d867fd6ed17aeaa97c2b;ms-ea6878cc654f7f255811;ms-30caf93619a0e2f94eae;ms-170a9228df2273649f1c;ms-217aa98e4a691e43cf68;ms-7aaa46eaa657a3179a70", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8682e5b9068871041b74", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6598971486091614, + "candidate_source_group_id": "ms-167bd325bc0845dcaba3;ms-5c7ab237037e9344a2ed;ms-e2a1bc3e5cd509eb08c2;ms-c1513a6417b0ba250dee;ms-2b27b1ecc0284ec3a993;ms-edeb8cb36d3d06244421", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97ccdc4668a995776663", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4949236512184143, + "candidate_source_group_id": "ms-dae29d741eb65a2fc4b3;ms-5dab866561f657e9aa8d;ms-5ae7b4d324285dfe6e80;ms-9b50c72d20e7510258b8;ms-f492405ef825467ddcba;ms-f52fe666ef7c9b997778", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10a1077a32c1abd486f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3236435055732727, + "candidate_source_group_id": "ms-2413d1155c87f0442485;ms-1405ab4a382fd1a07e63;ms-c1513a6417b0ba250dee;ms-2b27b1ecc0284ec3a993;ms-6ed65c65b566e21474a8;ms-876805da5863dc637246", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-575e151c0d1622c7ccd1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.29339882731437683, + "candidate_source_group_id": "ms-298fc552bfc93c2b32bf;ms-5dab866561f657e9aa8d;ms-f492405ef825467ddcba;ms-f52fe666ef7c9b997778;ms-5ae7b4d324285dfe6e80;ms-9b50c72d20e7510258b8", + "expert_regret": 0.0, + "expert_score": 0.19285303354263306, + "expert_success": false, + "group_id": "ms-3c9527725515347ba7de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3795291781425476e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3713407516479492, + "candidate_source_group_id": "ms-33905bad392928d3a217;ms-22cfd6a9a619133478b6;ms-217aa98e4a691e43cf68;ms-663c7e7fdaea6a945a2b;ms-30caf93619a0e2f94eae;ms-4096e2d9cf2e9d4943c7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a2766876467c8fbd5379", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.41964468359947205, + "candidate_source_group_id": "ms-c1f8e861c7c4485c361a;ms-0942bb0cc1143a2058f9;ms-64f98d163b6bff29332b;ms-9d943a2732771576e41d;ms-027592312fc833e8768d;ms-e95a64701812302bd039", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-72da580865509f75d6eb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6457937955856323, + "candidate_source_group_id": "ms-4f291cdf6a62b9af9e5d;ms-cdca8a6fff0640ab7f16;ms-b5dee7bdaf34270e6515;ms-29f7da1cd496619f45f5;ms-fe5a68745bbc6b4256cf;ms-fb23602361466c57dd2d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-111355c28fcb5ef51167", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5452026724815369, + "candidate_source_group_id": "ms-db2cfd3c0ce8ece8a112;ms-a39c5eb6453fab13bb3f;ms-33e036c8224f052e6279;ms-e2058192b3065ce7dc60;ms-3d208c1e04bb84341859;ms-d593c823d7fa1cd02635", + "expert_regret": 1.9499156177043915, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-88de0a1035cb8f8ef16a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9499156177043915, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05008438229560852, + "restore_error": 1.1920928955078125e-07, + "score": 0.05008438229560852, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.48254600167274475, + "candidate_source_group_id": "ms-58950fed04d203b97ab9;ms-4f291cdf6a62b9af9e5d;ms-29f7da1cd496619f45f5;ms-fe5a68745bbc6b4256cf;ms-cdca8a6fff0640ab7f16;ms-b5dee7bdaf34270e6515", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f49fbce5bf7a0a169f1e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4766271710395813, + "candidate_source_group_id": "ms-686b6de62b641e0dba0d;ms-31880fb2dfed92c021ef;ms-551020d425c370126f59;ms-1fe4b5c84ee5c0e6fcdb;ms-33885f2999b6dbe71f42;ms-64f98d163b6bff29332b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-771e632c1b0f3181ff36", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4606468677520752, + "candidate_source_group_id": "ms-28a10bea0cf3f917e067;ms-2867deaca7e98582620b;ms-ff08c0b84d984d3d8620;ms-f492405ef825467ddcba;ms-aca9b69b504ede73bcac;ms-31880fb2dfed92c021ef", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9fd5ccb16c4e5d0c4579", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3859008252620697, + "candidate_source_group_id": "ms-cefef59d2909a69dd709;ms-d5d38df1f2dbae367af0;ms-fd66d311a01f9c4fc825;ms-7a699e157f311f764b46;ms-e6b0ee06238145e2a517;ms-5816c255ea56bc8a63c3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-06c528eb38baee4e31b8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4947078227996826, + "candidate_source_group_id": "ms-9d8348ba3054f969ad8e;ms-f6635cbacd4195f7f4ab;ms-4015b8ac7c0a1397c076;ms-c10cf873dd3f68d97755;ms-1c4df81cce643ca4fb3e;ms-9f33c55b8e06fcb5e21e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0952da757675889102ec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7749789357185364, + "candidate_source_group_id": "ms-fa637544793129258022;ms-b4293fc495a608f8063c;ms-70e24231e9bb560abb3e;ms-7c72cdc319220ea76854;ms-1f9a8bf8a8c0882b4039;ms-49731d5e69272f3bd959", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5884cb0ce8ef0e034fec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3423004746437073, + "candidate_source_group_id": "ms-5ae7b4d324285dfe6e80;ms-4711dffcd73048a3656c;ms-f52fe666ef7c9b997778;ms-5dab866561f657e9aa8d;ms-298fc552bfc93c2b32bf;ms-9b50c72d20e7510258b8", + "expert_regret": 1.8564096689224243, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c3191d9c08e5756e90e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8564096689224243, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.14359033107757568, + "restore_error": 1.1920928955078125e-07, + "score": 0.14359033107757568, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.30168479681015015, + "candidate_source_group_id": "ms-b0f5b97b1bc7d3173183;ms-eec1c80f2bdd990118d8;ms-6a82cd518812ae55f97d;ms-698e09998c5dbfa6b7e3;ms-84404222b954c48c48d8;ms-8d23082fdeffba7cba51", + "expert_regret": 1.9609413743019104, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8188aaeda131829b7c9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9609413743019104, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0390586256980896, + "restore_error": 1.1920928955078125e-07, + "score": 0.0390586256980896, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.23499025404453278, + "candidate_source_group_id": "ms-c5df8e13dba07b355c14;ms-b6ed7cdf9226aa0b0d1e;ms-1f5c191aa8a6978b4020;ms-cb51cbc4086bd452233d;ms-3aa0b904cd3565b6c7ba;ms-9c49860c264bb0bec403", + "expert_regret": 0.0, + "expert_score": 0.042847394943237305, + "expert_success": false, + "group_id": "ms-14c6516a0f22d20ef6b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.41153231263160706, + "candidate_source_group_id": "ms-2c65718a6134a46b048f;ms-9c49860c264bb0bec403;ms-01236ae561190e7a5f8f;ms-b6ed7cdf9226aa0b0d1e;ms-ea1abf4dd25aea30202b;ms-c5df8e13dba07b355c14", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-32767ca96808a18b5a43", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.09296516329050064, + "candidate_source_group_id": "ms-ea6878cc654f7f255811;ms-e4656ad3c67bd430c1a6;ms-130f96b49e1bdb7c0e7c;ms-d867fd6ed17aeaa97c2b;ms-2e237a4b84b582828c37;ms-65d0541a2ba23a8478fa", + "expert_regret": 0.0, + "expert_score": 0.01401551067829132, + "expert_success": false, + "group_id": "ms-6ffe441e29681c8f116e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.469576895236969, + "candidate_source_group_id": "ms-383c0d1f90c5a0b55e07;ms-c10cf873dd3f68d97755;ms-e411015630dcff33d0f7;ms-9f33c55b8e06fcb5e21e;ms-183174ef761d19fb85d9;ms-608a539637578968beb3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7f5fe657331466b2e262", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.508165717124939, + "candidate_source_group_id": "ms-29f7da1cd496619f45f5;ms-0a001f1bda12891b219f;ms-fb23602361466c57dd2d;ms-82a5b63ed41420747fb9;ms-58950fed04d203b97ab9;ms-de96f1dcca4527c03814", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ef0d8b87e9a145873ca7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.603542685508728, + "candidate_source_group_id": "ms-9d190663aa55bb434720;ms-a40d644441c878ac5292;ms-1f9a8bf8a8c0882b4039;ms-238b0d92a2c0a61289b7;ms-ba0d059f1c55c5737e17;ms-17723f5f0806414eda67", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ce6cbc6d7664766f1285", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4119848608970642, + "candidate_source_group_id": "ms-84404222b954c48c48d8;ms-f97fbc8f36f0af9ce18c;ms-8d23082fdeffba7cba51;ms-698e09998c5dbfa6b7e3;ms-e9bb31726937713db23a;ms-c8902580575f6effb241", + "expert_regret": 1.9632211029529572, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d0005f84908a87243dd6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9632211029529572, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03677889704704285, + "restore_error": 1.1920928955078125e-07, + "score": 0.03677889704704285, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2629925310611725, + "candidate_source_group_id": "ms-b0f5b97b1bc7d3173183;ms-eec1c80f2bdd990118d8;ms-6a82cd518812ae55f97d;ms-84404222b954c48c48d8;ms-698e09998c5dbfa6b7e3;ms-8d23082fdeffba7cba51", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7efe34ce17cffdcb43d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1839262694120407, + "candidate_source_group_id": "ms-b6ed7cdf9226aa0b0d1e;ms-121bc2e6676c1ac10911;ms-9c49860c264bb0bec403;ms-2c4224657fa8115b2b8b;ms-3a5eaa0095953c9d6241;ms-68054c6c805197b033a7", + "expert_regret": 0.0, + "expert_score": 0.1821424663066864, + "expert_success": false, + "group_id": "ms-398ddbf730ed8830b08b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4624268710613251, + "candidate_source_group_id": "ms-86909e2391a6a77883b3;ms-30caf93619a0e2f94eae;ms-f52fe666ef7c9b997778;ms-8750cccf83614187fe14;ms-170a9228df2273649f1c;ms-97939101c75832eb62cd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-42f077d286655b676709", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.23589618504047394, + "candidate_source_group_id": "ms-7208ab12aba7b4a0da1e;ms-973f50778408dcecccdd;ms-04020456c994946d9a76;ms-ee72e3f1115cfb8294ee;ms-2288d0eb01482bc757e5;ms-16619fc9e4f3627b8dd1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2c71dc14945b7bd8a60", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6560258865356445, + "candidate_source_group_id": "ms-4c8a03e5d6e3b7a13c29;ms-70dd7025d2b038824c72;ms-9d190663aa55bb434720;ms-1f9a8bf8a8c0882b4039;ms-83b649656afa71ab6bde;ms-f39cb13a5942ca3317d0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbfbee34b928dbb775da", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7796339392662048, + "candidate_source_group_id": "ms-7f22550a9f6707a45cd4;ms-33dcfa4725ad078cc898;ms-c333dcd8ec59f2ae8a3d;ms-605cecc07e3298489320;ms-3333e935277a2e1f4e05;ms-733b04f5bd4720d79e99", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ec5819de002710aa5d97", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3590763509273529, + "candidate_source_group_id": "ms-ed52ffcd2b3e222b5175;ms-c8902580575f6effb241;ms-57fd761853dfc47e8059;ms-4d8f2bf18e7556663104;ms-2cbe83da02847008bf24;ms-84404222b954c48c48d8", + "expert_regret": 1.9700983464717865, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c806a5814c3e727cac8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9700983464717865, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0299016535282135, + "restore_error": 1.7881393432617188e-07, + "score": 0.0299016535282135, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.23176638782024384, + "candidate_source_group_id": "ms-aec40fad850827331244;ms-eea4df1b36e8a31b40a3;ms-fae97eb60014b2866413;ms-ba0ee0c9c181cdc7de9d;ms-79d4959d079594053125;ms-4dbdc6ed61dccebbfe92", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-09bceb938cc530125601", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.28669533133506775, + "candidate_source_group_id": "ms-c8902580575f6effb241;ms-ed52ffcd2b3e222b5175;ms-4d8f2bf18e7556663104;ms-a18cc16207970cd8f84d;ms-84404222b954c48c48d8;ms-f97fbc8f36f0af9ce18c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7fc804389bb1de250c84", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5206109285354614, + "candidate_source_group_id": "ms-783ceec205863d92ef8a;ms-e7fcbe2b61632a79fe6a;ms-c57abcef044f324c2f1d;ms-3f6cd47af5e9e6781b73;ms-90a840c7cbbfe35e8a67;ms-4e67cfd30a257b4bad0c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-269731d0630cffc1a216", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5390264987945557, + "candidate_source_group_id": "ms-170a9228df2273649f1c;ms-de96f1dcca4527c03814;ms-7aaa46eaa657a3179a70;ms-0a001f1bda12891b219f;ms-82a5b63ed41420747fb9;ms-88c39906a4e9c32ec286", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b8f5ebd4732c0274945b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4422934353351593, + "candidate_source_group_id": "ms-aec40fad850827331244;ms-25119a8a2d03c8e71300;ms-ba0ee0c9c181cdc7de9d;ms-2ba02dcefa15a9371706;ms-9d82d1927529dc675bc5;ms-a012d1677923703d5a0c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c95a3e52494c7727dbf6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6874871253967285, + "candidate_source_group_id": "ms-269815a0f9c1a1ba5a6b;ms-e0e2a425cce52e820a7e;ms-d4c5d7eea19d94314e2e;ms-8c67f938fb3d0264393c;ms-ba396eb71806ac992acd;ms-97e2c618a3045e0a759e", + "expert_regret": 1.8159644901752472, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c6a9b0840052fd62261", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8159644901752472, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1840355098247528, + "restore_error": 1.1920928955078125e-07, + "score": 0.1840355098247528, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.651073694229126, + "candidate_source_group_id": "ms-10bdda377f6b2353d200;ms-97e2c618a3045e0a759e;ms-a40882954ff51b61c49c;ms-dc4738f9c7a8af86722d;ms-e0e2a425cce52e820a7e;ms-d4c5d7eea19d94314e2e", + "expert_regret": 1.8233038783073425, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-535c35e29640f289d7d1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8233038783073425, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17669612169265747, + "restore_error": 1.1920928955078125e-07, + "score": 0.17669612169265747, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7064337134361267, + "candidate_source_group_id": "ms-8c67f938fb3d0264393c;ms-e0e2a425cce52e820a7e;ms-a4e3e9c634e92a46fc15;ms-652234a929b7ed4d3b23;ms-4c5469e5b4af75482d89;ms-97e2c618a3045e0a759e", + "expert_regret": 1.8084741830825806, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f2259eac5ed12ee61c19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8084741830825806, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19152581691741943, + "restore_error": 1.1920928955078125e-07, + "score": 0.19152581691741943, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.10111641883850098, + "candidate_source_group_id": "ms-49e1584a68d8f465e8e3;ms-652234a929b7ed4d3b23;ms-94b9114b294d56e3f88a;ms-4c5469e5b4af75482d89;ms-e0e2a425cce52e820a7e;ms-a4e3e9c634e92a46fc15", + "expert_regret": 0.6436619311571121, + "expert_score": 0.8352248668670654, + "expert_success": false, + "group_id": "ms-77536801924a2a78688e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8084370642900467, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1915629357099533, + "restore_error": 1.1920928955078125e-07, + "score": 0.1915629357099533, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6125797033309937, + "candidate_source_group_id": "ms-020ab0b7cfa5045f3fc7;ms-350716d0809bd7ef12df;ms-0f2cd78c21a012784e1b;ms-b651d43182be35524aad;ms-7c300541f4986f403b47;ms-573ab0ef1d4166be9b54", + "expert_regret": 0.0, + "expert_score": 0.8541442155838013, + "expert_success": false, + "group_id": "ms-97cdb4c400ad4ae36518", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.8541442155838013, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6177857518196106, + "candidate_source_group_id": "ms-a601803235735bea0610;ms-804705b564058a7ac34c;ms-c72d626356a30cbef93b;ms-b1ea4f7f813ac0c87079;ms-4c788310cab7df5251e1;ms-dc26a7037003b94b9f93", + "expert_regret": 1.1857663989067078, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-acb486cbc23907df2568", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1857663989067078, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8142336010932922, + "restore_error": 1.1920928955078125e-07, + "score": 0.8142336010932922, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6136608719825745, + "candidate_source_group_id": "ms-57ccc6bbce43f1c7c000;ms-230391b47c390f51bc07;ms-0ee3134ab4e9435f2c2c;ms-fe763444e70a58ff8b1e;ms-151e5f61c8e3c2ece4e7;ms-65f4ea8ed88ed5301430", + "expert_regret": 1.1827991604804993, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cdd9ca03b64c4145587b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.1827991604804993, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8172008395195007, + "restore_error": 1.1920928955078125e-07, + "score": 0.8172008395195007, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8035849332809448, + "candidate_source_group_id": "ms-8b45028168ed68ec8303;ms-cc21e4000cabb2fad805;ms-01e08f0dcb4e2c030a79;ms-49685adafe2cb8da301f;ms-90777a893f2fff27728c;ms-64b4e29bb42bf0b35d4d", + "expert_regret": 1.883267879486084, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-19dbfb3664d48598041e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.883267879486084, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11673212051391602, + "restore_error": 1.1920928955078125e-07, + "score": 0.11673212051391602, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.003820538520813, + "candidate_source_group_id": "ms-36bc1364d2439099e9ed;ms-bc96a8973358d1c20ed3;ms-aa7cc7e3e5eb86e58ee9;ms-e95a846b4e77792e3e6f;ms-728ce6cbfd4c82607908;ms-7ac4c9b07c994cd878f9", + "expert_regret": 0.7943303883075714, + "expert_score": 0.8508474826812744, + "expert_success": false, + "group_id": "ms-5922d6b0cb028950a6a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.7943303883075714, + "oracle_score": 0.8508474826812744, + "oracle_success": false, + "progress": 0.056517094373703, + "restore_error": 1.1920928955078125e-07, + "score": 0.056517094373703, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9113418459892273, + "candidate_source_group_id": "ms-fe22e55457c78877c2d9;ms-44940e96c327541acf19;ms-bc02d87b2ed5769ee484;ms-7dca31b0d7d6fab018f3;ms-4d687a60b9ce1f0f1ddd;ms-f774646335321f6c5980", + "expert_regret": 1.4251136779785156, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ffc732b968c030ba1d0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4251136779785156, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5748863220214844, + "restore_error": 1.1920928955078125e-07, + "score": 0.5748863220214844, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.16531240940094, + "candidate_source_group_id": "ms-49e1584a68d8f465e8e3;ms-d6af11918833ace7c694;ms-554f2960f25ff627b596;ms-a5eb6b813b57d14f6573;ms-b4f96b4975ceb839c5e3;ms-3945306c3b05b122fa9b", + "expert_regret": 1.3981652855873108, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e6e8b4cdcadec645d910", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.3981652855873108, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6018347144126892, + "restore_error": 1.1920928955078125e-07, + "score": 0.6018347144126892, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.42002519965171814, + "candidate_source_group_id": "ms-da2f79e022bb63a2af11;ms-f5bc4935790fb8ef7b81;ms-495b33a30a68ee055eef;ms-185c13ec401a35f393b7;ms-ab5acce4dba71f19d5ad;ms-a7760c53ebe20579190e", + "expert_regret": 1.8330853879451752, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ccc81e9a63663c50096", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8330853879451752, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16691461205482483, + "restore_error": 1.1920928955078125e-07, + "score": 0.16691461205482483, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.26948097348213196, + "candidate_source_group_id": "ms-19b9e8a1108ac25f3476;ms-dd8ebc7d7211ece74e03;ms-325cd8b08e89bb498c82;ms-aa1da4bf5f94c6a74839;ms-01094af881b751ef29aa;ms-7dca31b0d7d6fab018f3", + "expert_regret": 0.6827382743358612, + "expert_score": 0.8273264169692993, + "expert_success": false, + "group_id": "ms-68f53650da9a9354b58f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.7090827524662018, + "oracle_score": 0.8536708950996399, + "oracle_success": false, + "progress": 0.1445881426334381, + "restore_error": 1.1920928955078125e-07, + "score": 0.1445881426334381, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6703460812568665, + "candidate_source_group_id": "ms-a50b6ab3c59b1c953197;ms-f2a349cfaa6f7422237b;ms-0ac85b1b15125006eb50;ms-584219be39de32d776d4;ms-9dd1ff4c297a81b13071;ms-511bcece89a5ea3b849e", + "expert_regret": 0.1571168601512909, + "expert_score": 0.23011930286884308, + "expert_success": false, + "group_id": "ms-e2f303a0d1e6017e1fc4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.1571168601512909, + "oracle_score": 0.23011930286884308, + "oracle_success": false, + "progress": 0.07300244271755219, + "restore_error": 1.1920928955078125e-07, + "score": 0.07300244271755219, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.20345352590084076, + "candidate_source_group_id": "ms-e0e2a425cce52e820a7e;ms-94b9114b294d56e3f88a;ms-a40882954ff51b61c49c;ms-97e2c618a3045e0a759e;ms-4c5469e5b4af75482d89;ms-652234a929b7ed4d3b23", + "expert_regret": 0.7232455313205719, + "expert_score": 0.8555290699005127, + "expert_success": false, + "group_id": "ms-9ae5c6c4132218ecf49e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8677164614200592, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1322835385799408, + "restore_error": 1.1920928955078125e-07, + "score": 0.1322835385799408, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1915738880634308, + "candidate_source_group_id": "ms-a50b6ab3c59b1c953197;ms-0ac85b1b15125006eb50;ms-584219be39de32d776d4;ms-f2a349cfaa6f7422237b;ms-9dd1ff4c297a81b13071;ms-511bcece89a5ea3b849e", + "expert_regret": 0.17195841670036316, + "expert_score": 0.22322958707809448, + "expert_success": false, + "group_id": "ms-0a4d4909900fb0bc4a9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.8015133440494537, + "oracle_score": 0.8527845144271851, + "oracle_success": false, + "progress": 0.05127117037773132, + "restore_error": 1.1920928955078125e-07, + "score": 0.05127117037773132, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.009042501449585, + "candidate_source_group_id": "ms-0460b73af19ce1336bba;ms-d6b0d6d7c66509eb4543;ms-79b745efd36e00515fa7;ms-7e2762eb1b21b04fe873;ms-bc1ca12b92e3561b95b3;ms-f79778f4c5ec302bbfb4", + "expert_regret": 0.7564709633588791, + "expert_score": 0.7803360819816589, + "expert_success": false, + "group_id": "ms-1c9cd9629e4a927ed921", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.7564709633588791, + "oracle_score": 0.7803360819816589, + "oracle_success": false, + "progress": 0.023865118622779846, + "restore_error": 1.1920928955078125e-07, + "score": 0.023865118622779846, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7294292449951172, + "candidate_source_group_id": "ms-0b226017db7f07c5307e;ms-7ac4c9b07c994cd878f9;ms-36bc1364d2439099e9ed;ms-aa7cc7e3e5eb86e58ee9;ms-bc96a8973358d1c20ed3;ms-797db95b24deab760f10", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5a0e07161aefc71d4f33", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.40007147192955017, + "candidate_source_group_id": "ms-f90e4d887f4c840a0b25;ms-a31b52cc38a95273af77;ms-2cc60867f3629a801fc4;ms-4b6cf86fc2450321163a;ms-6c8d06bace98a28a8e4e;ms-f0696e3657ed996dec15", + "expert_regret": 0.6322041153907776, + "expert_score": 0.8326650857925415, + "expert_success": false, + "group_id": "ms-5b26c33feed6992386b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.799539029598236, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20046097040176392, + "restore_error": 1.1920928955078125e-07, + "score": 0.20046097040176392, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.38391202688217163, + "candidate_source_group_id": "ms-ff4c9c58b742da7135da;ms-a2ee6034df65b51c4d97;ms-63ac245579b1188935ad;ms-a4d692315fd15700e75b;ms-97343fa03fd05700c270;ms-4c788310cab7df5251e1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e7f710fb5e661e71fd3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7338286638259888, + "candidate_source_group_id": "ms-7e2762eb1b21b04fe873;ms-d6b0d6d7c66509eb4543;ms-79b745efd36e00515fa7;ms-0460b73af19ce1336bba;ms-be0ca7fa48a7ea391aa8;ms-578fcc1f0f27f76ff933", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-75ddae05fd4d968ebac7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.16263459622859955, + "candidate_source_group_id": "ms-0cdb564903c69734321f;ms-1cba14e90a2d067bc198;ms-625f1a55bfa2bcd57e24;ms-8c83fb7e9f1a7a8ad58f;ms-5a32c809ed679663dcb1;ms-875a4668671c02054a3c", + "expert_regret": 0.0, + "expert_score": 0.8467738032341003, + "expert_success": false, + "group_id": "ms-0949097d19e597fc7f63", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7158618569374084, + "candidate_source_group_id": "ms-0ac85b1b15125006eb50;ms-511bcece89a5ea3b849e;ms-584219be39de32d776d4;ms-a50b6ab3c59b1c953197;ms-f2a349cfaa6f7422237b;ms-2da5f229550b61852483", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f2509e6c3c468c4e30f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9517542719841003, + "candidate_source_group_id": "ms-6c7b2b62ba170ac8133e;ms-86b55250e01b9b6fba7e;ms-0f2cd78c21a012784e1b;ms-350716d0809bd7ef12df;ms-573ab0ef1d4166be9b54;ms-9e96728c711ffe98fe69", + "expert_regret": 1.7991545349359512, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0b6ba12f99b3554c0e88", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.7991545349359512, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20084546506404877, + "restore_error": 1.1920928955078125e-07, + "score": 0.20084546506404877, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5335946083068848, + "candidate_source_group_id": "ms-02aa62c077c9d4f86e61;ms-060d5756eac8f17652ee;ms-0c490961b934978e5b1c;ms-0fce9fe598d9ed1471b1;ms-4bbd30ae37fda61aa3c2;ms-ffaf8ddbbe21af6dea95", + "expert_regret": 1.8502707928419113, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-89782a37ecf6a44d23dc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8502707928419113, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.14972920715808868, + "restore_error": 1.1920928955078125e-07, + "score": 0.14972920715808868, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.518247663974762, + "candidate_source_group_id": "ms-a13e71cca2a60d77aed4;ms-b4f96b4975ceb839c5e3;ms-1e4219bffa35c646ebc9;ms-d6af11918833ace7c694;ms-f3ec6a4e6e3a778054d1;ms-4aed1197d0906ae51c34", + "expert_regret": 1.7926893681287766, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ec0b095d57014b86f5e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7926893681287766, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20731063187122345, + "restore_error": 1.1920928955078125e-07, + "score": 0.20731063187122345, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.2508223056793213, + "candidate_source_group_id": "ms-eaccbf417256e38345aa;ms-bf36bafb9ac562480022;ms-5a32c809ed679663dcb1;ms-220e8ddf7349fcbaf64d;ms-8f84a0371a7ac44c1b1a;ms-584d52e4f9515f695251", + "expert_regret": 1.4567422270774841, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6ab6c8a66fc509e2113e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4567422270774841, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5432577729225159, + "restore_error": 1.1920928955078125e-07, + "score": 0.5432577729225159, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5735388994216919, + "candidate_source_group_id": "ms-2b6ab8760ea5d558797c;ms-65f4ea8ed88ed5301430;ms-fe763444e70a58ff8b1e;ms-b8492a3a812095651d75;ms-f5bc4935790fb8ef7b81;ms-ab5acce4dba71f19d5ad", + "expert_regret": 1.9689410030841827, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61cb49c57a8600267d61", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9689410030841827, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03105899691581726, + "restore_error": 1.1920928955078125e-07, + "score": 0.03105899691581726, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.034561038017273, + "candidate_source_group_id": "ms-dd1eec30969c12ec89af;ms-921a0cd2d5ef7e70229a;ms-df6a1fb4b1ccbb410b4c;ms-d648b2c7a7b42db45550;ms-ebf15fd96b4a62e0b393;ms-71c5493fbcd8ea88898b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08077ae7bcd1d20bb2a6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0493429899215698, + "candidate_source_group_id": "ms-b651d43182be35524aad;ms-b2b93411a16dbb5d4202;ms-7c300541f4986f403b47;ms-01f463a409e2ec0c6c3e;ms-dfcbf1a7d2e3b33eb3e9;ms-13243cd92a78eba8c08b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5e19aac5dcd26c992bfd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3890947699546814, + "candidate_source_group_id": "ms-fe763444e70a58ff8b1e;ms-0d8e00d0e73f9a7b4ce8;ms-1d7505b80dff9c229a99;ms-57ccc6bbce43f1c7c000;ms-2b6ab8760ea5d558797c;ms-0841a07e9aeb84cff70f", + "expert_regret": 1.8103633522987366, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b1ab88b6b9dbb2dc602e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8103633522987366, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18963664770126343, + "restore_error": 1.1920928955078125e-07, + "score": 0.18963664770126343, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8891536593437195, + "candidate_source_group_id": "ms-cbe2659ec7884f00dc8a;ms-c5945ca04bebc81e72a8;ms-bf36bafb9ac562480022;ms-eaccbf417256e38345aa;ms-f90e4d887f4c840a0b25;ms-2cc60867f3629a801fc4", + "expert_regret": 0.6906086802482605, + "expert_score": 0.7810322046279907, + "expert_success": false, + "group_id": "ms-2c7a75422c4e47ee680c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.6906086802482605, + "oracle_score": 0.7810322046279907, + "oracle_success": false, + "progress": 0.09042352437973022, + "restore_error": 1.1920928955078125e-07, + "score": 0.09042352437973022, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5183922648429871, + "candidate_source_group_id": "ms-c3747425fe51bb3facbb;ms-9e99b7303fbd7ecbb17d;ms-c5d2ddd0416072b20d5d;ms-5bddb39f792f20e5e6d4;ms-8c2dade5b58489e26a4b;ms-8fb45ef2b489499fc7a7", + "expert_regret": 1.1416691541671753, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f7819cf58a2f9abd1e4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1416691541671753, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8583308458328247, + "restore_error": 1.1920928955078125e-07, + "score": 0.8583308458328247, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2134903222322464, + "candidate_source_group_id": "ms-1e25b12c832314a0b015;ms-cb752f1a3b24f95b34a2;ms-fe22e55457c78877c2d9;ms-f774646335321f6c5980;ms-787b74c3c67428d63b72;ms-bfb169ce850eae1c3995", + "expert_regret": 1.8223941028118134, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b3a1c65d7357ca4300b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8223941028118134, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17760589718818665, + "restore_error": 1.1920928955078125e-07, + "score": 0.17760589718818665, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1769324690103531, + "candidate_source_group_id": "ms-aa7cc7e3e5eb86e58ee9;ms-797db95b24deab760f10;ms-7ac4c9b07c994cd878f9;ms-e95a846b4e77792e3e6f;ms-bc96a8973358d1c20ed3;ms-a9eb9fab62fb296d2cf3", + "expert_regret": 0.7884360402822495, + "expert_score": 0.8128174543380737, + "expert_success": false, + "group_id": "ms-7bdf9cab1f7071533bbc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.7904075235128403, + "oracle_score": 0.8147889375686646, + "oracle_success": false, + "progress": 0.02438141405582428, + "restore_error": 1.1920928955078125e-07, + "score": 0.02438141405582428, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.30716732144355774, + "candidate_source_group_id": "ms-852c671b0adeccfa4bf1;ms-e887dbfa0133af46829d;ms-05ab68d4cd79b74a45ee;ms-6d7030c17759f787a361;ms-ce9505086ea115f86649;ms-bc2d3b425d9163a62dbb", + "expert_regret": 0.5981456786394119, + "expert_score": 0.844826340675354, + "expert_success": false, + "group_id": "ms-55e78c04643bd06fd5f8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.753319337964058, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.24668066203594208, + "restore_error": 1.1920928955078125e-07, + "score": 0.24668066203594208, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.49523046612739563, + "candidate_source_group_id": "ms-fe763444e70a58ff8b1e;ms-fffe17005e577cb2ac1c;ms-4dc0defd156f4c30aaf8;ms-57ccc6bbce43f1c7c000;ms-185c13ec401a35f393b7;ms-65f4ea8ed88ed5301430", + "expert_regret": 1.7744030356407166, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4af6806104210ccf74b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.7744030356407166, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22559696435928345, + "restore_error": 1.1920928955078125e-07, + "score": 0.22559696435928345, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0061711072921753, + "candidate_source_group_id": "ms-c9804ff90a86259f7149;ms-fd2387aeed9bfc9a0d08;ms-e3bbabc7ac3950eb91a2;ms-dc4738f9c7a8af86722d;ms-ecb37ebbab21a506d8ca;ms-d50a82b8770f333f1947", + "expert_regret": 1.9674311578273773, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-16850056120649fcc370", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9674311578273773, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03256884217262268, + "restore_error": 1.1920928955078125e-07, + "score": 0.03256884217262268, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.38949447870254517, + "candidate_source_group_id": "ms-e0e2a425cce52e820a7e;ms-94b9114b294d56e3f88a;ms-4c5469e5b4af75482d89;ms-97e2c618a3045e0a759e;ms-652234a929b7ed4d3b23;ms-1cb54e3347c49dcdf28e", + "expert_regret": 1.8230376243591309, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ea6d57781e366b578c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8230376243591309, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17696237564086914, + "restore_error": 1.1920928955078125e-07, + "score": 0.17696237564086914, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.19516706466674805, + "candidate_source_group_id": "ms-b33c18c58125678627a6;ms-54f4d544f76358c09ee9;ms-5dfeb87aa77e4660d09b;ms-dd1eec30969c12ec89af;ms-265435476b51eb83fb9b;ms-d8cc5ba8ab1cd4a46519", + "expert_regret": 0.0, + "expert_score": 0.829584002494812, + "expert_success": false, + "group_id": "ms-829c9968f0750cd9aed6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1674394011497498, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8325605988502502, + "restore_error": 1.1920928955078125e-07, + "score": 0.8325605988502502, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.2903708219528198, + "candidate_source_group_id": "ms-4dc0defd156f4c30aaf8;ms-b8492a3a812095651d75;ms-fe763444e70a58ff8b1e;ms-65f4ea8ed88ed5301430;ms-151e5f61c8e3c2ece4e7;ms-9b89af1761e33e733a56", + "expert_regret": 1.9545805752277374, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fc68c8b1bef631b6cae9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9545805752277374, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04541942477226257, + "restore_error": 1.1920928955078125e-07, + "score": 0.04541942477226257, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9750260710716248, + "candidate_source_group_id": "ms-c9804ff90a86259f7149;ms-fd2387aeed9bfc9a0d08;ms-dc4738f9c7a8af86722d;ms-a4e3e9c634e92a46fc15;ms-652234a929b7ed4d3b23;ms-a40882954ff51b61c49c", + "expert_regret": 1.436453402042389, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-983f35821c4f83c6e4bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.436453402042389, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5635465979576111, + "restore_error": 1.1920928955078125e-07, + "score": 0.5635465979576111, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.014578104019165, + "candidate_source_group_id": "ms-8ccec039b839e612969b;ms-87efe56140dec7d3ffb8;ms-15248c64e70b0dafcb33;ms-a77b8d61c09ed6ea23a2;ms-13243cd92a78eba8c08b;ms-58e6bcca0d74ea38d3dc", + "expert_regret": 1.7898693531751633, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-daff16c01452c735345f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7898693531751633, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21013064682483673, + "restore_error": 1.1920928955078125e-07, + "score": 0.21013064682483673, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.12796126306056976, + "candidate_source_group_id": "ms-bc2d3b425d9163a62dbb;ms-9e7e3b675db86ea3e212;ms-ce9505086ea115f86649;ms-2360ac84ff893ee51c5f;ms-9d4cfe1888484d9da1ee;ms-bc8e9fc055c591071ea3", + "expert_regret": 0.6519603580236435, + "expert_score": 0.8385780453681946, + "expert_success": false, + "group_id": "ms-9d12ad4ebdf37419994c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.813382312655449, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1866176873445511, + "restore_error": 1.1920928955078125e-07, + "score": 0.1866176873445511, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5093070864677429, + "candidate_source_group_id": "ms-6c7b2b62ba170ac8133e;ms-0f2cd78c21a012784e1b;ms-86b55250e01b9b6fba7e;ms-350716d0809bd7ef12df;ms-573ab0ef1d4166be9b54;ms-3ff1aedb72f65a182b58", + "expert_regret": 0.2811662554740906, + "expert_score": 0.8363267779350281, + "expert_success": false, + "group_id": "ms-7fc5696cb3dc7b9bb9f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4448394775390625, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5551605224609375, + "restore_error": 1.1920928955078125e-07, + "score": 0.5551605224609375, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1910417377948761, + "candidate_source_group_id": "ms-68067370d3b20b9bd4e2;ms-49e1584a68d8f465e8e3;ms-554f2960f25ff627b596;ms-a5eb6b813b57d14f6573;ms-88070bf04696eceac1e9;ms-d1960368ef76bbb10669", + "expert_regret": 0.6461300700902939, + "expert_score": 0.8355538845062256, + "expert_success": false, + "group_id": "ms-3c87c16acc91c68c522f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.6462593525648117, + "oracle_score": 0.8356831669807434, + "oracle_success": false, + "progress": 0.1894238144159317, + "restore_error": 1.1920928955078125e-07, + "score": 0.1894238144159317, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.1213940382003784, + "candidate_source_group_id": "ms-2cc60867f3629a801fc4;ms-a31b52cc38a95273af77;ms-f90e4d887f4c840a0b25;ms-3945306c3b05b122fa9b;ms-274ef8c6420a669dd5b4;ms-6c8d06bace98a28a8e4e", + "expert_regret": 1.187155544757843, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-283f98eecc655a33d459", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.187155544757843, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.812844455242157, + "restore_error": 1.1920928955078125e-07, + "score": 0.812844455242157, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0805398225784302, + "candidate_source_group_id": "ms-571d878853654c42a521;ms-f0696e3657ed996dec15;ms-6c8d06bace98a28a8e4e;ms-dc2e360a4876f6edce82;ms-f50f1c1b673d0c96d4ce;ms-3efaacea10b7eb4adb57", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e297545a438d902a680e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6172730326652527, + "candidate_source_group_id": "ms-13243cd92a78eba8c08b;ms-b2b93411a16dbb5d4202;ms-01f463a409e2ec0c6c3e;ms-41847ae4ccfbee4666d8;ms-242302c2a1e59588b319;ms-fee86da43c17dbf07059", + "expert_regret": 0.2715444564819336, + "expert_score": 0.8587179183959961, + "expert_success": false, + "group_id": "ms-ff0d7559bf7f39d82ded", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.2715444564819336, + "oracle_score": 0.8587179183959961, + "oracle_success": false, + "progress": 0.5871734619140625, + "restore_error": 1.9371509552001953e-07, + "score": 0.5871734619140625, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6760782599449158, + "candidate_source_group_id": "ms-511bcece89a5ea3b849e;ms-1a9e9bcd6cbae272a459;ms-d7254aa722729aa1a031;ms-b1ea4f7f813ac0c87079;ms-a50b6ab3c59b1c953197;ms-f2a349cfaa6f7422237b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-52a2ef2f862cee509ce1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9371509552001953e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1650892198085785, + "candidate_source_group_id": "ms-5c1ed0b96c4b99d64dd9;ms-a4d692315fd15700e75b;ms-63ac245579b1188935ad;ms-ff4c9c58b742da7135da;ms-97343fa03fd05700c270;ms-a9eb9fab62fb296d2cf3", + "expert_regret": 0.029223084449768066, + "expert_score": 0.8537713289260864, + "expert_success": false, + "group_id": "ms-eb7189a4f2b0f0a5d4bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1754517555236816, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8245482444763184, + "restore_error": 1.9371509552001953e-07, + "score": 0.8245482444763184, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9715412259101868, + "candidate_source_group_id": "ms-1ed36d926d5d640b4a04;ms-7d484dd14e9d001a07b1;ms-efdc07c985935d871adf;ms-36bc1364d2439099e9ed;ms-be0ca7fa48a7ea391aa8;ms-bc96a8973358d1c20ed3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-37d6b220ad58fb776f7b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9371509552001953e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.27707549929618835, + "candidate_source_group_id": "ms-7f58527819036c01daa4;ms-720c704eeac615b41763;ms-e2a5f29a9c0d835f3cd8;ms-c5945ca04bebc81e72a8;ms-ceb81989361d018a9e67;ms-0f7cd7813265e3795e0a", + "expert_regret": 1.8005297482013702, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-253682457d6db5d265bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8005297482013702, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19947025179862976, + "restore_error": 1.9371509552001953e-07, + "score": 0.19947025179862976, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.2705460786819458, + "candidate_source_group_id": "ms-733f43f6aaed1e84c020;ms-06e6e1db86d9e82e56cf;ms-bf2b9cc05ccb6bce0d30;ms-6c8d06bace98a28a8e4e;ms-68067370d3b20b9bd4e2;ms-5bddb39f792f20e5e6d4", + "expert_regret": 1.4004170894622803, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-39cea5dde6dc1718d478", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4004170894622803, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5995829105377197, + "restore_error": 1.9371509552001953e-07, + "score": 0.5995829105377197, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7596889138221741, + "candidate_source_group_id": "ms-a50b6ab3c59b1c953197;ms-3cdc09425d5b71524854;ms-f2a349cfaa6f7422237b;ms-bb299baa34e49eafb9fc;ms-71e32140ee4d77f3b275;ms-36112cc5608a9f625764", + "expert_regret": 1.8558651804924011, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-da5f2c1dbafa907d725b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8558651804924011, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.14413481950759888, + "restore_error": 1.9371509552001953e-07, + "score": 0.14413481950759888, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.10078486055135727, + "candidate_source_group_id": "ms-19a3669e096e98232ec8;ms-a601803235735bea0610;ms-3451f857ec88eeb49c38;ms-b1ea4f7f813ac0c87079;ms-804705b564058a7ac34c;ms-c72d626356a30cbef93b", + "expert_regret": 0.0, + "expert_score": 0.8589632511138916, + "expert_success": false, + "group_id": "ms-6bd5870eb5ff0dd76919", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9371509552001953e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 2.0297739505767822, + "candidate_source_group_id": "ms-da2f79e022bb63a2af11;ms-741c227f6249d1c8c9f1;ms-42b26451056c6dd2150e;ms-15fc8cc6f74cf589056f;ms-a7760c53ebe20579190e;ms-8d02415bb9af319f215a", + "expert_regret": 1.8976593762636185, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65a8786e4fb1527342f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8976593762636185, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10234062373638153, + "restore_error": 1.1920928955078125e-07, + "score": 0.10234062373638153, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.7663484811782837, + "candidate_source_group_id": "ms-d9e7096b437e7ce7cda8;ms-a13e71cca2a60d77aed4;ms-2503df67073b4c59e640;ms-0547201761e8e1873482;ms-1e4219bffa35c646ebc9;ms-6989f2ad4ed53dc07e1f", + "expert_regret": 0.09808702766895294, + "expert_score": 0.2056313455104828, + "expert_success": false, + "group_id": "ms-df346e952d6eaab76d40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.09808702766895294, + "oracle_score": 0.2056313455104828, + "oracle_success": false, + "progress": 0.10754431784152985, + "restore_error": 1.1920928955078125e-07, + "score": 0.10754431784152985, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.18307101726531982, + "candidate_source_group_id": "ms-720c704eeac615b41763;ms-76c9576538106cb9d5db;ms-54f7cae3bd3cb84062d3;ms-0982ec8847911627c519;ms-b1b98e21cd4886f70563;ms-ceb81989361d018a9e67", + "expert_regret": 0.045755624771118164, + "expert_score": 0.8584641218185425, + "expert_success": false, + "group_id": "ms-03df3e12e1d61aa9ebbf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1872915029525757, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8127084970474243, + "restore_error": 1.1920928955078125e-07, + "score": 0.8127084970474243, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8523472547531128, + "candidate_source_group_id": "ms-9e96728c711ffe98fe69;ms-0c2f2dc98424b6704c79;ms-86b55250e01b9b6fba7e;ms-7c300541f4986f403b47;ms-573ab0ef1d4166be9b54;ms-b651d43182be35524aad", + "expert_regret": 1.4047901034355164, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4118fc55a3d3e6bee8c0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4047901034355164, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5952098965644836, + "restore_error": 1.1920928955078125e-07, + "score": 0.5952098965644836, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2894248962402344, + "candidate_source_group_id": "ms-c72d626356a30cbef93b;ms-b86c44375ba5328a1608;ms-a601803235735bea0610;ms-119db4f7ab55afe5b9f6;ms-804705b564058a7ac34c;ms-b1ea4f7f813ac0c87079", + "expert_regret": 0.0, + "expert_score": 0.8631211519241333, + "expert_success": false, + "group_id": "ms-c80e71e55d51d8595499", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.2213929891586304, + "candidate_source_group_id": "ms-420280f15a522ce21c72;ms-9e96728c711ffe98fe69;ms-350716d0809bd7ef12df;ms-9a14552b7db695dee92c;ms-020ab0b7cfa5045f3fc7;ms-0f2cd78c21a012784e1b", + "expert_regret": 1.4158049821853638, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-579af9eb582ab20522a9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4158049821853638, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5841950178146362, + "restore_error": 1.1920928955078125e-07, + "score": 0.5841950178146362, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.1810685396194458, + "candidate_source_group_id": "ms-fffe17005e577cb2ac1c;ms-fe763444e70a58ff8b1e;ms-185c13ec401a35f393b7;ms-0fb946120bcbd8ed0632;ms-57ccc6bbce43f1c7c000;ms-0ee3134ab4e9435f2c2c", + "expert_regret": 1.9185367971658707, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-20ab0b7fffdbb23e6d53", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9185367971658707, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08146320283412933, + "restore_error": 1.1920928955078125e-07, + "score": 0.08146320283412933, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.10462216287851334, + "candidate_source_group_id": "ms-baba39ca95aa09893dc0;ms-f5bc4935790fb8ef7b81;ms-ab5acce4dba71f19d5ad;ms-ba396eb71806ac992acd;ms-da2f79e022bb63a2af11;ms-185c13ec401a35f393b7", + "expert_regret": 0.7725507318973541, + "expert_score": 0.8134564161300659, + "expert_success": false, + "group_id": "ms-c8706d0aa14a930236de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9590943157672882, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04090568423271179, + "restore_error": 1.1920928955078125e-07, + "score": 0.04090568423271179, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9066888093948364, + "candidate_source_group_id": "ms-4aed1197d0906ae51c34;ms-ebf15fd96b4a62e0b393;ms-2fef2f43af8009bb88f1;ms-7fba35a6c125e88b8f54;ms-500ed73f6d891e237b30;ms-ce827a7939377a151af9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-77c4a01dcf26dcd8f0f3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4875676929950714, + "candidate_source_group_id": "ms-5c1ed0b96c4b99d64dd9;ms-a9eb9fab62fb296d2cf3;ms-36112cc5608a9f625764;ms-63ac245579b1188935ad;ms-f413b168078609ed4fe4;ms-97343fa03fd05700c270", + "expert_regret": 1.9425444602966309, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-44b52b73161bb03c5a27", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9425444602966309, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05745553970336914, + "restore_error": 1.1920928955078125e-07, + "score": 0.05745553970336914, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9086807370185852, + "candidate_source_group_id": "ms-1ed36d926d5d640b4a04;ms-4aed1197d0906ae51c34;ms-f6cfaf92977f7b72aa24;ms-921a0cd2d5ef7e70229a;ms-9747840abee181e3e4cf;ms-a13e71cca2a60d77aed4", + "expert_regret": 1.8275595605373383, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1b50d8927c080cd97a79", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8275595605373383, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17244043946266174, + "restore_error": 1.1920928955078125e-07, + "score": 0.17244043946266174, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7428278923034668, + "candidate_source_group_id": "ms-f2a349cfaa6f7422237b;ms-a50b6ab3c59b1c953197;ms-9dd1ff4c297a81b13071;ms-71e32140ee4d77f3b275;ms-07b479748a91a9c92b20;ms-584219be39de32d776d4", + "expert_regret": 0.18682575225830078, + "expert_score": 0.78147292137146, + "expert_success": false, + "group_id": "ms-dd9b840c99c305ac1977", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.18682575225830078, + "oracle_score": 0.78147292137146, + "oracle_success": false, + "progress": 0.5946471691131592, + "restore_error": 1.1920928955078125e-07, + "score": 0.5946471691131592, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1715737134218216, + "candidate_source_group_id": "ms-d8cc5ba8ab1cd4a46519;ms-dd1eec30969c12ec89af;ms-3cdc09425d5b71524854;ms-9dd1ff4c297a81b13071;ms-f2a349cfaa6f7422237b;ms-71e32140ee4d77f3b275", + "expert_regret": 0.0, + "expert_score": 0.8544998168945312, + "expert_success": false, + "group_id": "ms-9f5d57fe2153fd267774", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1445806622505188, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8554193377494812, + "restore_error": 1.1920928955078125e-07, + "score": 0.8554193377494812, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.38970598578453064, + "candidate_source_group_id": "ms-f4579acd00ff9f578098;ms-bc99c1baec671e7f85a0;ms-b1b98e21cd4886f70563;ms-e1bce061511b584c5381;ms-f0fdcc26c648ce089746;ms-dab618f516ccc10f176e", + "expert_regret": 1.8207663297653198, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7bc1b098e6c696f6d4de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8207663297653198, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17923367023468018, + "restore_error": 1.1920928955078125e-07, + "score": 0.17923367023468018, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4288586676120758, + "candidate_source_group_id": "ms-4c788310cab7df5251e1;ms-dc26a7037003b94b9f93;ms-499d2429a00f3cc35add;ms-d8cc5ba8ab1cd4a46519;ms-511bcece89a5ea3b849e;ms-54f4d544f76358c09ee9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-96ebb8e6e71464ac9172", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0611531734466553, + "candidate_source_group_id": "ms-f4579acd00ff9f578098;ms-54f7cae3bd3cb84062d3;ms-b1b98e21cd4886f70563;ms-720c704eeac615b41763;ms-dab618f516ccc10f176e;ms-f0fdcc26c648ce089746", + "expert_regret": 1.4160655736923218, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10405f0fac390b29a04b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4160655736923218, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5839344263076782, + "restore_error": 1.1920928955078125e-07, + "score": 0.5839344263076782, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.3990243673324585, + "candidate_source_group_id": "ms-c72d626356a30cbef93b;ms-7d484dd14e9d001a07b1;ms-7d5da9bf431cb1294c82;ms-a601803235735bea0610;ms-b86c44375ba5328a1608;ms-804705b564058a7ac34c", + "expert_regret": 1.1819635033607483, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1e17eb687986f7c5bc22", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1819635033607483, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8180364966392517, + "restore_error": 1.1920928955078125e-07, + "score": 0.8180364966392517, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7306477427482605, + "candidate_source_group_id": "ms-242302c2a1e59588b319;ms-5902e6c4037ecda77a5f;ms-01f463a409e2ec0c6c3e;ms-b2b93411a16dbb5d4202;ms-13243cd92a78eba8c08b;ms-020ab0b7cfa5045f3fc7", + "expert_regret": 1.7853931784629822, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-60f5fff0649ceb50ab60", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7853931784629822, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21460682153701782, + "restore_error": 1.1920928955078125e-07, + "score": 0.21460682153701782, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.2800920009613037, + "candidate_source_group_id": "ms-8b45028168ed68ec8303;ms-01e08f0dcb4e2c030a79;ms-074bf4470a893ac7955a;ms-cc21e4000cabb2fad805;ms-49685adafe2cb8da301f;ms-64b4e29bb42bf0b35d4d", + "expert_regret": 1.9682593941688538, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9f80c93ae6940a427c83", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9682593941688538, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03174060583114624, + "restore_error": 1.1920928955078125e-07, + "score": 0.03174060583114624, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.2517664432525635, + "candidate_source_group_id": "ms-00e356a462bdc3380f4f;ms-ab72e600d0bfb162ea80;ms-cb752f1a3b24f95b34a2;ms-9b89af1761e33e733a56;ms-de304cefeb20dcc17ede;ms-4bbd30ae37fda61aa3c2", + "expert_regret": 1.9619759023189545, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f020e53a077d4e6bf383", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9619759023189545, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03802409768104553, + "restore_error": 1.1920928955078125e-07, + "score": 0.03802409768104553, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9499913454055786, + "candidate_source_group_id": "ms-eff3caf3c103c5232495;ms-cbc1fadecdd913c44ce5;ms-b75d7924ddc6f1056f17;ms-a4d692315fd15700e75b;ms-97343fa03fd05700c270;ms-3945306c3b05b122fa9b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-035231abc135f925e1cc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.684419572353363, + "candidate_source_group_id": "ms-180d0e0a6315a06a7021;ms-495b33a30a68ee055eef;ms-1cb54e3347c49dcdf28e;ms-94b9114b294d56e3f88a;ms-185c13ec401a35f393b7;ms-ab5acce4dba71f19d5ad", + "expert_regret": 1.858063206076622, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9c7464444eaec0fa07c0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.858063206076622, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.141936793923378, + "restore_error": 1.1920928955078125e-07, + "score": 0.141936793923378, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0439999103546143, + "candidate_source_group_id": "ms-19a3669e096e98232ec8;ms-d9e7096b437e7ce7cda8;ms-0cdb564903c69734321f;ms-63a1574267ccbdaf6cc2;ms-3451f857ec88eeb49c38;ms-552acc881ce2bbff59f8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-caa5773983c25018c3f8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6360889077186584, + "candidate_source_group_id": "ms-95028134c6e3670b89d5;ms-4734f618e638d42bae46;ms-7ab0027224139e5332d5;ms-42b26451056c6dd2150e;ms-741c227f6249d1c8c9f1;ms-15fc8cc6f74cf589056f", + "expert_regret": 1.9470374286174774, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4cab45c9b21452c1b523", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9470374286174774, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05296257138252258, + "restore_error": 1.1920928955078125e-07, + "score": 0.05296257138252258, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9442124366760254, + "candidate_source_group_id": "ms-3945306c3b05b122fa9b;ms-554f2960f25ff627b596;ms-49e1584a68d8f465e8e3;ms-88070bf04696eceac1e9;ms-9747840abee181e3e4cf;ms-68067370d3b20b9bd4e2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-63f384579c130870fde3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0030161142349243, + "candidate_source_group_id": "ms-4c788310cab7df5251e1;ms-499d2429a00f3cc35add;ms-ff4c9c58b742da7135da;ms-a2ee6034df65b51c4d97;ms-54f4d544f76358c09ee9;ms-dc26a7037003b94b9f93", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-141aab4472db1ecc0ea2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.27072274684906, + "candidate_source_group_id": "ms-479ebfcc567538b3b582;ms-cb752f1a3b24f95b34a2;ms-ab72e600d0bfb162ea80;ms-90777a893f2fff27728c;ms-1e25b12c832314a0b015;ms-0b1dd0e538b8df15a6e4", + "expert_regret": 1.9527317434549332, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-54b553c42a8d825beb38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9527317434549332, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.047268256545066833, + "restore_error": 1.1920928955078125e-07, + "score": 0.047268256545066833, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7459877133369446, + "candidate_source_group_id": "ms-110944a3259f0e310db9;ms-741c227f6249d1c8c9f1;ms-15fc8cc6f74cf589056f;ms-495b33a30a68ee055eef;ms-42b26451056c6dd2150e;ms-0fa473b2c94d12bc3945", + "expert_regret": 1.800697386264801, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3a5cf404fd30dd8a2f76", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.800697386264801, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19930261373519897, + "restore_error": 1.1920928955078125e-07, + "score": 0.19930261373519897, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9367693662643433, + "candidate_source_group_id": "ms-efdc07c985935d871adf;ms-be0ca7fa48a7ea391aa8;ms-1ed36d926d5d640b4a04;ms-d6b0d6d7c66509eb4543;ms-7e2762eb1b21b04fe873;ms-d648b2c7a7b42db45550", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-02cdd56290c7ab888393", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4991771876811981, + "candidate_source_group_id": "ms-ceb81989361d018a9e67;ms-720c704eeac615b41763;ms-f0fdcc26c648ce089746;ms-76c9576538106cb9d5db;ms-5d6aa86eb739a9ef05cf;ms-7f58527819036c01daa4", + "expert_regret": 0.0, + "expert_score": 0.8598829507827759, + "expert_success": false, + "group_id": "ms-fdf4af00031d452221d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.8598829507827759, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6754487156867981, + "candidate_source_group_id": "ms-666f00775d4c54be1282;ms-8b45028168ed68ec8303;ms-aa1da4bf5f94c6a74839;ms-01e08f0dcb4e2c030a79;ms-64b4e29bb42bf0b35d4d;ms-dd8ebc7d7211ece74e03", + "expert_regret": 1.9517653286457062, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-744cdc2b2570c3c26326", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9517653286457062, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04823467135429382, + "restore_error": 1.1920928955078125e-07, + "score": 0.04823467135429382, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9555285573005676, + "candidate_source_group_id": "ms-a9eb9fab62fb296d2cf3;ms-5c1ed0b96c4b99d64dd9;ms-36112cc5608a9f625764;ms-f413b168078609ed4fe4;ms-e7959111ef1429bcf699;ms-22457d523f50e99d7acb", + "expert_regret": 1.945484384894371, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ec57b5bc28a71d3aac0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.945484384894371, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05451561510562897, + "restore_error": 1.1920928955078125e-07, + "score": 0.05451561510562897, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7835640907287598, + "candidate_source_group_id": "ms-016c5de39ed3c111889a;ms-074bf4470a893ac7955a;ms-8b45028168ed68ec8303;ms-cc21e4000cabb2fad805;ms-49685adafe2cb8da301f;ms-01e08f0dcb4e2c030a79", + "expert_regret": 1.7992055714130402, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2c6ff8d807763f665bac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.7992055714130402, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20079442858695984, + "restore_error": 1.1920928955078125e-07, + "score": 0.20079442858695984, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8080173134803772, + "candidate_source_group_id": "ms-94b9114b294d56e3f88a;ms-1cb54e3347c49dcdf28e;ms-652234a929b7ed4d3b23;ms-4c5469e5b4af75482d89;ms-e0e2a425cce52e820a7e;ms-180d0e0a6315a06a7021", + "expert_regret": 1.871119111776352, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9ad3b276d9ccaf668d30", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.871119111776352, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.12888088822364807, + "restore_error": 1.1920928955078125e-07, + "score": 0.12888088822364807, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.25052377581596375, + "candidate_source_group_id": "ms-38ed02dacc133a888d3a;ms-ecc526493f8048cf4c56;ms-016c5de39ed3c111889a;ms-0c490961b934978e5b1c;ms-716586cf73f853a45bfd;ms-b6ce87522fcc35b563c7", + "expert_regret": 0.6758195012807846, + "expert_score": 0.8573464751243591, + "expert_success": false, + "group_id": "ms-146ff6c3f22b3a49af3a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.8184730261564255, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18152697384357452, + "restore_error": 1.1920928955078125e-07, + "score": 0.18152697384357452, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + } + ], + "seed": 1, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 193, + "retrieval_residual_residual_near_miss": 77, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 94, + "retrieval_residual_residual_no_op": 110, + "retrieval_residual_residual_wrong_gripper": 101 + }, + "selected_residual_scale_counts": { + "0.35": 317, + "0.4": 42, + "0.45": 216 + }, + "selection_margin": 0.0, + "selection_mode": "retrieval_residual", + "split": "validation_groups" +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_trainsplit800_oraclek4.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_trainsplit800_oraclek4.json new file mode 100644 index 0000000000000000000000000000000000000000..9db7c85f7bbbd4e7a4330b84ad2853d459746f1c --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_trainsplit800_oraclek4.json @@ -0,0 +1,74658 @@ +{ + "action_mse_to_best": 0.4246224538912065, + "backbone_model": null, + "backbone_type": "native", + "candidate_oracle_best_branch_rank": 1.73875, + "candidate_oracle_best_branch_rank_counts": { + "1": 511, + "2": 101, + "3": 74, + "4": 114 + }, + "candidate_oracle_branch_progress": [ + 0.610314543012064, + 0.5610639950935729, + 0.5558112276846078, + 0.5498537374695297 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.07300054810126312, + -0.06950331529020332, + -0.0854608056251891 + ], + "candidate_oracle_branch_scores": [ + 0.892814543012064, + 0.8198139950935729, + 0.8233112276846077, + 0.8073537374695298 + ], + "candidate_oracle_branch_success_rates": [ + 0.2825, + 0.25875, + 0.2675, + 0.2575 + ], + "candidate_oracle_improvement_rate": 0.36125, + "candidate_oracle_progress": 0.6433510158210993, + "candidate_oracle_regret": 0.9518253966234624, + "candidate_oracle_restore_max_error": 4.76837158203125e-07, + "candidate_oracle_rollouts": 4, + "candidate_oracle_score": 0.9808510158210992, + "candidate_oracle_score_gain_over_selected": 0.08803647208376787, + "candidate_oracle_selected_branch_progress": 0.610314543012064, + "candidate_oracle_selected_branch_success_rate": 0.2825, + "candidate_oracle_success_rate": 0.3375, + "candidate_oracle_type_counts": { + "retrieval_residual_policy_residual": 290, + "retrieval_residual_residual_near_miss": 109, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 98, + "retrieval_residual_residual_no_op": 143, + "retrieval_residual_residual_wrong_gripper": 160 + }, + "candidate_oracle_unique_count": 4.0, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_sigma": 0.0, + "candidate_type_bonus_components": false, + "candidate_type_bonuses": {}, + "candidate_type_bonuses_by_task": {}, + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_1/best_transport.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "expert_success_rate": 0.8925, + "field_optim_l2_penalty": 0.0, + "field_optim_step_size": 0.0, + "field_optim_steps": 0, + "field_optim_trust_radius": 0.0, + "field_rank_biases_by_task": {}, + "group_batch_size": 8, + "lattice_exclude_type_tasks": {}, + "lattice_exclude_types": [ + "residual_random_negative", + "residual_wrong_direction", + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper" + ], + "num_candidates": 48, + "num_groups": 800, + "objective": "lattice_field", + "observation_mode": "state", + "oracle_success_rate": 0.94, + "per_task": { + "LiftPegUpright-v1": { + "action_mse_to_best": 0.3821846330418066, + "candidate_oracle_best_branch_rank": 1.5478036175710594, + "candidate_oracle_best_branch_rank_counts": { + "1": 283, + "2": 36, + "3": 28, + "4": 40 + }, + "candidate_oracle_branch_progress": [ + 0.6336392715226772, + 0.5319991566491066, + 0.5238828587439633, + 0.5061098289813182 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.15073572191619133, + -0.1459321231034991, + -0.1817930084328319 + ], + "candidate_oracle_branch_scores": [ + 0.8868692456828839, + 0.7361335235741712, + 0.7409371223098548, + 0.7050762372500521 + ], + "candidate_oracle_branch_success_rates": [ + 0.2532299741602067, + 0.2041343669250646, + 0.21705426356589147, + 0.19896640826873385 + ], + "candidate_oracle_improvement_rate": 0.268733850129199, + "candidate_oracle_progress": 0.6592276846792655, + "candidate_oracle_regret": 0.9492822669889268, + "candidate_oracle_restore_max_error": 4.76837158203125e-07, + "candidate_oracle_score": 0.9744731627154412, + "candidate_oracle_score_gain_over_selected": 0.08760391603144564, + "candidate_oracle_selected_branch_progress": 0.6336392715226772, + "candidate_oracle_selected_branch_success_rate": 0.2532299741602067, + "candidate_oracle_success_rate": 0.3152454780361757, + "candidate_oracle_type_counts": { + "retrieval_residual_policy_residual": 233, + "retrieval_residual_residual_near_miss": 43, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 29, + "retrieval_residual_residual_no_op": 40, + "retrieval_residual_residual_wrong_gripper": 42 + }, + "candidate_oracle_unique_count": 4.0, + "expert_success_rate": 0.8449612403100775, + "num_groups": 387, + "oracle_success_rate": 0.9250645994832042, + "policy_expert_regret": 0.9512622104596722, + "policy_oracle_regret": 1.0337673149983704, + "policy_rollout_progress": 0.6367596258873779, + "policy_rollout_success_rate": 0.2532299741602067, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "action_mse_to_best": 0.4643886443723634, + "candidate_oracle_best_branch_rank": 1.917675544794189, + "candidate_oracle_best_branch_rank_counts": { + "1": 228, + "2": 65, + "3": 46, + "4": 74 + }, + "candidate_oracle_branch_progress": [ + 0.5884581993471552, + 0.5882990858393561, + 0.5857295782415796, + 0.5908437921546092 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00015911404223837517, + 0.002113993726129538, + 0.0048069001534011115 + ], + "candidate_oracle_branch_scores": [ + 0.8983855601219736, + 0.8982264466141745, + 0.9004995540285046, + 0.903192460435481 + ], + "candidate_oracle_branch_success_rates": [ + 0.3099273607748184, + 0.3099273607748184, + 0.31476997578692495, + 0.31234866828087166 + ], + "candidate_oracle_improvement_rate": 0.44794188861985473, + "candidate_oracle_progress": 0.6284738466973455, + "candidate_oracle_regret": 0.9542084260873009, + "candidate_oracle_restore_max_error": 4.76837158203125e-07, + "candidate_oracle_score": 0.9868273575932293, + "candidate_oracle_score_gain_over_selected": 0.08844179700446692, + "candidate_oracle_selected_branch_progress": 0.5884581993471552, + "candidate_oracle_selected_branch_success_rate": 0.3099273607748184, + "candidate_oracle_success_rate": 0.3583535108958838, + "candidate_oracle_type_counts": { + "retrieval_residual_policy_residual": 57, + "retrieval_residual_residual_near_miss": 66, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 69, + "retrieval_residual_residual_no_op": 103, + "retrieval_residual_residual_wrong_gripper": 118 + }, + "candidate_oracle_unique_count": 4.0, + "expert_success_rate": 0.937046004842615, + "num_groups": 413, + "oracle_success_rate": 0.9539951573849879, + "policy_expert_regret": 1.0187007562746688, + "policy_oracle_regret": 1.0356902609811531, + "policy_rollout_progress": 0.590575429723659, + "policy_rollout_success_rate": 0.31476997578692495, + "restore_max_error": 2.384185791015625e-07 + } + }, + "policy_expert_regret": 0.9860773597366642, + "policy_oracle_regret": 1.034760035861982, + "policy_rollout_progress": 0.612917034617858, + "policy_rollout_success_rate": 0.285, + "prepend_policy_candidate": false, + "proposal_lattice_types": [], + "proposal_types": [], + "restore_max_error": 2.384185791015625e-07, + "retrieval_metric": "raw", + "retrieval_neighbors": 6, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_anchor": "expert", + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_type_tasks": {}, + "retrieval_residual_challenger_types": [], + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_by_task": { + "*": 0.0, + "PickCube-v1": 0.01, + "StackCube-v1": 0.05 + }, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "rows": [ + { + "action_mse_to_best": 0.2946320176124573, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2775250971317291, + 0.2700604796409607, + 0.2687692940235138, + 0.2677900493144989 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.007464617490768433, + -0.008755803108215332, + -0.009735047817230225 + ], + "candidate_oracle_branch_scores": [ + 0.2775250971317291, + 0.2700604796409607, + 0.2687692940235138, + 0.2677900493144989 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.193867802619934, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.193867802619934, + -1.532218337059021, + -1.5695699453353882, + -1.6058002710342407 + ], + "candidate_oracle_progress": 0.2775250971317291, + "candidate_oracle_regret": 1.7224749028682709, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2775250971317291, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2775250971317291, + "candidate_oracle_selected_branch_score": 0.2775250971317291, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3a97ee208c6be9ed8b74;ms-cba95475cb68ea42b041;ms-fc3c8a3572fd96442723;ms-d602b7370c5b90f8a439;ms-8fabc0ac20ec87ead026;ms-0fe90299788e1f71f98a", + "expert_regret": 1.7234362363815308, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-52ea0261959dfacdbcac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7234362363815308, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.27656376361846924, + "restore_error": 1.1920928955078125e-07, + "score": 0.27656376361846924, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6871415376663208, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7833157777786255, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 8, + 17 + ], + "candidate_oracle_potentials": [ + 0.7833157777786255, + 0.7543579339981079, + 0.7070133686065674, + 0.634326159954071 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5799584ed40e211c50a5;ms-ed30f8fbb80b2cf46fbc;ms-96e1562aaca7ef49db28;ms-ed4f6388ae96f9da76fa;ms-957002faf092f769aa8e;ms-ea41340182245326a218", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4b3a296acc66a14476c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35498833656311035, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.2689610421657562, + 1.0, + 0.22771063446998596 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.7310389280319214, + 0.0, + -1.7722893953323364 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.2689610421657562, + 2.0, + 0.22771063446998596 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.2645712196826935, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.2645712196826935, + -0.933679461479187, + -1.1253567934036255, + -1.3239662647247314 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-caeb4c3d358f256799a8;ms-c1f3359c70d068a36081;ms-08dc71adea7d8efeb298;ms-9c33d4837de7d23232d6;ms-dd94921779f12b249579;ms-3661d65df223386f1be9", + "expert_regret": 1.2788026928901672, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-043a17d678e610264bb8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2788026928901672, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7211973071098328, + "restore_error": 1.1920928955078125e-07, + "score": 0.7211973071098328, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.06320846825838089, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5473864078521729, + 0.2020239531993866, + 0.20194487273693085, + 0.2051103413105011 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.34536245465278625, + -0.3454415202140808, + -0.34227606654167175 + ], + "candidate_oracle_branch_scores": [ + 0.5473864078521729, + 0.2020239531993866, + 0.20194487273693085, + 0.2051103413105011 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.620545506477356, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 3 + ], + "candidate_oracle_potentials": [ + -1.620545506477356, + -1.69950532913208, + -1.7066471576690674, + -1.7109929323196411 + ], + "candidate_oracle_progress": 0.5473864078521729, + "candidate_oracle_regret": 0.17468446493148804, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5473864078521729, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5473864078521729, + "candidate_oracle_selected_branch_score": 0.5473864078521729, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0660d5f65df5fc4b6132;ms-35c12c467fb8a54f89f0;ms-83c0299c23fa800452c7;ms-1bbd61ce613ae75c8bb0;ms-320d99264926ea029f95;ms-ec2e4afb34b439731136", + "expert_regret": 0.13647902011871338, + "expert_score": 0.7199013233184814, + "expert_success": false, + "group_id": "ms-cce5ef6cfa69a08a1e05", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.13864856958389282, + "oracle_score": 0.7220708727836609, + "oracle_success": false, + "progress": 0.5834223031997681, + "restore_error": 1.1920928955078125e-07, + "score": 0.5834223031997681, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2290608137845993, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6918131709098816, + 0.5890812873840332, + 0.5863476991653442, + 0.5679227709770203 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.10273188352584839, + -0.10546547174453735, + -0.12389039993286133 + ], + "candidate_oracle_branch_scores": [ + 0.6918131709098816, + 0.5890812873840332, + 0.5863476991653442, + 0.5679227709770203 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2268354892730713, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.2268354892730713, + -1.443021297454834, + -1.4679316282272339, + -1.4890340566635132 + ], + "candidate_oracle_progress": 0.6918131709098816, + "candidate_oracle_regret": 1.3081868290901184, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6918131709098816, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6918131709098816, + "candidate_oracle_selected_branch_score": 0.6918131709098816, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3f0c6556f6c7df39ec2d;ms-8fabc0ac20ec87ead026;ms-cba95475cb68ea42b041;ms-f5dcf9054c3c1c4e1d50;ms-0fe90299788e1f71f98a;ms-865f9d670f806778ae61", + "expert_regret": 1.308188259601593, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eeeff97e2c39be877cb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.308188259601593, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.691811740398407, + "restore_error": 1.1920928955078125e-07, + "score": 0.691811740398407, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.03312358632683754, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7075375318527222, + 0.6935395002365112, + 0.6870209574699402, + 0.6809577345848083 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.013998031616210938, + -0.020516574382781982, + -0.02657979726791382 + ], + "candidate_oracle_branch_scores": [ + 0.7075375318527222, + 0.6935395002365112, + 0.6870209574699402, + 0.6809577345848083 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.380001038312912, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.380001038312912, + -0.7658860087394714, + -0.8576704263687134, + -0.9561270475387573 + ], + "candidate_oracle_progress": 0.7075375318527222, + "candidate_oracle_regret": 1.2924624681472778, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7075375318527222, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7075375318527222, + "candidate_oracle_selected_branch_score": 0.7075375318527222, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b37738e210bf33a45a1d;ms-d30b515ab0ee174afa58;ms-6818a4edf6ef35dacfb0;ms-01ab68aa5051226638ee;ms-97c28a7584b35207bf84;ms-73906fdb1ffcfbe4aaf4", + "expert_regret": 0.016616344451904297, + "expert_score": 0.7233090400695801, + "expert_success": false, + "group_id": "ms-c663f7e73e7e8376a05c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2933073043823242, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7066926956176758, + "restore_error": 1.1920928955078125e-07, + "score": 0.7066926956176758, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5253369212150574, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.694445788860321, + 0.22152867913246155, + 0.3233673572540283, + 0.22162112593650818 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4729171097278595, + -0.3710784316062927, + -0.47282466292381287 + ], + "candidate_oracle_branch_scores": [ + 0.694445788860321, + 0.22152867913246155, + 0.3233673572540283, + 0.22162112593650818 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.06421959400177, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.06421959400177, + -1.4869580268859863, + -1.5337263345718384, + -1.5652228593826294 + ], + "candidate_oracle_progress": 0.694445788860321, + "candidate_oracle_regret": 1.305554211139679, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.694445788860321, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.694445788860321, + "candidate_oracle_selected_branch_score": 0.694445788860321, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02663903d88aa84c9c10;ms-483520829af0d733cb2a;ms-9756d07ed207e9ab1d53;ms-57dc9349b8f2c9c49105;ms-0d80d6d87a27a53951fe;ms-0fe7053483f72737eaec", + "expert_regret": 1.3055554628372192, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f1eb6805ec9b483bba41", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3055554628372192, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6944445371627808, + "restore_error": 1.1920928955078125e-07, + "score": 0.6944445371627808, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3641056716442108, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.31617170572280884, + 0.30386438965797424, + 0.26382800936698914, + 0.3013271689414978 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.012307316064834595, + -0.0523436963558197, + -0.014844536781311035 + ], + "candidate_oracle_branch_scores": [ + 0.31617170572280884, + 0.30386438965797424, + 0.26382800936698914, + 0.3013271689414978 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.03439462184906, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.03439462184906, + -1.5990172624588013, + -1.622957468032837, + -1.6901153326034546 + ], + "candidate_oracle_progress": 0.31617170572280884, + "candidate_oracle_regret": 1.6838282942771912, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.31617170572280884, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.31617170572280884, + "candidate_oracle_selected_branch_score": 0.31617170572280884, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fc3c8a3572fd96442723;ms-3a97ee208c6be9ed8b74;ms-ff012c1c8597c8db3cc7;ms-84264ef080ec4f3631df;ms-e825996818ee6f2f7d26;ms-28fe4b5a2888189c28d9", + "expert_regret": 1.683836966753006, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fc9b4c94b51f8b2a521b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.683836966753006, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.316163033246994, + "restore_error": 1.1920928955078125e-07, + "score": 0.316163033246994, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.016673769801855087, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2525840401649475, + 0.23415926098823547, + 0.23405948281288147, + 0.23042622208595276 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.018424779176712036, + -0.01852455735206604, + -0.02215781807899475 + ], + "candidate_oracle_branch_scores": [ + 0.2525840401649475, + 0.23415926098823547, + 0.23405948281288147, + 0.23042622208595276 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6918121576309204, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.6918121576309204, + -1.2677369117736816, + -1.3564666509628296, + -1.3587664365768433 + ], + "candidate_oracle_progress": 0.2525840401649475, + "candidate_oracle_regret": 0.47248655557632446, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.163011908531189e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2525840401649475, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2525840401649475, + "candidate_oracle_selected_branch_score": 0.2525840401649475, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bdb04ada069c35d51e2e;ms-9c33d4837de7d23232d6;ms-835bd462e505aa659d16;ms-3661d65df223386f1be9;ms-1b8e9b173562648021f6;ms-832f0e966173abd16c34", + "expert_regret": 0.4675176739692688, + "expert_score": 0.7201105356216431, + "expert_success": false, + "group_id": "ms-3e0dbff4309ecbd35d36", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.4724777340888977, + "oracle_score": 0.725070595741272, + "oracle_success": false, + "progress": 0.25259286165237427, + "restore_error": 2.384185791015625e-07, + "score": 0.25259286165237427, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.47281792759895325, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.36016231775283813, + 0.22197692096233368, + 0.28571510314941406, + 0.22132858633995056 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.13818539679050446, + -0.07444721460342407, + -0.13883373141288757 + ], + "candidate_oracle_branch_scores": [ + 0.36016231775283813, + 0.22197692096233368, + 0.28571510314941406, + 0.22132858633995056 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1405915021896362, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.1405915021896362, + -1.5533171892166138, + -1.574718952178955, + -1.6067745685577393 + ], + "candidate_oracle_progress": 0.36016231775283813, + "candidate_oracle_regret": 1.6398376822471619, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.163011908531189e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.36016231775283813, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.36016231775283813, + "candidate_oracle_selected_branch_score": 0.36016231775283813, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e8de8d619c0cf5fd633e;ms-57dc9349b8f2c9c49105;ms-50b9f93dd246400d20c8;ms-8b15f77ad3436ac282ba;ms-483520829af0d733cb2a;ms-c090bce47703a4c4bb0b", + "expert_regret": 1.6398946642875671, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-effca6c13ef9ccfd21a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6398946642875671, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.36010533571243286, + "restore_error": 2.384185791015625e-07, + "score": 0.36010533571243286, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4701123833656311, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.32879161834716797, + 0.31642264127731323, + 0.31163984537124634, + 0.30710330605506897 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.012368977069854736, + -0.01715177297592163, + -0.021688312292099 + ], + "candidate_oracle_branch_scores": [ + 0.32879161834716797, + 0.31642264127731323, + 0.31163984537124634, + 0.30710330605506897 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9392682313919067, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9392682313919067, + -1.3757762908935547, + -1.4603215456008911, + -1.5452009439468384 + ], + "candidate_oracle_progress": 0.32879161834716797, + "candidate_oracle_regret": 1.671208381652832, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.163011908531189e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.32879161834716797, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.32879161834716797, + "candidate_oracle_selected_branch_score": 0.32879161834716797, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-84264ef080ec4f3631df;ms-e56b37f0e3881a70ef54;ms-ff012c1c8597c8db3cc7;ms-e825996818ee6f2f7d26;ms-8c7bbc80458fce91a1ac;ms-fc3c8a3572fd96442723", + "expert_regret": 1.673442542552948, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2f2b16367db3db120235", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.673442542552948, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.326557457447052, + "restore_error": 2.384185791015625e-07, + "score": 0.326557457447052, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.294482946395874, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3802562654018402, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3802562654018402, + -1.0967776775360107, + -1.2481201887130737, + -1.3984967470169067 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.163011908531189e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-01ab68aa5051226638ee;ms-bdb04ada069c35d51e2e;ms-4dc9ab19fbe571f09699;ms-1b8e9b173562648021f6;ms-caeb4c3d358f256799a8;ms-835bd462e505aa659d16", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-457db124a2f46a06175b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.493540495634079, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.25443026423454285, + 0.22193394601345062, + 0.25341519713401794, + 0.25263702869415283 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.032496318221092224, + -0.0010150671005249023, + -0.0017932355403900146 + ], + "candidate_oracle_branch_scores": [ + 0.25443026423454285, + 0.22193394601345062, + 0.25341519713401794, + 0.25263702869415283 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2932454347610474, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.2932454347610474, + -1.6324996948242188, + -1.6894069910049438, + -1.6899058818817139 + ], + "candidate_oracle_progress": 0.25443026423454285, + "candidate_oracle_regret": 1.7455697357654572, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.163011908531189e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.25443026423454285, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.25443026423454285, + "candidate_oracle_selected_branch_score": 0.25443026423454285, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e56b37f0e3881a70ef54;ms-84264ef080ec4f3631df;ms-ff012c1c8597c8db3cc7;ms-e825996818ee6f2f7d26;ms-8c7bbc80458fce91a1ac;ms-35d84da6eb1afcf8a811", + "expert_regret": 1.7456758618354797, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1d728ae415a4d3cb782e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7456758618354797, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25432413816452026, + "restore_error": 2.384185791015625e-07, + "score": 0.25432413816452026, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36778831481933594, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.29586535692214966, + 0.2526642978191376, + 0.25259989500045776, + 0.2526032328605652 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.043201059103012085, + -0.043265461921691895, + -0.04326212406158447 + ], + "candidate_oracle_branch_scores": [ + 0.29586535692214966, + 0.2526642978191376, + 0.25259989500045776, + 0.2526032328605652 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.429554283618927, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.429554283618927, + -0.7197244763374329, + -0.760892391204834, + -0.7970598936080933 + ], + "candidate_oracle_progress": 0.29586535692214966, + "candidate_oracle_regret": 1.7041346430778503, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.163011908531189e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.29586535692214966, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.29586535692214966, + "candidate_oracle_selected_branch_score": 0.29586535692214966, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c3818c2c4474a784fc6b;ms-d26dc2146eb8ae9a5434;ms-dd94921779f12b249579;ms-295dab0e1d105e758827;ms-d3a7e3f163b142a3e56b;ms-078317e23cc56a9d719d", + "expert_regret": 1.701459288597107, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a20322ed13a2be7a99c6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.701459288597107, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.29854071140289307, + "restore_error": 2.384185791015625e-07, + "score": 0.29854071140289307, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4509100914001465, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.7095207571983337, + 0.7093517184257507, + 0.7097720503807068, + 0.28960856795310974 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0001690387725830078, + 0.0002512931823730469, + -0.419912189245224 + ], + "candidate_oracle_branch_scores": [ + 0.7095207571983337, + 0.7093517184257507, + 0.7097720503807068, + 0.28960856795310974 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.5133328437805176, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 17, + 1, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -0.501531720161438, + -0.5066515207290649, + -0.5133328437805176, + -0.5527661442756653 + ], + "candidate_oracle_progress": 0.7097720503807068, + "candidate_oracle_regret": 1.2902279496192932, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.163011908531189e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7097720503807068, + "candidate_oracle_score_gain_over_selected": 0.0002512931823730469, + "candidate_oracle_selected_branch_progress": 0.7095207571983337, + "candidate_oracle_selected_branch_score": 0.7095207571983337, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9a72e47e2204fa794718;ms-ec4accef21246e0c9213;ms-c76aba3db8d4ce0062bc;ms-b0302a41f75a827cd4e4;ms-b933fbfb7c8fa68a445f;ms-145f60d5fff285e7d05b", + "expert_regret": 1.7097196578979492, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a1a99e83fb2868164e40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.7097196578979492, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2902803421020508, + "restore_error": 2.384185791015625e-07, + "score": 0.2902803421020508, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.03568832576274872, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.682866096496582, + 0.34440702199935913, + 0.33422109484672546, + 0.3221549391746521 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.3384590744972229, + -0.34864500164985657, + -0.36071115732192993 + ], + "candidate_oracle_branch_scores": [ + 0.682866096496582, + 0.34440702199935913, + 0.33422109484672546, + 0.3221549391746521 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2813023328781128, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.2813023328781128, + -1.593540072441101, + -1.630698561668396, + -1.6631895303726196 + ], + "candidate_oracle_progress": 0.682866096496582, + "candidate_oracle_regret": 1.317133903503418, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.163011908531189e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.682866096496582, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.682866096496582, + "candidate_oracle_selected_branch_score": 0.682866096496582, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-851d25e7a1dde4242f33;ms-0a57aa04002f1b843856;ms-0d80d6d87a27a53951fe;ms-0fe7053483f72737eaec;ms-02663903d88aa84c9c10;ms-e2f90eb6c79dfd9ce6fd", + "expert_regret": 0.0369601845741272, + "expert_score": 0.7198216915130615, + "expert_success": false, + "group_id": "ms-b04b489f4fbad93b65ca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3171384930610657, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6828615069389343, + "restore_error": 2.384185791015625e-07, + "score": 0.6828615069389343, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42258480191230774, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3901280164718628, + 0.21079441905021667, + 0.21056511998176575, + 0.3253400921821594 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.17933359742164612, + -0.17956289649009705, + -0.06478792428970337 + ], + "candidate_oracle_branch_scores": [ + 0.3901280164718628, + 0.21079441905021667, + 0.21056511998176575, + 0.3253400921821594 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9313865303993225, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.9313865303993225, + -1.2679105997085571, + -1.330747127532959, + -1.38026762008667 + ], + "candidate_oracle_progress": 0.3901280164718628, + "candidate_oracle_regret": 1.6098719835281372, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3901280164718628, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3901280164718628, + "candidate_oracle_selected_branch_score": 0.3901280164718628, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-483520829af0d733cb2a;ms-02663903d88aa84c9c10;ms-6939f3ecafd5e0a4bfee;ms-9756d07ed207e9ab1d53;ms-57dc9349b8f2c9c49105;ms-d602b7370c5b90f8a439", + "expert_regret": 1.6098561882972717, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6d6456c45f9f3ae74b50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6098561882972717, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.39014381170272827, + "restore_error": 1.1920928955078125e-07, + "score": 0.39014381170272827, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4555787444114685, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5203849077224731, + 0.23137959837913513, + 0.2975676953792572, + 0.25258558988571167 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.289005309343338, + -0.22281721234321594, + -0.2677993178367615 + ], + "candidate_oracle_branch_scores": [ + 0.5203849077224731, + 0.23137959837913513, + 0.2975676953792572, + 0.25258558988571167 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.5434995889663696, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 1, + 19 + ], + "candidate_oracle_potentials": [ + -1.5434995889663696, + -1.7855678796768188, + -1.7872995138168335, + -1.7993454933166504 + ], + "candidate_oracle_progress": 0.5203849077224731, + "candidate_oracle_regret": 1.4796150922775269, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5203849077224731, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5203849077224731, + "candidate_oracle_selected_branch_score": 0.5203849077224731, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8b15f77ad3436ac282ba;ms-524ae7618ed9b6a272ae;ms-50b9f93dd246400d20c8;ms-01926c30568d417edd91;ms-cf2603516869355b8b13;ms-57dc9349b8f2c9c49105", + "expert_regret": 1.4800057411193848, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1955408aeb8a8a4d0847", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4800057411193848, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5199942588806152, + "restore_error": 1.1920928955078125e-07, + "score": 0.5199942588806152, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4162454605102539, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.19908004999160767, + 0.20980331301689148, + 0.20932112634181976, + 0.20874600112438202 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.010723263025283813, + 0.010241076350212097, + 0.009665951132774353 + ], + "candidate_oracle_branch_scores": [ + 0.19908004999160767, + 0.20980331301689148, + 0.20932112634181976, + 0.20874600112438202 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.6158612966537476, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.4532288312911987, + -1.6158612966537476, + -1.6169565916061401, + -1.617555022239685 + ], + "candidate_oracle_progress": 0.20980331301689148, + "candidate_oracle_regret": 1.7901966869831085, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20980331301689148, + "candidate_oracle_score_gain_over_selected": 0.010723263025283813, + "candidate_oracle_selected_branch_progress": 0.19908004999160767, + "candidate_oracle_selected_branch_score": 0.19908004999160767, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-320d99264926ea029f95;ms-e7573c5d29c3a1a3f228;ms-1bbd61ce613ae75c8bb0;ms-83c0299c23fa800452c7;ms-ec2e4afb34b439731136;ms-efb5a07185a3a1b33226", + "expert_regret": 1.8009377270936966, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-30e2d8b7825053276e0c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8009377270936966, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1990622729063034, + "restore_error": 1.1920928955078125e-07, + "score": 0.1990622729063034, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3156534731388092, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3914496600627899, + 0.3773907423019409, + 0.31564781069755554, + 0.375166118144989 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.014058917760848999, + -0.07580184936523438, + -0.016283541917800903 + ], + "candidate_oracle_branch_scores": [ + 0.3914496600627899, + 0.3773907423019409, + 0.31564781069755554, + 0.375166118144989 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9457365274429321, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.9457365274429321, + -1.4023256301879883, + -1.452193260192871, + -1.4797106981277466 + ], + "candidate_oracle_progress": 0.3914496600627899, + "candidate_oracle_regret": 1.60855033993721, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3914496600627899, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3914496600627899, + "candidate_oracle_selected_branch_score": 0.3914496600627899, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fc3c8a3572fd96442723;ms-3a97ee208c6be9ed8b74;ms-d602b7370c5b90f8a439;ms-cba95475cb68ea42b041;ms-28fe4b5a2888189c28d9;ms-ff012c1c8597c8db3cc7", + "expert_regret": 1.6085264682769775, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b025d8068f740557d630", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6085264682769775, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.39147353172302246, + "restore_error": 1.1920928955078125e-07, + "score": 0.39147353172302246, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4118823707103729, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3158227801322937, + 0.2585022747516632, + 0.2549116611480713, + 0.25260186195373535 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.05732050538063049, + -0.06091111898422241, + -0.06322091817855835 + ], + "candidate_oracle_branch_scores": [ + 0.3158227801322937, + 0.2585022747516632, + 0.2549116611480713, + 0.25260186195373535 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5819332003593445, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5819332003593445, + -1.0731221437454224, + -1.1317943334579468, + -1.1817265748977661 + ], + "candidate_oracle_progress": 0.3158227801322937, + "candidate_oracle_regret": 1.6841772198677063, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3158227801322937, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3158227801322937, + "candidate_oracle_selected_branch_score": 0.3158227801322937, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1b8e9b173562648021f6;ms-3661d65df223386f1be9;ms-c871c1157a16e19e6150;ms-29027a8e3742362fd477;ms-caeb4c3d358f256799a8;ms-4dc9ab19fbe571f09699", + "expert_regret": 1.6823585033416748, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c638b9bb924547f69cb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6823585033416748, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3176414966583252, + "restore_error": 1.1920928955078125e-07, + "score": 0.3176414966583252, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48790794610977173, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.20534712076187134, + 0.20608900487422943, + 0.20582854747772217, + 0.20546387135982513 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0007418841123580933, + 0.0004814267158508301, + 0.00011675059795379639 + ], + "candidate_oracle_branch_scores": [ + 0.20534712076187134, + 0.20608900487422943, + 0.20582854747772217, + 0.20546387135982513 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.7922377586364746, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.607916235923767, + -1.7922377586364746, + -1.7970176935195923, + -1.8003953695297241 + ], + "candidate_oracle_progress": 0.20608900487422943, + "candidate_oracle_regret": 1.7939109951257706, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20608900487422943, + "candidate_oracle_score_gain_over_selected": 0.0007418841123580933, + "candidate_oracle_selected_branch_progress": 0.20534712076187134, + "candidate_oracle_selected_branch_score": 0.20534712076187134, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ec2e4afb34b439731136;ms-33a0bdb4bcee42c79a2b;ms-320d99264926ea029f95;ms-36d1128e3bd512cffe18;ms-e7573c5d29c3a1a3f228;ms-0660d5f65df5fc4b6132", + "expert_regret": 1.7946528792381287, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c2b904f450b45e2a8c9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7946528792381287, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20534712076187134, + "restore_error": 1.1920928955078125e-07, + "score": 0.20534712076187134, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34036785364151, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7020723819732666, + 0.6753455400466919, + 0.5983290672302246 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2979276180267334, + -1.324654459953308, + -1.4016709327697754 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7020723819732666, + 0.6753455400466919, + 0.5983290672302246 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.33250898122787476, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.33250898122787476, + -0.598598837852478, + -0.6474368572235107, + -0.6936302185058594 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d26dc2146eb8ae9a5434;ms-c3818c2c4474a784fc6b;ms-dd94921779f12b249579;ms-295dab0e1d105e758827;ms-078317e23cc56a9d719d;ms-d3a7e3f163b142a3e56b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ef5d3238b33bdebae4d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.47976043820381165, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7193814516067505, + 0.7164252996444702, + 0.7195550799369812, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0029561519622802734, + 0.0001736283302307129, + 1.2806185483932495 + ], + "candidate_oracle_branch_scores": [ + 0.7193814516067505, + 0.7164252996444702, + 0.7195550799369812, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5246689915657043, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 17, + 1, + 33, + 24 + ], + "candidate_oracle_potentials": [ + -0.4549655318260193, + -0.46012449264526367, + -0.47104060649871826, + -0.5246689915657043 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2806185483932495, + "candidate_oracle_selected_branch_progress": 0.7193814516067505, + "candidate_oracle_selected_branch_score": 0.7193814516067505, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b933fbfb7c8fa68a445f;ms-6a4398375c43dbf887b1;ms-9a72e47e2204fa794718;ms-59474486dd5cb4e5bfd5;ms-6e2b02ee71a4a44bc325;ms-145f60d5fff285e7d05b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-aee5716b3e4fc47e46ba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31069985032081604, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.35732555389404297, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.35732555389404297, + -1.0493886470794678, + -1.196175456047058, + -1.3431304693222046 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4dc9ab19fbe571f09699;ms-bdb04ada069c35d51e2e;ms-01ab68aa5051226638ee;ms-1b8e9b173562648021f6;ms-caeb4c3d358f256799a8;ms-3661d65df223386f1be9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b4281a37b8b48a0b4c54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6437853574752808, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.8368262052536011, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 33 + ], + "candidate_oracle_potentials": [ + 0.8368262052536011, + 0.8301136493682861, + 0.773648738861084, + 0.5038499236106873 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b8956f04f70d6eeecb07;ms-dd32ce9859c365c535b4;ms-f601aab1d8f7e4f1b97f;ms-8864796e31bbe93d7c5d;ms-9551db96b60a51ccf62a;ms-938b53ef53e669518a56", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4abb3dced67d5a70fa38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.036895934492349625, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5863023996353149, + 0.5114831328392029, + 0.3036009669303894, + 0.49463456869125366 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.07481926679611206, + -0.28270143270492554, + -0.09166783094406128 + ], + "candidate_oracle_branch_scores": [ + 0.5863023996353149, + 0.5114831328392029, + 0.3036009669303894, + 0.49463456869125366 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9713159799575806, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.9713159799575806, + -1.4290428161621094, + -1.4678544998168945, + -1.5151599645614624 + ], + "candidate_oracle_progress": 0.5863023996353149, + "candidate_oracle_regret": 1.413697600364685, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5863023996353149, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5863023996353149, + "candidate_oracle_selected_branch_score": 0.5863023996353149, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6939f3ecafd5e0a4bfee;ms-d602b7370c5b90f8a439;ms-483520829af0d733cb2a;ms-9756d07ed207e9ab1d53;ms-02663903d88aa84c9c10;ms-0fe90299788e1f71f98a", + "expert_regret": 0.13807380199432373, + "expert_score": 0.7242962718009949, + "expert_success": false, + "group_id": "ms-484ea653bbca2de3a4a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4137775301933289, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5862224698066711, + "restore_error": 1.1920928955078125e-07, + "score": 0.5862224698066711, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41419026255607605, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7294601202011108, + 1.0, + 0.33710354566574097, + 0.2898847162723541 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2705398797988892, + -0.3923565745353699, + -0.4395754039287567 + ], + "candidate_oracle_branch_scores": [ + 0.7294601202011108, + 2.0, + 0.33710354566574097, + 0.2898847162723541 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3890663385391235, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.8895971775054932, + -1.3890663385391235, + -1.3966926336288452, + -1.4621495008468628 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2705398797988892, + "candidate_oracle_selected_branch_progress": 0.7294601202011108, + "candidate_oracle_selected_branch_score": 0.7294601202011108, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02663903d88aa84c9c10;ms-0d80d6d87a27a53951fe;ms-524ae7618ed9b6a272ae;ms-57dc9349b8f2c9c49105;ms-483520829af0d733cb2a;ms-e2f90eb6c79dfd9ce6fd", + "expert_regret": 1.2705585956573486, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ace117030ae44c474db1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2705585956573486, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7294414043426514, + "restore_error": 1.1920928955078125e-07, + "score": 0.7294414043426514, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3492595851421356, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.7145334482192993, + 0.44653743505477905, + 1.0, + 0.3759925365447998 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.26799601316452026, + 1.2854665517807007, + -0.3385409116744995 + ], + "candidate_oracle_branch_scores": [ + 0.7145334482192993, + 0.44653743505477905, + 2.0, + 0.3759925365447998 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.4366129636764526, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -0.9421291351318359, + -1.4088813066482544, + -1.4366129636764526, + -1.4616690874099731 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2854665517807007, + "candidate_oracle_selected_branch_progress": 0.7145334482192993, + "candidate_oracle_selected_branch_score": 0.7145334482192993, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-865f9d670f806778ae61;ms-0fe90299788e1f71f98a;ms-c090bce47703a4c4bb0b;ms-e8de8d619c0cf5fd633e;ms-57dc9349b8f2c9c49105;ms-483520829af0d733cb2a", + "expert_regret": 1.2855304479599, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-88f7199271947fc4c7e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2855304479599, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7144695520401001, + "restore_error": 1.1920928955078125e-07, + "score": 0.7144695520401001, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.562407374382019, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7057508826255798, + 0.27662259340286255, + 0.22239863872528076, + 0.21882371604442596 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4291282892227173, + -0.4833522439002991, + -0.4869271516799927 + ], + "candidate_oracle_branch_scores": [ + 0.7057508826255798, + 0.27662259340286255, + 0.22239863872528076, + 0.21882371604442596 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1248583793640137, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -1.1248583793640137, + -1.4935933351516724, + -1.540744423866272, + -1.5564621686935425 + ], + "candidate_oracle_progress": 0.7057508826255798, + "candidate_oracle_regret": 1.2942491173744202, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7057508826255798, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7057508826255798, + "candidate_oracle_selected_branch_score": 0.7057508826255798, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-483520829af0d733cb2a;ms-02663903d88aa84c9c10;ms-57dc9349b8f2c9c49105;ms-524ae7618ed9b6a272ae;ms-9756d07ed207e9ab1d53;ms-01926c30568d417edd91", + "expert_regret": 1.2942491173744202, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-639913ac0e6b3997faae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2942491173744202, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7057508826255798, + "restore_error": 1.1920928955078125e-07, + "score": 0.7057508826255798, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4942774176597595, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.43941426277160645, + 0.3537641763687134, + 0.4528087079524994, + 0.3432299494743347 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.08565008640289307, + 0.013394445180892944, + -0.09618431329727173 + ], + "candidate_oracle_branch_scores": [ + 0.43941426277160645, + 0.3537641763687134, + 0.4528087079524994, + 0.3432299494743347 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.604361891746521, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -0.9554996490478516, + -1.5640164613723755, + -1.604361891746521, + -1.6181086301803589 + ], + "candidate_oracle_progress": 0.4528087079524994, + "candidate_oracle_regret": 1.5471912920475006, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4528087079524994, + "candidate_oracle_score_gain_over_selected": 0.013394445180892944, + "candidate_oracle_selected_branch_progress": 0.43941426277160645, + "candidate_oracle_selected_branch_score": 0.43941426277160645, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0a57aa04002f1b843856;ms-0d80d6d87a27a53951fe;ms-851d25e7a1dde4242f33;ms-02663903d88aa84c9c10;ms-0fe7053483f72737eaec;ms-9756d07ed207e9ab1d53", + "expert_regret": 1.560576617717743, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1a2d298bf9972ddc1a7e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.560576617717743, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4394233822822571, + "restore_error": 1.1920928955078125e-07, + "score": 0.4394233822822571, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4330361783504486, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3797285556793213, + 0.309744656085968, + 0.30125558376312256, + 0.29228833317756653 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.06998389959335327, + -0.07847297191619873, + -0.08744022250175476 + ], + "candidate_oracle_branch_scores": [ + 0.3797285556793213, + 0.309744656085968, + 0.30125558376312256, + 0.29228833317756653 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.4282019138336182, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.4282019138336182, + -1.6217052936553955, + -1.6380283832550049, + -1.6539078950881958 + ], + "candidate_oracle_progress": 0.3797285556793213, + "candidate_oracle_regret": 1.6202714443206787, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3797285556793213, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3797285556793213, + "candidate_oracle_selected_branch_score": 0.3797285556793213, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-524ae7618ed9b6a272ae;ms-50b9f93dd246400d20c8;ms-8b15f77ad3436ac282ba;ms-57dc9349b8f2c9c49105;ms-01926c30568d417edd91;ms-cf2603516869355b8b13", + "expert_regret": 1.6202587187290192, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b687dc2de14c6813d44", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6202587187290192, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.37974128127098083, + "restore_error": 1.1920928955078125e-07, + "score": 0.37974128127098083, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.0221917275339365, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7102923393249512, + 0.508622944355011, + 0.4987834692001343, + 0.5300314426422119 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.20166939496994019, + -0.2115088701248169, + -0.18026089668273926 + ], + "candidate_oracle_branch_scores": [ + 0.7102923393249512, + 0.508622944355011, + 0.4987834692001343, + 0.5300314426422119 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7442848682403564, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7442848682403564, + -1.0453951358795166, + -1.1246205568313599, + -1.212196707725525 + ], + "candidate_oracle_progress": 0.7102923393249512, + "candidate_oracle_regret": 1.2897076606750488, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7102923393249512, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7102923393249512, + "candidate_oracle_selected_branch_score": 0.7102923393249512, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6939f3ecafd5e0a4bfee;ms-02663903d88aa84c9c10;ms-483520829af0d733cb2a;ms-9756d07ed207e9ab1d53;ms-57dc9349b8f2c9c49105;ms-d602b7370c5b90f8a439", + "expert_regret": 0.017337560653686523, + "expert_score": 0.7276846170425415, + "expert_success": false, + "group_id": "ms-df961fe24a43e56d1716", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.289652943611145, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.710347056388855, + "restore_error": 1.1920928955078125e-07, + "score": 0.710347056388855, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.359069287776947, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.5836267471313477, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 40 + ], + "candidate_oracle_potentials": [ + 0.5836267471313477, + 0.556846022605896, + 0.5010653138160706, + 0.481261670589447 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8864796e31bbe93d7c5d;ms-938b53ef53e669518a56;ms-dd32ce9859c365c535b4;ms-487d0fe2a13fb699dd7a;ms-067e0fe46e4e9483e2a1;ms-14dabc3ac1e1a339ebe4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a323215fb409ab3e9287", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.33356139063835144, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.21226832270622253, + 0.21251200139522552, + 0.2125643789768219, + 0.2095928192138672 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00024367868900299072, + 0.00029605627059936523, + -0.0026755034923553467 + ], + "candidate_oracle_branch_scores": [ + 0.21226832270622253, + 0.21251200139522552, + 0.2125643789768219, + 0.2095928192138672 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.5801382064819336, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + -1.4610666036605835, + -1.5185712575912476, + -1.5801382064819336, + -1.5817853212356567 + ], + "candidate_oracle_progress": 0.2125643789768219, + "candidate_oracle_regret": 0.5126790702342987, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2125643789768219, + "candidate_oracle_score_gain_over_selected": 0.00029605627059936523, + "candidate_oracle_selected_branch_progress": 0.21226832270622253, + "candidate_oracle_selected_branch_score": 0.21226832270622253, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-efb5a07185a3a1b33226;ms-288ce929957d627c569c;ms-0a8109ce7ab2ddc1bb1e;ms-a103dfbc0567d05ade6e;ms-35c12c467fb8a54f89f0;ms-1bbd61ce613ae75c8bb0", + "expert_regret": 0.5091670751571655, + "expert_score": 0.7214354276657104, + "expert_success": false, + "group_id": "ms-e2a037eadb166228b1dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5129750967025757, + "oracle_score": 0.7252434492111206, + "oracle_success": false, + "progress": 0.21226835250854492, + "restore_error": 1.1920928955078125e-07, + "score": 0.21226835250854492, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5755147337913513, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.48236215114593506, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 40, + 8, + 17 + ], + "candidate_oracle_potentials": [ + 0.48236215114593506, + 0.47539541125297546, + 0.46115684509277344, + 0.44173315167427063 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ed30f8fbb80b2cf46fbc;ms-96e1562aaca7ef49db28;ms-ea41340182245326a218;ms-5799584ed40e211c50a5;ms-957002faf092f769aa8e;ms-145f60d5fff285e7d05b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ef2d84500e27679d22d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5850022435188293, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7239412665367126, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 33, + 17 + ], + "candidate_oracle_potentials": [ + 0.7239412665367126, + 0.6823277473449707, + 0.6568160653114319, + 0.6337125301361084 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-ed30f8fbb80b2cf46fbc;ms-5799584ed40e211c50a5;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-59474486dd5cb4e5bfd5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a1b60ea1461eb460bed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.385431706905365, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.34062856435775757, + 0.34659343957901, + 0.22367537021636963, + 0.22043029963970184 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.005964875221252441, + -0.11695319414138794, + -0.12019826471805573 + ], + "candidate_oracle_branch_scores": [ + 0.34062856435775757, + 0.34659343957901, + 0.22367537021636963, + 0.22043029963970184 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2760014533996582, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8371906876564026, + -1.2760014533996582, + -1.339182734489441, + -1.399039626121521 + ], + "candidate_oracle_progress": 0.34659343957901, + "candidate_oracle_regret": 1.65340656042099, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.34659343957901, + "candidate_oracle_score_gain_over_selected": 0.005964875221252441, + "candidate_oracle_selected_branch_progress": 0.34062856435775757, + "candidate_oracle_selected_branch_score": 0.34062856435775757, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0fe90299788e1f71f98a;ms-d602b7370c5b90f8a439;ms-e8de8d619c0cf5fd633e;ms-483520829af0d733cb2a;ms-865f9d670f806778ae61;ms-c090bce47703a4c4bb0b", + "expert_regret": 1.6593714356422424, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-894cd0e5dafb2d38831d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6593714356422424, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.34062856435775757, + "restore_error": 1.1920928955078125e-07, + "score": 0.34062856435775757, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4068997800350189, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7168981432914734, + 0.7111110687255859, + 0.7103886604309082 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2831017971038818, + -1.288888931274414, + -1.2896113395690918 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7168981432914734, + 0.7111110687255859, + 0.7103886604309082 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6971145272254944, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6971145272254944, + -1.0793483257293701, + -1.173554539680481, + -1.2726788520812988 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-35d84da6eb1afcf8a811;ms-e56b37f0e3881a70ef54;ms-ff012c1c8597c8db3cc7;ms-84264ef080ec4f3631df;ms-fc3c8a3572fd96442723;ms-d799435b5f6b8fae2ffb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8be46dac6fc06c6c928a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1992248147726059, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.6099928617477417, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.3900071382522583, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.6099928617477417, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.1716775745153427, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 8, + 33 + ], + "candidate_oracle_potentials": [ + 0.1716775745153427, + 0.1411239206790924, + 0.09098757803440094, + 0.04645771160721779 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-487d0fe2a13fb699dd7a;ms-2436538e05fdcf8e44fc;ms-067e0fe46e4e9483e2a1;ms-14dabc3ac1e1a339ebe4;ms-938b53ef53e669518a56;ms-34f60c9a263bd0a5641f", + "expert_regret": 0.0, + "expert_score": 0.6740819811820984, + "expert_success": false, + "group_id": "ms-dfc38c43e9a87f99ef7f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.44503799080848694, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.6286281943321228, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 0, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.6286281943321228, + -0.6534285545349121, + -0.6663351058959961, + -0.7314388155937195 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4a86d570dabb0916f020;ms-832f0e966173abd16c34;ms-ec4accef21246e0c9213;ms-b0302a41f75a827cd4e4;ms-c76aba3db8d4ce0062bc;ms-ad7b7d5d7fb25961859f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7334e620435d1f3545fd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5387880206108093, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.44670790433883667, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 17, + 1, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -0.44670790433883667, + -0.4497954845428467, + -0.46190595626831055, + -0.49409669637680054 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-59474486dd5cb4e5bfd5;ms-6a4398375c43dbf887b1;ms-6e2b02ee71a4a44bc325;ms-145f60d5fff285e7d05b;ms-b933fbfb7c8fa68a445f;ms-9a72e47e2204fa794718", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d3377ca0da444ae9b40a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.20177637040615082, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4234708547592163, + 0.253062903881073, + 0.2531851828098297, + 0.2525950074195862 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1704079508781433, + -0.1702856719493866, + -0.17087584733963013 + ], + "candidate_oracle_branch_scores": [ + 0.4234708547592163, + 0.253062903881073, + 0.2531851828098297, + 0.2525950074195862 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0997401475906372, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 35 + ], + "candidate_oracle_potentials": [ + -1.0997401475906372, + -1.7038946151733398, + -1.7344626188278198, + -1.752808928489685 + ], + "candidate_oracle_progress": 0.4234708547592163, + "candidate_oracle_regret": 1.5765291452407837, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4234708547592163, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4234708547592163, + "candidate_oracle_selected_branch_score": 0.4234708547592163, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d3a7e3f163b142a3e56b;ms-078317e23cc56a9d719d;ms-dd94921779f12b249579;ms-d26dc2146eb8ae9a5434;ms-38758efd8620a312267d;ms-c3818c2c4474a784fc6b", + "expert_regret": 1.5351924300193787, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-760c73ea34418ce7a006", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5351924300193787, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.46480756998062134, + "restore_error": 1.1920928955078125e-07, + "score": 0.46480756998062134, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.18358352780342102, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.25956958532333374, + 0.22507160902023315, + 0.25260043144226074, + 0.2259933054447174 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.034497976303100586, + -0.006969153881072998, + -0.03357627987861633 + ], + "candidate_oracle_branch_scores": [ + 0.25956958532333374, + 0.22507160902023315, + 0.25260043144226074, + 0.2259933054447174 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1489598751068115, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 40, + 4, + 24 + ], + "candidate_oracle_potentials": [ + -1.1489598751068115, + -1.5101667642593384, + -1.5409479141235352, + -1.5419193506240845 + ], + "candidate_oracle_progress": 0.25956958532333374, + "candidate_oracle_regret": 1.7404304146766663, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.25956958532333374, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.25956958532333374, + "candidate_oracle_selected_branch_score": 0.25956958532333374, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d30b515ab0ee174afa58;ms-97c28a7584b35207bf84;ms-6c7f34ae8218aa0952c8;ms-01ab68aa5051226638ee;ms-a5a56eefeb2de0abe600;ms-c871c1157a16e19e6150", + "expert_regret": 1.739021748304367, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-32943eea3e70cd02f313", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.739021748304367, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.26097825169563293, + "restore_error": 1.1920928955078125e-07, + "score": 0.26097825169563293, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.329941064119339, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.507585883140564, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 3 + ], + "candidate_oracle_potentials": [ + -0.507585883140564, + -0.689978837966919, + -0.7467596530914307, + -0.754574179649353 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-059d7962a5f998edf668;ms-2436538e05fdcf8e44fc;ms-34f60c9a263bd0a5641f;ms-067e0fe46e4e9483e2a1;ms-fe790caba27d92511f71;ms-487d0fe2a13fb699dd7a", + "expert_regret": 1.2890753746032715, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-26322bd4de52dbd5743c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2890753746032715, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7109246253967285, + "restore_error": 1.1920928955078125e-07, + "score": 0.7109246253967285, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39586538076400757, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.39988648891448975, + 0.25924253463745117, + 0.2565866708755493, + 0.25343000888824463 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.14064395427703857, + -0.14329981803894043, + -0.14645648002624512 + ], + "candidate_oracle_branch_scores": [ + 0.39988648891448975, + 0.25924253463745117, + 0.2565866708755493, + 0.25343000888824463 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.36591291427612305, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.36591291427612305, + -0.6405972838401794, + -0.68806391954422, + -0.7326377630233765 + ], + "candidate_oracle_progress": 0.39988648891448975, + "candidate_oracle_regret": 1.6001135110855103, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.39988648891448975, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.39988648891448975, + "candidate_oracle_selected_branch_score": 0.39988648891448975, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d26dc2146eb8ae9a5434;ms-c3818c2c4474a784fc6b;ms-dd94921779f12b249579;ms-295dab0e1d105e758827;ms-d3a7e3f163b142a3e56b;ms-078317e23cc56a9d719d", + "expert_regret": 1.5946879982948303, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8556e974064f31ae1468", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5946879982948303, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4053120017051697, + "restore_error": 1.1920928955078125e-07, + "score": 0.4053120017051697, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7096474766731262, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2230796068906784, + 0.21961550414562225, + 0.22023598849773407, + 0.22039884328842163 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0034641027450561523, + -0.002843618392944336, + -0.002680763602256775 + ], + "candidate_oracle_branch_scores": [ + 0.2230796068906784, + 0.21961550414562225, + 0.22023598849773407, + 0.22039884328842163 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2678313255310059, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.2678313255310059, + -1.5990835428237915, + -1.6454142332077026, + -1.678604006767273 + ], + "candidate_oracle_progress": 0.2230796068906784, + "candidate_oracle_regret": 1.7769203931093216, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2230796068906784, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2230796068906784, + "candidate_oracle_selected_branch_score": 0.2230796068906784, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-483520829af0d733cb2a;ms-57dc9349b8f2c9c49105;ms-02663903d88aa84c9c10;ms-524ae7618ed9b6a272ae;ms-01926c30568d417edd91;ms-50b9f93dd246400d20c8", + "expert_regret": 1.7769233286380768, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b00933d2f628bc51d80a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7769233286380768, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22307667136192322, + "restore_error": 1.1920928955078125e-07, + "score": 0.22307667136192322, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.601725697517395, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.35862764716148376, + 0.23181498050689697, + 0.22973977029323578, + 0.2953615188598633 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1268126666545868, + -0.12888787686824799, + -0.06326612830162048 + ], + "candidate_oracle_branch_scores": [ + 0.35862764716148376, + 0.23181498050689697, + 0.22973977029323578, + 0.2953615188598633 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3742889165878296, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 1 + ], + "candidate_oracle_potentials": [ + -1.3742889165878296, + -1.4752789735794067, + -1.5091835260391235, + -1.546033263206482 + ], + "candidate_oracle_progress": 0.35862764716148376, + "candidate_oracle_regret": 1.6413723528385162, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.35862764716148376, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.35862764716148376, + "candidate_oracle_selected_branch_score": 0.35862764716148376, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-851d25e7a1dde4242f33;ms-0a57aa04002f1b843856;ms-0d80d6d87a27a53951fe;ms-0fe7053483f72737eaec;ms-02663903d88aa84c9c10;ms-9756d07ed207e9ab1d53", + "expert_regret": 1.6412802040576935, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf44ae14778c60c36af0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6412802040576935, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3587197959423065, + "restore_error": 1.1920928955078125e-07, + "score": 0.3587197959423065, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.17122933268547058, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.6953670978546143, + 0.6967846751213074, + 0.6980949640274048, + 0.23521721363067627 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0014175772666931152, + 0.0027278661727905273, + -0.460149884223938 + ], + "candidate_oracle_branch_scores": [ + 0.6953670978546143, + 0.6967846751213074, + 0.6980949640274048, + 0.23521721363067627 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.08476202934980392, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 40 + ], + "candidate_oracle_potentials": [ + 0.2131851315498352, + 0.15728911757469177, + 0.08476202934980392, + -0.017318420112133026 + ], + "candidate_oracle_progress": 0.6980949640274048, + "candidate_oracle_regret": 0.024624347686767578, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6980949640274048, + "candidate_oracle_score_gain_over_selected": 0.0027278661727905273, + "candidate_oracle_selected_branch_progress": 0.6953670978546143, + "candidate_oracle_selected_branch_score": 0.6953670978546143, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3d862f2a32d3404926c3;ms-96e1562aaca7ef49db28;ms-ed30f8fbb80b2cf46fbc;ms-145f60d5fff285e7d05b;ms-cc5f2a24e2571cb23050;ms-ea41340182245326a218", + "expert_regret": 0.02740997076034546, + "expert_score": 0.72175133228302, + "expert_success": false, + "group_id": "ms-f2c8835e8a162283a646", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.028377950191497803, + "oracle_score": 0.7227193117141724, + "oracle_success": false, + "progress": 0.6943413615226746, + "restore_error": 2.384185791015625e-07, + "score": 0.6943413615226746, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.24389444291591644, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.4581206738948822, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 8, + 33 + ], + "candidate_oracle_potentials": [ + 0.4581206738948822, + 0.4119690954685211, + 0.3453272581100464, + 0.08418749272823334 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-73906fdb1ffcfbe4aaf4;ms-8864796e31bbe93d7c5d;ms-dd32ce9859c365c535b4;ms-9551db96b60a51ccf62a;ms-067e0fe46e4e9483e2a1;ms-14dabc3ac1e1a339ebe4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7614105b40956cc606ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.28698185086250305, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7242434024810791, + 0.6828150749206543, + 0.6701881289482117, + 0.7037174701690674 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.041428327560424805, + -0.05405527353286743, + -0.02052593231201172 + ], + "candidate_oracle_branch_scores": [ + 0.7242434024810791, + 0.6828150749206543, + 0.6701881289482117, + 0.7037174701690674 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6776750683784485, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.6776750683784485, + -1.4163968563079834, + -1.5017017126083374, + -1.5464115142822266 + ], + "candidate_oracle_progress": 0.7242434024810791, + "candidate_oracle_regret": 1.275756597518921, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7242434024810791, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7242434024810791, + "candidate_oracle_selected_branch_score": 0.7242434024810791, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-078317e23cc56a9d719d;ms-38758efd8620a312267d;ms-9c33d4837de7d23232d6;ms-31fe1d98bc7adcd515db;ms-dd94921779f12b249579;ms-c871c1157a16e19e6150", + "expert_regret": 1.2801789045333862, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a2c1429e7b81479b52db", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2801789045333862, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7198210954666138, + "restore_error": 2.384185791015625e-07, + "score": 0.7198210954666138, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2657392621040344, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.6991227865219116, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.3008772134780884, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.6991227865219116, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.44804084300994873, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.44804084300994873, + -0.6489534378051758, + -0.6871563196182251, + -0.7263925671577454 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d30b515ab0ee174afa58;ms-97c28a7584b35207bf84;ms-01ab68aa5051226638ee;ms-a5a56eefeb2de0abe600;ms-6c7f34ae8218aa0952c8;ms-bdb04ada069c35d51e2e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c3fb1d170c1a7965ac4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6056705117225647, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.37027794122695923, + 0.21781286597251892, + 0.21776555478572845, + 0.21723473072052002 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1524650752544403, + -0.15251238644123077, + -0.1530432105064392 + ], + "candidate_oracle_branch_scores": [ + 0.37027794122695923, + 0.21781286597251892, + 0.21776555478572845, + 0.21723473072052002 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.057329535484314, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.057329535484314, + -1.4476536512374878, + -1.5101813077926636, + -1.5715599060058594 + ], + "candidate_oracle_progress": 0.37027794122695923, + "candidate_oracle_regret": 1.6297220587730408, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.37027794122695923, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.37027794122695923, + "candidate_oracle_selected_branch_score": 0.37027794122695923, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9756d07ed207e9ab1d53;ms-35d84da6eb1afcf8a811;ms-5fc588b9c9d52034f4c4;ms-d602b7370c5b90f8a439;ms-0fe7053483f72737eaec;ms-02663903d88aa84c9c10", + "expert_regret": 1.6297177076339722, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-acbb7db5601f93bef99d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6297177076339722, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.37028229236602783, + "restore_error": 2.384185791015625e-07, + "score": 0.37028229236602783, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.23870961368083954, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7191121578216553, + 0.7085119485855103, + 0.6894025206565857, + 0.6609933376312256 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.01060020923614502, + -0.02970963716506958, + -0.05811882019042969 + ], + "candidate_oracle_branch_scores": [ + 0.7191121578216553, + 0.7085119485855103, + 0.6894025206565857, + 0.6609933376312256 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7636237144470215, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.7636237144470215, + -0.7670031785964966, + -0.806299090385437, + -0.8739553689956665 + ], + "candidate_oracle_progress": 0.7191121578216553, + "candidate_oracle_regret": 1.2808878421783447, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7191121578216553, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7191121578216553, + "candidate_oracle_selected_branch_score": 0.7191121578216553, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-832f0e966173abd16c34;ms-4a86d570dabb0916f020;ms-9c33d4837de7d23232d6;ms-38758efd8620a312267d;ms-b0302a41f75a827cd4e4;ms-bdb04ada069c35d51e2e", + "expert_regret": 1.2764376401901245, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0f02ff35b7fa1234c52e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2764376401901245, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7235623598098755, + "restore_error": 2.384185791015625e-07, + "score": 0.7235623598098755, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4793727695941925, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.723601222038269, + 0.7242366671562195, + 0.7248150706291199, + 0.7263201475143433 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0006354451179504395, + 0.00121384859085083, + 0.0027189254760742188 + ], + "candidate_oracle_branch_scores": [ + 0.723601222038269, + 0.7242366671562195, + 0.7248150706291199, + 0.7263201475143433 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.694049060344696, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 24, + 8, + 17 + ], + "candidate_oracle_potentials": [ + 0.8155535459518433, + 0.780446469783783, + 0.742809534072876, + 0.694049060344696 + ], + "candidate_oracle_progress": 0.7263201475143433, + "candidate_oracle_regret": 1.2736798524856567, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7263201475143433, + "candidate_oracle_score_gain_over_selected": 0.0027189254760742188, + "candidate_oracle_selected_branch_progress": 0.723601222038269, + "candidate_oracle_selected_branch_score": 0.723601222038269, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-938b53ef53e669518a56;ms-8864796e31bbe93d7c5d;ms-487d0fe2a13fb699dd7a;ms-067e0fe46e4e9483e2a1;ms-34f60c9a263bd0a5641f;ms-2436538e05fdcf8e44fc", + "expert_regret": 1.27579665184021, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10c475db809a353fa815", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.27579665184021, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.72420334815979, + "restore_error": 2.384185791015625e-07, + "score": 0.72420334815979, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4702598750591278, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.7156627178192139, + 0.7163517475128174, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0006890296936035156, + 1.2843372821807861, + 1.2843372821807861 + ], + "candidate_oracle_branch_scores": [ + 0.7156627178192139, + 0.7163517475128174, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.4078611135482788, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 8, + 24 + ], + "candidate_oracle_potentials": [ + -0.3782418370246887, + -0.40655237436294556, + -0.4078611135482788, + -0.4224303364753723 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2843372821807861, + "candidate_oracle_selected_branch_progress": 0.7156627178192139, + "candidate_oracle_selected_branch_score": 0.7156627178192139, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6e2b02ee71a4a44bc325;ms-59474486dd5cb4e5bfd5;ms-9a72e47e2204fa794718;ms-31fe1d98bc7adcd515db;ms-ec4accef21246e0c9213;ms-b0302a41f75a827cd4e4", + "expert_regret": 1.286546528339386, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bb567fcac946f012535a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.286546528339386, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.713453471660614, + "restore_error": 2.384185791015625e-07, + "score": 0.713453471660614, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36569711565971375, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.7112118601799011, + 0.7216191291809082, + 0.7246720790863037, + 0.3576122522354126 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.01040726900100708, + 0.013460218906402588, + -0.3535996079444885 + ], + "candidate_oracle_branch_scores": [ + 0.7112118601799011, + 0.7216191291809082, + 0.7246720790863037, + 0.3576122522354126 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3818126916885376, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.8657316565513611, + -1.3132926225662231, + -1.3818126916885376, + -1.426383376121521 + ], + "candidate_oracle_progress": 0.7246720790863037, + "candidate_oracle_regret": 1.2753279209136963, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7246720790863037, + "candidate_oracle_score_gain_over_selected": 0.013460218906402588, + "candidate_oracle_selected_branch_progress": 0.7112118601799011, + "candidate_oracle_selected_branch_score": 0.7112118601799011, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d602b7370c5b90f8a439;ms-0fe90299788e1f71f98a;ms-6939f3ecafd5e0a4bfee;ms-483520829af0d733cb2a;ms-fc3c8a3572fd96442723;ms-865f9d670f806778ae61", + "expert_regret": 1.289201021194458, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c72a9ad08cbf51799fb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.289201021194458, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.710798978805542, + "restore_error": 1.1920928955078125e-07, + "score": 0.710798978805542, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.19531212747097015, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3366858661174774, + 0.20929019153118134, + 0.2093656063079834, + 0.20767003297805786 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.12739567458629608, + -0.12732025980949402, + -0.12901583313941956 + ], + "candidate_oracle_branch_scores": [ + 0.3366858661174774, + 0.20929019153118134, + 0.2093656063079834, + 0.20767003297805786 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0990709066390991, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0990709066390991, + -1.4186897277832031, + -1.4542473554611206, + -1.490179181098938 + ], + "candidate_oracle_progress": 0.3366858661174774, + "candidate_oracle_regret": 1.6633141338825226, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3366858661174774, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3366858661174774, + "candidate_oracle_selected_branch_score": 0.3366858661174774, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8fabc0ac20ec87ead026;ms-cba95475cb68ea42b041;ms-0fe90299788e1f71f98a;ms-f5dcf9054c3c1c4e1d50;ms-865f9d670f806778ae61;ms-3f0c6556f6c7df39ec2d", + "expert_regret": 1.6647896766662598, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0251a326271aa1cab82b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6647896766662598, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.33521032333374023, + "restore_error": 1.1920928955078125e-07, + "score": 0.33521032333374023, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.14584091305732727, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7205933332443237, + 0.7205924391746521, + 0.7198340892791748, + 0.6865350604057312 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -8.940696716308594e-07, + -0.0007592439651489258, + -0.03405827283859253 + ], + "candidate_oracle_branch_scores": [ + 0.7205933332443237, + 0.7205924391746521, + 0.7198340892791748, + 0.6865350604057312 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.6826441287994385, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 40 + ], + "candidate_oracle_potentials": [ + 0.6826441287994385, + 0.6753948926925659, + 0.6454157829284668, + 0.564517080783844 + ], + "candidate_oracle_progress": 0.7205933332443237, + "candidate_oracle_regret": 1.2794066667556763, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7205933332443237, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7205933332443237, + "candidate_oracle_selected_branch_score": 0.7205933332443237, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-059d7962a5f998edf668;ms-487d0fe2a13fb699dd7a;ms-067e0fe46e4e9483e2a1;ms-14dabc3ac1e1a339ebe4;ms-2436538e05fdcf8e44fc;ms-34f60c9a263bd0a5641f", + "expert_regret": 0.0, + "expert_score": 0.7083660364151001, + "expert_success": false, + "group_id": "ms-d80d4dc70953915f21e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.279783844947815, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7202161550521851, + "restore_error": 1.1920928955078125e-07, + "score": 0.7202161550521851, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34724733233451843, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6079151034355164, + 0.27659153938293457, + 0.25816023349761963, + 0.2456449270248413 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.3313235640525818, + -0.34975486993789673, + -0.36227017641067505 + ], + "candidate_oracle_branch_scores": [ + 0.6079151034355164, + 0.27659153938293457, + 0.25816023349761963, + 0.2456449270248413 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.08102927356958389, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + 0.08102927356958389, + 0.044438451528549194, + 0.031652338802814484, + 0.017577409744262695 + ], + "candidate_oracle_progress": 0.6079151034355164, + "candidate_oracle_regret": 1.3920848965644836, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6079151034355164, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6079151034355164, + "candidate_oracle_selected_branch_score": 0.6079151034355164, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-ed30f8fbb80b2cf46fbc;ms-59474486dd5cb4e5bfd5;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-6e2b02ee71a4a44bc325", + "expert_regret": 1.3316558003425598, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d1cc32a5c52e78aa5e39", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3316558003425598, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6683441996574402, + "restore_error": 1.1920928955078125e-07, + "score": 0.6683441996574402, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22939594089984894, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.21042948961257935, + 0.21056096255779266, + 0.2103782296180725, + 0.21084365248680115 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00013147294521331787, + -5.125999450683594e-05, + 0.00041416287422180176 + ], + "candidate_oracle_branch_scores": [ + 0.21042948961257935, + 0.21056096255779266, + 0.2103782296180725, + 0.21084365248680115 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.398735523223877, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 3 + ], + "candidate_oracle_potentials": [ + -2.3198556900024414, + -2.334132671356201, + -2.3493123054504395, + -2.398735523223877 + ], + "candidate_oracle_progress": 0.21084365248680115, + "candidate_oracle_regret": 1.7891563475131989, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21084365248680115, + "candidate_oracle_score_gain_over_selected": 0.00041416287422180176, + "candidate_oracle_selected_branch_progress": 0.21042948961257935, + "candidate_oracle_selected_branch_score": 0.21042948961257935, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9551db96b60a51ccf62a;ms-dd32ce9859c365c535b4;ms-b8956f04f70d6eeecb07;ms-8864796e31bbe93d7c5d;ms-a103dfbc0567d05ade6e;ms-35c12c467fb8a54f89f0", + "expert_regret": 0.5184454917907715, + "expert_score": 0.7288640737533569, + "expert_success": false, + "group_id": "ms-3352cd51af5ae6aac4c0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.7895814180374146, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21041858196258545, + "restore_error": 1.1920928955078125e-07, + "score": 0.21041858196258545, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36220216751098633, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.22378800809383392, + 0.22673630714416504, + 0.22768810391426086 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.7762119770050049, + -1.773263692855835, + -1.7723119258880615 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.22378800809383392, + 0.22673630714416504, + 0.22768810391426086 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.2515040934085846, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.2515040934085846, + -0.6054110527038574, + -0.7132531404495239, + -0.8371222019195557 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c1f3359c70d068a36081;ms-dd94921779f12b249579;ms-08dc71adea7d8efeb298;ms-9c33d4837de7d23232d6;ms-caeb4c3d358f256799a8;ms-c871c1157a16e19e6150", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6a03497f97765ffd444e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5625298619270325, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.37739354372024536, + 0.2990196943283081 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.6226065158843994, + -1.700980305671692 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.37739354372024536, + 0.2990196943283081 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7426022291183472, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7426022291183472, + -1.3276089429855347, + -1.4409700632095337, + -1.5505088567733765 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8c7bbc80458fce91a1ac;ms-e825996818ee6f2f7d26;ms-ff012c1c8597c8db3cc7;ms-84264ef080ec4f3631df;ms-3a97ee208c6be9ed8b74;ms-e56b37f0e3881a70ef54", + "expert_regret": 0.0, + "expert_score": 0.7186483144760132, + "expert_success": false, + "group_id": "ms-85e3feba1c0f3084cfa0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.7186483144760132, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22952093183994293, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.715336799621582, + 0.5732438564300537, + 0.5208317637443542, + 0.47362810373306274 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.14209294319152832, + -0.19450503587722778, + -0.2417086958885193 + ], + "candidate_oracle_branch_scores": [ + 0.715336799621582, + 0.5732438564300537, + 0.5208317637443542, + 0.47362810373306274 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.46498048305511475, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.46498048305511475, + -0.7824109792709351, + -0.8239270448684692, + -0.8602513670921326 + ], + "candidate_oracle_progress": 0.715336799621582, + "candidate_oracle_regret": 1.284663200378418, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.715336799621582, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.715336799621582, + "candidate_oracle_selected_branch_score": 0.715336799621582, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-078317e23cc56a9d719d;ms-dd94921779f12b249579;ms-c871c1157a16e19e6150;ms-d26dc2146eb8ae9a5434;ms-38758efd8620a312267d;ms-295dab0e1d105e758827", + "expert_regret": 1.2855883836746216, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-93b076203c0c65fb22be", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2855883836746216, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7144116163253784, + "restore_error": 1.1920928955078125e-07, + "score": 0.7144116163253784, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3626064360141754, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.006180174648761749, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + 0.006180174648761749, + 0.0030016303062438965, + -0.001111634075641632, + -0.039240412414073944 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9a72e47e2204fa794718;ms-59474486dd5cb4e5bfd5;ms-b933fbfb7c8fa68a445f;ms-6e2b02ee71a4a44bc325;ms-ec4accef21246e0c9213;ms-c76aba3db8d4ce0062bc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61c099575bcff2de95e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3425849378108978, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6908401250839233, + 0.47162336111068726, + 0.434643030166626, + 0.2546346187591553 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.21921676397323608, + -0.25619709491729736, + -0.43620550632476807 + ], + "candidate_oracle_branch_scores": [ + 0.6908401250839233, + 0.47162336111068726, + 0.434643030166626, + 0.2546346187591553 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6016785502433777, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.6016785502433777, + -1.155929446220398, + -1.2280205488204956, + -1.2669731378555298 + ], + "candidate_oracle_progress": 0.6908401250839233, + "candidate_oracle_regret": 1.3091598749160767, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6908401250839233, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6908401250839233, + "candidate_oracle_selected_branch_score": 0.6908401250839233, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3661d65df223386f1be9;ms-295dab0e1d105e758827;ms-29027a8e3742362fd477;ms-c871c1157a16e19e6150;ms-1b8e9b173562648021f6;ms-31fe1d98bc7adcd515db", + "expert_regret": 1.3073554039001465, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b3d9d9570bf9b64c18fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3073554039001465, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6926445960998535, + "restore_error": 1.1920928955078125e-07, + "score": 0.6926445960998535, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.33851784467697144, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.41295477747917175, + 0.40690070390701294, + 0.34645992517471313, + 0.40238672494888306 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0060540735721588135, + -0.06649485230445862, + -0.010568052530288696 + ], + "candidate_oracle_branch_scores": [ + 0.41295477747917175, + 0.40690070390701294, + 0.34645992517471313, + 0.40238672494888306 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9083132743835449, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.9083132743835449, + -1.2615814208984375, + -1.3285775184631348, + -1.3381195068359375 + ], + "candidate_oracle_progress": 0.41295477747917175, + "candidate_oracle_regret": 1.5870452225208282, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.41295477747917175, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.41295477747917175, + "candidate_oracle_selected_branch_score": 0.41295477747917175, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6939f3ecafd5e0a4bfee;ms-d602b7370c5b90f8a439;ms-d799435b5f6b8fae2ffb;ms-9554f100dd5be3a4fa47;ms-5fc588b9c9d52034f4c4;ms-fc3c8a3572fd96442723", + "expert_regret": 1.5871619284152985, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69cb3fa758f707a58076", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5871619284152985, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.41283807158470154, + "restore_error": 1.1920928955078125e-07, + "score": 0.41283807158470154, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3760358691215515, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7198922038078308, + 1.0, + 0.22392538189888, + 0.22713956236839294 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2801077365875244, + -0.4959668219089508, + -0.49275264143943787 + ], + "candidate_oracle_branch_scores": [ + 0.7198922038078308, + 2.0, + 0.22392538189888, + 0.22713956236839294 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5260356664657593, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3121963441371918, + -0.5260356664657593, + -0.561596691608429, + -0.5951337218284607 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2801077365875244, + "candidate_oracle_selected_branch_progress": 0.7198922038078308, + "candidate_oracle_selected_branch_score": 0.7198922038078308, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c871c1157a16e19e6150;ms-3661d65df223386f1be9;ms-29027a8e3742362fd477;ms-295dab0e1d105e758827;ms-31fe1d98bc7adcd515db;ms-1b8e9b173562648021f6", + "expert_regret": 1.2800177335739136, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b319cc2760d8d48f4617", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2800177335739136, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7199822664260864, + "restore_error": 1.1920928955078125e-07, + "score": 0.7199822664260864, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.290869802236557, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7153189182281494, + 0.7108101844787598, + 0.21925678849220276 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2846810817718506, + -1.2891898155212402, + -1.7807432413101196 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7153189182281494, + 0.7108101844787598, + 0.21925678849220276 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9500793218612671, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 4 + ], + "candidate_oracle_potentials": [ + -0.9500793218612671, + -1.259910225868225, + -1.3078163862228394, + -1.3267455101013184 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cba95475cb68ea42b041;ms-8fabc0ac20ec87ead026;ms-6939f3ecafd5e0a4bfee;ms-fc3c8a3572fd96442723;ms-d602b7370c5b90f8a439;ms-0fe90299788e1f71f98a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ee28aef4a7ee25ff7f7c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4605007767677307, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.1995110809803009, + 0.20056955516338348, + 0.2006995677947998, + 0.20111989974975586 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0010584741830825806, + 0.0011884868144989014, + 0.001608818769454956 + ], + "candidate_oracle_branch_scores": [ + 0.1995110809803009, + 0.20056955516338348, + 0.2006995677947998, + 0.20111989974975586 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.6424567699432373, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.390223741531372, + -1.6017781496047974, + -1.624567985534668, + -1.6424567699432373 + ], + "candidate_oracle_progress": 0.20111989974975586, + "candidate_oracle_regret": 1.7988801002502441, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20111989974975586, + "candidate_oracle_score_gain_over_selected": 0.001608818769454956, + "candidate_oracle_selected_branch_progress": 0.1995110809803009, + "candidate_oracle_selected_branch_score": 0.1995110809803009, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-865f9d670f806778ae61;ms-c090bce47703a4c4bb0b;ms-e8de8d619c0cf5fd633e;ms-0fe90299788e1f71f98a;ms-57dc9349b8f2c9c49105;ms-01926c30568d417edd91", + "expert_regret": 1.800488919019699, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-619d3d285d2cae3abbb9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.800488919019699, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1995110809803009, + "restore_error": 1.1920928955078125e-07, + "score": 0.1995110809803009, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7037876844406128, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.4697829484939575, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 40, + 8, + 1 + ], + "candidate_oracle_potentials": [ + 0.4697829484939575, + 0.45964497327804565, + 0.4514676630496979, + 0.3105066418647766 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5799584ed40e211c50a5;ms-ed4f6388ae96f9da76fa;ms-957002faf092f769aa8e;ms-ed30f8fbb80b2cf46fbc;ms-ea41340182245326a218;ms-96e1562aaca7ef49db28", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d2839c13649000454a65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1527087539434433, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.698143720626831, + 0.6981455683708191, + 0.7159464359283447 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.301856279373169, + -1.3018543720245361, + -1.2840535640716553 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.698143720626831, + 0.6981455683708191, + 0.7159464359283447 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7287107110023499, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.7287107110023499, + -1.4986203908920288, + -1.5761160850524902, + -1.6444069147109985 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d3a7e3f163b142a3e56b;ms-078317e23cc56a9d719d;ms-d26dc2146eb8ae9a5434;ms-c3818c2c4474a784fc6b;ms-dd94921779f12b249579;ms-38758efd8620a312267d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3efca8ee8623914a4faf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.342020720243454, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.36139798164367676, + 0.3493378758430481, + 0.34944403171539307, + 0.2957904040813446 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.012060105800628662, + -0.011953949928283691, + -0.06560757756233215 + ], + "candidate_oracle_branch_scores": [ + 0.36139798164367676, + 0.3493378758430481, + 0.34944403171539307, + 0.2957904040813446 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.884109377861023, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.884109377861023, + -1.332528829574585, + -1.4028126001358032, + -1.43287992477417 + ], + "candidate_oracle_progress": 0.36139798164367676, + "candidate_oracle_regret": 1.6386020183563232, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.36139798164367676, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.36139798164367676, + "candidate_oracle_selected_branch_score": 0.36139798164367676, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d602b7370c5b90f8a439;ms-6939f3ecafd5e0a4bfee;ms-fc3c8a3572fd96442723;ms-0fe90299788e1f71f98a;ms-3a97ee208c6be9ed8b74;ms-cba95475cb68ea42b041", + "expert_regret": 1.6363061666488647, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c4a08985213114fffb7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6363061666488647, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.36369383335113525, + "restore_error": 1.1920928955078125e-07, + "score": 0.36369383335113525, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2557242512702942, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5907387733459473, + 0.25745320320129395, + 0.2542778551578522, + 0.25037044286727905 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.3332855701446533, + -0.3364609181880951, + -0.3403683304786682 + ], + "candidate_oracle_branch_scores": [ + 0.5907387733459473, + 0.25745320320129395, + 0.2542778551578522, + 0.25037044286727905 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6954454183578491, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 4 + ], + "candidate_oracle_potentials": [ + -0.6954454183578491, + -1.120355248451233, + -1.254282832145691, + -1.2720670700073242 + ], + "candidate_oracle_progress": 0.5907387733459473, + "candidate_oracle_regret": 1.4092612266540527, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5907387733459473, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5907387733459473, + "candidate_oracle_selected_branch_score": 0.5907387733459473, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3661d65df223386f1be9;ms-9c33d4837de7d23232d6;ms-832f0e966173abd16c34;ms-1b8e9b173562648021f6;ms-bdb04ada069c35d51e2e;ms-4a86d570dabb0916f020", + "expert_regret": 1.398821234703064, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3db845076f92a16d1840", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.398821234703064, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.601178765296936, + "restore_error": 1.1920928955078125e-07, + "score": 0.601178765296936, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4294295310974121, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.4065285623073578, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 8, + 33 + ], + "candidate_oracle_potentials": [ + 0.4065285623073578, + 0.36285606026649475, + 0.31881043314933777, + 0.23521003127098083 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9551db96b60a51ccf62a;ms-8864796e31bbe93d7c5d;ms-938b53ef53e669518a56;ms-dd32ce9859c365c535b4;ms-487d0fe2a13fb699dd7a;ms-067e0fe46e4e9483e2a1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8e23d2d44e709420e46d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3215210437774658, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7146229147911072, + 0.7172901630401611, + 0.721531093120575, + 0.7218798995018005 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.002667248249053955, + 0.0069081783294677734, + 0.007256984710693359 + ], + "candidate_oracle_branch_scores": [ + 0.7146229147911072, + 0.7172901630401611, + 0.721531093120575, + 0.7218798995018005 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7893939018249512, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3775424361228943, + -0.688543975353241, + -0.7407904863357544, + -0.7893939018249512 + ], + "candidate_oracle_progress": 0.7218798995018005, + "candidate_oracle_regret": 1.2781201004981995, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7218798995018005, + "candidate_oracle_score_gain_over_selected": 0.007256984710693359, + "candidate_oracle_selected_branch_progress": 0.7146229147911072, + "candidate_oracle_selected_branch_score": 0.7146229147911072, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c3818c2c4474a784fc6b;ms-d26dc2146eb8ae9a5434;ms-d3a7e3f163b142a3e56b;ms-dd94921779f12b249579;ms-295dab0e1d105e758827;ms-76c7efad95ae67dba1ca", + "expert_regret": 1.2833357453346252, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9867545cf31b7f92b81f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2833357453346252, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7166642546653748, + "restore_error": 1.1920928955078125e-07, + "score": 0.7166642546653748, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.47020667791366577, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3826363980770111, + 0.2166450023651123, + 0.21591943502426147, + 0.3106093406677246 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1659913957118988, + -0.16671696305274963, + -0.0720270574092865 + ], + "candidate_oracle_branch_scores": [ + 0.3826363980770111, + 0.2166450023651123, + 0.21591943502426147, + 0.3106093406677246 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9857499599456787, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.9857499599456787, + -1.320328712463379, + -1.3794013261795044, + -1.4232884645462036 + ], + "candidate_oracle_progress": 0.3826363980770111, + "candidate_oracle_regret": 1.617363601922989, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3826363980770111, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3826363980770111, + "candidate_oracle_selected_branch_score": 0.3826363980770111, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-483520829af0d733cb2a;ms-02663903d88aa84c9c10;ms-d602b7370c5b90f8a439;ms-6939f3ecafd5e0a4bfee;ms-57dc9349b8f2c9c49105;ms-9756d07ed207e9ab1d53", + "expert_regret": 1.617459237575531, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-18ab33df290e3919a468", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.617459237575531, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.382540762424469, + "restore_error": 1.1920928955078125e-07, + "score": 0.382540762424469, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34982728958129883, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5988762378692627, + 0.5345557928085327, + 0.4508468806743622, + 0.6935709714889526 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.06432044506072998, + -0.1480293571949005, + 0.09469473361968994 + ], + "candidate_oracle_branch_scores": [ + 0.5988762378692627, + 0.5345557928085327, + 0.4508468806743622, + 0.6935709714889526 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9866052865982056, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -0.8411164879798889, + -0.8487546443939209, + -0.8888869881629944, + -0.9866052865982056 + ], + "candidate_oracle_progress": 0.6935709714889526, + "candidate_oracle_regret": 0.03241753578186035, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6935709714889526, + "candidate_oracle_score_gain_over_selected": 0.09469473361968994, + "candidate_oracle_selected_branch_progress": 0.5988762378692627, + "candidate_oracle_selected_branch_score": 0.5988762378692627, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ad7b7d5d7fb25961859f;ms-4a86d570dabb0916f020;ms-9c33d4837de7d23232d6;ms-38758efd8620a312267d;ms-b0302a41f75a827cd4e4;ms-832f0e966173abd16c34", + "expert_regret": 0.135406494140625, + "expert_score": 0.725988507270813, + "expert_success": false, + "group_id": "ms-8d3d849234ceb98c3dc1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.135406494140625, + "oracle_score": 0.725988507270813, + "oracle_success": false, + "progress": 0.590582013130188, + "restore_error": 1.1920928955078125e-07, + "score": 0.590582013130188, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4629907011985779, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.208174467086792, + 0.2230129837989807, + 0.22255301475524902, + 0.2218528687953949 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.01483851671218872, + 0.014378547668457031, + 0.013678401708602905 + ], + "candidate_oracle_branch_scores": [ + 0.208174467086792, + 0.2230129837989807, + 0.22255301475524902, + 0.2218528687953949 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.4740091562271118, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.4183937311172485, + -1.4740091562271118, + -1.5070809125900269, + -1.5489040613174438 + ], + "candidate_oracle_progress": 0.2230129837989807, + "candidate_oracle_regret": 1.7769870162010193, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2230129837989807, + "candidate_oracle_score_gain_over_selected": 0.01483851671218872, + "candidate_oracle_selected_branch_progress": 0.208174467086792, + "candidate_oracle_selected_branch_score": 0.208174467086792, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-288ce929957d627c569c;ms-83c0299c23fa800452c7;ms-1bbd61ce613ae75c8bb0;ms-0a8109ce7ab2ddc1bb1e;ms-efb5a07185a3a1b33226;ms-e7573c5d29c3a1a3f228", + "expert_regret": 1.791826382279396, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c910a469460f71880556", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.791826382279396, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20817361772060394, + "restore_error": 1.1920928955078125e-07, + "score": 0.20817361772060394, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.47051525115966797, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.25258001685142517, + 0.2525661587715149, + 0.25266608595848083, + 0.252646267414093 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.385807991027832e-05, + 8.606910705566406e-05, + 6.625056266784668e-05 + ], + "candidate_oracle_branch_scores": [ + 0.25258001685142517, + 0.2525661587715149, + 0.25266608595848083, + 0.252646267414093 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.5207730531692505, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.3525820970535278, + -1.4877547025680542, + -1.5207730531692505, + -1.561010479927063 + ], + "candidate_oracle_progress": 0.25266608595848083, + "candidate_oracle_regret": 1.7473339140415192, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.25266608595848083, + "candidate_oracle_score_gain_over_selected": 8.606910705566406e-05, + "candidate_oracle_selected_branch_progress": 0.25258001685142517, + "candidate_oracle_selected_branch_score": 0.25258001685142517, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6818a4edf6ef35dacfb0;ms-b37738e210bf33a45a1d;ms-73906fdb1ffcfbe4aaf4;ms-d30b515ab0ee174afa58;ms-f601aab1d8f7e4f1b97f;ms-e825996818ee6f2f7d26", + "expert_regret": 1.7474190592765808, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0bc111c5ce4e0052716b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7474190592765808, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2525809407234192, + "restore_error": 1.1920928955078125e-07, + "score": 0.2525809407234192, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3433537483215332, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4467373490333557, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4467373490333557, + -0.7323229312896729, + -0.7784571647644043, + -0.8213858008384705 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-31fe1d98bc7adcd515db;ms-ad7b7d5d7fb25961859f;ms-29027a8e3742362fd477;ms-6e2b02ee71a4a44bc325;ms-4a86d570dabb0916f020;ms-ec4accef21246e0c9213", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e89a3ba400f81d2795f3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.03004780411720276, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6897773742675781, + 0.6723090410232544, + 0.6758052706718445, + 0.6686023473739624 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.01746833324432373, + -0.013972103595733643, + -0.021175026893615723 + ], + "candidate_oracle_branch_scores": [ + 0.6897773742675781, + 0.6723090410232544, + 0.6758052706718445, + 0.6686023473739624 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5702091455459595, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 17, + 1, + 33 + ], + "candidate_oracle_potentials": [ + -0.5702091455459595, + -0.6049594283103943, + -0.6081327795982361, + -0.6180540323257446 + ], + "candidate_oracle_progress": 0.6897773742675781, + "candidate_oracle_regret": 1.3102226257324219, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6897773742675781, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6897773742675781, + "candidate_oracle_selected_branch_score": 0.6897773742675781, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-59474486dd5cb4e5bfd5;ms-6e2b02ee71a4a44bc325;ms-b933fbfb7c8fa68a445f;ms-145f60d5fff285e7d05b;ms-9a72e47e2204fa794718;ms-6a4398375c43dbf887b1", + "expert_regret": 0.03484547138214111, + "expert_score": 0.7257392406463623, + "expert_success": false, + "group_id": "ms-6e268d1e2915740816a1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3091062307357788, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6908937692642212, + "restore_error": 1.1920928955078125e-07, + "score": 0.6908937692642212, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6005929112434387, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.21641835570335388, + 0.2172211855649948, + 0.21600905060768127 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.7835816144943237, + -1.7827788591384888, + -1.7839909791946411 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.21641835570335388, + 0.2172211855649948, + 0.21600905060768127 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9167242050170898, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.9167242050170898, + -1.4971634149551392, + -1.5608264207839966, + -1.6192597150802612 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0d80d6d87a27a53951fe;ms-0a57aa04002f1b843856;ms-851d25e7a1dde4242f33;ms-e2f90eb6c79dfd9ce6fd;ms-02663903d88aa84c9c10;ms-cf2603516869355b8b13", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d5241a32e5c9de09f2e4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4129064381122589, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7137415409088135, + 0.21349048614501953, + 0.6777920126914978, + 0.21328327059745789 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.500251054763794, + -0.035949528217315674, + -0.5004582405090332 + ], + "candidate_oracle_branch_scores": [ + 0.7137415409088135, + 0.21349048614501953, + 0.6777920126914978, + 0.21328327059745789 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9443941116333008, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.9443941116333008, + -1.3208110332489014, + -1.3640486001968384, + -1.3787509202957153 + ], + "candidate_oracle_progress": 0.7137415409088135, + "candidate_oracle_regret": 1.2862584590911865, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7137415409088135, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7137415409088135, + "candidate_oracle_selected_branch_score": 0.7137415409088135, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-483520829af0d733cb2a;ms-57dc9349b8f2c9c49105;ms-01926c30568d417edd91;ms-6939f3ecafd5e0a4bfee;ms-02663903d88aa84c9c10;ms-c090bce47703a4c4bb0b", + "expert_regret": 1.2826588153839111, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6959fa589edc996753d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2826588153839111, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7173411846160889, + "restore_error": 1.1920928955078125e-07, + "score": 0.7173411846160889, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5478914380073547, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7190816402435303, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 33, + 17 + ], + "candidate_oracle_potentials": [ + 0.7190816402435303, + 0.6790841817855835, + 0.6417973041534424, + 0.6223167777061462 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ed30f8fbb80b2cf46fbc;ms-96e1562aaca7ef49db28;ms-5799584ed40e211c50a5;ms-145f60d5fff285e7d05b;ms-59474486dd5cb4e5bfd5;ms-6a4398375c43dbf887b1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-662379c2c351807b9cdf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1943710297346115, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.5251128077507019, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 40, + 17, + 24 + ], + "candidate_oracle_potentials": [ + 0.5251128077507019, + 0.49663567543029785, + 0.48567861318588257, + 0.47959545254707336 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8864796e31bbe93d7c5d;ms-9551db96b60a51ccf62a;ms-938b53ef53e669518a56;ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-067e0fe46e4e9483e2a1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83019373a06eb384c886", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4464998245239258, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3917149305343628, + 0.21112003922462463, + 0.33142369985580444, + 0.211202472448349 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.18059489130973816, + -0.06029123067855835, + -0.1805124580860138 + ], + "candidate_oracle_branch_scores": [ + 0.3917149305343628, + 0.21112003922462463, + 0.33142369985580444, + 0.211202472448349 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1067166328430176, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.1067166328430176, + -1.5465575456619263, + -1.5571588277816772, + -1.6098783016204834 + ], + "candidate_oracle_progress": 0.3917149305343628, + "candidate_oracle_regret": 1.6082850694656372, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3917149305343628, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3917149305343628, + "candidate_oracle_selected_branch_score": 0.3917149305343628, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0fe7053483f72737eaec;ms-9756d07ed207e9ab1d53;ms-5fc588b9c9d52034f4c4;ms-02663903d88aa84c9c10;ms-0d80d6d87a27a53951fe;ms-d799435b5f6b8fae2ffb", + "expert_regret": 1.6084347069263458, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a8eb841beb710c8fbfb1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6084347069263458, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3915652930736542, + "restore_error": 1.1920928955078125e-07, + "score": 0.3915652930736542, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.264902263879776, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.465743750333786, + 0.21866458654403687, + 0.21829864382743835, + 0.42102110385894775 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.24707916378974915, + -0.24744510650634766, + -0.04472264647483826 + ], + "candidate_oracle_branch_scores": [ + 0.465743750333786, + 0.21866458654403687, + 0.21829864382743835, + 0.42102110385894775 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1148427724838257, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.1148427724838257, + -1.3542219400405884, + -1.416861653327942, + -1.444127082824707 + ], + "candidate_oracle_progress": 0.465743750333786, + "candidate_oracle_regret": 1.534256249666214, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.465743750333786, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.465743750333786, + "candidate_oracle_selected_branch_score": 0.465743750333786, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-28fe4b5a2888189c28d9;ms-9554f100dd5be3a4fa47;ms-d799435b5f6b8fae2ffb;ms-84264ef080ec4f3631df;ms-e56b37f0e3881a70ef54;ms-fc3c8a3572fd96442723", + "expert_regret": 1.5342528223991394, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9257b89b9b635a0fb174", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5342528223991394, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4657471776008606, + "restore_error": 1.1920928955078125e-07, + "score": 0.4657471776008606, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5638407468795776, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.376909464597702, + 0.31686586141586304, + 0.30719155073165894, + 0.2972243130207062 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.06004360318183899, + -0.06971791386604309, + -0.07968515157699585 + ], + "candidate_oracle_branch_scores": [ + 0.376909464597702, + 0.31686586141586304, + 0.30719155073165894, + 0.2972243130207062 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0869140625, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.0869140625, + -1.5550786256790161, + -1.5843192338943481, + -1.5945513248443604 + ], + "candidate_oracle_progress": 0.376909464597702, + "candidate_oracle_regret": 1.623090535402298, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.376909464597702, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.376909464597702, + "candidate_oracle_selected_branch_score": 0.376909464597702, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0d80d6d87a27a53951fe;ms-0a57aa04002f1b843856;ms-02663903d88aa84c9c10;ms-9756d07ed207e9ab1d53;ms-0fe7053483f72737eaec;ms-851d25e7a1dde4242f33", + "expert_regret": 1.6231980323791504, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-741e906eafd57d115b5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6231980323791504, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3768019676208496, + "restore_error": 1.1920928955078125e-07, + "score": 0.3768019676208496, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3628806471824646, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.6980733871459961, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.301926612854004, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.6980733871459961, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.027531124651432037, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 36, + 4, + 0 + ], + "candidate_oracle_potentials": [ + 0.027531124651432037, + 0.0274946466088295, + 0.026906035840511322, + 0.005238331854343414 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-59474486dd5cb4e5bfd5;ms-6e2b02ee71a4a44bc325;ms-9a72e47e2204fa794718;ms-b933fbfb7c8fa68a445f;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-debd7e5668e2acdf6bb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16042034327983856, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.7130757570266724, + 0.7170968055725098, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.004021048545837402, + 1.2869242429733276, + 1.2869242429733276 + ], + "candidate_oracle_branch_scores": [ + 0.7130757570266724, + 0.7170968055725098, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + true + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.5701935887336731, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.5316640734672546, + -0.5600530505180359, + -0.5701935887336731, + -0.5952439308166504 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2869242429733276, + "candidate_oracle_selected_branch_progress": 0.7130757570266724, + "candidate_oracle_selected_branch_score": 0.7130757570266724, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9a72e47e2204fa794718;ms-c76aba3db8d4ce0062bc;ms-ec4accef21246e0c9213;ms-b0302a41f75a827cd4e4;ms-b933fbfb7c8fa68a445f;ms-4a86d570dabb0916f020", + "expert_regret": 1.2862814664840698, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-118ba8926eda06ffc61e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2862814664840698, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7137185335159302, + "restore_error": 1.1920928955078125e-07, + "score": 0.7137185335159302, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.008566428907215595, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7175662517547607, + 0.25314149260520935, + 0.24912968277931213, + 0.251223623752594 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4644247591495514, + -0.4684365689754486, + -0.46634262800216675 + ], + "candidate_oracle_branch_scores": [ + 0.7175662517547607, + 0.25314149260520935, + 0.24912968277931213, + 0.251223623752594 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.660783588886261, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.660783588886261, + -1.2843822240829468, + -1.3715850114822388, + -1.451190710067749 + ], + "candidate_oracle_progress": 0.7175662517547607, + "candidate_oracle_regret": 1.2824337482452393, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7175662517547607, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7175662517547607, + "candidate_oracle_selected_branch_score": 0.7175662517547607, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d26dc2146eb8ae9a5434;ms-dd94921779f12b249579;ms-c3818c2c4474a784fc6b;ms-d3a7e3f163b142a3e56b;ms-078317e23cc56a9d719d;ms-295dab0e1d105e758827", + "expert_regret": 0.0, + "expert_score": 0.7146890163421631, + "expert_success": false, + "group_id": "ms-b483cac145e16ccdf42a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.282982587814331, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.717017412185669, + "restore_error": 1.1920928955078125e-07, + "score": 0.717017412185669, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38466209173202515, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.7004303932189941, + 0.7127097845077515, + 1.0, + 0.2553889751434326 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.012279391288757324, + 1.2995696067810059, + -0.4450414180755615 + ], + "candidate_oracle_branch_scores": [ + 0.7004303932189941, + 0.7127097845077515, + 2.0, + 0.2553889751434326 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3499103784561157, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.5448587536811829, + -1.2116165161132812, + -1.3499103784561157, + -1.4247816801071167 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2995696067810059, + "candidate_oracle_selected_branch_progress": 0.7004303932189941, + "candidate_oracle_selected_branch_score": 0.7004303932189941, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8c7bbc80458fce91a1ac;ms-e825996818ee6f2f7d26;ms-3a97ee208c6be9ed8b74;ms-ff012c1c8597c8db3cc7;ms-84264ef080ec4f3631df;ms-dd32ce9859c365c535b4", + "expert_regret": 1.2797377705574036, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7be84e650aec22374654", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2797377705574036, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7202622294425964, + "restore_error": 1.1920928955078125e-07, + "score": 0.7202622294425964, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2381739318370819, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.6818992495536804, + 0.7222630977630615, + 0.6814547777175903, + 0.7220171689987183 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.040363848209381104, + -0.0004444718360900879, + 0.04011791944503784 + ], + "candidate_oracle_branch_scores": [ + 0.6818992495536804, + 0.7222630977630615, + 0.6814547777175903, + 0.7220171689987183 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.24754118919372559, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 3, + 24, + 19 + ], + "candidate_oracle_potentials": [ + -0.2115897536277771, + -0.24754118919372559, + -0.2560388147830963, + -0.30387890338897705 + ], + "candidate_oracle_progress": 0.7222630977630615, + "candidate_oracle_regret": 0.0011917352676391602, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7222630977630615, + "candidate_oracle_score_gain_over_selected": 0.040363848209381104, + "candidate_oracle_selected_branch_progress": 0.6818992495536804, + "candidate_oracle_selected_branch_score": 0.6818992495536804, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-938b53ef53e669518a56;ms-34f60c9a263bd0a5641f;ms-9551db96b60a51ccf62a;ms-2436538e05fdcf8e44fc;ms-8864796e31bbe93d7c5d;ms-e7573c5d29c3a1a3f228", + "expert_regret": 0.011975109577178955, + "expert_score": 0.7220854759216309, + "expert_success": false, + "group_id": "ms-e3c96ca4b56c4a26d40d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.01334446668624878, + "oracle_score": 0.7234548330307007, + "oracle_success": false, + "progress": 0.7101103663444519, + "restore_error": 1.1920928955078125e-07, + "score": 0.7101103663444519, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.21729056537151337, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7232271432876587, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2767728567123413, + 1.2767728567123413, + 1.2767728567123413 + ], + "candidate_oracle_branch_scores": [ + 0.7232271432876587, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3762038946151733, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8846515417098999, + -1.3762038946151733, + -1.4436231851577759, + -1.5080313682556152 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2767728567123413, + "candidate_oracle_selected_branch_progress": 0.7232271432876587, + "candidate_oracle_selected_branch_score": 0.7232271432876587, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bdb04ada069c35d51e2e;ms-38758efd8620a312267d;ms-4a86d570dabb0916f020;ms-832f0e966173abd16c34;ms-835bd462e505aa659d16;ms-9c33d4837de7d23232d6", + "expert_regret": 1.276462435722351, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-080e034927abe2f30d60", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.276462435722351, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7235375642776489, + "restore_error": 1.1920928955078125e-07, + "score": 0.7235375642776489, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.581096351146698, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5351657867431641, + 0.28912585973739624, + 0.22635459899902344, + 0.2206321656703949 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.24603992700576782, + -0.3088111877441406, + -0.31453362107276917 + ], + "candidate_oracle_branch_scores": [ + 0.5351657867431641, + 0.28912585973739624, + 0.22635459899902344, + 0.2206321656703949 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1794116497039795, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -1.1794116497039795, + -1.6639094352722168, + -1.6782636642456055, + -1.7092199325561523 + ], + "candidate_oracle_progress": 0.5351657867431641, + "candidate_oracle_regret": 1.464834213256836, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5351657867431641, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5351657867431641, + "candidate_oracle_selected_branch_score": 0.5351657867431641, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02663903d88aa84c9c10;ms-9756d07ed207e9ab1d53;ms-0d80d6d87a27a53951fe;ms-483520829af0d733cb2a;ms-0fe7053483f72737eaec;ms-57dc9349b8f2c9c49105", + "expert_regret": 1.4705559015274048, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a99d874a81bc60301007", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4705559015274048, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5294440984725952, + "restore_error": 1.1920928955078125e-07, + "score": 0.5294440984725952, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34595897793769836, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.258222758769989, + 0.2496444582939148, + 0.25004273653030396, + 0.25036025047302246 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.008578300476074219, + -0.008180022239685059, + -0.007862508296966553 + ], + "candidate_oracle_branch_scores": [ + 0.258222758769989, + 0.2496444582939148, + 0.25004273653030396, + 0.25036025047302246 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.40706488490104675, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.40706488490104675, + -0.7442117929458618, + -0.7933543920516968, + -0.8368111848831177 + ], + "candidate_oracle_progress": 0.258222758769989, + "candidate_oracle_regret": 1.741777241230011, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.258222758769989, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.258222758769989, + "candidate_oracle_selected_branch_score": 0.258222758769989, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-31fe1d98bc7adcd515db;ms-29027a8e3742362fd477;ms-6e2b02ee71a4a44bc325;ms-ec4accef21246e0c9213;ms-ad7b7d5d7fb25961859f;ms-832f0e966173abd16c34", + "expert_regret": 1.7418396472930908, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-136f1ebebd0b697c3310", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7418396472930908, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2581603527069092, + "restore_error": 1.1920928955078125e-07, + "score": 0.2581603527069092, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36725637316703796, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4121086597442627, + 0.2703215479850769, + 0.25786063075065613, + 0.25497299432754517 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1417871117591858, + -0.15424802899360657, + -0.15713566541671753 + ], + "candidate_oracle_branch_scores": [ + 0.4121086597442627, + 0.2703215479850769, + 0.25786063075065613, + 0.25497299432754517 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.36545130610466003, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.36545130610466003, + -0.6198714971542358, + -0.6629908084869385, + -0.7030237913131714 + ], + "candidate_oracle_progress": 0.4121086597442627, + "candidate_oracle_regret": 1.5878913402557373, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4121086597442627, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4121086597442627, + "candidate_oracle_selected_branch_score": 0.4121086597442627, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d26dc2146eb8ae9a5434;ms-dd94921779f12b249579;ms-c3818c2c4474a784fc6b;ms-295dab0e1d105e758827;ms-078317e23cc56a9d719d;ms-d3a7e3f163b142a3e56b", + "expert_regret": 1.581165075302124, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e4090b0b0c1739070201", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.581165075302124, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.418834924697876, + "restore_error": 1.1920928955078125e-07, + "score": 0.418834924697876, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1760987490415573, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3203423023223877, + 0.2528133988380432, + 0.23662051558494568, + 0.23791652917861938 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.06752890348434448, + -0.08372178673744202, + -0.08242577314376831 + ], + "candidate_oracle_branch_scores": [ + 0.3203423023223877, + 0.2528133988380432, + 0.23662051558494568, + 0.23791652917861938 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9327210187911987, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9327210187911987, + -1.3168463706970215, + -1.3497133255004883, + -1.3773090839385986 + ], + "candidate_oracle_progress": 0.3203423023223877, + "candidate_oracle_regret": 1.6796576976776123, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3203423023223877, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3203423023223877, + "candidate_oracle_selected_branch_score": 0.3203423023223877, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-078317e23cc56a9d719d;ms-c871c1157a16e19e6150;ms-38758efd8620a312267d;ms-31fe1d98bc7adcd515db;ms-4a86d570dabb0916f020;ms-832f0e966173abd16c34", + "expert_regret": 1.6786689460277557, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-051860c228aa5160d5a6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6786689460277557, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.32133105397224426, + "restore_error": 1.1920928955078125e-07, + "score": 0.32133105397224426, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.24496616423130035, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7123575210571289, + 0.6894410848617554, + 0.7044591903686523, + 0.5399805307388306 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.022916436195373535, + -0.007898330688476562, + -0.17237699031829834 + ], + "candidate_oracle_branch_scores": [ + 0.7123575210571289, + 0.6894410848617554, + 0.7044591903686523, + 0.5399805307388306 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5733002424240112, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5733002424240112, + -1.188562035560608, + -1.3242803812026978, + -1.461311936378479 + ], + "candidate_oracle_progress": 0.7123575210571289, + "candidate_oracle_regret": 1.287642478942871, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7123575210571289, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7123575210571289, + "candidate_oracle_selected_branch_score": 0.7123575210571289, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3a97ee208c6be9ed8b74;ms-8c7bbc80458fce91a1ac;ms-e825996818ee6f2f7d26;ms-ff012c1c8597c8db3cc7;ms-84264ef080ec4f3631df;ms-fc3c8a3572fd96442723", + "expert_regret": 1.2822933793067932, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8a8afc1963fb2220ecb6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2822933793067932, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7177066206932068, + "restore_error": 1.1920928955078125e-07, + "score": 0.7177066206932068, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4497772753238678, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.20310567319393158, + 0.20907483994960785, + 0.2095049023628235, + 0.20982681214809418 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0059691667556762695, + 0.006399229168891907, + 0.006721138954162598 + ], + "candidate_oracle_branch_scores": [ + 0.20310567319393158, + 0.20907483994960785, + 0.2095049023628235, + 0.20982681214809418 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.7491344213485718, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 3, + 19, + 35 + ], + "candidate_oracle_potentials": [ + -1.5839687585830688, + -1.7162898778915405, + -1.730562686920166, + -1.7491344213485718 + ], + "candidate_oracle_progress": 0.20982681214809418, + "candidate_oracle_regret": 1.7901731878519058, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20982681214809418, + "candidate_oracle_score_gain_over_selected": 0.006721138954162598, + "candidate_oracle_selected_branch_progress": 0.20310567319393158, + "candidate_oracle_selected_branch_score": 0.20310567319393158, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ec2e4afb34b439731136;ms-320d99264926ea029f95;ms-0660d5f65df5fc4b6132;ms-1bbd61ce613ae75c8bb0;ms-83c0299c23fa800452c7;ms-35c12c467fb8a54f89f0", + "expert_regret": 1.7968944907188416, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c0ed69f549e56aa55f3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7968944907188416, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20310550928115845, + "restore_error": 1.1920928955078125e-07, + "score": 0.20310550928115845, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32798072695732117, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4564884603023529, + 0.34320908784866333, + 0.3456542193889618, + 0.3416500985622406 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.11327937245368958, + -0.11083424091339111, + -0.1148383617401123 + ], + "candidate_oracle_branch_scores": [ + 0.4564884603023529, + 0.34320908784866333, + 0.3456542193889618, + 0.3416500985622406 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.35437583923339844, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.35437583923339844, + -0.49049580097198486, + -0.5189989805221558, + -0.5482602119445801 + ], + "candidate_oracle_progress": 0.4564884603023529, + "candidate_oracle_regret": 1.543511539697647, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4564884603023529, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4564884603023529, + "candidate_oracle_selected_branch_score": 0.4564884603023529, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-97c28a7584b35207bf84;ms-a5a56eefeb2de0abe600;ms-c1f3359c70d068a36081;ms-6c7f34ae8218aa0952c8;ms-dd94921779f12b249579;ms-c871c1157a16e19e6150", + "expert_regret": 1.5422651767730713, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-684a66885f21739d826b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5422651767730713, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4577348232269287, + "restore_error": 1.1920928955078125e-07, + "score": 0.4577348232269287, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.21613366901874542, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.47574853897094727, + 0.3276253342628479, + 0.3260079026222229, + 0.2526528835296631 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.14812320470809937, + -0.14974063634872437, + -0.22309565544128418 + ], + "candidate_oracle_branch_scores": [ + 0.47574853897094727, + 0.3276253342628479, + 0.3260079026222229, + 0.2526528835296631 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5846315622329712, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.5846315622329712, + -1.2774840593338013, + -1.4211763143539429, + -1.4656286239624023 + ], + "candidate_oracle_progress": 0.47574853897094727, + "candidate_oracle_regret": 1.5242514610290527, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.47574853897094727, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.47574853897094727, + "candidate_oracle_selected_branch_score": 0.47574853897094727, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8c7bbc80458fce91a1ac;ms-e825996818ee6f2f7d26;ms-3a97ee208c6be9ed8b74;ms-ff012c1c8597c8db3cc7;ms-84264ef080ec4f3631df;ms-dd32ce9859c365c535b4", + "expert_regret": 1.5205152332782745, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2d931673692269f11e8b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5205152332782745, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.47948476672172546, + "restore_error": 1.1920928955078125e-07, + "score": 0.47948476672172546, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.47243398427963257, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7047614455223083, + 0.21481528878211975, + 0.21503454446792603, + 0.2151625156402588 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4899461567401886, + -0.4897269010543823, + -0.48959892988204956 + ], + "candidate_oracle_branch_scores": [ + 0.7047614455223083, + 0.21481528878211975, + 0.21503454446792603, + 0.2151625156402588 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9743800163269043, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.9743800163269043, + -1.4926694631576538, + -1.5388941764831543, + -1.5671095848083496 + ], + "candidate_oracle_progress": 0.7047614455223083, + "candidate_oracle_regret": 1.2952385544776917, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7047614455223083, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7047614455223083, + "candidate_oracle_selected_branch_score": 0.7047614455223083, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02663903d88aa84c9c10;ms-9756d07ed207e9ab1d53;ms-0d80d6d87a27a53951fe;ms-483520829af0d733cb2a;ms-57dc9349b8f2c9c49105;ms-01926c30568d417edd91", + "expert_regret": 1.2952030897140503, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2c6000014d31fc0bb21c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2952030897140503, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7047969102859497, + "restore_error": 1.1920928955078125e-07, + "score": 0.7047969102859497, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.43087857961654663, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7039819955825806, + 0.2173585742712021, + 0.2170143574476242, + 0.21645930409431458 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4866234064102173, + -0.48696762323379517, + -0.487522691488266 + ], + "candidate_oracle_branch_scores": [ + 0.7039819955825806, + 0.2173585742712021, + 0.2170143574476242, + 0.21645930409431458 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.4260207414627075, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.4260207414627075, + -1.5010422468185425, + -1.5309189558029175, + -1.5620996952056885 + ], + "candidate_oracle_progress": 0.7039819955825806, + "candidate_oracle_regret": 1.2960180044174194, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7039819955825806, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7039819955825806, + "candidate_oracle_selected_branch_score": 0.7039819955825806, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1bbd61ce613ae75c8bb0;ms-83c0299c23fa800452c7;ms-e7573c5d29c3a1a3f228;ms-0a8109ce7ab2ddc1bb1e;ms-288ce929957d627c569c;ms-320d99264926ea029f95", + "expert_regret": 1.295969307422638, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c8cf210aa675c5db1fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.295969307422638, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7040306925773621, + "restore_error": 1.1920928955078125e-07, + "score": 0.7040306925773621, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3721376061439514, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6714860796928406, + 0.25877153873443604, + 0.2554839253425598, + 0.25317925214767456 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.41271454095840454, + -0.41600215435028076, + -0.418306827545166 + ], + "candidate_oracle_branch_scores": [ + 0.6714860796928406, + 0.25877153873443604, + 0.2554839253425598, + 0.25317925214767456 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3513071537017822, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3513071537017822, + -0.6377817392349243, + -0.6924847364425659, + -0.7453961372375488 + ], + "candidate_oracle_progress": 0.6714860796928406, + "candidate_oracle_regret": 1.3285139203071594, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6714860796928406, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6714860796928406, + "candidate_oracle_selected_branch_score": 0.6714860796928406, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d26dc2146eb8ae9a5434;ms-c3818c2c4474a784fc6b;ms-dd94921779f12b249579;ms-295dab0e1d105e758827;ms-078317e23cc56a9d719d;ms-d3a7e3f163b142a3e56b", + "expert_regret": 1.3131816387176514, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-22aaa483f5e7d381b63d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3131816387176514, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6868183612823486, + "restore_error": 1.1920928955078125e-07, + "score": 0.6868183612823486, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3975836932659149, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.28002652525901794, + 0.2782987058162689, + 0.29358595609664917, + 0.2939491868019104 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0017278194427490234, + 0.013559430837631226, + 0.013922661542892456 + ], + "candidate_oracle_branch_scores": [ + 0.28002652525901794, + 0.2782987058162689, + 0.29358595609664917, + 0.2939491868019104 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.046295166015625, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.9333568811416626, + -2.0209951400756836, + -2.0262234210968018, + -2.046295166015625 + ], + "candidate_oracle_progress": 0.2939491868019104, + "candidate_oracle_regret": 1.7060508131980896, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2939491868019104, + "candidate_oracle_score_gain_over_selected": 0.013922661542892456, + "candidate_oracle_selected_branch_progress": 0.28002652525901794, + "candidate_oracle_selected_branch_score": 0.28002652525901794, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6818a4edf6ef35dacfb0;ms-b37738e210bf33a45a1d;ms-73906fdb1ffcfbe4aaf4;ms-d30b515ab0ee174afa58;ms-e8de8d619c0cf5fd633e;ms-f5dcf9054c3c1c4e1d50", + "expert_regret": 1.7141929864883423, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-057132b6fc7922013391", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7141929864883423, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2858070135116577, + "restore_error": 1.1920928955078125e-07, + "score": 0.2858070135116577, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.020594576373696327, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.25260382890701294, + 0.24593240022659302, + 0.24646145105361938, + 0.24666212499141693 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.006671428680419922, + -0.006142377853393555, + -0.005941703915596008 + ], + "candidate_oracle_branch_scores": [ + 0.25260382890701294, + 0.24593240022659302, + 0.24646145105361938, + 0.24666212499141693 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.45034509897232056, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.45034509897232056, + -0.715766966342926, + -0.7467696666717529, + -0.7718944549560547 + ], + "candidate_oracle_progress": 0.25260382890701294, + "candidate_oracle_regret": 1.747396171092987, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.25260382890701294, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.25260382890701294, + "candidate_oracle_selected_branch_score": 0.25260382890701294, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dd94921779f12b249579;ms-d26dc2146eb8ae9a5434;ms-c3818c2c4474a784fc6b;ms-a5a56eefeb2de0abe600;ms-295dab0e1d105e758827;ms-078317e23cc56a9d719d", + "expert_regret": 0.47613513469696045, + "expert_score": 0.7287395000457764, + "expert_success": false, + "group_id": "ms-74c9fc741b846b5019af", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.747395634651184, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2526043653488159, + "restore_error": 1.1920928955078125e-07, + "score": 0.2526043653488159, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5591885447502136, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7072517275810242, + 0.2206229865550995, + 0.21918056905269623, + 0.219289630651474 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4866287410259247, + -0.48807114362716675, + -0.48796209692955017 + ], + "candidate_oracle_branch_scores": [ + 0.7072517275810242, + 0.2206229865550995, + 0.21918056905269623, + 0.219289630651474 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1746748685836792, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.1746748685836792, + -1.4743980169296265, + -1.5260323286056519, + -1.5740940570831299 + ], + "candidate_oracle_progress": 0.7072517275810242, + "candidate_oracle_regret": 1.2927482724189758, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7072517275810242, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7072517275810242, + "candidate_oracle_selected_branch_score": 0.7072517275810242, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-35d84da6eb1afcf8a811;ms-5fc588b9c9d52034f4c4;ms-0fe7053483f72737eaec;ms-e56b37f0e3881a70ef54;ms-d799435b5f6b8fae2ffb;ms-9756d07ed207e9ab1d53", + "expert_regret": 1.2947381138801575, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8054283375aeefc8f2c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2947381138801575, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7052618861198425, + "restore_error": 1.1920928955078125e-07, + "score": 0.7052618861198425, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.0018417835235596, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.20455794036388397, + 0.202199324965477, + 0.20462094247341156, + 0.20218196511268616 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0023586153984069824, + 6.300210952758789e-05, + -0.002375975251197815 + ], + "candidate_oracle_branch_scores": [ + 0.20455794036388397, + 0.202199324965477, + 0.20462094247341156, + 0.20218196511268616 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.6807762384414673, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 33, + 19, + 17 + ], + "candidate_oracle_potentials": [ + -1.6592612266540527, + -1.6606582403182983, + -1.6807762384414673, + -1.6875447034835815 + ], + "candidate_oracle_progress": 0.20462094247341156, + "candidate_oracle_regret": 0.51314677298069, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20462094247341156, + "candidate_oracle_score_gain_over_selected": 6.300210952758789e-05, + "candidate_oracle_selected_branch_progress": 0.20455794036388397, + "candidate_oracle_selected_branch_score": 0.20455794036388397, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a103dfbc0567d05ade6e;ms-35c12c467fb8a54f89f0;ms-0a8109ce7ab2ddc1bb1e;ms-1bbd61ce613ae75c8bb0;ms-83c0299c23fa800452c7;ms-288ce929957d627c569c", + "expert_regret": 0.5132097750902176, + "expert_score": 0.7177677154541016, + "expert_success": false, + "group_id": "ms-e6478d71ed92dae06539", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5132097750902176, + "oracle_score": 0.7177677154541016, + "oracle_success": false, + "progress": 0.20455794036388397, + "restore_error": 1.1920928955078125e-07, + "score": 0.20455794036388397, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30293798446655273, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4628395438194275, + 0.34664568305015564, + 0.28707170486450195, + 0.263505220413208 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.11619386076927185, + -0.17576783895492554, + -0.19933432340621948 + ], + "candidate_oracle_branch_scores": [ + 0.4628395438194275, + 0.34664568305015564, + 0.28707170486450195, + 0.263505220413208 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5292879939079285, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5292879939079285, + -1.122458577156067, + -1.264851689338684, + -1.4118016958236694 + ], + "candidate_oracle_progress": 0.4628395438194275, + "candidate_oracle_regret": 1.5371604561805725, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4628395438194275, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4628395438194275, + "candidate_oracle_selected_branch_score": 0.4628395438194275, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8c7bbc80458fce91a1ac;ms-e825996818ee6f2f7d26;ms-3a97ee208c6be9ed8b74;ms-ff012c1c8597c8db3cc7;ms-84264ef080ec4f3631df;ms-fc3c8a3572fd96442723", + "expert_regret": 1.5349706709384918, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c146ea1c89beb683b6fd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5349706709384918, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4650293290615082, + "restore_error": 1.1920928955078125e-07, + "score": 0.4650293290615082, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5336690545082092, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.24246925115585327, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.24246925115585327, + -0.274565726518631, + -0.32213088870048523, + -0.42331618070602417 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-067e0fe46e4e9483e2a1;ms-2436538e05fdcf8e44fc;ms-f81ea99a1ec3423f3b6e;ms-fe790caba27d92511f71;ms-14dabc3ac1e1a339ebe4;ms-e7573c5d29c3a1a3f228", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bdc14f3225a9c9f26513", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3426189422607422, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7107579708099365, + 0.71092689037323, + 0.6952635049819946, + 0.7123288512229919 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00016891956329345703, + -0.015494465827941895, + 0.00157088041305542 + ], + "candidate_oracle_branch_scores": [ + 0.7107579708099365, + 0.71092689037323, + 0.6952635049819946, + 0.7123288512229919 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.4608132243156433, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 33, + 35 + ], + "candidate_oracle_potentials": [ + 0.5695812106132507, + 0.5515767335891724, + 0.4722732603549957, + 0.4608132243156433 + ], + "candidate_oracle_progress": 0.7123288512229919, + "candidate_oracle_regret": 1.287671148777008, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7123288512229919, + "candidate_oracle_score_gain_over_selected": 0.00157088041305542, + "candidate_oracle_selected_branch_progress": 0.7107579708099365, + "candidate_oracle_selected_branch_score": 0.7107579708099365, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dd32ce9859c365c535b4;ms-8864796e31bbe93d7c5d;ms-b8956f04f70d6eeecb07;ms-9551db96b60a51ccf62a;ms-938b53ef53e669518a56;ms-f601aab1d8f7e4f1b97f", + "expert_regret": 1.289140522480011, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c6c7803c56c24c460c7f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.289140522480011, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.710859477519989, + "restore_error": 1.1920928955078125e-07, + "score": 0.710859477519989, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3154774308204651, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.695435643196106, + 0.7154552936553955, + 0.6875637769699097, + 0.6032500267028809 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.02001965045928955, + -0.007871866226196289, + -0.0921856164932251 + ], + "candidate_oracle_branch_scores": [ + 0.695435643196106, + 0.7154552936553955, + 0.6875637769699097, + 0.6032500267028809 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.7742871642112732, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 3, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.7061631083488464, + -0.7742871642112732, + -0.7908698320388794, + -0.823584794998169 + ], + "candidate_oracle_progress": 0.7154552936553955, + "candidate_oracle_regret": 1.2845447063446045, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7154552936553955, + "candidate_oracle_score_gain_over_selected": 0.02001965045928955, + "candidate_oracle_selected_branch_progress": 0.695435643196106, + "candidate_oracle_selected_branch_score": 0.695435643196106, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-059d7962a5f998edf668;ms-2436538e05fdcf8e44fc;ms-067e0fe46e4e9483e2a1;ms-34f60c9a263bd0a5641f;ms-fe790caba27d92511f71;ms-487d0fe2a13fb699dd7a", + "expert_regret": 1.3071393966674805, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f56672eac1c00e9c2b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3071393966674805, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6928606033325195, + "restore_error": 1.1920928955078125e-07, + "score": 0.6928606033325195, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4229615032672882, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5470243096351624, + 0.21313542127609253, + 0.2130325436592102, + 0.3232108950614929 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.3338888883590698, + -0.33399176597595215, + -0.22381341457366943 + ], + "candidate_oracle_branch_scores": [ + 0.5470243096351624, + 0.21313542127609253, + 0.2130325436592102, + 0.3232108950614929 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9361920356750488, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.9361920356750488, + -1.2663179636001587, + -1.3260836601257324, + -1.3547323942184448 + ], + "candidate_oracle_progress": 0.5470243096351624, + "candidate_oracle_regret": 1.4529756903648376, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5470243096351624, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5470243096351624, + "candidate_oracle_selected_branch_score": 0.5470243096351624, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-483520829af0d733cb2a;ms-02663903d88aa84c9c10;ms-57dc9349b8f2c9c49105;ms-6939f3ecafd5e0a4bfee;ms-9756d07ed207e9ab1d53;ms-d602b7370c5b90f8a439", + "expert_regret": 1.4513588547706604, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7ce799eb9d3b741e8960", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4513588547706604, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5486411452293396, + "restore_error": 1.1920928955078125e-07, + "score": 0.5486411452293396, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.47604066133499146, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2255246937274933, + 0.22526133060455322, + 0.22383569180965424, + 0.2235843539237976 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0002633631229400635, + -0.0016890019178390503, + -0.0019403398036956787 + ], + "candidate_oracle_branch_scores": [ + 0.2255246937274933, + 0.22526133060455322, + 0.22383569180965424, + 0.2235843539237976 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.0750303268432617, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -2.0750303268432617, + -2.191934823989868, + -2.2079763412475586, + -2.223865509033203 + ], + "candidate_oracle_progress": 0.2255246937274933, + "candidate_oracle_regret": 0.00877147912979126, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2255246937274933, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2255246937274933, + "candidate_oracle_selected_branch_score": 0.2255246937274933, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e8de8d619c0cf5fd633e;ms-0fe90299788e1f71f98a;ms-c090bce47703a4c4bb0b;ms-865f9d670f806778ae61;ms-483520829af0d733cb2a;ms-f5dcf9054c3c1c4e1d50", + "expert_regret": 0.008772492408752441, + "expert_score": 0.23429617285728455, + "expert_success": false, + "group_id": "ms-a932cbf7e2b5755db22e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.008772492408752441, + "oracle_score": 0.23429617285728455, + "oracle_success": false, + "progress": 0.2255236804485321, + "restore_error": 1.1920928955078125e-07, + "score": 0.2255236804485321, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.45663532614707947, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.20753246545791626, + 0.21465925872325897, + 0.2148534506559372, + 0.21482953429222107 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.007126793265342712, + 0.007320985198020935, + 0.00729706883430481 + ], + "candidate_oracle_branch_scores": [ + 0.20753246545791626, + 0.21465925872325897, + 0.2148534506559372, + 0.21482953429222107 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.5272654294967651, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.4791606664657593, + -1.489134430885315, + -1.5272654294967651, + -1.5697739124298096 + ], + "candidate_oracle_progress": 0.2148534506559372, + "candidate_oracle_regret": 1.7851465493440628, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2148534506559372, + "candidate_oracle_score_gain_over_selected": 0.007320985198020935, + "candidate_oracle_selected_branch_progress": 0.20753246545791626, + "candidate_oracle_selected_branch_score": 0.20753246545791626, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-288ce929957d627c569c;ms-1bbd61ce613ae75c8bb0;ms-0a8109ce7ab2ddc1bb1e;ms-35c12c467fb8a54f89f0;ms-efb5a07185a3a1b33226;ms-a103dfbc0567d05ade6e", + "expert_regret": 1.7924682050943375, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e48a13af39db4a58bbc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7924682050943375, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20753179490566254, + "restore_error": 1.1920928955078125e-07, + "score": 0.20753179490566254, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3145025670528412, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.350163072347641, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.350163072347641, + -0.6408233046531677, + -0.6945547461509705, + -0.7455539703369141 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dd94921779f12b249579;ms-d26dc2146eb8ae9a5434;ms-c3818c2c4474a784fc6b;ms-d3a7e3f163b142a3e56b;ms-078317e23cc56a9d719d;ms-295dab0e1d105e758827", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2b59042e27453aff03a7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34530025720596313, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.5660647749900818, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 33, + 8 + ], + "candidate_oracle_potentials": [ + 0.5660647749900818, + 0.5440858602523804, + 0.5302530527114868, + 0.5165726542472839 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dd32ce9859c365c535b4;ms-8864796e31bbe93d7c5d;ms-f601aab1d8f7e4f1b97f;ms-b8956f04f70d6eeecb07;ms-9551db96b60a51ccf62a;ms-73906fdb1ffcfbe4aaf4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-794706690fbf8c028bda", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37846583127975464, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4437100291252136, + 0.35210201144218445, + 0.3362596929073334, + 0.3212220072746277 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.09160801768302917, + -0.10745033621788025, + -0.12248802185058594 + ], + "candidate_oracle_branch_scores": [ + 0.4437100291252136, + 0.35210201144218445, + 0.3362596929073334, + 0.3212220072746277 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6892414093017578, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6892414093017578, + -1.1624430418014526, + -1.2788305282592773, + -1.397465467453003 + ], + "candidate_oracle_progress": 0.4437100291252136, + "candidate_oracle_regret": 1.5562899708747864, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4437100291252136, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4437100291252136, + "candidate_oracle_selected_branch_score": 0.4437100291252136, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-84264ef080ec4f3631df;ms-e825996818ee6f2f7d26;ms-ff012c1c8597c8db3cc7;ms-8c7bbc80458fce91a1ac;ms-e56b37f0e3881a70ef54;ms-fc3c8a3572fd96442723", + "expert_regret": 1.552635371685028, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6a9c4c704edd84c21cda", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.552635371685028, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4473646283149719, + "restore_error": 1.1920928955078125e-07, + "score": 0.4473646283149719, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30839481949806213, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.717755913734436, + 0.6993643641471863, + 0.591834306716919 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.282244086265564, + -1.300635576248169, + -1.408165693283081 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.717755913734436, + 0.6993643641471863, + 0.591834306716919 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.533126950263977, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.533126950263977, + -1.1164478063583374, + -1.2550569772720337, + -1.3945988416671753 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8c7bbc80458fce91a1ac;ms-e825996818ee6f2f7d26;ms-3a97ee208c6be9ed8b74;ms-ff012c1c8597c8db3cc7;ms-84264ef080ec4f3631df;ms-fc3c8a3572fd96442723", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-227f2e245df67a5ef5ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3140625059604645, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.6916143298149109, + 0.4372931122779846, + 1.0, + 0.2145710289478302 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.25432121753692627, + 1.3083856105804443, + -0.4770433008670807 + ], + "candidate_oracle_branch_scores": [ + 0.6916143298149109, + 0.4372931122779846, + 2.0, + 0.2145710289478302 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.1648346185684204, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5844720602035522, + -1.0943297147750854, + -1.1648346185684204, + -1.229110598564148 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.3083856105804443, + "candidate_oracle_selected_branch_progress": 0.6916143298149109, + "candidate_oracle_selected_branch_score": 0.6916143298149109, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-01ab68aa5051226638ee;ms-bdb04ada069c35d51e2e;ms-4dc9ab19fbe571f09699;ms-c871c1157a16e19e6150;ms-1b8e9b173562648021f6;ms-832f0e966173abd16c34", + "expert_regret": 1.304676353931427, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fdb2637276b27c46c757", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.304676353931427, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.695323646068573, + "restore_error": 1.1920928955078125e-07, + "score": 0.695323646068573, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7844309210777283, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.5704523324966431, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 1, + 17, + 0 + ], + "candidate_oracle_potentials": [ + -0.5704523324966431, + -0.578873872756958, + -0.5816676616668701, + -0.5936773419380188 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-059d7962a5f998edf668;ms-067e0fe46e4e9483e2a1;ms-2436538e05fdcf8e44fc;ms-14dabc3ac1e1a339ebe4;ms-487d0fe2a13fb699dd7a;ms-34f60c9a263bd0a5641f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e3f38594991aafbffc23", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.1769170761108398, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.21112655103206635, + 0.21110427379608154, + 0.21091674268245697, + 0.20686118304729462 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -2.2277235984802246e-05, + -0.000209808349609375, + -0.0042653679847717285 + ], + "candidate_oracle_branch_scores": [ + 0.21112655103206635, + 0.21110427379608154, + 0.21091674268245697, + 0.20686118304729462 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.5417836904525757, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + -1.5417836904525757, + -1.5860313177108765, + -1.627639889717102, + -1.6375608444213867 + ], + "candidate_oracle_progress": 0.21112655103206635, + "candidate_oracle_regret": 1.7888734489679337, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21112655103206635, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.21112655103206635, + "candidate_oracle_selected_branch_score": 0.21112655103206635, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0a8109ce7ab2ddc1bb1e;ms-a103dfbc0567d05ade6e;ms-83c0299c23fa800452c7;ms-1bbd61ce613ae75c8bb0;ms-35c12c467fb8a54f89f0;ms-288ce929957d627c569c", + "expert_regret": 1.788873329758644, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-44a607bf50304347ead8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.788873329758644, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2111266702413559, + "restore_error": 1.1920928955078125e-07, + "score": 0.2111266702413559, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4928984045982361, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3689180314540863, + 0.35388219356536865, + 0.300924152135849, + 0.28143560886383057 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.015035837888717651, + -0.0679938793182373, + -0.08748242259025574 + ], + "candidate_oracle_branch_scores": [ + 0.3689180314540863, + 0.35388219356536865, + 0.300924152135849, + 0.28143560886383057 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.107194185256958, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.107194185256958, + -1.4561270475387573, + -1.4997490644454956, + -1.5054519176483154 + ], + "candidate_oracle_progress": 0.3689180314540863, + "candidate_oracle_regret": 1.6310819685459137, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3689180314540863, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3689180314540863, + "candidate_oracle_selected_branch_score": 0.3689180314540863, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e8de8d619c0cf5fd633e;ms-57dc9349b8f2c9c49105;ms-483520829af0d733cb2a;ms-c090bce47703a4c4bb0b;ms-01926c30568d417edd91;ms-50b9f93dd246400d20c8", + "expert_regret": 1.6312886774539948, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9f844e24c570295e0497", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6312886774539948, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.36871132254600525, + "restore_error": 1.1920928955078125e-07, + "score": 0.36871132254600525, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3088645339012146, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7247954607009888, + 0.2245398759841919, + 0.2281191349029541, + 0.2353598177433014 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.5002555847167969, + -0.49667632579803467, + -0.4894356429576874 + ], + "candidate_oracle_branch_scores": [ + 0.7247954607009888, + 0.2245398759841919, + 0.2281191349029541, + 0.2353598177433014 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.49716633558273315, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.49716633558273315, + -0.7426558136940002, + -0.8007404208183289, + -0.8654086589813232 + ], + "candidate_oracle_progress": 0.7247954607009888, + "candidate_oracle_regret": 1.2752045392990112, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7247954607009888, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7247954607009888, + "candidate_oracle_selected_branch_score": 0.7247954607009888, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-97c28a7584b35207bf84;ms-d30b515ab0ee174afa58;ms-a5a56eefeb2de0abe600;ms-73906fdb1ffcfbe4aaf4;ms-6c7f34ae8218aa0952c8;ms-f601aab1d8f7e4f1b97f", + "expert_regret": 1.277158260345459, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-777412474251e64d7e24", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.277158260345459, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.722841739654541, + "restore_error": 1.1920928955078125e-07, + "score": 0.722841739654541, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4767855107784271, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.4059714674949646, + 0.5181894302368164, + 0.3696329593658447, + 0.3173263967037201 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.1122179627418518, + -0.03633850812911987, + -0.0886450707912445 + ], + "candidate_oracle_branch_scores": [ + 0.4059714674949646, + 0.5181894302368164, + 0.3696329593658447, + 0.3173263967037201 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2406188249588013, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9594852924346924, + -1.2406188249588013, + -1.2952386140823364, + -1.3519197702407837 + ], + "candidate_oracle_progress": 0.5181894302368164, + "candidate_oracle_regret": 1.4818105697631836, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5181894302368164, + "candidate_oracle_score_gain_over_selected": 0.1122179627418518, + "candidate_oracle_selected_branch_progress": 0.4059714674949646, + "candidate_oracle_selected_branch_score": 0.4059714674949646, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02663903d88aa84c9c10;ms-9756d07ed207e9ab1d53;ms-d602b7370c5b90f8a439;ms-6939f3ecafd5e0a4bfee;ms-483520829af0d733cb2a;ms-35d84da6eb1afcf8a811", + "expert_regret": 1.5982199013233185, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6684504de2fc8756f44f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5982199013233185, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4017800986766815, + "restore_error": 1.1920928955078125e-07, + "score": 0.4017800986766815, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4803854823112488, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6073519587516785, + 0.314209908246994, + 0.30710428953170776, + 0.29699423909187317 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.29314205050468445, + -0.3002476692199707, + -0.3103577196598053 + ], + "candidate_oracle_branch_scores": [ + 0.6073519587516785, + 0.314209908246994, + 0.30710428953170776, + 0.29699423909187317 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3372819423675537, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.3372819423675537, + -1.600484013557434, + -1.6315959692001343, + -1.6653940677642822 + ], + "candidate_oracle_progress": 0.6073519587516785, + "candidate_oracle_regret": 1.3926480412483215, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6073519587516785, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6073519587516785, + "candidate_oracle_selected_branch_score": 0.6073519587516785, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e2f90eb6c79dfd9ce6fd;ms-cf2603516869355b8b13;ms-524ae7618ed9b6a272ae;ms-8b15f77ad3436ac282ba;ms-50b9f93dd246400d20c8;ms-57dc9349b8f2c9c49105", + "expert_regret": 1.3926244378089905, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-49c99f285560483a85ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3926244378089905, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6073755621910095, + "restore_error": 1.1920928955078125e-07, + "score": 0.6073755621910095, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4345235526561737, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.38191527128219604, + 0.3636572062969208, + 0.3108462691307068, + 0.3470461368560791 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.01825806498527527, + -0.07106900215148926, + -0.03486913442611694 + ], + "candidate_oracle_branch_scores": [ + 0.38191527128219604, + 0.3636572062969208, + 0.3108462691307068, + 0.3470461368560791 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.775608479976654, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.775608479976654, + -1.211285948753357, + -1.3120934963226318, + -1.3226487636566162 + ], + "candidate_oracle_progress": 0.38191527128219604, + "candidate_oracle_regret": 1.618084728717804, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.38191527128219604, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.38191527128219604, + "candidate_oracle_selected_branch_score": 0.38191527128219604, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0d80d6d87a27a53951fe;ms-0a57aa04002f1b843856;ms-851d25e7a1dde4242f33;ms-02663903d88aa84c9c10;ms-9756d07ed207e9ab1d53;ms-0fe7053483f72737eaec", + "expert_regret": 1.6180757284164429, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2d1a5e132eaeb353782", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6180757284164429, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.38192427158355713, + "restore_error": 1.1920928955078125e-07, + "score": 0.38192427158355713, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1309182196855545, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.7091996669769287, + 0.710814893245697, + 0.7116352319717407, + 0.7019156217575073 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0016152262687683105, + 0.0024355649948120117, + -0.007284045219421387 + ], + "candidate_oracle_branch_scores": [ + 0.7091996669769287, + 0.710814893245697, + 0.7116352319717407, + 0.7019156217575073 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.192020058631897, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 3, + 19, + 1 + ], + "candidate_oracle_potentials": [ + -1.046632170677185, + -1.1077028512954712, + -1.192020058631897, + -1.2709240913391113 + ], + "candidate_oracle_progress": 0.7116352319717407, + "candidate_oracle_regret": 1.2883647680282593, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7116352319717407, + "candidate_oracle_score_gain_over_selected": 0.0024355649948120117, + "candidate_oracle_selected_branch_progress": 0.7091996669769287, + "candidate_oracle_selected_branch_score": 0.7091996669769287, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-b933fbfb7c8fa68a445f;ms-9a72e47e2204fa794718;ms-c76aba3db8d4ce0062bc;ms-59474486dd5cb4e5bfd5", + "expert_regret": 1.2916635274887085, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7272e1e33d4ecc07470c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2916635274887085, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7083364725112915, + "restore_error": 1.1920928955078125e-07, + "score": 0.7083364725112915, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.46068891882896423, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3921651542186737, + 0.3570910394191742, + 0.3192234933376312, + 0.22838012874126434 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.03507411479949951, + -0.07294166088104248, + -0.16378502547740936 + ], + "candidate_oracle_branch_scores": [ + 0.3921651542186737, + 0.3570910394191742, + 0.3192234933376312, + 0.22838012874126434 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1219708919525146, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.1219708919525146, + -1.4947885274887085, + -1.5219110250473022, + -1.5475775003433228 + ], + "candidate_oracle_progress": 0.3921651542186737, + "candidate_oracle_regret": 1.6078348457813263, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3921651542186737, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3921651542186737, + "candidate_oracle_selected_branch_score": 0.3921651542186737, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-483520829af0d733cb2a;ms-57dc9349b8f2c9c49105;ms-01926c30568d417edd91;ms-e8de8d619c0cf5fd633e;ms-8b15f77ad3436ac282ba;ms-02663903d88aa84c9c10", + "expert_regret": 1.6078429520130157, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ee12f14646b925adf51", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6078429520130157, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.39215704798698425, + "restore_error": 1.1920928955078125e-07, + "score": 0.39215704798698425, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4378429055213928, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.385406494140625, + 0.31139546632766724, + 0.3780997395515442, + 0.30136236548423767 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.07401102781295776, + -0.0073067545890808105, + -0.08404412865638733 + ], + "candidate_oracle_branch_scores": [ + 0.385406494140625, + 0.31139546632766724, + 0.3780997395515442, + 0.30136236548423767 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8436198234558105, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -0.8436198234558105, + -1.3251277208328247, + -1.3328051567077637, + -1.3909783363342285 + ], + "candidate_oracle_progress": 0.385406494140625, + "candidate_oracle_regret": 1.614593505859375, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.385406494140625, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.385406494140625, + "candidate_oracle_selected_branch_score": 0.385406494140625, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0d80d6d87a27a53951fe;ms-0a57aa04002f1b843856;ms-851d25e7a1dde4242f33;ms-02663903d88aa84c9c10;ms-0fe7053483f72737eaec;ms-9756d07ed207e9ab1d53", + "expert_regret": 1.6146461963653564, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6f03b16858c35025503e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6146461963653564, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.38535380363464355, + "restore_error": 1.1920928955078125e-07, + "score": 0.38535380363464355, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.33211106061935425, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6685617566108704, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.6685617566108704, + -0.8190510272979736, + -0.8964105844497681, + -0.9961744546890259 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-832f0e966173abd16c34;ms-ad7b7d5d7fb25961859f;ms-4a86d570dabb0916f020;ms-9c33d4837de7d23232d6;ms-31fe1d98bc7adcd515db;ms-1b8e9b173562648021f6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-25195d526c9adb43ac79", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3396013081073761, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.6916087865829468, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.3083912134170532, + 1.3083912134170532, + 1.3083912134170532 + ], + "candidate_oracle_branch_scores": [ + 0.6916087865829468, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0572839975357056, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5420987606048584, + -1.0572839975357056, + -1.1880332231521606, + -1.3255187273025513 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.3083912134170532, + "candidate_oracle_selected_branch_progress": 0.6916087865829468, + "candidate_oracle_selected_branch_score": 0.6916087865829468, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8c7bbc80458fce91a1ac;ms-e825996818ee6f2f7d26;ms-ff012c1c8597c8db3cc7;ms-3a97ee208c6be9ed8b74;ms-84264ef080ec4f3631df;ms-fc3c8a3572fd96442723", + "expert_regret": 1.2827664017677307, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6ca37421eb5405e1a9a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2827664017677307, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7172335982322693, + "restore_error": 1.1920928955078125e-07, + "score": 0.7172335982322693, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.33833593130111694, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.2881494164466858, + 0.7038926482200623, + 0.26087331771850586 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.711850643157959, + -1.296107292175293, + -1.7391266822814941 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.2881494164466858, + 0.7038926482200623, + 0.26087331771850586 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6159139275550842, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -0.6159139275550842, + -1.20637047290802, + -1.2783664464950562, + -1.2937442064285278 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4dc9ab19fbe571f09699;ms-1b8e9b173562648021f6;ms-3661d65df223386f1be9;ms-caeb4c3d358f256799a8;ms-bdb04ada069c35d51e2e;ms-9c33d4837de7d23232d6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7cd314f076bfe5c32088", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41688886284828186, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3237041234970093, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3237041234970093, + -0.4384951591491699, + -0.463645339012146, + -0.48912203311920166 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-97c28a7584b35207bf84;ms-a5a56eefeb2de0abe600;ms-c1f3359c70d068a36081;ms-01ab68aa5051226638ee;ms-d30b515ab0ee174afa58;ms-c871c1157a16e19e6150", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-507199452c6d42562a38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.0433339886367321, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.203555628657341, + 0.20778903365135193, + 0.20757389068603516, + 0.20724819600582123 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.004233404994010925, + 0.004018262028694153, + 0.0036925673484802246 + ], + "candidate_oracle_branch_scores": [ + 0.203555628657341, + 0.20778903365135193, + 0.20757389068603516, + 0.20724819600582123 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.6058210134506226, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.4484792947769165, + -1.6058210134506226, + -1.6063511371612549, + -1.6084808111190796 + ], + "candidate_oracle_progress": 0.20778903365135193, + "candidate_oracle_regret": 1.792210966348648, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20778903365135193, + "candidate_oracle_score_gain_over_selected": 0.004233404994010925, + "candidate_oracle_selected_branch_progress": 0.203555628657341, + "candidate_oracle_selected_branch_score": 0.203555628657341, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1bbd61ce613ae75c8bb0;ms-320d99264926ea029f95;ms-0660d5f65df5fc4b6132;ms-83c0299c23fa800452c7;ms-ec2e4afb34b439731136;ms-e7573c5d29c3a1a3f228", + "expert_regret": 0.5189619362354279, + "expert_score": 0.7225138545036316, + "expert_success": false, + "group_id": "ms-4b4cd12d70c0615e0930", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7964480817317963, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20355191826820374, + "restore_error": 1.1920928955078125e-07, + "score": 0.20355191826820374, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.29428237676620483, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5218001008033752, + 0.496629536151886, + 0.3435046672821045, + 0.47954505681991577 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.025170564651489258, + -0.17829543352127075, + -0.04225504398345947 + ], + "candidate_oracle_branch_scores": [ + 0.5218001008033752, + 0.496629536151886, + 0.3435046672821045, + 0.47954505681991577 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9054898023605347, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.9054898023605347, + -1.3195637464523315, + -1.366565227508545, + -1.394241452217102 + ], + "candidate_oracle_progress": 0.5218001008033752, + "candidate_oracle_regret": 1.4781998991966248, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5218001008033752, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5218001008033752, + "candidate_oracle_selected_branch_score": 0.5218001008033752, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6939f3ecafd5e0a4bfee;ms-d602b7370c5b90f8a439;ms-0fe90299788e1f71f98a;ms-fc3c8a3572fd96442723;ms-9756d07ed207e9ab1d53;ms-9554f100dd5be3a4fa47", + "expert_regret": 1.4782391786575317, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2590f9fd91265598fb45", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4782391786575317, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5217608213424683, + "restore_error": 1.1920928955078125e-07, + "score": 0.5217608213424683, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5086371302604675, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6886688470840454, + 0.32061338424682617, + 0.3426322937011719, + 0.22852277755737305 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.36805546283721924, + -0.34603655338287354, + -0.46014606952667236 + ], + "candidate_oracle_branch_scores": [ + 0.6886688470840454, + 0.32061338424682617, + 0.3426322937011719, + 0.22852277755737305 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0624127388000488, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.0624127388000488, + -1.4234285354614258, + -1.4725574254989624, + -1.4822461605072021 + ], + "candidate_oracle_progress": 0.6886688470840454, + "candidate_oracle_regret": 1.3113311529159546, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6886688470840454, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6886688470840454, + "candidate_oracle_selected_branch_score": 0.6886688470840454, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-483520829af0d733cb2a;ms-57dc9349b8f2c9c49105;ms-02663903d88aa84c9c10;ms-01926c30568d417edd91;ms-524ae7618ed9b6a272ae;ms-e8de8d619c0cf5fd633e", + "expert_regret": 1.311335563659668, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1e0634dc4c3b94220950", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.311335563659668, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.688664436340332, + "restore_error": 1.1920928955078125e-07, + "score": 0.688664436340332, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3972000181674957, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4661139249801636, + 0.3770621716976166, + 0.2128782868385315, + 0.39182525873184204 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.089051753282547, + -0.2532356381416321, + -0.07428866624832153 + ], + "candidate_oracle_branch_scores": [ + 0.4661139249801636, + 0.3770621716976166, + 0.2128782868385315, + 0.39182525873184204 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3490138649940491, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3490138649940491, + -1.3326635360717773, + -1.5516620874404907, + -1.744518756866455 + ], + "candidate_oracle_progress": 0.4661139249801636, + "candidate_oracle_regret": 1.5338860750198364, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4661139249801636, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4661139249801636, + "candidate_oracle_selected_branch_score": 0.4661139249801636, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c1f3359c70d068a36081;ms-dd94921779f12b249579;ms-c3818c2c4474a784fc6b;ms-d26dc2146eb8ae9a5434;ms-a5a56eefeb2de0abe600;ms-295dab0e1d105e758827", + "expert_regret": 1.5305440723896027, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d229ac64c91c9bb6ce88", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5305440723896027, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.46945592761039734, + "restore_error": 1.1920928955078125e-07, + "score": 0.46945592761039734, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4706008732318878, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6789207458496094, + 0.5296565890312195, + 0.38400065898895264, + 0.31806743144989014 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1492641568183899, + -0.29492008686065674, + -0.36085331439971924 + ], + "candidate_oracle_branch_scores": [ + 0.6789207458496094, + 0.5296565890312195, + 0.38400065898895264, + 0.31806743144989014 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1541346311569214, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.1541346311569214, + -1.519551157951355, + -1.5584574937820435, + -1.5930348634719849 + ], + "candidate_oracle_progress": 0.6789207458496094, + "candidate_oracle_regret": 1.3210792541503906, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6789207458496094, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6789207458496094, + "candidate_oracle_selected_branch_score": 0.6789207458496094, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-483520829af0d733cb2a;ms-57dc9349b8f2c9c49105;ms-50b9f93dd246400d20c8;ms-524ae7618ed9b6a272ae;ms-01926c30568d417edd91;ms-8b15f77ad3436ac282ba", + "expert_regret": 1.3211966156959534, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-73c99a7a25cd025e5f2d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3211966156959534, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6788033843040466, + "restore_error": 1.1920928955078125e-07, + "score": 0.6788033843040466, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4343410134315491, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.694973349571228, + 0.21545156836509705, + 0.21504396200180054, + 0.21441945433616638 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.479521781206131, + -0.4799293875694275, + -0.48055389523506165 + ], + "candidate_oracle_branch_scores": [ + 0.694973349571228, + 0.21545156836509705, + 0.21504396200180054, + 0.21441945433616638 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3982311487197876, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.3982311487197876, + -1.4420822858810425, + -1.4765862226486206, + -1.5207339525222778 + ], + "candidate_oracle_progress": 0.694973349571228, + "candidate_oracle_regret": 1.305026650428772, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.694973349571228, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.694973349571228, + "candidate_oracle_selected_branch_score": 0.694973349571228, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-efb5a07185a3a1b33226;ms-e7573c5d29c3a1a3f228;ms-288ce929957d627c569c;ms-0a8109ce7ab2ddc1bb1e;ms-320d99264926ea029f95;ms-1bbd61ce613ae75c8bb0", + "expert_regret": 1.3060047626495361, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-89520c3ac8779d9e81e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3060047626495361, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6939952373504639, + "restore_error": 1.1920928955078125e-07, + "score": 0.6939952373504639, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35167738795280457, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.68488609790802, + 0.3441252112388611, + 0.3050190806388855, + 0.25190040469169617 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.34076088666915894, + -0.3798670172691345, + -0.43298569321632385 + ], + "candidate_oracle_branch_scores": [ + 0.68488609790802, + 0.3441252112388611, + 0.3050190806388855, + 0.25190040469169617 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.09586875885725021, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + 0.09586875885725021, + 0.041697777807712555, + 0.025301963090896606, + 0.0077455416321754456 + ], + "candidate_oracle_progress": 0.68488609790802, + "candidate_oracle_regret": 1.31511390209198, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.68488609790802, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.68488609790802, + "candidate_oracle_selected_branch_score": 0.68488609790802, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-ed30f8fbb80b2cf46fbc;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-59474486dd5cb4e5bfd5;ms-6e2b02ee71a4a44bc325", + "expert_regret": 1.2780569195747375, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-89feb4366865cfaf2273", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2780569195747375, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7219430804252625, + "restore_error": 1.1920928955078125e-07, + "score": 0.7219430804252625, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.09621532261371613, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 1.0279688835144043, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 1.0279688835144043, + 1.0095887184143066, + 0.9951974153518677, + 0.9672039747238159 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8864796e31bbe93d7c5d;ms-938b53ef53e669518a56;ms-9551db96b60a51ccf62a;ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-067e0fe46e4e9483e2a1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83c62951219e6599b630", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4978327751159668, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7016779780387878, + 0.6734188795089722, + 0.6675204634666443, + 0.678440511226654 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.028259098529815674, + -0.034157514572143555, + -0.02323746681213379 + ], + "candidate_oracle_branch_scores": [ + 0.7016779780387878, + 0.6734188795089722, + 0.6675204634666443, + 0.678440511226654 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0322777032852173, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0322777032852173, + -1.3416895866394043, + -1.3997269868850708, + -1.4592441320419312 + ], + "candidate_oracle_progress": 0.7016779780387878, + "candidate_oracle_regret": 1.2983220219612122, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.6391277313232422e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7016779780387878, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7016779780387878, + "candidate_oracle_selected_branch_score": 0.7016779780387878, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-35d84da6eb1afcf8a811;ms-e56b37f0e3881a70ef54;ms-d799435b5f6b8fae2ffb;ms-5fc588b9c9d52034f4c4;ms-84264ef080ec4f3631df;ms-9554f100dd5be3a4fa47", + "expert_regret": 1.2990950345993042, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-261f6f6b578cee63be20", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2990950345993042, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7009049654006958, + "restore_error": 1.6391277313232422e-07, + "score": 0.7009049654006958, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.49266061186790466, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.6446104049682617, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 0, + 17, + 1 + ], + "candidate_oracle_potentials": [ + -0.6446104049682617, + -0.662274181842804, + -0.6676689386367798, + -0.7037667036056519 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.6391277313232422e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fe790caba27d92511f71;ms-34f60c9a263bd0a5641f;ms-2436538e05fdcf8e44fc;ms-938b53ef53e669518a56;ms-f81ea99a1ec3423f3b6e;ms-e7573c5d29c3a1a3f228", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-caa0a38b7df789550f8a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.6391277313232422e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1133473739027977, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 1.0131890773773193, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 40 + ], + "candidate_oracle_potentials": [ + 1.0131890773773193, + 0.974231481552124, + 0.9239043593406677, + 0.8765363097190857 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.6391277313232422e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9551db96b60a51ccf62a;ms-938b53ef53e669518a56;ms-f81ea99a1ec3423f3b6e;ms-2436538e05fdcf8e44fc;ms-34f60c9a263bd0a5641f;ms-e7573c5d29c3a1a3f228", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-36f204d04ec4c4af3169", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.6391277313232422e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.45934370160102844, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.40794843435287476, + 0.3323235809803009, + 0.33072754740715027, + 0.3202447295188904 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.07562485337257385, + -0.07722088694572449, + -0.08770370483398438 + ], + "candidate_oracle_branch_scores": [ + 0.40794843435287476, + 0.3323235809803009, + 0.33072754740715027, + 0.3202447295188904 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.018807053565979, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.018807053565979, + -1.4148348569869995, + -1.4737085103988647, + -1.532650351524353 + ], + "candidate_oracle_progress": 0.40794843435287476, + "candidate_oracle_regret": 1.5920515656471252, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.6391277313232422e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.40794843435287476, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.40794843435287476, + "candidate_oracle_selected_branch_score": 0.40794843435287476, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d602b7370c5b90f8a439;ms-0fe90299788e1f71f98a;ms-6939f3ecafd5e0a4bfee;ms-fc3c8a3572fd96442723;ms-483520829af0d733cb2a;ms-e8de8d619c0cf5fd633e", + "expert_regret": 1.5918608903884888, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-55e89d326b6531345902", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5918608903884888, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.40813910961151123, + "restore_error": 1.6391277313232422e-07, + "score": 0.40813910961151123, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4189862310886383, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6456221342086792, + 0.38538095355033875, + 0.3925793170928955, + 0.46993622183799744 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.26024118065834045, + -0.2530428171157837, + -0.17568591237068176 + ], + "candidate_oracle_branch_scores": [ + 0.6456221342086792, + 0.38538095355033875, + 0.3925793170928955, + 0.46993622183799744 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7214512228965759, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7214512228965759, + -1.2108057737350464, + -1.3172818422317505, + -1.428322434425354 + ], + "candidate_oracle_progress": 0.6456221342086792, + "candidate_oracle_regret": 1.3543778657913208, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.6391277313232422e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6456221342086792, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6456221342086792, + "candidate_oracle_selected_branch_score": 0.6456221342086792, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ff012c1c8597c8db3cc7;ms-84264ef080ec4f3631df;ms-e825996818ee6f2f7d26;ms-8c7bbc80458fce91a1ac;ms-fc3c8a3572fd96442723;ms-e56b37f0e3881a70ef54", + "expert_regret": 1.3461487293243408, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-80e3d8a34c3cb94cad65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3461487293243408, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6538512706756592, + "restore_error": 1.6391277313232422e-07, + "score": 0.6538512706756592, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36512258648872375, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4644823968410492, + 0.3313707411289215, + 0.29098713397979736, + 0.2699698507785797 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.13311165571212769, + -0.17349526286125183, + -0.19451254606246948 + ], + "candidate_oracle_branch_scores": [ + 0.4644823968410492, + 0.3313707411289215, + 0.29098713397979736, + 0.2699698507785797 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5710031390190125, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5710031390190125, + -1.0754382610321045, + -1.1991422176361084, + -1.330352544784546 + ], + "candidate_oracle_progress": 0.4644823968410492, + "candidate_oracle_regret": 1.5355176031589508, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.6391277313232422e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4644823968410492, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4644823968410492, + "candidate_oracle_selected_branch_score": 0.4644823968410492, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e825996818ee6f2f7d26;ms-8c7bbc80458fce91a1ac;ms-ff012c1c8597c8db3cc7;ms-3a97ee208c6be9ed8b74;ms-84264ef080ec4f3631df;ms-fc3c8a3572fd96442723", + "expert_regret": 1.5238745212554932, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-577341cca32521f4045e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5238745212554932, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.47612547874450684, + "restore_error": 1.6391277313232422e-07, + "score": 0.47612547874450684, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.008467056788504124, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.2713746130466461, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.2713746130466461, + -0.3777235150337219, + -0.4176558256149292, + -0.46171170473098755 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.6391277313232422e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-059d7962a5f998edf668;ms-067e0fe46e4e9483e2a1;ms-14dabc3ac1e1a339ebe4;ms-2436538e05fdcf8e44fc;ms-487d0fe2a13fb699dd7a;ms-34f60c9a263bd0a5641f", + "expert_regret": 0.0, + "expert_score": 0.6909128427505493, + "expert_success": false, + "group_id": "ms-9156a9a9c1b829b742ad", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.6391277313232422e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.021718930453062057, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7275519371032715, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2724480628967285, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7275519371032715, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6353576183319092, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 20 + ], + "candidate_oracle_potentials": [ + -0.6353576183319092, + -1.1800090074539185, + -1.180536150932312, + -1.2651329040527344 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.6391277313232422e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9c33d4837de7d23232d6;ms-3661d65df223386f1be9;ms-38758efd8620a312267d;ms-c871c1157a16e19e6150;ms-bdb04ada069c35d51e2e;ms-1b8e9b173562648021f6", + "expert_regret": 0.0, + "expert_score": 0.7210851907730103, + "expert_success": false, + "group_id": "ms-988537a36edfece3d073", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.6391277313232422e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22556988894939423, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5287467241287231, + 0.23916654288768768, + 0.23981618881225586, + 0.24051433801651 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.28958016633987427, + -0.2889305353164673, + -0.28823238611221313 + ], + "candidate_oracle_branch_scores": [ + 0.5287467241287231, + 0.23916654288768768, + 0.23981618881225586, + 0.24051433801651 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8514888286590576, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8514888286590576, + -1.3185067176818848, + -1.3816381692886353, + -1.4403340816497803 + ], + "candidate_oracle_progress": 0.5287467241287231, + "candidate_oracle_regret": 1.4712532758712769, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5287467241287231, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5287467241287231, + "candidate_oracle_selected_branch_score": 0.5287467241287231, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bdb04ada069c35d51e2e;ms-38758efd8620a312267d;ms-4a86d570dabb0916f020;ms-832f0e966173abd16c34;ms-9c33d4837de7d23232d6;ms-c871c1157a16e19e6150", + "expert_regret": 1.4087282419204712, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a4ade4de51ca437ac432", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4087282419204712, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5912717580795288, + "restore_error": 2.384185791015625e-07, + "score": 0.5912717580795288, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3579350411891937, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4199769198894501, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4199769198894501, + -0.7314106225967407, + -0.7742063999176025, + -0.8114375472068787 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-31fe1d98bc7adcd515db;ms-29027a8e3742362fd477;ms-295dab0e1d105e758827;ms-ad7b7d5d7fb25961859f;ms-078317e23cc56a9d719d;ms-c871c1157a16e19e6150", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-675833805d1139c2f2a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5324811935424805, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7245925664901733, + 0.7246863842010498, + 0.723923921585083, + 0.7245473265647888 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 9.381771087646484e-05, + -0.000668644905090332, + -4.5239925384521484e-05 + ], + "candidate_oracle_branch_scores": [ + 0.7245925664901733, + 0.7246863842010498, + 0.723923921585083, + 0.7245473265647888 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.10109687596559525, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 24, + 0, + 8 + ], + "candidate_oracle_potentials": [ + 0.1614992320537567, + 0.10109687596559525, + 0.07218063622713089, + 0.03073713183403015 + ], + "candidate_oracle_progress": 0.7246863842010498, + "candidate_oracle_regret": 1.2753136157989502, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7246863842010498, + "candidate_oracle_score_gain_over_selected": 9.381771087646484e-05, + "candidate_oracle_selected_branch_progress": 0.7245925664901733, + "candidate_oracle_selected_branch_score": 0.7245925664901733, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8864796e31bbe93d7c5d;ms-067e0fe46e4e9483e2a1;ms-dd32ce9859c365c535b4;ms-487d0fe2a13fb699dd7a;ms-938b53ef53e669518a56;ms-14dabc3ac1e1a339ebe4", + "expert_regret": 1.3053804636001587, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-62b88f5cbc4f137e3bba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.3053804636001587, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6946195363998413, + "restore_error": 2.384185791015625e-07, + "score": 0.6946195363998413, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4991636872291565, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.21139556169509888, + 0.21288633346557617, + 0.21323172748088837, + 0.21237824857234955 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.001490771770477295, + 0.0018361657857894897, + 0.0009826868772506714 + ], + "candidate_oracle_branch_scores": [ + 0.21139556169509888, + 0.21288633346557617, + 0.21323172748088837, + 0.21237824857234955 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.5157171487808228, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 19, + 35, + 3 + ], + "candidate_oracle_potentials": [ + -1.2579246759414673, + -1.5032137632369995, + -1.5157171487808228, + -1.5224775075912476 + ], + "candidate_oracle_progress": 0.21323172748088837, + "candidate_oracle_regret": 1.7867682725191116, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21323172748088837, + "candidate_oracle_score_gain_over_selected": 0.0018361657857894897, + "candidate_oracle_selected_branch_progress": 0.21139556169509888, + "candidate_oracle_selected_branch_score": 0.21139556169509888, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e7573c5d29c3a1a3f228;ms-efb5a07185a3a1b33226;ms-320d99264926ea029f95;ms-1bbd61ce613ae75c8bb0;ms-33a0bdb4bcee42c79a2b;ms-ec2e4afb34b439731136", + "expert_regret": 1.788601890206337, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-af91167a0cf15457c6ba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.788601890206337, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21139810979366302, + "restore_error": 2.384185791015625e-07, + "score": 0.21139810979366302, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1695689857006073, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.28106456995010376, + 0.25367528200149536, + 0.25273481011390686, + 0.23379568755626678 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0273892879486084, + -0.0283297598361969, + -0.047268882393836975 + ], + "candidate_oracle_branch_scores": [ + 0.28106456995010376, + 0.25367528200149536, + 0.25273481011390686, + 0.23379568755626678 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6965048313140869, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.6965048313140869, + -1.021982192993164, + -1.0349041223526, + -1.0642341375350952 + ], + "candidate_oracle_progress": 0.28106456995010376, + "candidate_oracle_regret": 1.7189354300498962, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.28106456995010376, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.28106456995010376, + "candidate_oracle_selected_branch_score": 0.28106456995010376, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-832f0e966173abd16c34;ms-4a86d570dabb0916f020;ms-31fe1d98bc7adcd515db;ms-38758efd8620a312267d;ms-b0302a41f75a827cd4e4;ms-c871c1157a16e19e6150", + "expert_regret": 1.7194663882255554, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-becd2ffef1c49174810a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7194663882255554, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2805336117744446, + "restore_error": 2.384185791015625e-07, + "score": 0.2805336117744446, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39017391204833984, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.5010988712310791, + 0.2526063919067383, + 0.6545969247817993 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.498901128768921, + -1.7473936080932617, + -1.3454030752182007 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.5010988712310791, + 0.2526063919067383, + 0.6545969247817993 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.02753300964832306, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 8, + 24, + 4 + ], + "candidate_oracle_potentials": [ + 0.02753300964832306, + -0.06359818577766418, + -0.09383264929056168, + -0.1353330910205841 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-ed30f8fbb80b2cf46fbc;ms-5799584ed40e211c50a5;ms-59474486dd5cb4e5bfd5;ms-6a4398375c43dbf887b1;ms-6e2b02ee71a4a44bc325", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2e4ca0e2534ef8ea8bb4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.24970729649066925, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3494266867637634, + 0.30620306730270386, + 0.2939479351043701, + 0.2736552953720093 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.04322361946105957, + -0.05547875165939331, + -0.07577139139175415 + ], + "candidate_oracle_branch_scores": [ + 0.3494266867637634, + 0.30620306730270386, + 0.2939479351043701, + 0.2736552953720093 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7060595750808716, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7060595750808716, + -1.1392446756362915, + -1.2031933069229126, + -1.263600468635559 + ], + "candidate_oracle_progress": 0.3494266867637634, + "candidate_oracle_regret": 1.6505733132362366, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3494266867637634, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3494266867637634, + "candidate_oracle_selected_branch_score": 0.3494266867637634, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bdb04ada069c35d51e2e;ms-01ab68aa5051226638ee;ms-835bd462e505aa659d16;ms-4a86d570dabb0916f020;ms-38758efd8620a312267d;ms-832f0e966173abd16c34", + "expert_regret": 1.6802215874195099, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f0d2ffde521e268efc83", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6802215874195099, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3197784125804901, + "restore_error": 2.384185791015625e-07, + "score": 0.3197784125804901, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.4592996835708618, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.22896528244018555, + 0.22738437354564667, + 0.21705177426338196, + 0.22573456168174744 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0015809088945388794, + -0.011913508176803589, + -0.0032307207584381104 + ], + "candidate_oracle_branch_scores": [ + 0.22896528244018555, + 0.22738437354564667, + 0.21705177426338196, + 0.22573456168174744 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.3905361890792847, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 33, + 3 + ], + "candidate_oracle_potentials": [ + -1.3905361890792847, + -1.5253583192825317, + -1.5834275484085083, + -1.5966603755950928 + ], + "candidate_oracle_progress": 0.22896528244018555, + "candidate_oracle_regret": 1.7710347175598145, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.22896528244018555, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.22896528244018555, + "candidate_oracle_selected_branch_score": 0.22896528244018555, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0a57aa04002f1b843856;ms-851d25e7a1dde4242f33;ms-0d80d6d87a27a53951fe;ms-0fe7053483f72737eaec;ms-9756d07ed207e9ab1d53;ms-02663903d88aa84c9c10", + "expert_regret": 1.7710344344377518, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9f4b47c80d59166302ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7710344344377518, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22896556556224823, + "restore_error": 2.384185791015625e-07, + "score": 0.22896556556224823, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2859002649784088, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.6782621741294861, + 0.6656955480575562, + 0.6702687740325928 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.3217377662658691, + -1.3343044519424438, + -1.3297312259674072 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.6782621741294861, + 0.6656955480575562, + 0.6702687740325928 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3504318296909332, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3504318296909332, + -0.7049057483673096, + -0.806970477104187, + -0.921448290348053 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c1f3359c70d068a36081;ms-a5a56eefeb2de0abe600;ms-97c28a7584b35207bf84;ms-dd94921779f12b249579;ms-01ab68aa5051226638ee;ms-6c7f34ae8218aa0952c8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-780ea60ea0255941e6c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.15317943692207336, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7153164744377136, + 0.6997677087783813, + 0.6761727333068848, + 0.7076557874679565 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.015548765659332275, + -0.03914374113082886, + -0.00766068696975708 + ], + "candidate_oracle_branch_scores": [ + 0.7153164744377136, + 0.6997677087783813, + 0.6761727333068848, + 0.7076557874679565 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.776523768901825, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 4 + ], + "candidate_oracle_potentials": [ + -0.776523768901825, + -1.0445499420166016, + -1.0976353883743286, + -1.1035317182540894 + ], + "candidate_oracle_progress": 0.7153164744377136, + "candidate_oracle_regret": 1.2846835255622864, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7153164744377136, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7153164744377136, + "candidate_oracle_selected_branch_score": 0.7153164744377136, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-31fe1d98bc7adcd515db;ms-078317e23cc56a9d719d;ms-4a86d570dabb0916f020;ms-832f0e966173abd16c34;ms-38758efd8620a312267d;ms-d3a7e3f163b142a3e56b", + "expert_regret": 1.2903841137886047, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-690f52acc6ead9c7c078", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2903841137886047, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7096158862113953, + "restore_error": 2.384185791015625e-07, + "score": 0.7096158862113953, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.19515836238861084, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.6577683687210083, + 0.707972526550293, + 0.7109629511833191, + 0.4707273244857788 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.05020415782928467, + 0.05319458246231079, + -0.1870410442352295 + ], + "candidate_oracle_branch_scores": [ + 0.6577683687210083, + 0.707972526550293, + 0.7109629511833191, + 0.4707273244857788 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3838807344436646, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8769521713256836, + -1.3365724086761475, + -1.3838807344436646, + -1.424776315689087 + ], + "candidate_oracle_progress": 0.7109629511833191, + "candidate_oracle_regret": 1.289037048816681, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7109629511833191, + "candidate_oracle_score_gain_over_selected": 0.05319458246231079, + "candidate_oracle_selected_branch_progress": 0.6577683687210083, + "candidate_oracle_selected_branch_score": 0.6577683687210083, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-38758efd8620a312267d;ms-c871c1157a16e19e6150;ms-bdb04ada069c35d51e2e;ms-078317e23cc56a9d719d;ms-4a86d570dabb0916f020;ms-832f0e966173abd16c34", + "expert_regret": 1.3333255052566528, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1145e0f6add300eee9bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3333255052566528, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6666744947433472, + "restore_error": 2.384185791015625e-07, + "score": 0.6666744947433472, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.0332748182117939, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7181276082992554, + 0.7258554697036743, + 0.7070620059967041, + 0.7048196792602539 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.007727861404418945, + -0.01106560230255127, + -0.013307929039001465 + ], + "candidate_oracle_branch_scores": [ + 0.7181276082992554, + 0.7258554697036743, + 0.7070620059967041, + 0.7048196792602539 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.652253270149231, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.45305711030960083, + -0.652253270149231, + -0.6917417049407959, + -0.7322947978973389 + ], + "candidate_oracle_progress": 0.7258554697036743, + "candidate_oracle_regret": 1.2741445302963257, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7258554697036743, + "candidate_oracle_score_gain_over_selected": 0.007727861404418945, + "candidate_oracle_selected_branch_progress": 0.7181276082992554, + "candidate_oracle_selected_branch_score": 0.7181276082992554, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d30b515ab0ee174afa58;ms-97c28a7584b35207bf84;ms-a5a56eefeb2de0abe600;ms-6c7f34ae8218aa0952c8;ms-01ab68aa5051226638ee;ms-c1f3359c70d068a36081", + "expert_regret": 0.015335679054260254, + "expert_score": 0.7288997173309326, + "expert_success": false, + "group_id": "ms-efbde8652e75274fbd69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2864359617233276, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7135640382766724, + "restore_error": 2.384185791015625e-07, + "score": 0.7135640382766724, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3913819491863251, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4481869637966156, + 0.25256627798080444, + 0.25220945477485657, + 0.25296276807785034 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.19562068581581116, + -0.19597750902175903, + -0.19522419571876526 + ], + "candidate_oracle_branch_scores": [ + 0.4481869637966156, + 0.25256627798080444, + 0.25220945477485657, + 0.25296276807785034 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6575338840484619, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -0.6575338840484619, + -1.1955902576446533, + -1.2574068307876587, + -1.2681535482406616 + ], + "candidate_oracle_progress": 0.4481869637966156, + "candidate_oracle_regret": 0.27130112051963806, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4481869637966156, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4481869637966156, + "candidate_oracle_selected_branch_score": 0.4481869637966156, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4dc9ab19fbe571f09699;ms-1b8e9b173562648021f6;ms-3661d65df223386f1be9;ms-bdb04ada069c35d51e2e;ms-caeb4c3d358f256799a8;ms-29027a8e3742362fd477", + "expert_regret": 0.26972874999046326, + "expert_score": 0.7194880843162537, + "expert_success": false, + "group_id": "ms-ff3256da4e1731651937", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.26972874999046326, + "oracle_score": 0.7194880843162537, + "oracle_success": false, + "progress": 0.4497593343257904, + "restore_error": 2.384185791015625e-07, + "score": 0.4497593343257904, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36292973160743713, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6812684535980225, + 0.42729803919792175, + 0.39026737213134766, + 0.36620569229125977 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.2539704144001007, + -0.2910010814666748, + -0.3150627613067627 + ], + "candidate_oracle_branch_scores": [ + 0.6812684535980225, + 0.42729803919792175, + 0.39026737213134766, + 0.36620569229125977 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6383634805679321, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6383634805679321, + -1.1120916604995728, + -1.2388824224472046, + -1.3701761960983276 + ], + "candidate_oracle_progress": 0.6812684535980225, + "candidate_oracle_regret": 1.3187315464019775, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6812684535980225, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6812684535980225, + "candidate_oracle_selected_branch_score": 0.6812684535980225, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-84264ef080ec4f3631df;ms-ff012c1c8597c8db3cc7;ms-e825996818ee6f2f7d26;ms-8c7bbc80458fce91a1ac;ms-e56b37f0e3881a70ef54;ms-fc3c8a3572fd96442723", + "expert_regret": 1.3221614360809326, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a195f05e99bccc48907e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3221614360809326, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6778385639190674, + "restore_error": 2.384185791015625e-07, + "score": 0.6778385639190674, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.1106339693069458, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.21146456897258759, + 0.21123957633972168, + 0.21086561679840088, + 0.2063005417585373 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00022499263286590576, + -0.0005989521741867065, + -0.005164027214050293 + ], + "candidate_oracle_branch_scores": [ + 0.21146456897258759, + 0.21123957633972168, + 0.21086561679840088, + 0.2063005417585373 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.5607454776763916, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + -1.5607454776763916, + -1.6009937524795532, + -1.6402913331985474, + -1.6432158946990967 + ], + "candidate_oracle_progress": 0.21146456897258759, + "candidate_oracle_regret": 1.7885354310274124, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21146456897258759, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.21146456897258759, + "candidate_oracle_selected_branch_score": 0.21146456897258759, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-35c12c467fb8a54f89f0;ms-0a8109ce7ab2ddc1bb1e;ms-a103dfbc0567d05ade6e;ms-1bbd61ce613ae75c8bb0;ms-83c0299c23fa800452c7;ms-288ce929957d627c569c", + "expert_regret": 1.7885356843471527, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3af721139694f7f3ec04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7885356843471527, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2114643156528473, + "restore_error": 2.384185791015625e-07, + "score": 0.2114643156528473, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.23835696280002594, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5625092387199402, + 0.1985185593366623, + 0.19547238945960999, + 0.21982887387275696 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.3639906644821167, + -0.3670368492603302, + -0.3426803648471832 + ], + "candidate_oracle_branch_scores": [ + 0.5625092387199402, + 0.1985185593366623, + 0.19547238945960999, + 0.21982887387275696 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3338031768798828, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.3338031768798828, + -1.5054633617401123, + -1.5248725414276123, + -1.5409907102584839 + ], + "candidate_oracle_progress": 0.5625092387199402, + "candidate_oracle_regret": 1.4374907612800598, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5625092387199402, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5625092387199402, + "candidate_oracle_selected_branch_score": 0.5625092387199402, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3f0c6556f6c7df39ec2d;ms-8fabc0ac20ec87ead026;ms-cba95475cb68ea42b041;ms-f5dcf9054c3c1c4e1d50;ms-0fe90299788e1f71f98a;ms-865f9d670f806778ae61", + "expert_regret": 1.4267469644546509, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b4af9d7c922b1676e516", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4267469644546509, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5732530355453491, + "restore_error": 2.384185791015625e-07, + "score": 0.5732530355453491, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3114013075828552, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7238427996635437, + 0.6916850805282593, + 0.6965388655662537, + 0.6377003192901611 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.032157719135284424, + -0.02730393409729004, + -0.08614248037338257 + ], + "candidate_oracle_branch_scores": [ + 0.7238427996635437, + 0.6916850805282593, + 0.6965388655662537, + 0.6377003192901611 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5287320017814636, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5287320017814636, + -1.1174527406692505, + -1.2567601203918457, + -1.396947979927063 + ], + "candidate_oracle_progress": 0.7238427996635437, + "candidate_oracle_regret": 1.2761572003364563, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7238427996635437, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7238427996635437, + "candidate_oracle_selected_branch_score": 0.7238427996635437, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8c7bbc80458fce91a1ac;ms-e825996818ee6f2f7d26;ms-3a97ee208c6be9ed8b74;ms-ff012c1c8597c8db3cc7;ms-84264ef080ec4f3631df;ms-fc3c8a3572fd96442723", + "expert_regret": 1.275254487991333, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2286d9cf8d88e878c4d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.275254487991333, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.724745512008667, + "restore_error": 2.384185791015625e-07, + "score": 0.724745512008667, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5752198100090027, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7238433361053467, + 0.724231481552124, + 0.7245036959648132, + 0.7252871990203857 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00038814544677734375, + 0.0006603598594665527, + 0.0014438629150390625 + ], + "candidate_oracle_branch_scores": [ + 0.7238433361053467, + 0.724231481552124, + 0.7245036959648132, + 0.7252871990203857 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.1229148730635643, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 24, + 8, + 36 + ], + "candidate_oracle_potentials": [ + 0.29696837067604065, + 0.24645087122917175, + 0.1817570924758911, + 0.1229148730635643 + ], + "candidate_oracle_progress": 0.7252871990203857, + "candidate_oracle_regret": 1.2747128009796143, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7252871990203857, + "candidate_oracle_score_gain_over_selected": 0.0014438629150390625, + "candidate_oracle_selected_branch_progress": 0.7238433361053467, + "candidate_oracle_selected_branch_score": 0.7238433361053467, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9551db96b60a51ccf62a;ms-8864796e31bbe93d7c5d;ms-938b53ef53e669518a56;ms-73906fdb1ffcfbe4aaf4;ms-dd32ce9859c365c535b4;ms-067e0fe46e4e9483e2a1", + "expert_regret": 1.3044381141662598, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-490e2c471adbabec6304", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.3044381141662598, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6955618858337402, + "restore_error": 2.384185791015625e-07, + "score": 0.6955618858337402, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31965985894203186, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6899006366729736, + 0.4898495078086853, + 0.46328815817832947, + 0.40707826614379883 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.20005112886428833, + -0.22661247849464417, + -0.2828223705291748 + ], + "candidate_oracle_branch_scores": [ + 0.6899006366729736, + 0.4898495078086853, + 0.46328815817832947, + 0.40707826614379883 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.35535794496536255, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.35535794496536255, + -0.6450048089027405, + -0.6870762705802917, + -0.7238074541091919 + ], + "candidate_oracle_progress": 0.6899006366729736, + "candidate_oracle_regret": 1.3100993633270264, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6899006366729736, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6899006366729736, + "candidate_oracle_selected_branch_score": 0.6899006366729736, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-31fe1d98bc7adcd515db;ms-832f0e966173abd16c34;ms-4a86d570dabb0916f020;ms-1b8e9b173562648021f6;ms-29027a8e3742362fd477;ms-c871c1157a16e19e6150", + "expert_regret": 1.327913522720337, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-510cafd84de611de3909", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.327913522720337, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6720864772796631, + "restore_error": 2.384185791015625e-07, + "score": 0.6720864772796631, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.27362582087516785, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5222691297531128, + 0.4444621205329895, + 0.33695751428604126, + 0.2969247102737427 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.07780700922012329, + -0.18531161546707153, + -0.22534441947937012 + ], + "candidate_oracle_branch_scores": [ + 0.5222691297531128, + 0.4444621205329895, + 0.33695751428604126, + 0.2969247102737427 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.45015478134155273, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.45015478134155273, + -0.810540497303009, + -0.8543346524238586, + -0.8900415897369385 + ], + "candidate_oracle_progress": 0.5222691297531128, + "candidate_oracle_regret": 1.4777308702468872, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5222691297531128, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5222691297531128, + "candidate_oracle_selected_branch_score": 0.5222691297531128, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d26dc2146eb8ae9a5434;ms-dd94921779f12b249579;ms-c3818c2c4474a784fc6b;ms-d3a7e3f163b142a3e56b;ms-078317e23cc56a9d719d;ms-295dab0e1d105e758827", + "expert_regret": 1.4213935136795044, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d9ed0a9faf86ca5f5caa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4213935136795044, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5786064863204956, + "restore_error": 2.384185791015625e-07, + "score": 0.5786064863204956, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3313766419887543, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7059714198112488, + 0.44584089517593384, + 0.35279151797294617, + 0.2971440553665161 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.26013052463531494, + -0.3531799018383026, + -0.40882736444473267 + ], + "candidate_oracle_branch_scores": [ + 0.7059714198112488, + 0.44584089517593384, + 0.35279151797294617, + 0.2971440553665161 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4518902897834778, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4518902897834778, + -0.6988697648048401, + -0.7360824346542358, + -0.7693431377410889 + ], + "candidate_oracle_progress": 0.7059714198112488, + "candidate_oracle_regret": 1.2940285801887512, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7059714198112488, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7059714198112488, + "candidate_oracle_selected_branch_score": 0.7059714198112488, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-97c28a7584b35207bf84;ms-c1f3359c70d068a36081;ms-dd94921779f12b249579;ms-078317e23cc56a9d719d;ms-a5a56eefeb2de0abe600;ms-6c7f34ae8218aa0952c8", + "expert_regret": 1.296777367591858, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-508d1ea98eb9c78acd16", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.296777367591858, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7032226324081421, + "restore_error": 2.384185791015625e-07, + "score": 0.7032226324081421, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6963221430778503, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.2892204523086548, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 33, + 17 + ], + "candidate_oracle_potentials": [ + -0.2892204523086548, + -0.35034748911857605, + -0.4135191738605499, + -0.4370328485965729 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2436538e05fdcf8e44fc;ms-938b53ef53e669518a56;ms-487d0fe2a13fb699dd7a;ms-067e0fe46e4e9483e2a1;ms-34f60c9a263bd0a5641f;ms-14dabc3ac1e1a339ebe4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-785fb44f1371895f7721", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.369793564081192, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.22945669293403625, + 0.23344281315803528, + 0.233804851770401, + 0.23568418622016907 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0039861202239990234, + 0.004348158836364746, + 0.0062274932861328125 + ], + "candidate_oracle_branch_scores": [ + 0.22945669293403625, + 0.23344281315803528, + 0.233804851770401, + 0.23568418622016907 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9039536714553833, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4288376271724701, + -0.8138067126274109, + -0.8632155656814575, + -0.9039536714553833 + ], + "candidate_oracle_progress": 0.23568418622016907, + "candidate_oracle_regret": 1.764315813779831, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.23568418622016907, + "candidate_oracle_score_gain_over_selected": 0.0062274932861328125, + "candidate_oracle_selected_branch_progress": 0.22945669293403625, + "candidate_oracle_selected_branch_score": 0.22945669293403625, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c3818c2c4474a784fc6b;ms-d26dc2146eb8ae9a5434;ms-295dab0e1d105e758827;ms-31fe1d98bc7adcd515db;ms-078317e23cc56a9d719d;ms-29027a8e3742362fd477", + "expert_regret": 1.746680200099945, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-77b33fec5c6c627dbda5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.746680200099945, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25331979990005493, + "restore_error": 2.384185791015625e-07, + "score": 0.25331979990005493, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4810306429862976, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.2020796537399292, + 0.2041548490524292, + 0.20454667508602142, + 0.20484666526317596 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0020751953125, + 0.002467021346092224, + 0.002767011523246765 + ], + "candidate_oracle_branch_scores": [ + 0.2020796537399292, + 0.2041548490524292, + 0.20454667508602142, + 0.20484666526317596 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.845780372619629, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 3, + 19, + 35 + ], + "candidate_oracle_potentials": [ + -1.6554838418960571, + -1.8422245979309082, + -1.8455028533935547, + -1.845780372619629 + ], + "candidate_oracle_progress": 0.20484666526317596, + "candidate_oracle_regret": 1.795153334736824, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20484666526317596, + "candidate_oracle_score_gain_over_selected": 0.002767011523246765, + "candidate_oracle_selected_branch_progress": 0.2020796537399292, + "candidate_oracle_selected_branch_score": 0.2020796537399292, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ec2e4afb34b439731136;ms-320d99264926ea029f95;ms-33a0bdb4bcee42c79a2b;ms-36d1128e3bd512cffe18;ms-e7573c5d29c3a1a3f228;ms-0660d5f65df5fc4b6132", + "expert_regret": 1.7978800684213638, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9852b3671856321cecc8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7978800684213638, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20211993157863617, + "restore_error": 2.384185791015625e-07, + "score": 0.20211993157863617, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3704372048377991, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7156904935836792, + 1.0, + 0.708896279335022, + 0.5865444540977478 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2843095064163208, + -0.0067942142486572266, + -0.1291460394859314 + ], + "candidate_oracle_branch_scores": [ + 0.7156904935836792, + 2.0, + 0.708896279335022, + 0.5865444540977478 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0878361463546753, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6308196187019348, + -1.0878361463546753, + -1.2109953165054321, + -1.3408409357070923 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2843095064163208, + "candidate_oracle_selected_branch_progress": 0.7156904935836792, + "candidate_oracle_selected_branch_score": 0.7156904935836792, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ff012c1c8597c8db3cc7;ms-84264ef080ec4f3631df;ms-e825996818ee6f2f7d26;ms-fc3c8a3572fd96442723;ms-3a97ee208c6be9ed8b74;ms-8c7bbc80458fce91a1ac", + "expert_regret": 1.2798324227333069, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d8f42ed6b0b686d819ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2798324227333069, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7201675772666931, + "restore_error": 1.1920928955078125e-07, + "score": 0.7201675772666931, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4828534722328186, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3853456676006317, + 0.21467402577400208, + 0.32291164994239807, + 0.2148737609386444 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.17067164182662964, + -0.06243401765823364, + -0.1704719066619873 + ], + "candidate_oracle_branch_scores": [ + 0.3853456676006317, + 0.21467402577400208, + 0.32291164994239807, + 0.2148737609386444 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0442947149276733, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.0442947149276733, + -1.4796751737594604, + -1.5388871431350708, + -1.5571194887161255 + ], + "candidate_oracle_progress": 0.3853456676006317, + "candidate_oracle_regret": 1.6146543323993683, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3853456676006317, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3853456676006317, + "candidate_oracle_selected_branch_score": 0.3853456676006317, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02663903d88aa84c9c10;ms-9756d07ed207e9ab1d53;ms-483520829af0d733cb2a;ms-0fe7053483f72737eaec;ms-0d80d6d87a27a53951fe;ms-5fc588b9c9d52034f4c4", + "expert_regret": 1.6146627962589264, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-40a961867249ddccb68f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6146627962589264, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3853372037410736, + "restore_error": 1.1920928955078125e-07, + "score": 0.3853372037410736, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2457282841205597, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.4757063388824463, + 0.5888363718986511, + 0.6543813943862915, + 0.6574026942253113 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.11313003301620483, + 0.17867505550384521, + 0.181696355342865 + ], + "candidate_oracle_branch_scores": [ + 0.4757063388824463, + 0.5888363718986511, + 0.6543813943862915, + 0.6574026942253113 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.1814950704574585, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5699597597122192, + -1.0512235164642334, + -1.1199504137039185, + -1.1814950704574585 + ], + "candidate_oracle_progress": 0.6574026942253113, + "candidate_oracle_regret": 1.3425973057746887, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6574026942253113, + "candidate_oracle_score_gain_over_selected": 0.181696355342865, + "candidate_oracle_selected_branch_progress": 0.4757063388824463, + "candidate_oracle_selected_branch_score": 0.4757063388824463, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bdb04ada069c35d51e2e;ms-c871c1157a16e19e6150;ms-3661d65df223386f1be9;ms-38758efd8620a312267d;ms-1b8e9b173562648021f6;ms-832f0e966173abd16c34", + "expert_regret": 1.3349757194519043, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13aa39b96923ad8c913a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3349757194519043, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6650242805480957, + "restore_error": 1.1920928955078125e-07, + "score": 0.6650242805480957, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.014692123048007488, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6825495958328247, + 0.6263289451599121, + 0.6345868110656738, + 0.6412034034729004 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0562206506729126, + -0.04796278476715088, + -0.041346192359924316 + ], + "candidate_oracle_branch_scores": [ + 0.6825495958328247, + 0.6263289451599121, + 0.6345868110656738, + 0.6412034034729004 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7731043696403503, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + -0.7731043696403503, + -0.8190321922302246, + -0.8254303932189941, + -0.8399276733398438 + ], + "candidate_oracle_progress": 0.6825495958328247, + "candidate_oracle_regret": 1.3174504041671753, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6825495958328247, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6825495958328247, + "candidate_oracle_selected_branch_score": 0.6825495958328247, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-9a72e47e2204fa794718;ms-b933fbfb7c8fa68a445f;ms-59474486dd5cb4e5bfd5;ms-6e2b02ee71a4a44bc325", + "expert_regret": 0.04207545518875122, + "expert_score": 0.724672257900238, + "expert_success": false, + "group_id": "ms-9ced92cccacfe4d157b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3174031972885132, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6825968027114868, + "restore_error": 1.1920928955078125e-07, + "score": 0.6825968027114868, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41290825605392456, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.42145872116088867, + 0.3331388831138611, + 0.20529934763908386, + 0.32481569051742554 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.08831983804702759, + -0.2161593735218048, + -0.09664303064346313 + ], + "candidate_oracle_branch_scores": [ + 0.42145872116088867, + 0.3331388831138611, + 0.20529934763908386, + 0.32481569051742554 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9762299060821533, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -0.9762299060821533, + -1.4267643690109253, + -1.4830108880996704, + -1.4859951734542847 + ], + "candidate_oracle_progress": 0.42145872116088867, + "candidate_oracle_regret": 1.5785412788391113, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.42145872116088867, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.42145872116088867, + "candidate_oracle_selected_branch_score": 0.42145872116088867, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02663903d88aa84c9c10;ms-57dc9349b8f2c9c49105;ms-524ae7618ed9b6a272ae;ms-01926c30568d417edd91;ms-483520829af0d733cb2a;ms-e2f90eb6c79dfd9ce6fd", + "expert_regret": 1.578523874282837, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-67b6e4d62036c13cc466", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.578523874282837, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4214761257171631, + "restore_error": 1.1920928955078125e-07, + "score": 0.4214761257171631, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4664188325405121, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.49755164980888367, + 0.2336958348751068, + 0.23213443160057068, + 0.2328473925590515 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.26385581493377686, + -0.265417218208313, + -0.26470425724983215 + ], + "candidate_oracle_branch_scores": [ + 0.49755164980888367, + 0.2336958348751068, + 0.23213443160057068, + 0.2328473925590515 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4284597337245941, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4284597337245941, + -0.6105275750160217, + -0.6416117548942566, + -0.6711488366127014 + ], + "candidate_oracle_progress": 0.49755164980888367, + "candidate_oracle_regret": 1.5024483501911163, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.49755164980888367, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.49755164980888367, + "candidate_oracle_selected_branch_score": 0.49755164980888367, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c1f3359c70d068a36081;ms-dd94921779f12b249579;ms-295dab0e1d105e758827;ms-c871c1157a16e19e6150;ms-d26dc2146eb8ae9a5434;ms-078317e23cc56a9d719d", + "expert_regret": 1.5063165724277496, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1e41619ab39cf51b7822", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5063165724277496, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49368342757225037, + "restore_error": 1.1920928955078125e-07, + "score": 0.49368342757225037, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4472101032733917, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.46493932604789734, + 0.3214016258716583, + 0.6863518953323364, + 0.6924059391021729 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.143537700176239, + 0.2214125692844391, + 0.2274666130542755 + ], + "candidate_oracle_branch_scores": [ + 0.46493932604789734, + 0.3214016258716583, + 0.6863518953323364, + 0.6924059391021729 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8910961747169495, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.29237183928489685, + -0.6630838513374329, + -0.772212028503418, + -0.8910961747169495 + ], + "candidate_oracle_progress": 0.6924059391021729, + "candidate_oracle_regret": 1.3075940608978271, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6924059391021729, + "candidate_oracle_score_gain_over_selected": 0.2274666130542755, + "candidate_oracle_selected_branch_progress": 0.46493932604789734, + "candidate_oracle_selected_branch_score": 0.46493932604789734, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c1f3359c70d068a36081;ms-dd94921779f12b249579;ms-d26dc2146eb8ae9a5434;ms-c3818c2c4474a784fc6b;ms-a5a56eefeb2de0abe600;ms-08dc71adea7d8efeb298", + "expert_regret": 1.5216364860534668, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-252706fc0657a82ba5a4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5216364860534668, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4783635139465332, + "restore_error": 1.1920928955078125e-07, + "score": 0.4783635139465332, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6912994384765625, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7188345789909363, + 1.0, + 0.7182880640029907 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.281165361404419, + 0.0, + -1.2817119359970093 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7188345789909363, + 2.0, + 0.7182880640029907 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.7759326100349426, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 33, + 19, + 17 + ], + "candidate_oracle_potentials": [ + -0.7759326100349426, + -0.8132662773132324, + -0.8386776447296143, + -0.8477498888969421 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3d862f2a32d3404926c3;ms-cc5f2a24e2571cb23050;ms-6a4398375c43dbf887b1;ms-145f60d5fff285e7d05b;ms-b933fbfb7c8fa68a445f;ms-9a72e47e2204fa794718", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5cc5e6359fc006559eae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5105723142623901, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.20366662740707397, + 0.21449601650238037, + 0.2130756676197052, + 0.21592800319194794 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.010829389095306396, + 0.009409040212631226, + 0.012261375784873962 + ], + "candidate_oracle_branch_scores": [ + 0.20366662740707397, + 0.21449601650238037, + 0.2130756676197052, + 0.21592800319194794 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.805670142173767, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 19, + 3, + 35 + ], + "candidate_oracle_potentials": [ + -1.7362297773361206, + -1.8007140159606934, + -1.8044589757919312, + -1.805670142173767 + ], + "candidate_oracle_progress": 0.21592800319194794, + "candidate_oracle_regret": 1.784071996808052, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21592800319194794, + "candidate_oracle_score_gain_over_selected": 0.012261375784873962, + "candidate_oracle_selected_branch_progress": 0.20366662740707397, + "candidate_oracle_selected_branch_score": 0.20366662740707397, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-50b9f93dd246400d20c8;ms-524ae7618ed9b6a272ae;ms-8b15f77ad3436ac282ba;ms-01926c30568d417edd91;ms-57dc9349b8f2c9c49105;ms-c090bce47703a4c4bb0b", + "expert_regret": 1.7963341772556305, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-17a5e9b7bd8c1f255307", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7963341772556305, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2036658227443695, + "restore_error": 1.1920928955078125e-07, + "score": 0.2036658227443695, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3122515082359314, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7203346490859985, + 0.7172524333000183, + 0.6998224258422852 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2796653509140015, + -1.282747507095337, + -1.3001775741577148 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7203346490859985, + 0.7172524333000183, + 0.6998224258422852 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3935956358909607, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3935956358909607, + -1.0363082885742188, + -1.166244387626648, + -1.2967948913574219 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-01ab68aa5051226638ee;ms-bdb04ada069c35d51e2e;ms-4dc9ab19fbe571f09699;ms-1b8e9b173562648021f6;ms-3661d65df223386f1be9;ms-caeb4c3d358f256799a8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-340913cb08bfca09a4e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3098466098308563, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6649943590164185, + 0.3220817446708679, + 0.2952052354812622, + 0.2525877058506012 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.34291261434555054, + -0.36978912353515625, + -0.41240665316581726 + ], + "candidate_oracle_branch_scores": [ + 0.6649943590164185, + 0.3220817446708679, + 0.2952052354812622, + 0.2525877058506012 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6541346907615662, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.6541346907615662, + -1.2051687240600586, + -1.2778650522232056, + -1.3227747678756714 + ], + "candidate_oracle_progress": 0.6649943590164185, + "candidate_oracle_regret": 1.3350056409835815, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6649943590164185, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6649943590164185, + "candidate_oracle_selected_branch_score": 0.6649943590164185, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bdb04ada069c35d51e2e;ms-1b8e9b173562648021f6;ms-3661d65df223386f1be9;ms-c871c1157a16e19e6150;ms-4dc9ab19fbe571f09699;ms-9c33d4837de7d23232d6", + "expert_regret": 1.2976584434509277, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5bbc4c4b1b51e2a088db", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2976584434509277, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7023415565490723, + "restore_error": 1.1920928955078125e-07, + "score": 0.7023415565490723, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32939448952674866, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7118918895721436, + 0.3963209092617035, + 0.3683850169181824, + 0.34099751710891724 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.31557098031044006, + -0.3435068726539612, + -0.3708943724632263 + ], + "candidate_oracle_branch_scores": [ + 0.7118918895721436, + 0.3963209092617035, + 0.3683850169181824, + 0.34099751710891724 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.44843125343322754, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.44843125343322754, + -0.6851346492767334, + -0.7293146252632141, + -0.7728403806686401 + ], + "candidate_oracle_progress": 0.7118918895721436, + "candidate_oracle_regret": 1.2881081104278564, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7118918895721436, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7118918895721436, + "candidate_oracle_selected_branch_score": 0.7118918895721436, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a5a56eefeb2de0abe600;ms-97c28a7584b35207bf84;ms-c1f3359c70d068a36081;ms-6c7f34ae8218aa0952c8;ms-dd94921779f12b249579;ms-078317e23cc56a9d719d", + "expert_regret": 1.28307044506073, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7c812bb98308442d95b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.28307044506073, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.71692955493927, + "restore_error": 1.1920928955078125e-07, + "score": 0.71692955493927, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.01802046224474907, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.3403874337673187, + 0.3313591480255127, + 0.3012847602367401, + 0.3447496294975281 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00902828574180603, + -0.03910267353057861, + 0.004362195730209351 + ], + "candidate_oracle_branch_scores": [ + 0.3403874337673187, + 0.3313591480255127, + 0.3012847602367401, + 0.3447496294975281 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.4809767007827759, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 35 + ], + "candidate_oracle_potentials": [ + -0.8842190504074097, + -1.4374940395355225, + -1.4746294021606445, + -1.4809767007827759 + ], + "candidate_oracle_progress": 0.3447496294975281, + "candidate_oracle_regret": 1.655250370502472, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3447496294975281, + "candidate_oracle_score_gain_over_selected": 0.004362195730209351, + "candidate_oracle_selected_branch_progress": 0.3403874337673187, + "candidate_oracle_selected_branch_score": 0.3403874337673187, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dd94921779f12b249579;ms-d26dc2146eb8ae9a5434;ms-078317e23cc56a9d719d;ms-d3a7e3f163b142a3e56b;ms-c3818c2c4474a784fc6b;ms-295dab0e1d105e758827", + "expert_regret": 0.3825618624687195, + "expert_score": 0.7224933505058289, + "expert_success": false, + "group_id": "ms-baa36ee75ec2de550b9b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6600685119628906, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3399314880371094, + "restore_error": 1.1920928955078125e-07, + "score": 0.3399314880371094, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.0005130767822266, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7259448766708374, + 0.721265435218811, + 0.7207750678062439, + 0.7189420461654663 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.004679441452026367, + -0.005169808864593506, + -0.007002830505371094 + ], + "candidate_oracle_branch_scores": [ + 0.7259448766708374, + 0.721265435218811, + 0.7207750678062439, + 0.7189420461654663 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3326791524887085, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 3, + 19, + 35 + ], + "candidate_oracle_potentials": [ + -1.3326791524887085, + -1.3930933475494385, + -1.3952363729476929, + -1.4144033193588257 + ], + "candidate_oracle_progress": 0.7259448766708374, + "candidate_oracle_regret": 0.004477143287658691, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7259448766708374, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7259448766708374, + "candidate_oracle_selected_branch_score": 0.7259448766708374, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fe790caba27d92511f71;ms-34f60c9a263bd0a5641f;ms-dfc111660c0d1c7b7e04;ms-938b53ef53e669518a56;ms-2436538e05fdcf8e44fc;ms-33a0bdb4bcee42c79a2b", + "expert_regret": 0.004039645195007324, + "expert_score": 0.7304220199584961, + "expert_success": false, + "group_id": "ms-0bf60eaed682d2ca149f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.004039645195007324, + "oracle_score": 0.7304220199584961, + "oracle_success": false, + "progress": 0.7263823747634888, + "restore_error": 1.1920928955078125e-07, + "score": 0.7263823747634888, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.21781907975673676, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.4719116687774658, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 40, + 24 + ], + "candidate_oracle_potentials": [ + 0.4719116687774658, + 0.4111174941062927, + 0.40406346321105957, + 0.3896619379520416 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8864796e31bbe93d7c5d;ms-9551db96b60a51ccf62a;ms-938b53ef53e669518a56;ms-dd32ce9859c365c535b4;ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5ebbab81506fa27fc6d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.19744928181171417, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7062739729881287, + 0.6890761256217957, + 0.5067181587219238, + 0.22696024179458618 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.017197847366333008, + -0.19955581426620483, + -0.4793137311935425 + ], + "candidate_oracle_branch_scores": [ + 0.7062739729881287, + 0.6890761256217957, + 0.5067181587219238, + 0.22696024179458618 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5297858715057373, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5297858715057373, + -0.9909306764602661, + -1.0430818796157837, + -1.0849560499191284 + ], + "candidate_oracle_progress": 0.7062739729881287, + "candidate_oracle_regret": 1.2937260270118713, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7062739729881287, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7062739729881287, + "candidate_oracle_selected_branch_score": 0.7062739729881287, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dd94921779f12b249579;ms-078317e23cc56a9d719d;ms-d26dc2146eb8ae9a5434;ms-d3a7e3f163b142a3e56b;ms-c3818c2c4474a784fc6b;ms-295dab0e1d105e758827", + "expert_regret": 1.293969213962555, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9fd14cc61816c2d4360e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.293969213962555, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7060307860374451, + "restore_error": 1.1920928955078125e-07, + "score": 0.7060307860374451, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5322105288505554, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.724064826965332 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.275935173034668 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.724064826965332 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.12889358401298523, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 40, + 17, + 24 + ], + "candidate_oracle_potentials": [ + -0.12889358401298523, + -0.18354374170303345, + -0.19617927074432373, + -0.23238784074783325 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-067e0fe46e4e9483e2a1;ms-14dabc3ac1e1a339ebe4;ms-487d0fe2a13fb699dd7a;ms-059d7962a5f998edf668;ms-2436538e05fdcf8e44fc;ms-34f60c9a263bd0a5641f", + "expert_regret": 1.2804925441741943, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5003e0cda1e13bd4850a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2804925441741943, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7195074558258057, + "restore_error": 2.384185791015625e-07, + "score": 0.7195074558258057, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.05273910239338875, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2250802218914032, + 0.2243637889623642, + 0.22438792884349823, + 0.22346460819244385 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0007164329290390015, + -0.0006922930479049683, + -0.0016156136989593506 + ], + "candidate_oracle_branch_scores": [ + 0.2250802218914032, + 0.2243637889623642, + 0.22438792884349823, + 0.22346460819244385 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.0787601470947266, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -2.0787601470947266, + -2.201071262359619, + -2.216611385345459, + -2.230936288833618 + ], + "candidate_oracle_progress": 0.2250802218914032, + "candidate_oracle_regret": 0.00979645550251007, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2250802218914032, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2250802218914032, + "candidate_oracle_selected_branch_score": 0.2250802218914032, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e8de8d619c0cf5fd633e;ms-0fe90299788e1f71f98a;ms-c090bce47703a4c4bb0b;ms-f5dcf9054c3c1c4e1d50;ms-865f9d670f806778ae61;ms-57dc9349b8f2c9c49105", + "expert_regret": 0.008031532168388367, + "expert_score": 0.23311088979244232, + "expert_success": false, + "group_id": "ms-a67a1ab4d96d811cec77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.009797319769859314, + "oracle_score": 0.23487667739391327, + "oracle_success": false, + "progress": 0.22507935762405396, + "restore_error": 2.384185791015625e-07, + "score": 0.22507935762405396, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37043967843055725, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.19761988520622253, + 0.19773787260055542, + 0.19756090641021729, + 0.1983262002468109 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00011798739433288574, + -5.8978796005249023e-05, + 0.0007063150405883789 + ], + "candidate_oracle_branch_scores": [ + 0.19761988520622253, + 0.19773787260055542, + 0.19756090641021729, + 0.1983262002468109 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.4575002193450928, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8904609680175781, + -1.3483175039291382, + -1.4048986434936523, + -1.4575002193450928 + ], + "candidate_oracle_progress": 0.1983262002468109, + "candidate_oracle_regret": 1.801673799753189, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.1983262002468109, + "candidate_oracle_score_gain_over_selected": 0.0007063150405883789, + "candidate_oracle_selected_branch_progress": 0.19761988520622253, + "candidate_oracle_selected_branch_score": 0.19761988520622253, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5dcf9054c3c1c4e1d50;ms-865f9d670f806778ae61;ms-0fe90299788e1f71f98a;ms-c090bce47703a4c4bb0b;ms-e8de8d619c0cf5fd633e;ms-8fabc0ac20ec87ead026", + "expert_regret": 1.8024135828018188, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7677b8f230103dd3c51", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8024135828018188, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19758641719818115, + "restore_error": 2.384185791015625e-07, + "score": 0.19758641719818115, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2546335756778717, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5406103134155273, + 0.41269856691360474, + 0.4129863679409027, + 0.41339394450187683 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1279117465019226, + -0.12762394547462463, + -0.1272163689136505 + ], + "candidate_oracle_branch_scores": [ + 0.5406103134155273, + 0.41269856691360474, + 0.4129863679409027, + 0.41339394450187683 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8762750625610352, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8762750625610352, + -1.2497364282608032, + -1.317374587059021, + -1.3861289024353027 + ], + "candidate_oracle_progress": 0.5406103134155273, + "candidate_oracle_regret": 1.4593896865844727, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5406103134155273, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5406103134155273, + "candidate_oracle_selected_branch_score": 0.5406103134155273, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6939f3ecafd5e0a4bfee;ms-d602b7370c5b90f8a439;ms-0fe90299788e1f71f98a;ms-fc3c8a3572fd96442723;ms-cba95475cb68ea42b041;ms-865f9d670f806778ae61", + "expert_regret": 1.4568771123886108, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-09b2d832d7823c11fd22", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4568771123886108, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5431228876113892, + "restore_error": 2.384185791015625e-07, + "score": 0.5431228876113892, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3091420531272888, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.334597647190094, + 0.1984536051750183, + 0.20002321898937225, + 0.19822430610656738 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.13614404201507568, + -0.13457442820072174, + -0.1363733410835266 + ], + "candidate_oracle_branch_scores": [ + 0.334597647190094, + 0.1984536051750183, + 0.20002321898937225, + 0.19822430610656738 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.857470154762268, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.857470154762268, + -1.8612765073776245, + -1.86410391330719, + -1.8689833879470825 + ], + "candidate_oracle_progress": 0.334597647190094, + "candidate_oracle_regret": 1.665402352809906, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.334597647190094, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.334597647190094, + "candidate_oracle_selected_branch_score": 0.334597647190094, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0660d5f65df5fc4b6132;ms-35c12c467fb8a54f89f0;ms-ec2e4afb34b439731136;ms-83c0299c23fa800452c7;ms-320d99264926ea029f95;ms-1bbd61ce613ae75c8bb0", + "expert_regret": 1.664387583732605, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4e825dd3ade30a42e899", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.664387583732605, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.335612416267395, + "restore_error": 2.384185791015625e-07, + "score": 0.335612416267395, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.23152384161949158, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.36580154299736023, + 0.32128629088401794, + 0.2580622732639313, + 0.27574238181114197 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.044515252113342285, + -0.10773926973342896, + -0.09005916118621826 + ], + "candidate_oracle_branch_scores": [ + 0.36580154299736023, + 0.32128629088401794, + 0.2580622732639313, + 0.27574238181114197 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5720939636230469, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5720939636230469, + -1.015726923942566, + -1.0733846426010132, + -1.1236757040023804 + ], + "candidate_oracle_progress": 0.36580154299736023, + "candidate_oracle_regret": 1.6341984570026398, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.36580154299736023, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.36580154299736023, + "candidate_oracle_selected_branch_score": 0.36580154299736023, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c871c1157a16e19e6150;ms-078317e23cc56a9d719d;ms-38758efd8620a312267d;ms-bdb04ada069c35d51e2e;ms-3661d65df223386f1be9;ms-31fe1d98bc7adcd515db", + "expert_regret": 1.6212589740753174, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8fcf4d9d042de2f74d76", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6212589740753174, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3787410259246826, + "restore_error": 2.384185791015625e-07, + "score": 0.3787410259246826, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4149428904056549, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.22113671898841858, + 0.22372102737426758 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.7788633108139038, + -1.7762789726257324 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.22113671898841858, + 0.22372102737426758 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.30491435527801514, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.30491435527801514, + -0.7158042788505554, + -0.8266719579696655, + -0.9439684152603149 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c1f3359c70d068a36081;ms-dd94921779f12b249579;ms-c3818c2c4474a784fc6b;ms-d26dc2146eb8ae9a5434;ms-295dab0e1d105e758827;ms-d3a7e3f163b142a3e56b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e6ca7414c5035e80d0ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6681691408157349, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.20332185924053192, + 0.20322105288505554, + 0.5866081714630127, + 0.20738869905471802 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0001008063554763794, + 0.3832862973213196, + 0.004066839814186096 + ], + "candidate_oracle_branch_scores": [ + 0.20332185924053192, + 0.20322105288505554, + 0.5866081714630127, + 0.20738869905471802 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.6711671352386475, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 35 + ], + "candidate_oracle_potentials": [ + -1.65225350856781, + -1.6612149477005005, + -1.6711671352386475, + -1.6721580028533936 + ], + "candidate_oracle_progress": 0.5866081714630127, + "candidate_oracle_regret": 1.4133918285369873, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5866081714630127, + "candidate_oracle_score_gain_over_selected": 0.3832862973213196, + "candidate_oracle_selected_branch_progress": 0.20332185924053192, + "candidate_oracle_selected_branch_score": 0.20332185924053192, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-83c0299c23fa800452c7;ms-35c12c467fb8a54f89f0;ms-0a8109ce7ab2ddc1bb1e;ms-a103dfbc0567d05ade6e;ms-0660d5f65df5fc4b6132;ms-1bbd61ce613ae75c8bb0", + "expert_regret": 1.7966780364513397, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a43b35c03282fe0c8464", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.7966780364513397, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20332196354866028, + "restore_error": 2.384185791015625e-07, + "score": 0.20332196354866028, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.15822720527648926, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5238425731658936, + 0.49960869550704956, + 0.4983043074607849, + 0.5005691051483154 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.024233877658843994, + -0.025538265705108643, + -0.023273468017578125 + ], + "candidate_oracle_branch_scores": [ + 0.5238425731658936, + 0.49960869550704956, + 0.4983043074607849, + 0.5005691051483154 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.20958411693573, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.20958411693573, + -1.2824574708938599, + -1.2885791063308716, + -1.3043690919876099 + ], + "candidate_oracle_progress": 0.5238425731658936, + "candidate_oracle_regret": 1.4761574268341064, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5238425731658936, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5238425731658936, + "candidate_oracle_selected_branch_score": 0.5238425731658936, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ec4accef21246e0c9213;ms-c76aba3db8d4ce0062bc;ms-b0302a41f75a827cd4e4;ms-9a72e47e2204fa794718;ms-b933fbfb7c8fa68a445f;ms-cc5f2a24e2571cb23050", + "expert_regret": 1.4681041836738586, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-575bd87a5da90963019d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4681041836738586, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5318958163261414, + "restore_error": 1.1920928955078125e-07, + "score": 0.5318958163261414, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.28445568680763245, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.7285325527191162, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.2714674472808838, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.7285325527191162, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.21852803230285645, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 0.21852803230285645, + 0.11987213790416718, + 0.023328207433223724, + -0.010490268468856812 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8864796e31bbe93d7c5d;ms-9551db96b60a51ccf62a;ms-938b53ef53e669518a56;ms-dd32ce9859c365c535b4;ms-487d0fe2a13fb699dd7a;ms-067e0fe46e4e9483e2a1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cbd6cc8b2708d5e3e4a9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5211621522903442, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.26893121004104614, + 0.2655494213104248, + 0.2637956440448761, + 0.26140090823173523 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.003381788730621338, + -0.005135565996170044, + -0.007530301809310913 + ], + "candidate_oracle_branch_scores": [ + 0.26893121004104614, + 0.2655494213104248, + 0.2637956440448761, + 0.26140090823173523 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1381220817565918, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.1381220817565918, + -1.542777419090271, + -1.6061497926712036, + -1.6667258739471436 + ], + "candidate_oracle_progress": 0.26893121004104614, + "candidate_oracle_regret": 1.7310687899589539, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.26893121004104614, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.26893121004104614, + "candidate_oracle_selected_branch_score": 0.26893121004104614, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8c7bbc80458fce91a1ac;ms-e825996818ee6f2f7d26;ms-ff012c1c8597c8db3cc7;ms-84264ef080ec4f3631df;ms-3a97ee208c6be9ed8b74;ms-e56b37f0e3881a70ef54", + "expert_regret": 1.7304226160049438, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11e34e842b9154f34d56", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7304226160049438, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.26957738399505615, + "restore_error": 1.1920928955078125e-07, + "score": 0.26957738399505615, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4739897549152374, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7278868556022644, + 0.7279325723648071, + 0.7277001142501831, + 0.7258769869804382 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 4.571676254272461e-05, + -0.00018674135208129883, + -0.002009868621826172 + ], + "candidate_oracle_branch_scores": [ + 0.7278868556022644, + 0.7279325723648071, + 0.7277001142501831, + 0.7258769869804382 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.2902963161468506, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.2848527133464813, + -0.2902963161468506, + -0.3060857653617859, + -0.30985599756240845 + ], + "candidate_oracle_progress": 0.7279325723648071, + "candidate_oracle_regret": 1.2720674276351929, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7279325723648071, + "candidate_oracle_score_gain_over_selected": 4.571676254272461e-05, + "candidate_oracle_selected_branch_progress": 0.7278868556022644, + "candidate_oracle_selected_branch_score": 0.7278868556022644, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-059d7962a5f998edf668;ms-067e0fe46e4e9483e2a1;ms-14dabc3ac1e1a339ebe4;ms-487d0fe2a13fb699dd7a;ms-2436538e05fdcf8e44fc;ms-34f60c9a263bd0a5641f", + "expert_regret": 1.2727249264717102, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb329ccd569163c53415", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2727249264717102, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7272750735282898, + "restore_error": 1.1920928955078125e-07, + "score": 0.7272750735282898, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32691875100135803, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.6780714392662048, + 0.677817702293396, + 0.6759461760520935, + 0.6829879283905029 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0002537369728088379, + -0.002125263214111328, + 0.004916489124298096 + ], + "candidate_oracle_branch_scores": [ + 0.6780714392662048, + 0.677817702293396, + 0.6759461760520935, + 0.6829879283905029 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9402965307235718, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.8047420382499695, + -0.8235089778900146, + -0.8554315567016602, + -0.9402965307235718 + ], + "candidate_oracle_progress": 0.6829879283905029, + "candidate_oracle_regret": 1.317012071609497, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6829879283905029, + "candidate_oracle_score_gain_over_selected": 0.004916489124298096, + "candidate_oracle_selected_branch_progress": 0.6780714392662048, + "candidate_oracle_selected_branch_score": 0.6780714392662048, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c76aba3db8d4ce0062bc;ms-ec4accef21246e0c9213;ms-b0302a41f75a827cd4e4;ms-9a72e47e2204fa794718;ms-b933fbfb7c8fa68a445f;ms-4a86d570dabb0916f020", + "expert_regret": 1.3227322697639465, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28c139f34a954b692962", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3227322697639465, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6772677302360535, + "restore_error": 1.1920928955078125e-07, + "score": 0.6772677302360535, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32474973797798157, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.723273515701294, + 0.6924155950546265, + 0.6864793300628662, + 0.337985098361969 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.03085792064666748, + -0.036794185638427734, + -0.38528841733932495 + ], + "candidate_oracle_branch_scores": [ + 0.723273515701294, + 0.6924155950546265, + 0.6864793300628662, + 0.337985098361969 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5552942156791687, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5552942156791687, + -1.21811044216156, + -1.357082486152649, + -1.4910402297973633 + ], + "candidate_oracle_progress": 0.723273515701294, + "candidate_oracle_regret": 1.276726484298706, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.723273515701294, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.723273515701294, + "candidate_oracle_selected_branch_score": 0.723273515701294, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8c7bbc80458fce91a1ac;ms-e825996818ee6f2f7d26;ms-3a97ee208c6be9ed8b74;ms-ff012c1c8597c8db3cc7;ms-84264ef080ec4f3631df;ms-fc3c8a3572fd96442723", + "expert_regret": 1.27113538980484, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-af25c332ad54eee6e1c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.27113538980484, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7288646101951599, + "restore_error": 1.1920928955078125e-07, + "score": 0.7288646101951599, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2809366285800934, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.45165085792541504, + 0.3511529564857483, + 0.3168409466743469, + 0.28836530447006226 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.10049790143966675, + -0.13480991125106812, + -0.16328555345535278 + ], + "candidate_oracle_branch_scores": [ + 0.45165085792541504, + 0.3511529564857483, + 0.3168409466743469, + 0.28836530447006226 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.532062292098999, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.532062292098999, + -1.1487444639205933, + -1.2957971096038818, + -1.4528032541275024 + ], + "candidate_oracle_progress": 0.45165085792541504, + "candidate_oracle_regret": 1.548349142074585, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.45165085792541504, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.45165085792541504, + "candidate_oracle_selected_branch_score": 0.45165085792541504, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8c7bbc80458fce91a1ac;ms-e825996818ee6f2f7d26;ms-3a97ee208c6be9ed8b74;ms-ff012c1c8597c8db3cc7;ms-84264ef080ec4f3631df;ms-fc3c8a3572fd96442723", + "expert_regret": 1.548433005809784, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-074b26fed4c4a9dd3449", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.548433005809784, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.45156699419021606, + "restore_error": 1.1920928955078125e-07, + "score": 0.45156699419021606, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3072338402271271, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.19406965374946594, + 0.1998869776725769, + 0.1984291970729828, + 0.1993875950574875 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.005817323923110962, + 0.004359543323516846, + 0.005317941308021545 + ], + "candidate_oracle_branch_scores": [ + 0.19406965374946594, + 0.1998869776725769, + 0.1984291970729828, + 0.1993875950574875 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.7148127555847168, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.6775678396224976, + -1.7148127555847168, + -1.722030758857727, + -1.7305091619491577 + ], + "candidate_oracle_progress": 0.1998869776725769, + "candidate_oracle_regret": 1.800113022327423, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.1998869776725769, + "candidate_oracle_score_gain_over_selected": 0.005817323923110962, + "candidate_oracle_selected_branch_progress": 0.19406965374946594, + "candidate_oracle_selected_branch_score": 0.19406965374946594, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0660d5f65df5fc4b6132;ms-35c12c467fb8a54f89f0;ms-1bbd61ce613ae75c8bb0;ms-83c0299c23fa800452c7;ms-a103dfbc0567d05ade6e;ms-ec2e4afb34b439731136", + "expert_regret": 1.8055578619241714, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c550bf52d7bf91f4ca2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8055578619241714, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19444213807582855, + "restore_error": 1.1920928955078125e-07, + "score": 0.19444213807582855, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6561487317085266, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.5846219658851624, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 33, + 17 + ], + "candidate_oracle_potentials": [ + 0.5846219658851624, + 0.5771750807762146, + 0.573797345161438, + 0.5674319267272949 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 2.4586915969848633e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ed30f8fbb80b2cf46fbc;ms-96e1562aaca7ef49db28;ms-ea41340182245326a218;ms-5799584ed40e211c50a5;ms-3d862f2a32d3404926c3;ms-145f60d5fff285e7d05b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fa077183f74add357112", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6200522184371948, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.19892345368862152, + 0.20331059396266937, + 0.2035515159368515, + 0.20369824767112732 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0043871402740478516, + 0.0046280622482299805, + 0.004774793982505798 + ], + "candidate_oracle_branch_scores": [ + 0.19892345368862152, + 0.20331059396266937, + 0.2035515159368515, + 0.20369824767112732 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.8641170263290405, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 3, + 19, + 35 + ], + "candidate_oracle_potentials": [ + -1.7812689542770386, + -1.8296302556991577, + -1.845779299736023, + -1.8641170263290405 + ], + "candidate_oracle_progress": 0.20369824767112732, + "candidate_oracle_regret": 1.7963017523288727, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.4586915969848633e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20369824767112732, + "candidate_oracle_score_gain_over_selected": 0.004774793982505798, + "candidate_oracle_selected_branch_progress": 0.19892345368862152, + "candidate_oracle_selected_branch_score": 0.19892345368862152, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ec2e4afb34b439731136;ms-36d1128e3bd512cffe18;ms-320d99264926ea029f95;ms-33a0bdb4bcee42c79a2b;ms-0660d5f65df5fc4b6132;ms-e7573c5d29c3a1a3f228", + "expert_regret": 1.801076591014862, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28835618507e7bc71227", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.801076591014862, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19892340898513794, + "restore_error": 2.3096799850463867e-07, + "score": 0.19892340898513794, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.18802396953105927, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7158745527267456, + 0.6889522075653076, + 0.5440139174461365, + 0.716080367565155 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.02692234516143799, + -0.17186063528060913, + 0.00020581483840942383 + ], + "candidate_oracle_branch_scores": [ + 0.7158745527267456, + 0.6889522075653076, + 0.5440139174461365, + 0.716080367565155 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.049486756324768, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.6670881509780884, + -1.000556468963623, + -1.0182030200958252, + -1.049486756324768 + ], + "candidate_oracle_progress": 0.716080367565155, + "candidate_oracle_regret": 1.283919632434845, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 2.4586915969848633e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.716080367565155, + "candidate_oracle_score_gain_over_selected": 0.00020581483840942383, + "candidate_oracle_selected_branch_progress": 0.7158745527267456, + "candidate_oracle_selected_branch_score": 0.7158745527267456, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-832f0e966173abd16c34;ms-4a86d570dabb0916f020;ms-38758efd8620a312267d;ms-31fe1d98bc7adcd515db;ms-c871c1157a16e19e6150;ms-3661d65df223386f1be9", + "expert_regret": 1.2886274456977844, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bbefdf03d0471be60f8f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2886274456977844, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7113725543022156, + "restore_error": 2.3096799850463867e-07, + "score": 0.7113725543022156, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3003871738910675, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4705903232097626, + 0.40415534377098083, + 0.3977023959159851, + 0.3212524652481079 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.06643497943878174, + -0.07288792729377747, + -0.14933785796165466 + ], + "candidate_oracle_branch_scores": [ + 0.4705903232097626, + 0.40415534377098083, + 0.3977023959159851, + 0.3212524652481079 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8660525679588318, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.8660525679588318, + -1.2492246627807617, + -1.3151472806930542, + -1.3780617713928223 + ], + "candidate_oracle_progress": 0.4705903232097626, + "candidate_oracle_regret": 1.5294096767902374, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 2.4586915969848633e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4705903232097626, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4705903232097626, + "candidate_oracle_selected_branch_score": 0.4705903232097626, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6939f3ecafd5e0a4bfee;ms-d602b7370c5b90f8a439;ms-0fe90299788e1f71f98a;ms-865f9d670f806778ae61;ms-483520829af0d733cb2a;ms-fc3c8a3572fd96442723", + "expert_regret": 1.5359353423118591, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5b24bcde90348f24bb19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5359353423118591, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.46406465768814087, + "restore_error": 2.3096799850463867e-07, + "score": 0.46406465768814087, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.04424794390797615, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.5452373623847961, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 0, + 33 + ], + "candidate_oracle_potentials": [ + -0.5452373623847961, + -0.5841442346572876, + -0.6206241250038147, + -0.650489330291748 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 2.4586915969848633e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-832f0e966173abd16c34;ms-ec4accef21246e0c9213;ms-b0302a41f75a827cd4e4;ms-4a86d570dabb0916f020;ms-ad7b7d5d7fb25961859f;ms-4dc9ab19fbe571f09699", + "expert_regret": 0.0, + "expert_score": 0.712003231048584, + "expert_success": false, + "group_id": "ms-8bc7aa419d17368d81b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.21805964410305023, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2616017460823059, + 0.2525896430015564, + 0.2526155114173889, + 0.25267937779426575 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.009012103080749512, + -0.008986234664916992, + -0.008922368288040161 + ], + "candidate_oracle_branch_scores": [ + 0.2616017460823059, + 0.2525896430015564, + 0.2526155114173889, + 0.25267937779426575 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.24614679813385, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.24614679813385, + -1.508346676826477, + -1.5124555826187134, + -1.5478657484054565 + ], + "candidate_oracle_progress": 0.2616017460823059, + "candidate_oracle_regret": 1.738398253917694, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 2.4586915969848633e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2616017460823059, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2616017460823059, + "candidate_oracle_selected_branch_score": 0.2616017460823059, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d3a7e3f163b142a3e56b;ms-d26dc2146eb8ae9a5434;ms-078317e23cc56a9d719d;ms-dd94921779f12b249579;ms-c3818c2c4474a784fc6b;ms-38758efd8620a312267d", + "expert_regret": 1.735401213169098, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3aa33c0fda88e08e75fa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.735401213169098, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2645987868309021, + "restore_error": 2.3096799850463867e-07, + "score": 0.2645987868309021, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5388422608375549, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7849757671356201, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 33, + 8 + ], + "candidate_oracle_potentials": [ + 0.7849757671356201, + 0.749215841293335, + 0.6979405879974365, + 0.6970520615577698 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 2.4586915969848633e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-ed30f8fbb80b2cf46fbc;ms-5799584ed40e211c50a5;ms-145f60d5fff285e7d05b;ms-59474486dd5cb4e5bfd5;ms-6a4398375c43dbf887b1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a40abdebe8a9c17de878", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5379611253738403, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6971759796142578, + 0.3701861798763275, + 0.3370595872402191, + 0.3104194700717926 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.3269897997379303, + -0.3601163923740387, + -0.3867565095424652 + ], + "candidate_oracle_branch_scores": [ + 0.6971759796142578, + 0.3701861798763275, + 0.3370595872402191, + 0.3104194700717926 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0037739276885986, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0037739276885986, + -1.387541651725769, + -1.4527419805526733, + -1.5174063444137573 + ], + "candidate_oracle_progress": 0.6971759796142578, + "candidate_oracle_regret": 1.3028240203857422, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.4586915969848633e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6971759796142578, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6971759796142578, + "candidate_oracle_selected_branch_score": 0.6971759796142578, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-35d84da6eb1afcf8a811;ms-e56b37f0e3881a70ef54;ms-5fc588b9c9d52034f4c4;ms-d799435b5f6b8fae2ffb;ms-d602b7370c5b90f8a439;ms-fc3c8a3572fd96442723", + "expert_regret": 1.2977490425109863, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-48db1178206eee52434a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2977490425109863, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7022509574890137, + "restore_error": 2.3096799850463867e-07, + "score": 0.7022509574890137, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.015149198472499847, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7103232741355896, + 0.25295138359069824, + 0.7025526762008667 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2896766662597656, + -1.7470486164093018, + -1.2974473237991333 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7103232741355896, + 0.25295138359069824, + 0.7025526762008667 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.97624671459198, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -0.97624671459198, + -1.3861562013626099, + -1.431181788444519, + -1.4577914476394653 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 3.0174851417541504e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-38758efd8620a312267d;ms-078317e23cc56a9d719d;ms-9c33d4837de7d23232d6;ms-832f0e966173abd16c34;ms-4a86d570dabb0916f020;ms-3661d65df223386f1be9", + "expert_regret": 0.0, + "expert_score": 0.7242826819419861, + "expert_success": false, + "group_id": "ms-491aad3896ede89ea0dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.7278990745544434, + "oracle_success": false, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30297818779945374, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7208397388458252, + 0.6888395547866821, + 0.379526823759079, + 0.3040698170661926 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.032000184059143066, + -0.3413129150867462, + -0.41676992177963257 + ], + "candidate_oracle_branch_scores": [ + 0.7208397388458252, + 0.6888395547866821, + 0.379526823759079, + 0.3040698170661926 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5540168881416321, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5540168881416321, + -1.2028239965438843, + -1.3394871950149536, + -1.4705370664596558 + ], + "candidate_oracle_progress": 0.7208397388458252, + "candidate_oracle_regret": 1.2791602611541748, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.0174851417541504e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7208397388458252, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7208397388458252, + "candidate_oracle_selected_branch_score": 0.7208397388458252, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8c7bbc80458fce91a1ac;ms-e825996818ee6f2f7d26;ms-3a97ee208c6be9ed8b74;ms-ff012c1c8597c8db3cc7;ms-84264ef080ec4f3631df;ms-fc3c8a3572fd96442723", + "expert_regret": 1.2754572629928589, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4a845dab9503bc4eba04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2754572629928589, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7245427370071411, + "restore_error": 2.384185791015625e-07, + "score": 0.7245427370071411, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4367390275001526, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.36573657393455505, + 0.21289682388305664, + 0.21294210851192474, + 0.24394486844539642 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1528397500514984, + -0.1527944654226303, + -0.12179170548915863 + ], + "candidate_oracle_branch_scores": [ + 0.36573657393455505, + 0.21289682388305664, + 0.21294210851192474, + 0.24394486844539642 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.26414936780929565, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.26414936780929565, + -0.6851334571838379, + -0.8264137506484985, + -0.9840277433395386 + ], + "candidate_oracle_progress": 0.36573657393455505, + "candidate_oracle_regret": 1.634263426065445, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.0174851417541504e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.36573657393455505, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.36573657393455505, + "candidate_oracle_selected_branch_score": 0.36573657393455505, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c1f3359c70d068a36081;ms-dd94921779f12b249579;ms-08dc71adea7d8efeb298;ms-a5a56eefeb2de0abe600;ms-9c33d4837de7d23232d6;ms-d26dc2146eb8ae9a5434", + "expert_regret": 1.6360013484954834, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e9a43adf4bba03b65d5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6360013484954834, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3639986515045166, + "restore_error": 2.384185791015625e-07, + "score": 0.3639986515045166, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.24464008212089539, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7125264406204224, + 0.7052373886108398, + 0.6860092878341675, + 0.6818804740905762 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0072890520095825195, + -0.026517152786254883, + -0.03064596652984619 + ], + "candidate_oracle_branch_scores": [ + 0.7125264406204224, + 0.7052373886108398, + 0.6860092878341675, + 0.6818804740905762 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8861880898475647, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8861880898475647, + -1.1912823915481567, + -1.2441446781158447, + -1.298588752746582 + ], + "candidate_oracle_progress": 0.7125264406204224, + "candidate_oracle_regret": 1.2874735593795776, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.0174851417541504e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7125264406204224, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7125264406204224, + "candidate_oracle_selected_branch_score": 0.7125264406204224, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6939f3ecafd5e0a4bfee;ms-d602b7370c5b90f8a439;ms-0fe90299788e1f71f98a;ms-cba95475cb68ea42b041;ms-fc3c8a3572fd96442723;ms-8fabc0ac20ec87ead026", + "expert_regret": 1.289186716079712, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-04cc31b72a8dc8a91911", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.289186716079712, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7108132839202881, + "restore_error": 2.384185791015625e-07, + "score": 0.7108132839202881, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.08754125982522964, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.20324769616127014, + 0.20586322247982025, + 0.20434236526489258, + 0.20619601011276245 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00261552631855011, + 0.0010946691036224365, + 0.0029483139514923096 + ], + "candidate_oracle_branch_scores": [ + 0.20324769616127014, + 0.20586322247982025, + 0.20434236526489258, + 0.20619601011276245 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.5286413431167603, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -0.9958208799362183, + -1.4601188898086548, + -1.5066500902175903, + -1.5286413431167603 + ], + "candidate_oracle_progress": 0.20619601011276245, + "candidate_oracle_regret": 0.52494215965271, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 3.0174851417541504e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20619601011276245, + "candidate_oracle_score_gain_over_selected": 0.0029483139514923096, + "candidate_oracle_selected_branch_progress": 0.20324769616127014, + "candidate_oracle_selected_branch_score": 0.20324769616127014, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d799435b5f6b8fae2ffb;ms-5fc588b9c9d52034f4c4;ms-9554f100dd5be3a4fa47;ms-35d84da6eb1afcf8a811;ms-0fe7053483f72737eaec;ms-e56b37f0e3881a70ef54", + "expert_regret": 0.5228401124477386, + "expert_score": 0.7269299030303955, + "expert_success": false, + "group_id": "ms-125287f805d320b2eff7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5270483791828156, + "oracle_score": 0.7311381697654724, + "oracle_success": false, + "progress": 0.20408979058265686, + "restore_error": 2.384185791015625e-07, + "score": 0.20408979058265686, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7461633682250977, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.6233459711074829, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 40, + 8, + 17 + ], + "candidate_oracle_potentials": [ + 0.6233459711074829, + 0.6209193468093872, + 0.601715087890625, + 0.5450085401535034 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 3.0174851417541504e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ea41340182245326a218;ms-957002faf092f769aa8e;ms-5799584ed40e211c50a5;ms-96e1562aaca7ef49db28;ms-ed30f8fbb80b2cf46fbc;ms-ed4f6388ae96f9da76fa", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-88fb2bebd038dc786c01", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.02402968890964985, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6720604300498962, + 0.3917137384414673, + 0.3558759093284607, + 0.32054078578948975 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.28034669160842896, + -0.31618452072143555, + -0.3515196442604065 + ], + "candidate_oracle_branch_scores": [ + 0.6720604300498962, + 0.3917137384414673, + 0.3558759093284607, + 0.32054078578948975 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.40975987911224365, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.40975987911224365, + -0.7547063231468201, + -0.8246054649353027, + -0.8959185481071472 + ], + "candidate_oracle_progress": 0.6720604300498962, + "candidate_oracle_regret": 1.3279395699501038, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.0174851417541504e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6720604300498962, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6720604300498962, + "candidate_oracle_selected_branch_score": 0.6720604300498962, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a5a56eefeb2de0abe600;ms-c871c1157a16e19e6150;ms-97c28a7584b35207bf84;ms-078317e23cc56a9d719d;ms-6c7f34ae8218aa0952c8;ms-dd94921779f12b249579", + "expert_regret": 0.056755244731903076, + "expert_score": 0.7271513342857361, + "expert_success": false, + "group_id": "ms-062addb9da32a0c2ea97", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.329603910446167, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.670396089553833, + "restore_error": 2.384185791015625e-07, + "score": 0.670396089553833, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3448847830295563, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.7090113162994385, + 0.7085984945297241, + 0.7094432711601257, + 0.708122193813324 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00041282176971435547, + 0.00043195486068725586, + -0.000889122486114502 + ], + "candidate_oracle_branch_scores": [ + 0.7090113162994385, + 0.7085984945297241, + 0.7094432711601257, + 0.708122193813324 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0167607069015503, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -0.9869024753570557, + -1.014373779296875, + -1.0167607069015503, + -1.0447344779968262 + ], + "candidate_oracle_progress": 0.7094432711601257, + "candidate_oracle_regret": 1.2905567288398743, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.0174851417541504e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7094432711601257, + "candidate_oracle_score_gain_over_selected": 0.00043195486068725586, + "candidate_oracle_selected_branch_progress": 0.7090113162994385, + "candidate_oracle_selected_branch_score": 0.7090113162994385, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b0302a41f75a827cd4e4;ms-ec4accef21246e0c9213;ms-c76aba3db8d4ce0062bc;ms-9a72e47e2204fa794718;ms-b933fbfb7c8fa68a445f;ms-145f60d5fff285e7d05b", + "expert_regret": 1.2897645235061646, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-aa46bb6dc8e6274963b6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2897645235061646, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7102354764938354, + "restore_error": 2.384185791015625e-07, + "score": 0.7102354764938354, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.26409122347831726, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.6071688532829285, + 0.47051748633384705, + 0.45633798837661743, + 0.7012959718704224 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.13665136694908142, + -0.15083086490631104, + 0.0941271185874939 + ], + "candidate_oracle_branch_scores": [ + 0.6071688532829285, + 0.47051748633384705, + 0.45633798837661743, + 0.7012959718704224 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.057276964187622, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4991225004196167, + -0.938896119594574, + -1.0015989542007446, + -1.057276964187622 + ], + "candidate_oracle_progress": 0.7012959718704224, + "candidate_oracle_regret": 1.2987040281295776, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7012959718704224, + "candidate_oracle_score_gain_over_selected": 0.0941271185874939, + "candidate_oracle_selected_branch_progress": 0.6071688532829285, + "candidate_oracle_selected_branch_score": 0.6071688532829285, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bdb04ada069c35d51e2e;ms-c871c1157a16e19e6150;ms-3661d65df223386f1be9;ms-38758efd8620a312267d;ms-1b8e9b173562648021f6;ms-9c33d4837de7d23232d6", + "expert_regret": 1.3764362335205078, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7dfc3684b46df95070e2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3764362335205078, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6235637664794922, + "restore_error": 1.1920928955078125e-07, + "score": 0.6235637664794922, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.07416306436061859, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.24593043327331543, + 0.2463049292564392, + 0.2534819543361664, + 0.24070262908935547 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0003744959831237793, + 0.007551521062850952, + -0.005227804183959961 + ], + "candidate_oracle_branch_scores": [ + 0.24593043327331543, + 0.2463049292564392, + 0.2534819543361664, + 0.24070262908935547 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.8700668215751648, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 40 + ], + "candidate_oracle_potentials": [ + -0.7701804637908936, + -0.8123435974121094, + -0.8700668215751648, + -1.0459049940109253 + ], + "candidate_oracle_progress": 0.2534819543361664, + "candidate_oracle_regret": 1.7465180456638336, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2534819543361664, + "candidate_oracle_score_gain_over_selected": 0.007551521062850952, + "candidate_oracle_selected_branch_progress": 0.24593043327331543, + "candidate_oracle_selected_branch_score": 0.24593043327331543, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c76aba3db8d4ce0062bc;ms-ec4accef21246e0c9213;ms-9a72e47e2204fa794718;ms-b933fbfb7c8fa68a445f;ms-b0302a41f75a827cd4e4;ms-ad7b7d5d7fb25961859f", + "expert_regret": 0.472989559173584, + "expert_score": 0.7262760400772095, + "expert_success": false, + "group_id": "ms-99f263cb3f383b1f6243", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.7467135190963745, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2532864809036255, + "restore_error": 1.1920928955078125e-07, + "score": 0.2532864809036255, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3433626592159271, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2893635630607605, + 0.2586774230003357, + 0.25644031167030334, + 0.25342583656311035 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.030686140060424805, + -0.03292325139045715, + -0.035937726497650146 + ], + "candidate_oracle_branch_scores": [ + 0.2893635630607605, + 0.2586774230003357, + 0.25644031167030334, + 0.25342583656311035 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5793958902359009, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 8 + ], + "candidate_oracle_potentials": [ + -0.5793958902359009, + -0.6947394013404846, + -0.7949369549751282, + -0.7975545525550842 + ], + "candidate_oracle_progress": 0.2893635630607605, + "candidate_oracle_regret": 1.7106364369392395, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2893635630607605, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2893635630607605, + "candidate_oracle_selected_branch_score": 0.2893635630607605, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ad7b7d5d7fb25961859f;ms-31fe1d98bc7adcd515db;ms-29027a8e3742362fd477;ms-08dc71adea7d8efeb298;ms-6e2b02ee71a4a44bc325;ms-9c33d4837de7d23232d6", + "expert_regret": 1.7157177329063416, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-074cb86179cdd7f52737", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7157177329063416, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.28428226709365845, + "restore_error": 1.1920928955078125e-07, + "score": 0.28428226709365845, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3926278054714203, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7136451601982117, + 0.7125053405761719, + 0.689698338508606, + 0.6428272724151611 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.001139819622039795, + -0.023946821689605713, + -0.07081788778305054 + ], + "candidate_oracle_branch_scores": [ + 0.7136451601982117, + 0.7125053405761719, + 0.689698338508606, + 0.6428272724151611 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9758032560348511, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.9758032560348511, + -1.428146481513977, + -1.4299266338348389, + -1.4925609827041626 + ], + "candidate_oracle_progress": 0.7136451601982117, + "candidate_oracle_regret": 1.2863548398017883, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7136451601982117, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7136451601982117, + "candidate_oracle_selected_branch_score": 0.7136451601982117, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02663903d88aa84c9c10;ms-57dc9349b8f2c9c49105;ms-01926c30568d417edd91;ms-483520829af0d733cb2a;ms-9756d07ed207e9ab1d53;ms-524ae7618ed9b6a272ae", + "expert_regret": 1.2863710522651672, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f63a0e43f0923369edc3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2863710522651672, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7136289477348328, + "restore_error": 1.1920928955078125e-07, + "score": 0.7136289477348328, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35117384791374207, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.6940706968307495, + 0.7021615505218506, + 0.7020758986473083, + 0.7065199613571167 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.008090853691101074, + 0.008005201816558838, + 0.012449264526367188 + ], + "candidate_oracle_branch_scores": [ + 0.6940706968307495, + 0.7021615505218506, + 0.7020758986473083, + 0.7065199613571167 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.3882231116294861, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 8, + 17 + ], + "candidate_oracle_potentials": [ + -0.29369494318962097, + -0.35605913400650024, + -0.3694072365760803, + -0.3882231116294861 + ], + "candidate_oracle_progress": 0.7065199613571167, + "candidate_oracle_regret": 0.020438730716705322, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7065199613571167, + "candidate_oracle_score_gain_over_selected": 0.012449264526367188, + "candidate_oracle_selected_branch_progress": 0.6940706968307495, + "candidate_oracle_selected_branch_score": 0.6940706968307495, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-145f60d5fff285e7d05b;ms-59474486dd5cb4e5bfd5;ms-6a4398375c43dbf887b1;ms-6e2b02ee71a4a44bc325;ms-cc5f2a24e2571cb23050;ms-9a72e47e2204fa794718", + "expert_regret": 0.0, + "expert_score": 0.726958692073822, + "expert_success": false, + "group_id": "ms-7a0330e9e3189ff035d3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.726958692073822, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5033344030380249, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.6825910806655884, + 0.6846730709075928, + 0.6855918765068054, + 0.6896357536315918 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0020819902420043945, + 0.003000795841217041, + 0.007044672966003418 + ], + "candidate_oracle_branch_scores": [ + 0.6825910806655884, + 0.6846730709075928, + 0.6855918765068054, + 0.6896357536315918 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8955176472663879, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.6996638774871826, + -0.7418925762176514, + -0.7905384302139282, + -0.8955176472663879 + ], + "candidate_oracle_progress": 0.6896357536315918, + "candidate_oracle_regret": 1.3103642463684082, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6896357536315918, + "candidate_oracle_score_gain_over_selected": 0.007044672966003418, + "candidate_oracle_selected_branch_progress": 0.6825910806655884, + "candidate_oracle_selected_branch_score": 0.6825910806655884, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9a72e47e2204fa794718;ms-145f60d5fff285e7d05b;ms-b933fbfb7c8fa68a445f;ms-6a4398375c43dbf887b1;ms-cc5f2a24e2571cb23050;ms-c76aba3db8d4ce0062bc", + "expert_regret": 1.3099031448364258, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b18ea4e0982a1352696", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3099031448364258, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6900968551635742, + "restore_error": 1.1920928955078125e-07, + "score": 0.6900968551635742, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4592612683773041, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2561955451965332, + 0.24283748865127563, + 0.25510361790657043, + 0.24469029903411865 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.013358056545257568, + -0.0010919272899627686, + -0.01150524616241455 + ], + "candidate_oracle_branch_scores": [ + 0.2561955451965332, + 0.24283748865127563, + 0.25510361790657043, + 0.24469029903411865 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6070215702056885, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.6070215702056885, + -1.043405294418335, + -1.0853408575057983, + -1.0925902128219604 + ], + "candidate_oracle_progress": 0.2561955451965332, + "candidate_oracle_regret": 1.7438044548034668, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2561955451965332, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2561955451965332, + "candidate_oracle_selected_branch_score": 0.2561955451965332, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-29027a8e3742362fd477;ms-1b8e9b173562648021f6;ms-3661d65df223386f1be9;ms-31fe1d98bc7adcd515db;ms-c871c1157a16e19e6150;ms-4dc9ab19fbe571f09699", + "expert_regret": 1.744337260723114, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-03495469257613a802b4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.744337260723114, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.255662739276886, + "restore_error": 1.1920928955078125e-07, + "score": 0.255662739276886, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.11746599525213242, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.2046976387500763, + 0.20550185441970825, + 0.20291385054588318, + 0.2062261402606964 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.000804215669631958, + -0.0017837882041931152, + 0.0015285015106201172 + ], + "candidate_oracle_branch_scores": [ + 0.2046976387500763, + 0.20550185441970825, + 0.20291385054588318, + 0.2062261402606964 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -2.2353515625, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 17, + 1, + 33, + 40 + ], + "candidate_oracle_potentials": [ + -2.1962051391601562, + -2.1982274055480957, + -2.198281764984131, + -2.2353515625 + ], + "candidate_oracle_progress": 0.2062261402606964, + "candidate_oracle_regret": 1.7937738597393036, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2062261402606964, + "candidate_oracle_score_gain_over_selected": 0.0015285015106201172, + "candidate_oracle_selected_branch_progress": 0.2046976387500763, + "candidate_oracle_selected_branch_score": 0.2046976387500763, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a103dfbc0567d05ade6e;ms-35c12c467fb8a54f89f0;ms-83c0299c23fa800452c7;ms-1bbd61ce613ae75c8bb0;ms-288ce929957d627c569c;ms-0a8109ce7ab2ddc1bb1e", + "expert_regret": 0.5186379700899124, + "expert_score": 0.7233109474182129, + "expert_success": false, + "group_id": "ms-8f3d4e1d07bb5dcc7c57", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.7953270226716995, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20467297732830048, + "restore_error": 1.1920928955078125e-07, + "score": 0.20467297732830048, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.27195003628730774, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7224764823913574, + 0.20687264204025269, + 0.19892798364162445, + 0.43029341101646423 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.5156038403511047, + -0.5235484838485718, + -0.2921830713748932 + ], + "candidate_oracle_branch_scores": [ + 0.7224764823913574, + 0.20687264204025269, + 0.19892798364162445, + 0.43029341101646423 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9551993608474731, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.9551993608474731, + -1.448817253112793, + -1.5096135139465332, + -1.5394580364227295 + ], + "candidate_oracle_progress": 0.7224764823913574, + "candidate_oracle_regret": 1.2775235176086426, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7224764823913574, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7224764823913574, + "candidate_oracle_selected_branch_score": 0.7224764823913574, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0fe90299788e1f71f98a;ms-f5dcf9054c3c1c4e1d50;ms-865f9d670f806778ae61;ms-d602b7370c5b90f8a439;ms-c090bce47703a4c4bb0b;ms-8fabc0ac20ec87ead026", + "expert_regret": 1.277806580066681, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e705fef3e4caa4c49718", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.277806580066681, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7221934199333191, + "restore_error": 1.1920928955078125e-07, + "score": 0.7221934199333191, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3732079863548279, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5656630992889404, + 0.4941161572933197, + 0.4238121509552002, + 0.7120262980461121 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.07154694199562073, + -0.14185094833374023, + 0.14636319875717163 + ], + "candidate_oracle_branch_scores": [ + 0.5656630992889404, + 0.4941161572933197, + 0.4238121509552002, + 0.7120262980461121 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.034728094935417175, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 20, + 36, + 0 + ], + "candidate_oracle_potentials": [ + -0.025298938155174255, + -0.02673933655023575, + -0.029646381735801697, + -0.034728094935417175 + ], + "candidate_oracle_progress": 0.7120262980461121, + "candidate_oracle_regret": 1.287973701953888, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7120262980461121, + "candidate_oracle_score_gain_over_selected": 0.14636319875717163, + "candidate_oracle_selected_branch_progress": 0.5656630992889404, + "candidate_oracle_selected_branch_score": 0.5656630992889404, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-59474486dd5cb4e5bfd5;ms-6e2b02ee71a4a44bc325;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-b933fbfb7c8fa68a445f;ms-9a72e47e2204fa794718", + "expert_regret": 1.3087352514266968, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7aeb0835d3396e6666b6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.3087352514266968, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6912647485733032, + "restore_error": 1.1920928955078125e-07, + "score": 0.6912647485733032, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36063772439956665, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7107363939285278, + 0.509878396987915, + 0.5000161528587341, + 0.4670615792274475 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.2008579969406128, + -0.2107202410697937, + -0.24367481470108032 + ], + "candidate_oracle_branch_scores": [ + 0.7107363939285278, + 0.509878396987915, + 0.5000161528587341, + 0.4670615792274475 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.2762976586818695, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.2762976586818695, + -0.5804513692855835, + -0.6781103610992432, + -0.7897636294364929 + ], + "candidate_oracle_progress": 0.7107363939285278, + "candidate_oracle_regret": 1.2892636060714722, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7107363939285278, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7107363939285278, + "candidate_oracle_selected_branch_score": 0.7107363939285278, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c1f3359c70d068a36081;ms-d30b515ab0ee174afa58;ms-97c28a7584b35207bf84;ms-a5a56eefeb2de0abe600;ms-dd94921779f12b249579;ms-01ab68aa5051226638ee", + "expert_regret": 1.2759674787521362, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b0861c414f8690d62a82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2759674787521362, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7240325212478638, + "restore_error": 1.1920928955078125e-07, + "score": 0.7240325212478638, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4117977023124695, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.2270870804786682, + 0.22800688445568085, + 0.22866147756576538 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.7729129791259766, + -1.7719931602478027, + -1.7713384628295898 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.2270870804786682, + 0.22800688445568085, + 0.22866147756576538 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.2621692419052124, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.2621692419052124, + -1.0320963859558105, + -1.2833319902420044, + -1.5242729187011719 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c1f3359c70d068a36081;ms-dd94921779f12b249579;ms-c3818c2c4474a784fc6b;ms-d26dc2146eb8ae9a5434;ms-08dc71adea7d8efeb298;ms-caeb4c3d358f256799a8", + "expert_regret": 1.2718254327774048, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5b0141f336d28927cf31", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2718254327774048, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7281745672225952, + "restore_error": 1.1920928955078125e-07, + "score": 0.7281745672225952, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3416871130466461, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.5131511688232422, + 0.4200470447540283, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.4868488311767578, + -1.5799529552459717, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.5131511688232422, + 0.4200470447540283, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5048372745513916, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.5048372745513916, + -0.721297025680542, + -0.768468976020813, + -0.8224997520446777 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-059d7962a5f998edf668;ms-2436538e05fdcf8e44fc;ms-fe790caba27d92511f71;ms-067e0fe46e4e9483e2a1;ms-34f60c9a263bd0a5641f;ms-14dabc3ac1e1a339ebe4", + "expert_regret": 0.0, + "expert_score": 0.7031490206718445, + "expert_success": false, + "group_id": "ms-e2950dcb50ed2b955be6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.7267410159111023, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3082315921783447, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7097508907318115, + 0.7015911936759949, + 0.7034692764282227, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00815969705581665, + -0.006281614303588867, + 1.2902491092681885 + ], + "candidate_oracle_branch_scores": [ + 0.7097508907318115, + 0.7015911936759949, + 0.7034692764282227, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.24759811162948608, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.22428056597709656, + -0.2414274513721466, + -0.24404311180114746, + -0.24759811162948608 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2902491092681885, + "candidate_oracle_selected_branch_progress": 0.7097508907318115, + "candidate_oracle_selected_branch_score": 0.7097508907318115, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-59474486dd5cb4e5bfd5;ms-6e2b02ee71a4a44bc325;ms-6a4398375c43dbf887b1;ms-145f60d5fff285e7d05b;ms-b933fbfb7c8fa68a445f;ms-9a72e47e2204fa794718", + "expert_regret": 0.0, + "expert_score": 0.7251858115196228, + "expert_success": false, + "group_id": "ms-92070f417bd9d14d6fc7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.7251858115196228, + "oracle_success": false, + "progress": 0.7275335192680359, + "restore_error": 1.1920928955078125e-07, + "score": 0.7275335192680359, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4571900963783264, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.21897390484809875, + 0.2175981104373932, + 0.21616768836975098 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.7810261249542236, + -1.7824019193649292, + -1.783832311630249 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.21897390484809875, + 0.2175981104373932, + 0.21616768836975098 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.201258659362793, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.201258659362793, + -1.4693118333816528, + -1.5651299953460693, + -1.622357964515686 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0a57aa04002f1b843856;ms-0d80d6d87a27a53951fe;ms-02663903d88aa84c9c10;ms-9756d07ed207e9ab1d53;ms-0fe7053483f72737eaec;ms-851d25e7a1dde4242f33", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b60078e9e6ea9c26dedc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38052287697792053, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.322307288646698, + 0.2571767568588257, + 0.25563907623291016, + 0.2557276785373688 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.06513053178787231, + -0.06666821241378784, + -0.06657961010932922 + ], + "candidate_oracle_branch_scores": [ + 0.322307288646698, + 0.2571767568588257, + 0.25563907623291016, + 0.2557276785373688 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.47082096338272095, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.47082096338272095, + -1.145876407623291, + -1.2561906576156616, + -1.3604487180709839 + ], + "candidate_oracle_progress": 0.322307288646698, + "candidate_oracle_regret": 1.677692711353302, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.322307288646698, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.322307288646698, + "candidate_oracle_selected_branch_score": 0.322307288646698, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4dc9ab19fbe571f09699;ms-caeb4c3d358f256799a8;ms-1b8e9b173562648021f6;ms-bdb04ada069c35d51e2e;ms-3661d65df223386f1be9;ms-01ab68aa5051226638ee", + "expert_regret": 1.6793259382247925, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ef8de99d917753ec603c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6793259382247925, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3206740617752075, + "restore_error": 1.1920928955078125e-07, + "score": 0.3206740617752075, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34501662850379944, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5978631973266602, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 3, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.5978631973266602, + -0.823203444480896, + -0.8253162503242493, + -0.8744660019874573 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fe790caba27d92511f71;ms-34f60c9a263bd0a5641f;ms-2436538e05fdcf8e44fc;ms-059d7962a5f998edf668;ms-067e0fe46e4e9483e2a1;ms-487d0fe2a13fb699dd7a", + "expert_regret": 1.2920482754707336, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-faeff0379a053e9ea351", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2920482754707336, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7079517245292664, + "restore_error": 1.1920928955078125e-07, + "score": 0.7079517245292664, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5010083317756653, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.35875269770622253, + 0.30789583921432495, + 0.29536575078964233, + 0.22621449828147888 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.05085685849189758, + -0.0633869469165802, + -0.13253819942474365 + ], + "candidate_oracle_branch_scores": [ + 0.35875269770622253, + 0.30789583921432495, + 0.29536575078964233, + 0.22621449828147888 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2720651626586914, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.2720651626586914, + -1.529565453529358, + -1.5628925561904907, + -1.5935298204421997 + ], + "candidate_oracle_progress": 0.35875269770622253, + "candidate_oracle_regret": 1.6412473022937775, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.35875269770622253, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.35875269770622253, + "candidate_oracle_selected_branch_score": 0.35875269770622253, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-33a0bdb4bcee42c79a2b;ms-a103dfbc0567d05ade6e;ms-efb5a07185a3a1b33226;ms-95264bfdaa3892cf66ac;ms-35c12c467fb8a54f89f0;ms-83c0299c23fa800452c7", + "expert_regret": 1.6411936283111572, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-84d10acd6db571034f10", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6411936283111572, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3588063716888428, + "restore_error": 1.1920928955078125e-07, + "score": 0.3588063716888428, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.23454628884792328, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4083738327026367, + 0.25259867310523987, + 0.3303200602531433, + 0.25259289145469666 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.15577515959739685, + -0.07805377244949341, + -0.15578094124794006 + ], + "candidate_oracle_branch_scores": [ + 0.4083738327026367, + 0.25259867310523987, + 0.3303200602531433, + 0.25259289145469666 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9082351326942444, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -0.9082351326942444, + -1.7223998308181763, + -1.7454400062561035, + -1.7682253122329712 + ], + "candidate_oracle_progress": 0.4083738327026367, + "candidate_oracle_regret": 1.5916261672973633, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4083738327026367, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4083738327026367, + "candidate_oracle_selected_branch_score": 0.4083738327026367, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8c7bbc80458fce91a1ac;ms-e825996818ee6f2f7d26;ms-3a97ee208c6be9ed8b74;ms-ff012c1c8597c8db3cc7;ms-dd32ce9859c365c535b4;ms-84264ef080ec4f3631df", + "expert_regret": 1.5911642611026764, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fdf18cd6260d82226927", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5911642611026764, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4088357388973236, + "restore_error": 1.1920928955078125e-07, + "score": 0.4088357388973236, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5104763507843018, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7150851488113403, + 0.2378484308719635, + 0.2222927212715149, + 0.23626117408275604 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.47723671793937683, + -0.49279242753982544, + -0.4788239598274231 + ], + "candidate_oracle_branch_scores": [ + 0.7150851488113403, + 0.2378484308719635, + 0.2222927212715149, + 0.23626117408275604 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.6129697561264038, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 19, + 35, + 3 + ], + "candidate_oracle_potentials": [ + -1.6129697561264038, + -1.7628692388534546, + -1.7681862115859985, + -1.7682193517684937 + ], + "candidate_oracle_progress": 0.7150851488113403, + "candidate_oracle_regret": 1.2849148511886597, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7150851488113403, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7150851488113403, + "candidate_oracle_selected_branch_score": 0.7150851488113403, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8b15f77ad3436ac282ba;ms-524ae7618ed9b6a272ae;ms-50b9f93dd246400d20c8;ms-cf2603516869355b8b13;ms-e2f90eb6c79dfd9ce6fd;ms-57dc9349b8f2c9c49105", + "expert_regret": 1.2848861813545227, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8a9e7d69f7ade362fe40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2848861813545227, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7151138186454773, + "restore_error": 1.1920928955078125e-07, + "score": 0.7151138186454773, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3909112513065338, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3493289649486542, + 0.30841299891471863, + 0.29986104369163513, + 0.28907808661460876 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.04091596603393555, + -0.04946792125701904, + -0.06025087833404541 + ], + "candidate_oracle_branch_scores": [ + 0.3493289649486542, + 0.30841299891471863, + 0.29986104369163513, + 0.28907808661460876 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.190208077430725, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.190208077430725, + -1.5409188270568848, + -1.576776385307312, + -1.6102665662765503 + ], + "candidate_oracle_progress": 0.3493289649486542, + "candidate_oracle_regret": 1.6506710350513458, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3493289649486542, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3493289649486542, + "candidate_oracle_selected_branch_score": 0.3493289649486542, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-57dc9349b8f2c9c49105;ms-c090bce47703a4c4bb0b;ms-01926c30568d417edd91;ms-e8de8d619c0cf5fd633e;ms-483520829af0d733cb2a;ms-50b9f93dd246400d20c8", + "expert_regret": 1.6504066586494446, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69785feff08dbf9a50be", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6504066586494446, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3495933413505554, + "restore_error": 1.1920928955078125e-07, + "score": 0.3495933413505554, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.49086254835128784, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7036982774734497, + 0.4538406729698181, + 0.5602796077728271, + 0.31970497965812683 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.2498576045036316, + -0.14341866970062256, + -0.3839932978153229 + ], + "candidate_oracle_branch_scores": [ + 0.7036982774734497, + 0.4538406729698181, + 0.5602796077728271, + 0.31970497965812683 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7960949540138245, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -0.7960949540138245, + -1.3101450204849243, + -1.3326517343521118, + -1.3821499347686768 + ], + "candidate_oracle_progress": 0.7036982774734497, + "candidate_oracle_regret": 1.2963017225265503, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7036982774734497, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7036982774734497, + "candidate_oracle_selected_branch_score": 0.7036982774734497, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0d80d6d87a27a53951fe;ms-0a57aa04002f1b843856;ms-851d25e7a1dde4242f33;ms-02663903d88aa84c9c10;ms-9756d07ed207e9ab1d53;ms-0fe7053483f72737eaec", + "expert_regret": 1.2963017225265503, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6ceb341dfa656e485a13", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2963017225265503, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7036982774734497, + "restore_error": 1.1920928955078125e-07, + "score": 0.7036982774734497, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41860079765319824, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4025591313838959, + 0.3472972512245178, + 0.213898703455925, + 0.34218019247055054 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.05526188015937805, + -0.1886604279279709, + -0.06037893891334534 + ], + "candidate_oracle_branch_scores": [ + 0.4025591313838959, + 0.3472972512245178, + 0.213898703455925, + 0.34218019247055054 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.5259371995925903, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 35, + 17 + ], + "candidate_oracle_potentials": [ + -1.5259371995925903, + -1.6983734369277954, + -1.7043299674987793, + -1.7167422771453857 + ], + "candidate_oracle_progress": 0.4025591313838959, + "candidate_oracle_regret": 1.5974408686161041, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4025591313838959, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4025591313838959, + "candidate_oracle_selected_branch_score": 0.4025591313838959, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5fc588b9c9d52034f4c4;ms-0fe7053483f72737eaec;ms-9756d07ed207e9ab1d53;ms-d799435b5f6b8fae2ffb;ms-9554f100dd5be3a4fa47;ms-02663903d88aa84c9c10", + "expert_regret": 1.5974593758583069, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-30e4ae59842091fe16b2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5974593758583069, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4025406241416931, + "restore_error": 1.1920928955078125e-07, + "score": 0.4025406241416931, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3225286304950714, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4281679391860962, + 0.3434213101863861, + 0.26755961775779724, + 0.25494784116744995 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.08474662899971008, + -0.16060832142829895, + -0.17322009801864624 + ], + "candidate_oracle_branch_scores": [ + 0.4281679391860962, + 0.3434213101863861, + 0.26755961775779724, + 0.25494784116744995 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3661690354347229, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3661690354347229, + -0.6457557082176208, + -0.6928882598876953, + -0.7361944913864136 + ], + "candidate_oracle_progress": 0.4281679391860962, + "candidate_oracle_regret": 1.5718320608139038, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4281679391860962, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4281679391860962, + "candidate_oracle_selected_branch_score": 0.4281679391860962, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d26dc2146eb8ae9a5434;ms-dd94921779f12b249579;ms-c3818c2c4474a784fc6b;ms-078317e23cc56a9d719d;ms-295dab0e1d105e758827;ms-d3a7e3f163b142a3e56b", + "expert_regret": 1.5549928545951843, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3a09e411ee6c882ef7df", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5549928545951843, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4450071454048157, + "restore_error": 1.1920928955078125e-07, + "score": 0.4450071454048157, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.29793888330459595, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3533617854118347, + 0.2575383186340332, + 0.23679202795028687, + 0.25039148330688477 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.09582346677780151, + -0.11656975746154785, + -0.10297030210494995 + ], + "candidate_oracle_branch_scores": [ + 0.3533617854118347, + 0.2575383186340332, + 0.23679202795028687, + 0.25039148330688477 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.545576274394989, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.545576274394989, + -1.3302342891693115, + -1.4159468412399292, + -1.4458669424057007 + ], + "candidate_oracle_progress": 0.3533617854118347, + "candidate_oracle_regret": 1.6466382145881653, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3533617854118347, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3533617854118347, + "candidate_oracle_selected_branch_score": 0.3533617854118347, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3661d65df223386f1be9;ms-1b8e9b173562648021f6;ms-4dc9ab19fbe571f09699;ms-caeb4c3d358f256799a8;ms-bdb04ada069c35d51e2e;ms-9c33d4837de7d23232d6", + "expert_regret": 1.6442659199237823, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-502c195c0e4810814bac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6442659199237823, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.35573408007621765, + "restore_error": 1.1920928955078125e-07, + "score": 0.35573408007621765, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16484425961971283, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7174413204193115, + 0.7109127044677734, + 0.710601806640625, + 0.7090415358543396 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.006528615951538086, + -0.0068395137786865234, + -0.008399784564971924 + ], + "candidate_oracle_branch_scores": [ + 0.7174413204193115, + 0.7109127044677734, + 0.710601806640625, + 0.7090415358543396 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7268678545951843, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.7268678545951843, + -0.779964029788971, + -0.8416550755500793, + -0.9301166534423828 + ], + "candidate_oracle_progress": 0.7174413204193115, + "candidate_oracle_regret": 1.2825586795806885, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7174413204193115, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7174413204193115, + "candidate_oracle_selected_branch_score": 0.7174413204193115, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-832f0e966173abd16c34;ms-4a86d570dabb0916f020;ms-38758efd8620a312267d;ms-9c33d4837de7d23232d6;ms-b0302a41f75a827cd4e4;ms-31fe1d98bc7adcd515db", + "expert_regret": 1.279640555381775, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1cb9edbe8bd7ed4106c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.279640555381775, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7203594446182251, + "restore_error": 1.1920928955078125e-07, + "score": 0.7203594446182251, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5669437646865845, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7186750173568726, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2813249826431274, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7186750173568726, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.6094499826431274, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 0, + 17, + 8 + ], + "candidate_oracle_potentials": [ + -0.6094499826431274, + -0.6234438419342041, + -0.6886085271835327, + -0.6908077597618103 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ad7b7d5d7fb25961859f;ms-9c33d4837de7d23232d6;ms-ec4accef21246e0c9213;ms-08dc71adea7d8efeb298;ms-31fe1d98bc7adcd515db;ms-29027a8e3742362fd477", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b461b0929537fbc1d41", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.49362853169441223, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.6928203105926514, + 0.6848338842391968 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.3071796894073486, + -1.3151661157608032 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.6928203105926514, + 0.6848338842391968 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.8563486933708191, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -0.8563486933708191, + -0.8761810064315796, + -0.9283109903335571, + -1.0165578126907349 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d3a7e3f163b142a3e56b;ms-76c7efad95ae67dba1ca;ms-c3818c2c4474a784fc6b;ms-d26dc2146eb8ae9a5434;ms-6a4398375c43dbf887b1;ms-ad7b7d5d7fb25961859f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ab10d34780322326aa3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4534006118774414, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.197382390499115, + 0.19820314645767212, + 0.20180056989192963, + 0.19832788407802582 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0008207559585571289, + 0.004418179392814636, + 0.0009454935789108276 + ], + "candidate_oracle_branch_scores": [ + 0.197382390499115, + 0.19820314645767212, + 0.20180056989192963, + 0.19832788407802582 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.6714926958084106, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 35, + 17 + ], + "candidate_oracle_potentials": [ + -1.4390273094177246, + -1.6538488864898682, + -1.6714926958084106, + -1.6789640188217163 + ], + "candidate_oracle_progress": 0.20180056989192963, + "candidate_oracle_regret": 1.7981994301080704, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20180056989192963, + "candidate_oracle_score_gain_over_selected": 0.004418179392814636, + "candidate_oracle_selected_branch_progress": 0.197382390499115, + "candidate_oracle_selected_branch_score": 0.197382390499115, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d799435b5f6b8fae2ffb;ms-9554f100dd5be3a4fa47;ms-5fc588b9c9d52034f4c4;ms-28fe4b5a2888189c28d9;ms-35d84da6eb1afcf8a811;ms-e56b37f0e3881a70ef54", + "expert_regret": 1.8026176393032074, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a905b84bd3ab703c025f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8026176393032074, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1973823606967926, + "restore_error": 1.1920928955078125e-07, + "score": 0.1973823606967926, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4850000739097595, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6859518885612488, + 0.3240581750869751, + 0.31299227476119995, + 0.30164244771003723 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.3618937134742737, + -0.37295961380004883, + -0.38430944085121155 + ], + "candidate_oracle_branch_scores": [ + 0.6859518885612488, + 0.3240581750869751, + 0.31299227476119995, + 0.30164244771003723 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3770447969436646, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.3770447969436646, + -1.63461434841156, + -1.6636847257614136, + -1.6954851150512695 + ], + "candidate_oracle_progress": 0.6859518885612488, + "candidate_oracle_regret": 1.3140481114387512, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6859518885612488, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6859518885612488, + "candidate_oracle_selected_branch_score": 0.6859518885612488, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cf2603516869355b8b13;ms-524ae7618ed9b6a272ae;ms-e2f90eb6c79dfd9ce6fd;ms-8b15f77ad3436ac282ba;ms-50b9f93dd246400d20c8;ms-57dc9349b8f2c9c49105", + "expert_regret": 1.3140481114387512, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-40392e5aeef63551f9ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3140481114387512, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6859518885612488, + "restore_error": 1.1920928955078125e-07, + "score": 0.6859518885612488, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4302935302257538, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6536797285079956, + 0.2330218255519867, + 0.23355166614055634, + 0.23410087823867798 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4206579029560089, + -0.4201280474662781, + -0.4195788502693176 + ], + "candidate_oracle_branch_scores": [ + 0.6536797285079956, + 0.2330218255519867, + 0.23355166614055634, + 0.23410087823867798 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3603513836860657, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3603513836860657, + -0.5021851062774658, + -0.5299615859985352, + -0.5574350953102112 + ], + "candidate_oracle_progress": 0.6536797285079956, + "candidate_oracle_regret": 1.3463202714920044, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6536797285079956, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6536797285079956, + "candidate_oracle_selected_branch_score": 0.6536797285079956, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-97c28a7584b35207bf84;ms-a5a56eefeb2de0abe600;ms-c1f3359c70d068a36081;ms-01ab68aa5051226638ee;ms-c871c1157a16e19e6150;ms-bdb04ada069c35d51e2e", + "expert_regret": 1.3271996974945068, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc29afbe2bbf00638d25", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3271996974945068, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6728003025054932, + "restore_error": 1.1920928955078125e-07, + "score": 0.6728003025054932, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3469352424144745, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7215124368667603, + 0.38565200567245483, + 0.45169931650161743, + 0.3467708230018616 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.3358604311943054, + -0.2698131203651428, + -0.3747416138648987 + ], + "candidate_oracle_branch_scores": [ + 0.7215124368667603, + 0.38565200567245483, + 0.45169931650161743, + 0.3467708230018616 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.46452999114990234, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.46452999114990234, + -0.8617712259292603, + -0.9059193134307861, + -0.9201293587684631 + ], + "candidate_oracle_progress": 0.7215124368667603, + "candidate_oracle_regret": 1.2784875631332397, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7215124368667603, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7215124368667603, + "candidate_oracle_selected_branch_score": 0.7215124368667603, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-31fe1d98bc7adcd515db;ms-08dc71adea7d8efeb298;ms-29027a8e3742362fd477;ms-ad7b7d5d7fb25961859f;ms-295dab0e1d105e758827;ms-6e2b02ee71a4a44bc325", + "expert_regret": 1.3076043725013733, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c1e7b47135487435fc1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3076043725013733, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6923956274986267, + "restore_error": 1.1920928955078125e-07, + "score": 0.6923956274986267, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5153335332870483, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7160418033599854, + 0.7184966802597046, + 0.7137092351913452, + 0.7178354263305664 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0024548768997192383, + -0.0023325681686401367, + 0.0017936229705810547 + ], + "candidate_oracle_branch_scores": [ + 0.7160418033599854, + 0.7184966802597046, + 0.7137092351913452, + 0.7178354263305664 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.505851149559021, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -0.5008721351623535, + -0.505851149559021, + -0.5114768743515015, + -0.5208361744880676 + ], + "candidate_oracle_progress": 0.7184966802597046, + "candidate_oracle_regret": 1.2815033197402954, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.5762786865234375e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7184966802597046, + "candidate_oracle_score_gain_over_selected": 0.0024548768997192383, + "candidate_oracle_selected_branch_progress": 0.7160418033599854, + "candidate_oracle_selected_branch_score": 0.7160418033599854, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b933fbfb7c8fa68a445f;ms-145f60d5fff285e7d05b;ms-cc5f2a24e2571cb23050;ms-9a72e47e2204fa794718;ms-6a4398375c43dbf887b1;ms-59474486dd5cb4e5bfd5", + "expert_regret": 1.2834234833717346, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cc0b4a1deec28e53722a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2834234833717346, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7165765166282654, + "restore_error": 1.1920928955078125e-07, + "score": 0.7165765166282654, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6385887861251831, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.5938189029693604, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 40, + 8, + 17 + ], + "candidate_oracle_potentials": [ + 0.5938189029693604, + 0.5896614193916321, + 0.5698487758636475, + 0.48135676980018616 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 3.5762786865234375e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-957002faf092f769aa8e;ms-ea41340182245326a218;ms-5799584ed40e211c50a5;ms-96e1562aaca7ef49db28;ms-ed30f8fbb80b2cf46fbc;ms-ed4f6388ae96f9da76fa", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d8295b43b30ceea30907", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.25277531147003174, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.7060117125511169, + 0.6918395757675171, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.014172136783599854, + 1.2939882278442383, + 1.2939882278442383 + ], + "candidate_oracle_branch_scores": [ + 0.7060117125511169, + 0.6918395757675171, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.209876537322998, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6647279858589172, + -1.152293086051941, + -1.209876537322998, + -1.2628053426742554 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.5762786865234375e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2939882278442383, + "candidate_oracle_selected_branch_progress": 0.7060117125511169, + "candidate_oracle_selected_branch_score": 0.7060117125511169, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d30b515ab0ee174afa58;ms-01ab68aa5051226638ee;ms-97c28a7584b35207bf84;ms-6c7f34ae8218aa0952c8;ms-a5a56eefeb2de0abe600;ms-bdb04ada069c35d51e2e", + "expert_regret": 1.295171082019806, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2e7fc6c97e5ce1f024e5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.295171082019806, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7048289179801941, + "restore_error": 1.1920928955078125e-07, + "score": 0.7048289179801941, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40764644742012024, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2604513168334961, + 0.2396061271429062, + 0.25550201535224915, + 0.2414538711309433 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.020845189690589905, + -0.004949301481246948, + -0.018997445702552795 + ], + "candidate_oracle_branch_scores": [ + 0.2604513168334961, + 0.2396061271429062, + 0.25550201535224915, + 0.2414538711309433 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6208209991455078, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.6208209991455078, + -1.0876940488815308, + -1.127003788948059, + -1.1408143043518066 + ], + "candidate_oracle_progress": 0.2604513168334961, + "candidate_oracle_regret": 1.739548683166504, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 3.5762786865234375e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2604513168334961, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2604513168334961, + "candidate_oracle_selected_branch_score": 0.2604513168334961, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1b8e9b173562648021f6;ms-29027a8e3742362fd477;ms-3661d65df223386f1be9;ms-c871c1157a16e19e6150;ms-31fe1d98bc7adcd515db;ms-4dc9ab19fbe571f09699", + "expert_regret": 1.739491879940033, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4906f3adfda6dace862d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.739491879940033, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.26050812005996704, + "restore_error": 1.1920928955078125e-07, + "score": 0.26050812005996704, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4020039141178131, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6913694739341736, + 0.3198601007461548, + 0.30510905385017395, + 0.24893322587013245 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.3715093731880188, + -0.38626042008399963, + -0.44243624806404114 + ], + "candidate_oracle_branch_scores": [ + 0.6913694739341736, + 0.3198601007461548, + 0.30510905385017395, + 0.24893322587013245 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.5273140668869019, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.5273140668869019, + -1.689313530921936, + -1.696077823638916, + -1.702719807624817 + ], + "candidate_oracle_progress": 0.6913694739341736, + "candidate_oracle_regret": 1.3086305260658264, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.5762786865234375e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6913694739341736, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6913694739341736, + "candidate_oracle_selected_branch_score": 0.6913694739341736, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-50b9f93dd246400d20c8;ms-524ae7618ed9b6a272ae;ms-8b15f77ad3436ac282ba;ms-57dc9349b8f2c9c49105;ms-01926c30568d417edd91;ms-c090bce47703a4c4bb0b", + "expert_regret": 1.3086363077163696, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-85fcc6b4797417c3473f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3086363077163696, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6913636922836304, + "restore_error": 1.1920928955078125e-07, + "score": 0.6913636922836304, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4177951216697693, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.571479320526123, + 0.2754053473472595, + 0.2652880847454071, + 0.22517114877700806 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.2960739731788635, + -0.30619123578071594, + -0.346308171749115 + ], + "candidate_oracle_branch_scores": [ + 0.571479320526123, + 0.2754053473472595, + 0.2652880847454071, + 0.22517114877700806 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9423137903213501, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9423137903213501, + -1.2363988161087036, + -1.28927743434906, + -1.3434737920761108 + ], + "candidate_oracle_progress": 0.571479320526123, + "candidate_oracle_regret": 1.428520679473877, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.5762786865234375e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.571479320526123, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.571479320526123, + "candidate_oracle_selected_branch_score": 0.571479320526123, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d602b7370c5b90f8a439;ms-35d84da6eb1afcf8a811;ms-6939f3ecafd5e0a4bfee;ms-fc3c8a3572fd96442723;ms-5fc588b9c9d52034f4c4;ms-9756d07ed207e9ab1d53", + "expert_regret": 1.4481327533721924, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-324a58dd51dfecb51fa8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4481327533721924, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5518672466278076, + "restore_error": 1.1920928955078125e-07, + "score": 0.5518672466278076, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.15622420608997345, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.702512264251709, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.297487735748291, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.702512264251709, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6413534879684448, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6413534879684448, + -0.9173434972763062, + -0.9515955448150635, + -0.9864271879196167 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.5762786865234375e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-832f0e966173abd16c34;ms-4a86d570dabb0916f020;ms-b0302a41f75a827cd4e4;ms-38758efd8620a312267d;ms-9c33d4837de7d23232d6;ms-ec4accef21246e0c9213", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-73259d17883355f7fa88", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3894820213317871, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.724899411201477, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.275100588798523, + 1.275100588798523, + 1.275100588798523 + ], + "candidate_oracle_branch_scores": [ + 0.724899411201477, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.42302486300468445, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.29751500487327576, + -0.42302486300468445, + -0.45625925064086914, + -0.4931710362434387 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.5762786865234375e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.275100588798523, + "candidate_oracle_selected_branch_progress": 0.724899411201477, + "candidate_oracle_selected_branch_score": 0.724899411201477, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c1f3359c70d068a36081;ms-97c28a7584b35207bf84;ms-a5a56eefeb2de0abe600;ms-d30b515ab0ee174afa58;ms-01ab68aa5051226638ee;ms-dd94921779f12b249579", + "expert_regret": 1.2847448587417603, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-aedc3dee6e275342eb8f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2847448587417603, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7152551412582397, + "restore_error": 1.1920928955078125e-07, + "score": 0.7152551412582397, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42056068778038025, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.20515428483486176, + 0.2085350602865219, + 0.2090883105993271, + 0.20953349769115448 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0033807754516601562, + 0.003934025764465332, + 0.004379212856292725 + ], + "candidate_oracle_branch_scores": [ + 0.20515428483486176, + 0.2085350602865219, + 0.2090883105993271, + 0.20953349769115448 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.641292691230774, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 3, + 19, + 35 + ], + "candidate_oracle_potentials": [ + -1.4925711154937744, + -1.6325132846832275, + -1.6352521181106567, + -1.641292691230774 + ], + "candidate_oracle_progress": 0.20953349769115448, + "candidate_oracle_regret": 1.7904665023088455, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20953349769115448, + "candidate_oracle_score_gain_over_selected": 0.004379212856292725, + "candidate_oracle_selected_branch_progress": 0.20515428483486176, + "candidate_oracle_selected_branch_score": 0.20515428483486176, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-83c0299c23fa800452c7;ms-320d99264926ea029f95;ms-1bbd61ce613ae75c8bb0;ms-35c12c467fb8a54f89f0;ms-e7573c5d29c3a1a3f228;ms-0660d5f65df5fc4b6132", + "expert_regret": 1.7948498725891113, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-251c1dfd1010906f559f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7948498725891113, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20515012741088867, + "restore_error": 1.1920928955078125e-07, + "score": 0.20515012741088867, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5659335255622864, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.6867523193359375, + 0.6867524981498718, + 0.6884552836418152, + 0.6979098320007324 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.7881393432617188e-07, + 0.0017029643058776855, + 0.011157512664794922 + ], + "candidate_oracle_branch_scores": [ + 0.6867523193359375, + 0.6867524981498718, + 0.6884552836418152, + 0.6979098320007324 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.48825955390930176, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.438510000705719, + -0.4385110139846802, + -0.4512135982513428, + -0.48825955390930176 + ], + "candidate_oracle_progress": 0.6979098320007324, + "candidate_oracle_regret": 1.3020901679992676, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6979098320007324, + "candidate_oracle_score_gain_over_selected": 0.011157512664794922, + "candidate_oracle_selected_branch_progress": 0.6867523193359375, + "candidate_oracle_selected_branch_score": 0.6867523193359375, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cc5f2a24e2571cb23050;ms-145f60d5fff285e7d05b;ms-b933fbfb7c8fa68a445f;ms-9a72e47e2204fa794718;ms-6a4398375c43dbf887b1;ms-59474486dd5cb4e5bfd5", + "expert_regret": 1.3188203573226929, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ac6e78b1c56d020d0c09", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3188203573226929, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6811796426773071, + "restore_error": 1.1920928955078125e-07, + "score": 0.6811796426773071, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.21127155423164368, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.70870041847229, + 0.6907815933227539, + 0.7163021564483643, + 0.6879754066467285 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.017918825149536133, + 0.007601737976074219, + -0.020725011825561523 + ], + "candidate_oracle_branch_scores": [ + 0.70870041847229, + 0.6907815933227539, + 0.7163021564483643, + 0.6879754066467285 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3138889074325562, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7909852266311646, + -1.2621020078659058, + -1.3138889074325562, + -1.358801245689392 + ], + "candidate_oracle_progress": 0.7163021564483643, + "candidate_oracle_regret": 1.2836978435516357, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7163021564483643, + "candidate_oracle_score_gain_over_selected": 0.007601737976074219, + "candidate_oracle_selected_branch_progress": 0.70870041847229, + "candidate_oracle_selected_branch_score": 0.70870041847229, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-078317e23cc56a9d719d;ms-31fe1d98bc7adcd515db;ms-c871c1157a16e19e6150;ms-38758efd8620a312267d;ms-dd94921779f12b249579;ms-d26dc2146eb8ae9a5434", + "expert_regret": 1.2894909381866455, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a242f1d12ebfcd82de05", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2894909381866455, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7105090618133545, + "restore_error": 1.1920928955078125e-07, + "score": 0.7105090618133545, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2903786599636078, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7294681072235107, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2705318927764893, + 1.2705318927764893, + 1.2705318927764893 + ], + "candidate_oracle_branch_scores": [ + 0.7294681072235107, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.7757729887962341, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + -0.734904408454895, + -0.7757729887962341, + -0.7852548360824585, + -0.7977313995361328 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2705318927764893, + "candidate_oracle_selected_branch_progress": 0.7294681072235107, + "candidate_oracle_selected_branch_score": 0.7294681072235107, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3d862f2a32d3404926c3;ms-cc5f2a24e2571cb23050;ms-145f60d5fff285e7d05b;ms-96e1562aaca7ef49db28;ms-ed30f8fbb80b2cf46fbc;ms-6a4398375c43dbf887b1", + "expert_regret": 0.0, + "expert_score": 0.7208024859428406, + "expert_success": false, + "group_id": "ms-502dba1003c09ec60ba0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2746007442474365, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7253992557525635, + "restore_error": 1.1920928955078125e-07, + "score": 0.7253992557525635, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.10795170813798904, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.6941303610801697, + 0.69405597448349, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -7.43865966796875e-05, + 1.3058695793151855, + 1.3058695793151855 + ], + "candidate_oracle_branch_scores": [ + 0.6941303610801697, + 0.69405597448349, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.11841097474098206, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 24, + 40, + 8, + 17 + ], + "candidate_oracle_potentials": [ + 0.14675003290176392, + 0.14488661289215088, + 0.11841097474098206, + 0.07508128881454468 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.3058695793151855, + "candidate_oracle_selected_branch_progress": 0.6941303610801697, + "candidate_oracle_selected_branch_score": 0.6941303610801697, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ed4f6388ae96f9da76fa;ms-ed30f8fbb80b2cf46fbc;ms-5799584ed40e211c50a5;ms-96e1562aaca7ef49db28;ms-957002faf092f769aa8e;ms-ea41340182245326a218", + "expert_regret": 0.01573944091796875, + "expert_score": 0.7112311720848083, + "expert_success": false, + "group_id": "ms-fae3c6a2f1b575ddc3f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.3045082688331604, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6954917311668396, + "restore_error": 1.1920928955078125e-07, + "score": 0.6954917311668396, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3704385757446289, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.20032396912574768, + 0.20772990584373474, + 0.2072269171476364, + 0.20816539227962494 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0074059367179870605, + 0.006902948021888733, + 0.007841423153877258 + ], + "candidate_oracle_branch_scores": [ + 0.20032396912574768, + 0.20772990584373474, + 0.2072269171476364, + 0.20816539227962494 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.6618674993515015, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 19, + 3, + 35 + ], + "candidate_oracle_potentials": [ + -1.620139718055725, + -1.656459927558899, + -1.656687617301941, + -1.6618674993515015 + ], + "candidate_oracle_progress": 0.20816539227962494, + "candidate_oracle_regret": 0.5188179165124893, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20816539227962494, + "candidate_oracle_score_gain_over_selected": 0.007841423153877258, + "candidate_oracle_selected_branch_progress": 0.20032396912574768, + "candidate_oracle_selected_branch_score": 0.20032396912574768, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-35c12c467fb8a54f89f0;ms-a103dfbc0567d05ade6e;ms-1bbd61ce613ae75c8bb0;ms-0660d5f65df5fc4b6132;ms-83c0299c23fa800452c7;ms-0a8109ce7ab2ddc1bb1e", + "expert_regret": 0.5266593396663666, + "expert_score": 0.7269833087921143, + "expert_success": false, + "group_id": "ms-de8d6051e6ee74b62fec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5266593396663666, + "oracle_score": 0.7269833087921143, + "oracle_success": false, + "progress": 0.20032396912574768, + "restore_error": 1.1920928955078125e-07, + "score": 0.20032396912574768, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4638243019580841, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.5630878210067749, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 40, + 17, + 24 + ], + "candidate_oracle_potentials": [ + 0.5630878210067749, + 0.5620625019073486, + 0.557873010635376, + 0.5455317497253418 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-938b53ef53e669518a56;ms-8864796e31bbe93d7c5d;ms-487d0fe2a13fb699dd7a;ms-067e0fe46e4e9483e2a1;ms-2436538e05fdcf8e44fc;ms-9551db96b60a51ccf62a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dbad4f4d0df3c19c7bbb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.563834547996521, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.48798513412475586, + 0.586129367351532, + 0.7086780071258545, + 0.6613774299621582 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.09814423322677612, + 0.22069287300109863, + 0.17339229583740234 + ], + "candidate_oracle_branch_scores": [ + 0.48798513412475586, + 0.586129367351532, + 0.7086780071258545, + 0.6613774299621582 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.6855438947677612, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 24, + 33, + 8 + ], + "candidate_oracle_potentials": [ + 0.7244359254837036, + 0.6986145973205566, + 0.6855438947677612, + 0.6705349683761597 + ], + "candidate_oracle_progress": 0.7086780071258545, + "candidate_oracle_regret": 1.2913219928741455, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7086780071258545, + "candidate_oracle_score_gain_over_selected": 0.22069287300109863, + "candidate_oracle_selected_branch_progress": 0.48798513412475586, + "candidate_oracle_selected_branch_score": 0.48798513412475586, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dd32ce9859c365c535b4;ms-b8956f04f70d6eeecb07;ms-8864796e31bbe93d7c5d;ms-f601aab1d8f7e4f1b97f;ms-938b53ef53e669518a56;ms-9551db96b60a51ccf62a", + "expert_regret": 1.5329031348228455, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-761ab1e423462aa44e3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5329031348228455, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.46709686517715454, + "restore_error": 1.1920928955078125e-07, + "score": 0.46709686517715454, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5116326212882996, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6979662179946899, + 0.2197602391242981, + 0.33738988637924194, + 0.219949871301651 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.47820597887039185, + -0.360576331615448, + -0.47801634669303894 + ], + "candidate_oracle_branch_scores": [ + 0.6979662179946899, + 0.2197602391242981, + 0.33738988637924194, + 0.219949871301651 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0359210968017578, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.0359210968017578, + -1.4671919345855713, + -1.4916462898254395, + -1.55260169506073 + ], + "candidate_oracle_progress": 0.6979662179946899, + "candidate_oracle_regret": 1.30203378200531, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6979662179946899, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6979662179946899, + "candidate_oracle_selected_branch_score": 0.6979662179946899, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02663903d88aa84c9c10;ms-9756d07ed207e9ab1d53;ms-483520829af0d733cb2a;ms-0d80d6d87a27a53951fe;ms-57dc9349b8f2c9c49105;ms-0fe7053483f72737eaec", + "expert_regret": 1.3198004364967346, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f97bd60d5430c32f9494", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3198004364967346, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6801995635032654, + "restore_error": 1.1920928955078125e-07, + "score": 0.6801995635032654, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30573034286499023, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7240067720413208, + 1.0, + 1.0, + 0.6965438723564148 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2759932279586792, + 1.2759932279586792, + -0.027462899684906006 + ], + "candidate_oracle_branch_scores": [ + 0.7240067720413208, + 2.0, + 2.0, + 0.6965438723564148 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5278997421264648, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.39223387837409973, + -0.5278997421264648, + -0.5561877489089966, + -0.5853567123413086 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2759932279586792, + "candidate_oracle_selected_branch_progress": 0.7240067720413208, + "candidate_oracle_selected_branch_score": 0.7240067720413208, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d30b515ab0ee174afa58;ms-97c28a7584b35207bf84;ms-a5a56eefeb2de0abe600;ms-01ab68aa5051226638ee;ms-6c7f34ae8218aa0952c8;ms-c1f3359c70d068a36081", + "expert_regret": 1.2816243171691895, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-73e3079ce5eb7cd14ec8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2816243171691895, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7183756828308105, + "restore_error": 1.1920928955078125e-07, + "score": 0.7183756828308105, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3697197735309601, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.710707426071167, + 1.0, + 0.6346297264099121 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.289292573928833, + 0.0, + -1.365370273590088 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.710707426071167, + 2.0, + 0.6346297264099121 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7107540369033813, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -0.7107540369033813, + -1.1653245687484741, + -1.2188634872436523, + -1.2524073123931885 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9c33d4837de7d23232d6;ms-3661d65df223386f1be9;ms-1b8e9b173562648021f6;ms-832f0e966173abd16c34;ms-4a86d570dabb0916f020;ms-31fe1d98bc7adcd515db", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cdbfe4d3b05f4ed12db3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42738983035087585, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3665311336517334, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3665311336517334, + -0.6691015958786011, + -0.7235963940620422, + -0.7756463289260864 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c3818c2c4474a784fc6b;ms-d26dc2146eb8ae9a5434;ms-dd94921779f12b249579;ms-d3a7e3f163b142a3e56b;ms-295dab0e1d105e758827;ms-078317e23cc56a9d719d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3fd410dabe0c3ef8dc1a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6479451060295105, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3767475485801697, + 0.21793648600578308, + 0.21875670552253723, + 0.31955087184906006 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1588110625743866, + -0.15799084305763245, + -0.05719667673110962 + ], + "candidate_oracle_branch_scores": [ + 0.3767475485801697, + 0.21793648600578308, + 0.21875670552253723, + 0.31955087184906006 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.221840500831604, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.221840500831604, + -1.6615179777145386, + -1.7222436666488647, + -1.7388466596603394 + ], + "candidate_oracle_progress": 0.3767475485801697, + "candidate_oracle_regret": 1.6232524514198303, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3767475485801697, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3767475485801697, + "candidate_oracle_selected_branch_score": 0.3767475485801697, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9756d07ed207e9ab1d53;ms-0fe7053483f72737eaec;ms-02663903d88aa84c9c10;ms-5fc588b9c9d52034f4c4;ms-35d84da6eb1afcf8a811;ms-6939f3ecafd5e0a4bfee", + "expert_regret": 1.6231793761253357, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f7169e27b3743aa48e77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6231793761253357, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3768206238746643, + "restore_error": 1.1920928955078125e-07, + "score": 0.3768206238746643, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3134768605232239, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7198024988174438, + 1.0, + 0.7277532815933228 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2801975011825562, + 0.0, + -1.2722467184066772 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7198024988174438, + 2.0, + 0.7277532815933228 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.538560688495636, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.538560688495636, + -1.0897901058197021, + -1.2243432998657227, + -1.3605635166168213 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8c7bbc80458fce91a1ac;ms-e825996818ee6f2f7d26;ms-3a97ee208c6be9ed8b74;ms-ff012c1c8597c8db3cc7;ms-84264ef080ec4f3631df;ms-fc3c8a3572fd96442723", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-da28f7d135db8979d5b8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37700992822647095, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.32959187030792236, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 8 + ], + "candidate_oracle_potentials": [ + -0.32959187030792236, + -0.5109409689903259, + -0.5358848571777344, + -0.5468201637268066 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6e2b02ee71a4a44bc325;ms-59474486dd5cb4e5bfd5;ms-6a4398375c43dbf887b1;ms-145f60d5fff285e7d05b;ms-08dc71adea7d8efeb298;ms-9a72e47e2204fa794718", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b439839ee4165bac92a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.27652186155319214, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.32326391339302063, + 0.28825491666793823, + 0.2804306149482727, + 0.2532529830932617 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0350089967250824, + -0.042833298444747925, + -0.07001093029975891 + ], + "candidate_oracle_branch_scores": [ + 0.32326391339302063, + 0.28825491666793823, + 0.2804306149482727, + 0.2532529830932617 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.567122220993042, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.567122220993042, + -1.3161776065826416, + -1.4792447090148926, + -1.5004427433013916 + ], + "candidate_oracle_progress": 0.32326391339302063, + "candidate_oracle_regret": 1.6767360866069794, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.32326391339302063, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.32326391339302063, + "candidate_oracle_selected_branch_score": 0.32326391339302063, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8c7bbc80458fce91a1ac;ms-e825996818ee6f2f7d26;ms-3a97ee208c6be9ed8b74;ms-ff012c1c8597c8db3cc7;ms-84264ef080ec4f3631df;ms-dd32ce9859c365c535b4", + "expert_regret": 1.683409571647644, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a6cf775fbba580161c4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.683409571647644, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.31659042835235596, + "restore_error": 1.1920928955078125e-07, + "score": 0.31659042835235596, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2309742122888565, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.714063823223114, + 0.7169700860977173, + 0.27070003747940063, + 0.7162461280822754 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0029062628746032715, + -0.4433637857437134, + 0.002182304859161377 + ], + "candidate_oracle_branch_scores": [ + 0.714063823223114, + 0.7169700860977173, + 0.27070003747940063, + 0.7162461280822754 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.4275951385498047, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.6329380869865417, + -1.4275951385498047, + -1.5635557174682617, + -1.579389214515686 + ], + "candidate_oracle_progress": 0.7169700860977173, + "candidate_oracle_regret": 1.2830299139022827, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7169700860977173, + "candidate_oracle_score_gain_over_selected": 0.0029062628746032715, + "candidate_oracle_selected_branch_progress": 0.714063823223114, + "candidate_oracle_selected_branch_score": 0.714063823223114, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8c7bbc80458fce91a1ac;ms-e825996818ee6f2f7d26;ms-3a97ee208c6be9ed8b74;ms-ff012c1c8597c8db3cc7;ms-dd32ce9859c365c535b4;ms-84264ef080ec4f3631df", + "expert_regret": 1.2869425415992737, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de68dbb7daad3e3a71fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2869425415992737, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7130574584007263, + "restore_error": 1.1920928955078125e-07, + "score": 0.7130574584007263, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.49301984906196594, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6999258995056152, + 0.21306054294109344, + 0.2131955474615097, + 0.31450557708740234 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4868653416633606, + -0.48673033714294434, + -0.3854203224182129 + ], + "candidate_oracle_branch_scores": [ + 0.6999258995056152, + 0.21306054294109344, + 0.2131955474615097, + 0.31450557708740234 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9839708805084229, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.9839708805084229, + -1.335553765296936, + -1.3981850147247314, + -1.451596736907959 + ], + "candidate_oracle_progress": 0.6999258995056152, + "candidate_oracle_regret": 1.3000741004943848, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6999258995056152, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6999258995056152, + "candidate_oracle_selected_branch_score": 0.6999258995056152, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d602b7370c5b90f8a439;ms-6939f3ecafd5e0a4bfee;ms-483520829af0d733cb2a;ms-02663903d88aa84c9c10;ms-9756d07ed207e9ab1d53;ms-57dc9349b8f2c9c49105", + "expert_regret": 1.303134262561798, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f539c5c30da21c875657", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.303134262561798, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6968657374382019, + "restore_error": 1.1920928955078125e-07, + "score": 0.6968657374382019, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31998756527900696, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.5463913679122925, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 8, + 33 + ], + "candidate_oracle_potentials": [ + 0.5463913679122925, + 0.5311713814735413, + 0.506918728351593, + 0.4227408170700073 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-73906fdb1ffcfbe4aaf4;ms-9551db96b60a51ccf62a;ms-8864796e31bbe93d7c5d;ms-938b53ef53e669518a56;ms-dd32ce9859c365c535b4;ms-067e0fe46e4e9483e2a1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-91710558482886874dd7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5295112729072571, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7156053781509399, + 0.6965206861495972, + 0.6789001822471619, + 0.6206480860710144 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.019084692001342773, + -0.036705195903778076, + -0.09495729207992554 + ], + "candidate_oracle_branch_scores": [ + 0.7156053781509399, + 0.6965206861495972, + 0.6789001822471619, + 0.6206480860710144 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8602966070175171, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.8602966070175171, + -1.3643203973770142, + -1.4317702054977417, + -1.491213083267212 + ], + "candidate_oracle_progress": 0.7156053781509399, + "candidate_oracle_regret": 1.28439462184906, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7156053781509399, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7156053781509399, + "candidate_oracle_selected_branch_score": 0.7156053781509399, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0d80d6d87a27a53951fe;ms-0a57aa04002f1b843856;ms-851d25e7a1dde4242f33;ms-02663903d88aa84c9c10;ms-e2f90eb6c79dfd9ce6fd;ms-9756d07ed207e9ab1d53", + "expert_regret": 1.2843899726867676, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-27251a7c7f13bf165e21", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2843899726867676, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7156100273132324, + "restore_error": 1.1920928955078125e-07, + "score": 0.7156100273132324, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.17104895412921906, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4263332784175873, + 0.2402975857257843, + 0.24319231510162354, + 0.2442665994167328 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.18603569269180298, + -0.18314096331596375, + -0.1820666790008545 + ], + "candidate_oracle_branch_scores": [ + 0.4263332784175873, + 0.2402975857257843, + 0.24319231510162354, + 0.2442665994167328 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8119486570358276, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8119486570358276, + -1.2924463748931885, + -1.348447561264038, + -1.398826003074646 + ], + "candidate_oracle_progress": 0.4263332784175873, + "candidate_oracle_regret": 1.5736667215824127, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4263332784175873, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4263332784175873, + "candidate_oracle_selected_branch_score": 0.4263332784175873, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-078317e23cc56a9d719d;ms-38758efd8620a312267d;ms-c871c1157a16e19e6150;ms-832f0e966173abd16c34;ms-4a86d570dabb0916f020;ms-31fe1d98bc7adcd515db", + "expert_regret": 1.3025239706039429, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc56601ca069f65cd08f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3025239706039429, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6974760293960571, + "restore_error": 1.1920928955078125e-07, + "score": 0.6974760293960571, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3664202094078064, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.2289779782295227, + 0.22984932363033295, + 0.230691060423851 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.771022081375122, + -1.7701506614685059, + -1.7693089246749878 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.2289779782295227, + 0.22984932363033295, + 0.230691060423851 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.2714152932167053, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.2714152932167053, + -0.5242130756378174, + -0.6022647619247437, + -0.6921532154083252 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c1f3359c70d068a36081;ms-dd94921779f12b249579;ms-a5a56eefeb2de0abe600;ms-08dc71adea7d8efeb298;ms-caeb4c3d358f256799a8;ms-295dab0e1d105e758827", + "expert_regret": 1.2720998525619507, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-88f748134c3fd27fcf72", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2720998525619507, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7279001474380493, + "restore_error": 1.1920928955078125e-07, + "score": 0.7279001474380493, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5195454955101013, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7150328159332275, + 0.5293578505516052, + 0.6482868790626526, + 0.7131556868553162 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.18567496538162231, + -0.06674593687057495, + -0.001877129077911377 + ], + "candidate_oracle_branch_scores": [ + 0.7150328159332275, + 0.5293578505516052, + 0.6482868790626526, + 0.7131556868553162 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9366689920425415, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9366689920425415, + -1.2901595830917358, + -1.3561357259750366, + -1.4229679107666016 + ], + "candidate_oracle_progress": 0.7150328159332275, + "candidate_oracle_regret": 1.2849671840667725, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7150328159332275, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7150328159332275, + "candidate_oracle_selected_branch_score": 0.7150328159332275, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e56b37f0e3881a70ef54;ms-35d84da6eb1afcf8a811;ms-d799435b5f6b8fae2ffb;ms-84264ef080ec4f3631df;ms-fc3c8a3572fd96442723;ms-9554f100dd5be3a4fa47", + "expert_regret": 1.288036584854126, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e91b824c3841686ed053", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.288036584854126, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.711963415145874, + "restore_error": 1.1920928955078125e-07, + "score": 0.711963415145874, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.06823220103979111, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.20296567678451538, + 0.20559823513031006, + 0.20535150170326233, + 0.20499348640441895 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0026325583457946777, + 0.0023858249187469482, + 0.0020278096199035645 + ], + "candidate_oracle_branch_scores": [ + 0.20296567678451538, + 0.20559823513031006, + 0.20535150170326233, + 0.20499348640441895 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.701859951019287, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.5110937356948853, + -1.701859951019287, + -1.702001690864563, + -1.7112442255020142 + ], + "candidate_oracle_progress": 0.20559823513031006, + "candidate_oracle_regret": 1.79440176486969, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20559823513031006, + "candidate_oracle_score_gain_over_selected": 0.0026325583457946777, + "candidate_oracle_selected_branch_progress": 0.20296567678451538, + "candidate_oracle_selected_branch_score": 0.20296567678451538, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ec2e4afb34b439731136;ms-33a0bdb4bcee42c79a2b;ms-320d99264926ea029f95;ms-36d1128e3bd512cffe18;ms-e7573c5d29c3a1a3f228;ms-efb5a07185a3a1b33226", + "expert_regret": 0.5236085802316666, + "expert_score": 0.7265902757644653, + "expert_success": false, + "group_id": "ms-13d8bae55d3c3710138f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7970183044672012, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20298169553279877, + "restore_error": 1.1920928955078125e-07, + "score": 0.20298169553279877, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3325934112071991, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6883651614189148, + 0.25938671827316284, + 0.25256913900375366, + 0.35793182253837585 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.42897844314575195, + -0.43579602241516113, + -0.33043333888053894 + ], + "candidate_oracle_branch_scores": [ + 0.6883651614189148, + 0.25938671827316284, + 0.25256913900375366, + 0.35793182253837585 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6214859485626221, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 4 + ], + "candidate_oracle_potentials": [ + -0.6214859485626221, + -1.234190583229065, + -1.3490996360778809, + -1.3517524003982544 + ], + "candidate_oracle_progress": 0.6883651614189148, + "candidate_oracle_regret": 1.3116348385810852, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6883651614189148, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6883651614189148, + "candidate_oracle_selected_branch_score": 0.6883651614189148, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3661d65df223386f1be9;ms-1b8e9b173562648021f6;ms-9c33d4837de7d23232d6;ms-caeb4c3d358f256799a8;ms-4dc9ab19fbe571f09699;ms-29027a8e3742362fd477", + "expert_regret": 1.2841367721557617, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9f993a6e9bb26846d4f4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2841367721557617, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7158632278442383, + "restore_error": 1.1920928955078125e-07, + "score": 0.7158632278442383, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4459402561187744, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3777202367782593, + 0.3474331796169281, + 0.2347436398267746, + 0.316087931394577 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.030287057161331177, + -0.14297659695148468, + -0.06163230538368225 + ], + "candidate_oracle_branch_scores": [ + 0.3777202367782593, + 0.3474331796169281, + 0.2347436398267746, + 0.316087931394577 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.998632550239563, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.998632550239563, + -1.3532540798187256, + -1.4097980260849, + -1.4512258768081665 + ], + "candidate_oracle_progress": 0.3777202367782593, + "candidate_oracle_regret": 1.6222797632217407, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3777202367782593, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3777202367782593, + "candidate_oracle_selected_branch_score": 0.3777202367782593, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-483520829af0d733cb2a;ms-57dc9349b8f2c9c49105;ms-01926c30568d417edd91;ms-e8de8d619c0cf5fd633e;ms-02663903d88aa84c9c10;ms-d602b7370c5b90f8a439", + "expert_regret": 1.6222708523273468, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-98c8fcf4c9f098cebe8d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6222708523273468, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3777291476726532, + "restore_error": 1.1920928955078125e-07, + "score": 0.3777291476726532, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4380740523338318, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.38240283727645874, + 0.3151613473892212, + 0.29955923557281494, + 0.25257837772369385 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.06724148988723755, + -0.0828436017036438, + -0.1298244595527649 + ], + "candidate_oracle_branch_scores": [ + 0.38240283727645874, + 0.3151613473892212, + 0.29955923557281494, + 0.25257837772369385 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9233146905899048, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.9233146905899048, + -1.4470432996749878, + -1.542242407798767, + -1.6253101825714111 + ], + "candidate_oracle_progress": 0.38240283727645874, + "candidate_oracle_regret": 1.6175971627235413, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.38240283727645874, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.38240283727645874, + "candidate_oracle_selected_branch_score": 0.38240283727645874, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-84264ef080ec4f3631df;ms-e56b37f0e3881a70ef54;ms-ff012c1c8597c8db3cc7;ms-e825996818ee6f2f7d26;ms-8c7bbc80458fce91a1ac;ms-35d84da6eb1afcf8a811", + "expert_regret": 1.6164203882217407, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01a86e5f5731af7002ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6164203882217407, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3835796117782593, + "restore_error": 1.1920928955078125e-07, + "score": 0.3835796117782593, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3244335651397705, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.694378137588501, + 0.5675625801086426, + 0.4252517819404602, + 0.4051802158355713 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1268155574798584, + -0.26912635564804077, + -0.2891979217529297 + ], + "candidate_oracle_branch_scores": [ + 0.694378137588501, + 0.5675625801086426, + 0.4252517819404602, + 0.4051802158355713 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4876787066459656, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -0.4876787066459656, + -1.086181402206421, + -1.1695047616958618, + -1.1982206106185913 + ], + "candidate_oracle_progress": 0.694378137588501, + "candidate_oracle_regret": 1.305621862411499, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.694378137588501, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.694378137588501, + "candidate_oracle_selected_branch_score": 0.694378137588501, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dd94921779f12b249579;ms-d26dc2146eb8ae9a5434;ms-295dab0e1d105e758827;ms-c3818c2c4474a784fc6b;ms-08dc71adea7d8efeb298;ms-29027a8e3742362fd477", + "expert_regret": 1.3070192337036133, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f1529c9d823325056e8d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3070192337036133, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6929807662963867, + "restore_error": 1.1920928955078125e-07, + "score": 0.6929807662963867, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4544256031513214, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7079073190689087, + 0.653583288192749, + 0.6107403039932251, + 0.4689231514930725 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.05432403087615967, + -0.0971670150756836, + -0.23898416757583618 + ], + "candidate_oracle_branch_scores": [ + 0.7079073190689087, + 0.653583288192749, + 0.6107403039932251, + 0.4689231514930725 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8955175280570984, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8955175280570984, + -1.2923179864883423, + -1.3692272901535034, + -1.447133183479309 + ], + "candidate_oracle_progress": 0.7079073190689087, + "candidate_oracle_regret": 1.2920926809310913, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7079073190689087, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7079073190689087, + "candidate_oracle_selected_branch_score": 0.7079073190689087, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e56b37f0e3881a70ef54;ms-84264ef080ec4f3631df;ms-ff012c1c8597c8db3cc7;ms-35d84da6eb1afcf8a811;ms-fc3c8a3572fd96442723;ms-d799435b5f6b8fae2ffb", + "expert_regret": 1.2889138460159302, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a3daad6772d2384ea66", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2889138460159302, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7110861539840698, + "restore_error": 1.1920928955078125e-07, + "score": 0.7110861539840698, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2923291027545929, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.728127658367157, + 0.7130042314529419, + 0.6935657262802124, + 0.6810647249221802 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.015123426914215088, + -0.03456193208694458, + -0.04706293344497681 + ], + "candidate_oracle_branch_scores": [ + 0.728127658367157, + 0.7130042314529419, + 0.6935657262802124, + 0.6810647249221802 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6328814029693604, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.6328814029693604, + -0.6922051310539246, + -0.7606379985809326, + -0.8559243679046631 + ], + "candidate_oracle_progress": 0.728127658367157, + "candidate_oracle_regret": 1.271872341632843, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.728127658367157, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.728127658367157, + "candidate_oracle_selected_branch_score": 0.728127658367157, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ad7b7d5d7fb25961859f;ms-31fe1d98bc7adcd515db;ms-9c33d4837de7d23232d6;ms-29027a8e3742362fd477;ms-078317e23cc56a9d719d;ms-38758efd8620a312267d", + "expert_regret": 1.2733782529830933, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8bab784ae53525967763", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2733782529830933, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7266217470169067, + "restore_error": 1.1920928955078125e-07, + "score": 0.7266217470169067, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.07188230007886887, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.1972600817680359, + 0.19808505475521088, + 0.19803881645202637, + 0.197983056306839 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0008249729871749878, + 0.0007787346839904785, + 0.0007229745388031006 + ], + "candidate_oracle_branch_scores": [ + 0.1972600817680359, + 0.19808505475521088, + 0.19803881645202637, + 0.197983056306839 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.7479757070541382, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.7230520248413086, + -1.7479757070541382, + -1.7537671327590942, + -1.7614848613739014 + ], + "candidate_oracle_progress": 0.19808505475521088, + "candidate_oracle_regret": 0.5295673757791519, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.19808505475521088, + "candidate_oracle_score_gain_over_selected": 0.0008249729871749878, + "candidate_oracle_selected_branch_progress": 0.1972600817680359, + "candidate_oracle_selected_branch_score": 0.1972600817680359, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0660d5f65df5fc4b6132;ms-35c12c467fb8a54f89f0;ms-ec2e4afb34b439731136;ms-83c0299c23fa800452c7;ms-a103dfbc0567d05ade6e;ms-320d99264926ea029f95", + "expert_regret": 0.5235581994056702, + "expert_score": 0.720818042755127, + "expert_success": false, + "group_id": "ms-c2c265f2f5013746eaa1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.530392587184906, + "oracle_score": 0.7276524305343628, + "oracle_success": false, + "progress": 0.1972598433494568, + "restore_error": 1.1920928955078125e-07, + "score": 0.1972598433494568, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48498037457466125, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7038412094116211, + 0.30350711941719055, + 0.2896237075328827, + 0.28011810779571533 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.40033408999443054, + -0.4142175018787384, + -0.42372310161590576 + ], + "candidate_oracle_branch_scores": [ + 0.7038412094116211, + 0.30350711941719055, + 0.2896237075328827, + 0.28011810779571533 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2455264329910278, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.2455264329910278, + -1.5809686183929443, + -1.6071046590805054, + -1.6270673274993896 + ], + "candidate_oracle_progress": 0.7038412094116211, + "candidate_oracle_regret": 1.296158790588379, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7038412094116211, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7038412094116211, + "candidate_oracle_selected_branch_score": 0.7038412094116211, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e8de8d619c0cf5fd633e;ms-8b15f77ad3436ac282ba;ms-50b9f93dd246400d20c8;ms-57dc9349b8f2c9c49105;ms-01926c30568d417edd91;ms-524ae7618ed9b6a272ae", + "expert_regret": 1.2962215542793274, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ce7b349699ed248bb67c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2962215542793274, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7037784457206726, + "restore_error": 1.1920928955078125e-07, + "score": 0.7037784457206726, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3300395607948303, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7106198072433472, + 0.6807405352592468, + 0.22362840175628662, + 0.22309467196464539 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.029879271984100342, + -0.48699140548706055, + -0.4875251352787018 + ], + "candidate_oracle_branch_scores": [ + 0.7106198072433472, + 0.6807405352592468, + 0.22362840175628662, + 0.22309467196464539 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6361308693885803, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.6361308693885803, + -1.2376346588134766, + -1.3219972848892212, + -1.3737910985946655 + ], + "candidate_oracle_progress": 0.7106198072433472, + "candidate_oracle_regret": 1.2893801927566528, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7106198072433472, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7106198072433472, + "candidate_oracle_selected_branch_score": 0.7106198072433472, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fe790caba27d92511f71;ms-2436538e05fdcf8e44fc;ms-34f60c9a263bd0a5641f;ms-dfc111660c0d1c7b7e04;ms-059d7962a5f998edf668;ms-f81ea99a1ec3423f3b6e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2f1164357c9732e059d4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34358638525009155, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.06415694206953049, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -0.06415694206953049, + -0.06769116967916489, + -0.07219483703374863, + -0.1083936020731926 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b933fbfb7c8fa68a445f;ms-9a72e47e2204fa794718;ms-59474486dd5cb4e5bfd5;ms-cc5f2a24e2571cb23050;ms-c76aba3db8d4ce0062bc;ms-ec4accef21246e0c9213", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-54b1042de0891da7c07e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.25931012630462646, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.6786977052688599, + 0.7056276798248291, + 0.7025959491729736, + 0.7004729509353638 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.02692997455596924, + 0.02389824390411377, + 0.021775245666503906 + ], + "candidate_oracle_branch_scores": [ + 0.6786977052688599, + 0.7056276798248291, + 0.7025959491729736, + 0.7004729509353638 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.1940823793411255, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5647947192192078, + -1.1940823793411255, + -1.3207770586013794, + -1.4438973665237427 + ], + "candidate_oracle_progress": 0.7056276798248291, + "candidate_oracle_regret": 1.294372320175171, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7056276798248291, + "candidate_oracle_score_gain_over_selected": 0.02692997455596924, + "candidate_oracle_selected_branch_progress": 0.6786977052688599, + "candidate_oracle_selected_branch_score": 0.6786977052688599, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8c7bbc80458fce91a1ac;ms-e825996818ee6f2f7d26;ms-3a97ee208c6be9ed8b74;ms-ff012c1c8597c8db3cc7;ms-84264ef080ec4f3631df;ms-28fe4b5a2888189c28d9", + "expert_regret": 1.274778664112091, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-40fb8acb1e648bf3b617", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.274778664112091, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7252213358879089, + "restore_error": 1.1920928955078125e-07, + "score": 0.7252213358879089, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4710768163204193, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.720321536064148, + 1.0, + 0.719512403011322, + 0.2119898498058319 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.279678463935852, + -0.0008091330528259277, + -0.5083316564559937 + ], + "candidate_oracle_branch_scores": [ + 0.720321536064148, + 2.0, + 0.719512403011322, + 0.2119898498058319 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.8622243404388428, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 3 + ], + "candidate_oracle_potentials": [ + -1.347083568572998, + -1.8622243404388428, + -1.864497423171997, + -1.8844395875930786 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.279678463935852, + "candidate_oracle_selected_branch_progress": 0.720321536064148, + "candidate_oracle_selected_branch_score": 0.720321536064148, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cf2603516869355b8b13;ms-e2f90eb6c79dfd9ce6fd;ms-524ae7618ed9b6a272ae;ms-8b15f77ad3436ac282ba;ms-50b9f93dd246400d20c8;ms-01926c30568d417edd91", + "expert_regret": 1.2795500755310059, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c0142e4a5d15dd8d647a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2795500755310059, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7204499244689941, + "restore_error": 1.1920928955078125e-07, + "score": 0.7204499244689941, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5643801689147949, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3602865934371948, + 0.2946379780769348, + 0.2842966914176941, + 0.2193569540977478 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.06564861536026001, + -0.07598990201950073, + -0.14092963933944702 + ], + "candidate_oracle_branch_scores": [ + 0.3602865934371948, + 0.2946379780769348, + 0.2842966914176941, + 0.2193569540977478 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.5052140951156616, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.5052140951156616, + -1.6186585426330566, + -1.6365588903427124, + -1.6535849571228027 + ], + "candidate_oracle_progress": 0.3602865934371948, + "candidate_oracle_regret": 1.6397134065628052, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3602865934371948, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3602865934371948, + "candidate_oracle_selected_branch_score": 0.3602865934371948, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-524ae7618ed9b6a272ae;ms-57dc9349b8f2c9c49105;ms-483520829af0d733cb2a;ms-50b9f93dd246400d20c8;ms-8b15f77ad3436ac282ba;ms-01926c30568d417edd91", + "expert_regret": 1.6396997272968292, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bbaa576369a59660ecdd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6396997272968292, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3603002727031708, + "restore_error": 1.1920928955078125e-07, + "score": 0.3603002727031708, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3690810203552246, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.7166180610656738, + 0.7186291217803955, + 1.0, + 0.7211284637451172 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0020110607147216797, + 1.2833819389343262, + 0.004510402679443359 + ], + "candidate_oracle_branch_scores": [ + 0.7166180610656738, + 0.7186291217803955, + 2.0, + 0.7211284637451172 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.5926700234413147, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 3, + 1 + ], + "candidate_oracle_potentials": [ + 0.6159021854400635, + 0.6047449111938477, + 0.5926700234413147, + 0.5716360211372375 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2833819389343262, + "candidate_oracle_selected_branch_progress": 0.7166180610656738, + "candidate_oracle_selected_branch_score": 0.7166180610656738, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f601aab1d8f7e4f1b97f;ms-b8956f04f70d6eeecb07;ms-dd32ce9859c365c535b4;ms-8864796e31bbe93d7c5d;ms-73906fdb1ffcfbe4aaf4;ms-ed4f6388ae96f9da76fa", + "expert_regret": 1.2804654240608215, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f237f72fe3db2b4f8e12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2804654240608215, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7195345759391785, + "restore_error": 1.1920928955078125e-07, + "score": 0.7195345759391785, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31845787167549133, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.19751009345054626, + 0.19923298060894012, + 0.19957368075847626, + 0.19900953769683838 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0017228871583938599, + 0.0020635873079299927, + 0.0014994442462921143 + ], + "candidate_oracle_branch_scores": [ + 0.19751009345054626, + 0.19923298060894012, + 0.19957368075847626, + 0.19900953769683838 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.534059762954712, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.3038086891174316, + -1.5139771699905396, + -1.534059762954712, + -1.5507574081420898 + ], + "candidate_oracle_progress": 0.19957368075847626, + "candidate_oracle_regret": 0.5236134678125381, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.19957368075847626, + "candidate_oracle_score_gain_over_selected": 0.0020635873079299927, + "candidate_oracle_selected_branch_progress": 0.19751009345054626, + "candidate_oracle_selected_branch_score": 0.19751009345054626, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-865f9d670f806778ae61;ms-c090bce47703a4c4bb0b;ms-0fe90299788e1f71f98a;ms-f5dcf9054c3c1c4e1d50;ms-e8de8d619c0cf5fd633e;ms-8fabc0ac20ec87ead026", + "expert_regret": 0.5256775915622711, + "expert_score": 0.7231871485710144, + "expert_success": false, + "group_id": "ms-64a755437c34f39cda2a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5256775915622711, + "oracle_score": 0.7231871485710144, + "oracle_success": false, + "progress": 0.1975095570087433, + "restore_error": 1.1920928955078125e-07, + "score": 0.1975095570087433, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.09850532561540604, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7270271182060242, + 0.7267453074455261, + 0.7268282771110535, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0002818107604980469, + -0.00019884109497070312, + 1.272972822189331 + ], + "candidate_oracle_branch_scores": [ + 0.7270271182060242, + 0.7267453074455261, + 0.7268282771110535, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.08784910291433334, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 0, + 24, + 33 + ], + "candidate_oracle_potentials": [ + 0.006146971136331558, + -0.010860435664653778, + -0.03225654363632202, + -0.08784910291433334 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.272972822189331, + "candidate_oracle_selected_branch_progress": 0.7270271182060242, + "candidate_oracle_selected_branch_score": 0.7270271182060242, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-067e0fe46e4e9483e2a1;ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4;ms-059d7962a5f998edf668;ms-2436538e05fdcf8e44fc;ms-938b53ef53e669518a56", + "expert_regret": 0.0, + "expert_score": 0.7073621153831482, + "expert_success": false, + "group_id": "ms-1b24faaf0d032ad20017", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.2727723121643066, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7272276878356934, + "restore_error": 1.1920928955078125e-07, + "score": 0.7272276878356934, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41402822732925415, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5589478015899658, + 0.21635596454143524, + 0.21109220385551453, + 0.30043017864227295 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.3425918221473694, + -0.3478555977344513, + -0.25851762294769287 + ], + "candidate_oracle_branch_scores": [ + 0.5589478015899658, + 0.21635596454143524, + 0.21109220385551453, + 0.30043017864227295 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9010595083236694, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.9010595083236694, + -1.2834612131118774, + -1.3459101915359497, + -1.3823941946029663 + ], + "candidate_oracle_progress": 0.5589478015899658, + "candidate_oracle_regret": 1.4410521984100342, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5589478015899658, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5589478015899658, + "candidate_oracle_selected_branch_score": 0.5589478015899658, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d602b7370c5b90f8a439;ms-6939f3ecafd5e0a4bfee;ms-483520829af0d733cb2a;ms-0fe90299788e1f71f98a;ms-02663903d88aa84c9c10;ms-9756d07ed207e9ab1d53", + "expert_regret": 1.4408714771270752, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7b1a03be4a61ba27261c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4408714771270752, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5591285228729248, + "restore_error": 1.1920928955078125e-07, + "score": 0.5591285228729248, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3964861333370209, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3648632764816284, + 0.29701152443885803, + 0.2846790552139282, + 0.2796177268028259 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.06785175204277039, + -0.0801842212677002, + -0.08524554967880249 + ], + "candidate_oracle_branch_scores": [ + 0.3648632764816284, + 0.29701152443885803, + 0.2846790552139282, + 0.2796177268028259 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.404394268989563, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.404394268989563, + -1.6239964962005615, + -1.642694115638733, + -1.6603318452835083 + ], + "candidate_oracle_progress": 0.3648632764816284, + "candidate_oracle_regret": 0.36095523834228516, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3648632764816284, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3648632764816284, + "candidate_oracle_selected_branch_score": 0.3648632764816284, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-50b9f93dd246400d20c8;ms-8b15f77ad3436ac282ba;ms-c090bce47703a4c4bb0b;ms-57dc9349b8f2c9c49105;ms-524ae7618ed9b6a272ae;ms-01926c30568d417edd91", + "expert_regret": 0.36095404624938965, + "expert_score": 0.7258185148239136, + "expert_success": false, + "group_id": "ms-a829d650eb9914fb2983", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.36095404624938965, + "oracle_score": 0.7258185148239136, + "oracle_success": false, + "progress": 0.3648644685745239, + "restore_error": 1.1920928955078125e-07, + "score": 0.3648644685745239, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2971615791320801, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.43214040994644165, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 8 + ], + "candidate_oracle_potentials": [ + -0.43214040994644165, + -0.4704211950302124, + -0.50152587890625, + -0.507777214050293 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-59474486dd5cb4e5bfd5;ms-6e2b02ee71a4a44bc325;ms-6a4398375c43dbf887b1;ms-145f60d5fff285e7d05b;ms-96e1562aaca7ef49db28;ms-b933fbfb7c8fa68a445f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9ac2c188beb33e70f98", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5782283544540405, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.17187613248825073, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 33, + 8 + ], + "candidate_oracle_potentials": [ + -0.17187613248825073, + -0.19909808039665222, + -0.22625446319580078, + -0.2524872422218323 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-067e0fe46e4e9483e2a1;ms-487d0fe2a13fb699dd7a;ms-2436538e05fdcf8e44fc;ms-059d7962a5f998edf668;ms-14dabc3ac1e1a339ebe4;ms-34f60c9a263bd0a5641f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-908213fef55ccf1dfda6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7593978047370911, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.20300328731536865, + 0.21072940528392792, + 0.20302820205688477, + 0.21047508716583252 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.007726117968559265, + 2.491474151611328e-05, + 0.007471799850463867 + ], + "candidate_oracle_branch_scores": [ + 0.20300328731536865, + 0.21072940528392792, + 0.20302820205688477, + 0.21047508716583252 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.6590921878814697, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 35, + 17, + 19 + ], + "candidate_oracle_potentials": [ + -1.652171015739441, + -1.6590921878814697, + -1.6658198833465576, + -1.6707258224487305 + ], + "candidate_oracle_progress": 0.21072940528392792, + "candidate_oracle_regret": 1.789270594716072, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21072940528392792, + "candidate_oracle_score_gain_over_selected": 0.007726117968559265, + "candidate_oracle_selected_branch_progress": 0.20300328731536865, + "candidate_oracle_selected_branch_score": 0.20300328731536865, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-83c0299c23fa800452c7;ms-a103dfbc0567d05ade6e;ms-35c12c467fb8a54f89f0;ms-0a8109ce7ab2ddc1bb1e;ms-1bbd61ce613ae75c8bb0;ms-0660d5f65df5fc4b6132", + "expert_regret": 1.7969971597194672, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68c63442972f322789b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.7969971597194672, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20300284028053284, + "restore_error": 1.1920928955078125e-07, + "score": 0.20300284028053284, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.480928510427475, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.41883549094200134, + 0.217011496424675, + 0.3265887498855591, + 0.21737125515937805 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.20182399451732635, + -0.09224674105644226, + -0.2014642357826233 + ], + "candidate_oracle_branch_scores": [ + 0.41883549094200134, + 0.217011496424675, + 0.3265887498855591, + 0.21737125515937805 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9832113981246948, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.9832113981246948, + -1.3314684629440308, + -1.3904763460159302, + -1.3958286046981812 + ], + "candidate_oracle_progress": 0.41883549094200134, + "candidate_oracle_regret": 1.5811645090579987, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.41883549094200134, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.41883549094200134, + "candidate_oracle_selected_branch_score": 0.41883549094200134, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-483520829af0d733cb2a;ms-02663903d88aa84c9c10;ms-9756d07ed207e9ab1d53;ms-57dc9349b8f2c9c49105;ms-01926c30568d417edd91;ms-6939f3ecafd5e0a4bfee", + "expert_regret": 1.5811645090579987, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dd0fad10ce064047d62e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5811645090579987, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.41883549094200134, + "restore_error": 1.1920928955078125e-07, + "score": 0.41883549094200134, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2605193555355072, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6625640988349915, + 0.21873143315315247, + 0.21830449998378754, + 0.42850273847579956 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.443832665681839, + -0.4442595839500427, + -0.2340613603591919 + ], + "candidate_oracle_branch_scores": [ + 0.6625640988349915, + 0.21873143315315247, + 0.21830449998378754, + 0.42850273847579956 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.065712332725525, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.065712332725525, + -1.2994059324264526, + -1.3620127439498901, + -1.3852057456970215 + ], + "candidate_oracle_progress": 0.6625640988349915, + "candidate_oracle_regret": 1.3374359011650085, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6625640988349915, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6625640988349915, + "candidate_oracle_selected_branch_score": 0.6625640988349915, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-28fe4b5a2888189c28d9;ms-9554f100dd5be3a4fa47;ms-d799435b5f6b8fae2ffb;ms-fc3c8a3572fd96442723;ms-84264ef080ec4f3631df;ms-e56b37f0e3881a70ef54", + "expert_regret": 1.3374775648117065, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf8c5d9c874edc9f000d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3374775648117065, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6625224351882935, + "restore_error": 1.1920928955078125e-07, + "score": 0.6625224351882935, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.2563003301620483, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2098267525434494, + 0.20927464962005615, + 0.20866000652313232, + 0.20472151041030884 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0005521029233932495, + -0.0011667460203170776, + -0.005105242133140564 + ], + "candidate_oracle_branch_scores": [ + 0.2098267525434494, + 0.20927464962005615, + 0.20866000652313232, + 0.20472151041030884 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.7092863321304321, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + -1.7092863321304321, + -1.7949230670928955, + -1.8382762670516968, + -1.8443262577056885 + ], + "candidate_oracle_progress": 0.2098267525434494, + "candidate_oracle_regret": 1.7901732474565506, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2098267525434494, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2098267525434494, + "candidate_oracle_selected_branch_score": 0.2098267525434494, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0fe7053483f72737eaec;ms-5fc588b9c9d52034f4c4;ms-9756d07ed207e9ab1d53;ms-02663903d88aa84c9c10;ms-d799435b5f6b8fae2ffb;ms-35d84da6eb1afcf8a811", + "expert_regret": 1.7901734113693237, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-14a2c3eb293175cb76f3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7901734113693237, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20982658863067627, + "restore_error": 1.1920928955078125e-07, + "score": 0.20982658863067627, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3690255284309387, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7220195531845093, + 0.699802815914154, + 0.7003135085105896, + 0.7181341052055359 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.022216737270355225, + -0.021706044673919678, + -0.0038854479789733887 + ], + "candidate_oracle_branch_scores": [ + 0.7220195531845093, + 0.699802815914154, + 0.7003135085105896, + 0.7181341052055359 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6990212798118591, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6990212798118591, + -0.9461779594421387, + -1.022149682044983, + -1.1086868047714233 + ], + "candidate_oracle_progress": 0.7220195531845093, + "candidate_oracle_regret": 1.2779804468154907, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.544854164123535e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7220195531845093, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7220195531845093, + "candidate_oracle_selected_branch_score": 0.7220195531845093, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6939f3ecafd5e0a4bfee;ms-9756d07ed207e9ab1d53;ms-02663903d88aa84c9c10;ms-d602b7370c5b90f8a439;ms-483520829af0d733cb2a;ms-5fc588b9c9d52034f4c4", + "expert_regret": 1.2770544290542603, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65e9da4468e522823587", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2770544290542603, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7229455709457397, + "restore_error": 2.384185791015625e-07, + "score": 0.7229455709457397, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2998047471046448, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.69430011510849, + 0.6908677816390991 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.3056998252868652, + -1.3091322183609009 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.69430011510849, + 0.6908677816390991 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.34786462783813477, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 8, + 24 + ], + "candidate_oracle_potentials": [ + -0.34786462783813477, + -0.4033070206642151, + -0.4087214767932892, + -0.4469887614250183 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.544854164123535e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6e2b02ee71a4a44bc325;ms-6a4398375c43dbf887b1;ms-76c7efad95ae67dba1ca;ms-59474486dd5cb4e5bfd5;ms-145f60d5fff285e7d05b;ms-08dc71adea7d8efeb298", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d68051ee4e3b8a5c9a4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.24770458042621613, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7073785066604614, + 0.7014669179916382, + 0.7011286616325378, + 0.7009199857711792 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.005911588668823242, + -0.006249845027923584, + -0.0064585208892822266 + ], + "candidate_oracle_branch_scores": [ + 0.7073785066604614, + 0.7014669179916382, + 0.7011286616325378, + 0.7009199857711792 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5692185163497925, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5692185163497925, + -0.9249297380447388, + -0.9786492586135864, + -1.0287622213363647 + ], + "candidate_oracle_progress": 0.7073785066604614, + "candidate_oracle_regret": 1.2926214933395386, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.544854164123535e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7073785066604614, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7073785066604614, + "candidate_oracle_selected_branch_score": 0.7073785066604614, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-832f0e966173abd16c34;ms-31fe1d98bc7adcd515db;ms-c871c1157a16e19e6150;ms-4a86d570dabb0916f020;ms-3661d65df223386f1be9;ms-078317e23cc56a9d719d", + "expert_regret": 1.2988970279693604, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0a6bff8326e7e32702f3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2988970279693604, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7011029720306396, + "restore_error": 2.384185791015625e-07, + "score": 0.7011029720306396, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4898722171783447, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.1996501088142395, + 0.20696072280406952, + 0.20592932403087616, + 0.20649519562721252 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.007310613989830017, + 0.006279215216636658, + 0.0068450868129730225 + ], + "candidate_oracle_branch_scores": [ + 0.1996501088142395, + 0.20696072280406952, + 0.20592932403087616, + 0.20649519562721252 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.7892547845840454, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 3, + 19 + ], + "candidate_oracle_potentials": [ + -1.6274129152297974, + -1.7892547845840454, + -1.7907894849777222, + -1.791932225227356 + ], + "candidate_oracle_progress": 0.20696072280406952, + "candidate_oracle_regret": 1.7930392771959305, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.544854164123535e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20696072280406952, + "candidate_oracle_score_gain_over_selected": 0.007310613989830017, + "candidate_oracle_selected_branch_progress": 0.1996501088142395, + "candidate_oracle_selected_branch_score": 0.1996501088142395, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ec2e4afb34b439731136;ms-33a0bdb4bcee42c79a2b;ms-320d99264926ea029f95;ms-36d1128e3bd512cffe18;ms-e7573c5d29c3a1a3f228;ms-0660d5f65df5fc4b6132", + "expert_regret": 1.800376534461975, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29a11d7bdcf49c86bd7a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.800376534461975, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1996234655380249, + "restore_error": 2.384185791015625e-07, + "score": 0.1996234655380249, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5046817660331726, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5662105083465576, + 0.4626852869987488, + 0.45213186740875244, + 0.4468345642089844 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.10352522134780884, + -0.11407864093780518, + -0.11937594413757324 + ], + "candidate_oracle_branch_scores": [ + 0.5662105083465576, + 0.4626852869987488, + 0.45213186740875244, + 0.4468345642089844 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.45073479413986206, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.45073479413986206, + -0.7652507424354553, + -0.8144800066947937, + -0.8597822189331055 + ], + "candidate_oracle_progress": 0.5662105083465576, + "candidate_oracle_regret": 1.4337894916534424, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.544854164123535e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5662105083465576, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5662105083465576, + "candidate_oracle_selected_branch_score": 0.5662105083465576, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c3818c2c4474a784fc6b;ms-d26dc2146eb8ae9a5434;ms-dd94921779f12b249579;ms-295dab0e1d105e758827;ms-d3a7e3f163b142a3e56b;ms-c1f3359c70d068a36081", + "expert_regret": 1.3832424879074097, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83199198e5f952f8dd69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3832424879074097, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6167575120925903, + "restore_error": 2.384185791015625e-07, + "score": 0.6167575120925903, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.33098772168159485, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2534570097923279, + 0.23464849591255188, + 0.23779962956905365, + 0.23442670702934265 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.018808513879776, + -0.01565738022327423, + -0.01903030276298523 + ], + "candidate_oracle_branch_scores": [ + 0.2534570097923279, + 0.23464849591255188, + 0.23779962956905365, + 0.23442670702934265 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0685547590255737, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -1.0685547590255737, + -1.6576576232910156, + -1.6599311828613281, + -1.6973305940628052 + ], + "candidate_oracle_progress": 0.2534570097923279, + "candidate_oracle_regret": 1.7465429902076721, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.544854164123535e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2534570097923279, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2534570097923279, + "candidate_oracle_selected_branch_score": 0.2534570097923279, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8c7bbc80458fce91a1ac;ms-e825996818ee6f2f7d26;ms-3a97ee208c6be9ed8b74;ms-ff012c1c8597c8db3cc7;ms-84264ef080ec4f3631df;ms-dd32ce9859c365c535b4", + "expert_regret": 1.7463720738887787, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-929e1dd2134a8952111c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7463720738887787, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2536279261112213, + "restore_error": 2.384185791015625e-07, + "score": 0.2536279261112213, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.4995876550674438, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.23023180663585663, + 0.21363723278045654, + 0.3030356466770172, + 0.2190300077199936 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.016594573855400085, + 0.07280384004116058, + -0.011201798915863037 + ], + "candidate_oracle_branch_scores": [ + 0.23023180663585663, + 0.21363723278045654, + 0.3030356466770172, + 0.2190300077199936 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.5045549869537354, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 0, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.4241726398468018, + -1.4387093782424927, + -1.5045549869537354, + -1.5172628164291382 + ], + "candidate_oracle_progress": 0.3030356466770172, + "candidate_oracle_regret": 0.42389610409736633, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.544854164123535e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3030356466770172, + "candidate_oracle_score_gain_over_selected": 0.07280384004116058, + "candidate_oracle_selected_branch_progress": 0.23023180663585663, + "candidate_oracle_selected_branch_score": 0.23023180663585663, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0d80d6d87a27a53951fe;ms-0a57aa04002f1b843856;ms-851d25e7a1dde4242f33;ms-0fe7053483f72737eaec;ms-9756d07ed207e9ab1d53;ms-02663903d88aa84c9c10", + "expert_regret": 0.4966992437839508, + "expert_score": 0.7269317507743835, + "expert_success": false, + "group_id": "ms-c9e0182d4090ddaa991c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.4966992437839508, + "oracle_score": 0.7269317507743835, + "oracle_success": false, + "progress": 0.23023250699043274, + "restore_error": 2.384185791015625e-07, + "score": 0.23023250699043274, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.01269030012190342, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.728569746017456 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.271430253982544 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.728569746017456 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5953882932662964, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5953882932662964, + -1.2199406623840332, + -1.372182011604309, + -1.5260621309280396 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.544854164123535e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3a97ee208c6be9ed8b74;ms-e825996818ee6f2f7d26;ms-8c7bbc80458fce91a1ac;ms-ff012c1c8597c8db3cc7;ms-84264ef080ec4f3631df;ms-fc3c8a3572fd96442723", + "expert_regret": 0.0, + "expert_score": 0.7218565344810486, + "expert_success": false, + "group_id": "ms-ec4c6be448348c8021a9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.727399468421936, + "oracle_success": false, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.45127591490745544, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2573314309120178, + 0.2529553174972534, + 0.24217557907104492, + 0.25466063618659973 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.004376113414764404, + -0.0151558518409729, + -0.002670794725418091 + ], + "candidate_oracle_branch_scores": [ + 0.2573314309120178, + 0.2529553174972534, + 0.24217557907104492, + 0.25466063618659973 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.636162519454956, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -0.636162519454956, + -1.104828953742981, + -1.1460250616073608, + -1.1710366010665894 + ], + "candidate_oracle_progress": 0.2573314309120178, + "candidate_oracle_regret": 1.7426685690879822, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2573314309120178, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2573314309120178, + "candidate_oracle_selected_branch_score": 0.2573314309120178, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-29027a8e3742362fd477;ms-1b8e9b173562648021f6;ms-3661d65df223386f1be9;ms-31fe1d98bc7adcd515db;ms-295dab0e1d105e758827;ms-9c33d4837de7d23232d6", + "expert_regret": 1.7422880828380585, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-131a98e2d4a78a9645f8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7422880828380585, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25771191716194153, + "restore_error": 2.384185791015625e-07, + "score": 0.25771191716194153, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.33867278695106506, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7285112738609314, + 1.0, + 1.0, + 0.7032817602157593 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2714886665344238, + 1.2714886665344238, + -0.02522951364517212 + ], + "candidate_oracle_branch_scores": [ + 0.7285112738609314, + 2.0, + 2.0, + 0.7032817602157593 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5243963003158569, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.37225615978240967, + -0.5243963003158569, + -0.5541699528694153, + -0.583674967288971 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2714886665344238, + "candidate_oracle_selected_branch_progress": 0.7285112738609314, + "candidate_oracle_selected_branch_score": 0.7285112738609314, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a5a56eefeb2de0abe600;ms-97c28a7584b35207bf84;ms-6c7f34ae8218aa0952c8;ms-c1f3359c70d068a36081;ms-c871c1157a16e19e6150;ms-dd94921779f12b249579", + "expert_regret": 1.2725082635879517, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-35babd5f83dcf1561f9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2725082635879517, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7274917364120483, + "restore_error": 2.384185791015625e-07, + "score": 0.7274917364120483, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.46612411737442017, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6949548125267029, + 0.3670085668563843, + 0.36092597246170044, + 0.5154034495353699 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.3279462456703186, + -0.33402884006500244, + -0.179551362991333 + ], + "candidate_oracle_branch_scores": [ + 0.6949548125267029, + 0.3670085668563843, + 0.36092597246170044, + 0.5154034495353699 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3808809518814087, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 4 + ], + "candidate_oracle_potentials": [ + -1.3808809518814087, + -1.6054035425186157, + -1.6317561864852905, + -1.6320091485977173 + ], + "candidate_oracle_progress": 0.6949548125267029, + "candidate_oracle_regret": 1.3050451874732971, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6949548125267029, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6949548125267029, + "candidate_oracle_selected_branch_score": 0.6949548125267029, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5fc588b9c9d52034f4c4;ms-0fe7053483f72737eaec;ms-d799435b5f6b8fae2ffb;ms-9756d07ed207e9ab1d53;ms-9554f100dd5be3a4fa47;ms-35d84da6eb1afcf8a811", + "expert_regret": 1.3069615364074707, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01bef10a5ccfd38294fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3069615364074707, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6930384635925293, + "restore_error": 2.384185791015625e-07, + "score": 0.6930384635925293, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.29934021830558777, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7022947072982788, + 0.39219221472740173, + 0.3049370050430298 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2977052927017212, + -1.6078077554702759, + -1.6950629949569702 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7022947072982788, + 0.39219221472740173, + 0.3049370050430298 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5457303524017334, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5457303524017334, + -1.089535117149353, + -1.2221548557281494, + -1.3566373586654663 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8c7bbc80458fce91a1ac;ms-e825996818ee6f2f7d26;ms-ff012c1c8597c8db3cc7;ms-3a97ee208c6be9ed8b74;ms-84264ef080ec4f3631df;ms-fc3c8a3572fd96442723", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e467ecc93a4793286423", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.5531107187271118, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2351033091545105, + 0.23392532765865326, + 0.2207511067390442, + 0.23336337506771088 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0011779814958572388, + -0.014352202415466309, + -0.0017399340867996216 + ], + "candidate_oracle_branch_scores": [ + 0.2351033091545105, + 0.23392532765865326, + 0.2207511067390442, + 0.23336337506771088 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.3942917585372925, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 0, + 3 + ], + "candidate_oracle_potentials": [ + -1.3942917585372925, + -1.5022251605987549, + -1.5082484483718872, + -1.5763012170791626 + ], + "candidate_oracle_progress": 0.2351033091545105, + "candidate_oracle_regret": 0.011975646018981934, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2351033091545105, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2351033091545105, + "candidate_oracle_selected_branch_score": 0.2351033091545105, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0a57aa04002f1b843856;ms-851d25e7a1dde4242f33;ms-0d80d6d87a27a53951fe;ms-0fe7053483f72737eaec;ms-02663903d88aa84c9c10;ms-9756d07ed207e9ab1d53", + "expert_regret": 0.0, + "expert_score": 0.22032809257507324, + "expert_success": false, + "group_id": "ms-a5bd3a36c6fe41cd0b35", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.011943548917770386, + "oracle_score": 0.24707895517349243, + "oracle_success": false, + "progress": 0.23513540625572205, + "restore_error": 2.384185791015625e-07, + "score": 0.23513540625572205, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4261632561683655, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4024791121482849, + 0.33990734815597534, + 0.3333321213722229, + 0.32466134428977966 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.06257176399230957, + -0.06914699077606201, + -0.07781776785850525 + ], + "candidate_oracle_branch_scores": [ + 0.4024791121482849, + 0.33990734815597534, + 0.3333321213722229, + 0.32466134428977966 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.503645896911621, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.503645896911621, + -1.67481529712677, + -1.6949526071548462, + -1.7108479738235474 + ], + "candidate_oracle_progress": 0.4024791121482849, + "candidate_oracle_regret": 1.597520887851715, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4024791121482849, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4024791121482849, + "candidate_oracle_selected_branch_score": 0.4024791121482849, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c090bce47703a4c4bb0b;ms-01926c30568d417edd91;ms-57dc9349b8f2c9c49105;ms-e8de8d619c0cf5fd633e;ms-50b9f93dd246400d20c8;ms-865f9d670f806778ae61", + "expert_regret": 1.5977279543876648, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-40eb8d19498413d4e730", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5977279543876648, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4022720456123352, + "restore_error": 2.384185791015625e-07, + "score": 0.4022720456123352, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5297916531562805, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7199169397354126, + 0.7205401659011841, + 0.7172864675521851, + 0.7119117975234985 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0006232261657714844, + -0.002630472183227539, + -0.008005142211914062 + ], + "candidate_oracle_branch_scores": [ + 0.7199169397354126, + 0.7205401659011841, + 0.7172864675521851, + 0.7119117975234985 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.4103236496448517, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 17, + 33, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.40848785638809204, + -0.4103236496448517, + -0.4226299524307251, + -0.4758930802345276 + ], + "candidate_oracle_progress": 0.7205401659011841, + "candidate_oracle_regret": 1.279459834098816, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7205401659011841, + "candidate_oracle_score_gain_over_selected": 0.0006232261657714844, + "candidate_oracle_selected_branch_progress": 0.7199169397354126, + "candidate_oracle_selected_branch_score": 0.7199169397354126, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3d862f2a32d3404926c3;ms-cc5f2a24e2571cb23050;ms-96e1562aaca7ef49db28;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-ed30f8fbb80b2cf46fbc", + "expert_regret": 1.2819665670394897, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-59bff662e0ecb913ed81", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2819665670394897, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7180334329605103, + "restore_error": 2.384185791015625e-07, + "score": 0.7180334329605103, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3248786926269531, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2987010180950165, + 0.2373182475566864, + 0.23995497822761536, + 0.24086879193782806 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.06138277053833008, + -0.05874603986740112, + -0.057832226157188416 + ], + "candidate_oracle_branch_scores": [ + 0.2987010180950165, + 0.2373182475566864, + 0.23995497822761536, + 0.24086879193782806 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.40525543689727783, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.40525543689727783, + -0.7181650400161743, + -0.7660519480705261, + -0.8091462850570679 + ], + "candidate_oracle_progress": 0.2987010180950165, + "candidate_oracle_regret": 1.7012989819049835, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2987010180950165, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2987010180950165, + "candidate_oracle_selected_branch_score": 0.2987010180950165, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-31fe1d98bc7adcd515db;ms-29027a8e3742362fd477;ms-1b8e9b173562648021f6;ms-832f0e966173abd16c34;ms-4a86d570dabb0916f020;ms-ad7b7d5d7fb25961859f", + "expert_regret": 1.6848652958869934, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a40dee47c502e73949af", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6848652958869934, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3151347041130066, + "restore_error": 2.384185791015625e-07, + "score": 0.3151347041130066, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.03347292169928551, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6916195750236511, + 0.20900115370750427, + 0.20925596356391907, + 0.20938733220100403 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.48261842131614685, + -0.48236361145973206, + -0.4822322428226471 + ], + "candidate_oracle_branch_scores": [ + 0.6916195750236511, + 0.20900115370750427, + 0.20925596356391907, + 0.20938733220100403 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.4964947700500488, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 3, + 19, + 35 + ], + "candidate_oracle_potentials": [ + -1.4964947700500488, + -1.621622920036316, + -1.6231483221054077, + -1.6285030841827393 + ], + "candidate_oracle_progress": 0.6916195750236511, + "candidate_oracle_regret": 0.03655916452407837, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6916195750236511, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6916195750236511, + "candidate_oracle_selected_branch_score": 0.6916195750236511, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1bbd61ce613ae75c8bb0;ms-0660d5f65df5fc4b6132;ms-83c0299c23fa800452c7;ms-320d99264926ea029f95;ms-35c12c467fb8a54f89f0;ms-0a8109ce7ab2ddc1bb1e", + "expert_regret": 0.03265655040740967, + "expert_score": 0.7245650291442871, + "expert_success": false, + "group_id": "ms-e12808f670338ca180c6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.03627026081085205, + "oracle_score": 0.7281787395477295, + "oracle_success": false, + "progress": 0.6919084787368774, + "restore_error": 1.1920928955078125e-07, + "score": 0.6919084787368774, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22570942342281342, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.711868166923523, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.288131833076477, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.711868166923523, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.1210160180926323, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 40 + ], + "candidate_oracle_potentials": [ + 0.1210160180926323, + 0.0248718224465847, + -0.08263320475816727, + -0.1526821255683899 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9551db96b60a51ccf62a;ms-8864796e31bbe93d7c5d;ms-dd32ce9859c365c535b4;ms-b8956f04f70d6eeecb07;ms-938b53ef53e669518a56;ms-487d0fe2a13fb699dd7a", + "expert_regret": 0.0, + "expert_score": 0.699689507484436, + "expert_success": false, + "group_id": "ms-33294c8fed5a847bf149", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39065197110176086, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7261143922805786, + 0.35850828886032104, + 0.33974286913871765, + 0.3251158595085144 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.36760610342025757, + -0.38637152314186096, + -0.4009985327720642 + ], + "candidate_oracle_branch_scores": [ + 0.7261143922805786, + 0.35850828886032104, + 0.33974286913871765, + 0.3251158595085144 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0936700105667114, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.0936700105667114, + -1.4387258291244507, + -1.478713870048523, + -1.5158146619796753 + ], + "candidate_oracle_progress": 0.7261143922805786, + "candidate_oracle_regret": 1.2738856077194214, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7261143922805786, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7261143922805786, + "candidate_oracle_selected_branch_score": 0.7261143922805786, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-57dc9349b8f2c9c49105;ms-01926c30568d417edd91;ms-c090bce47703a4c4bb0b;ms-483520829af0d733cb2a;ms-50b9f93dd246400d20c8;ms-e8de8d619c0cf5fd633e", + "expert_regret": 1.2738528847694397, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a74a87e26362d09598fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2738528847694397, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7261471152305603, + "restore_error": 1.1920928955078125e-07, + "score": 0.7261471152305603, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.17773029208183289, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.20739798247814178, + 0.20140139758586884, + 0.20158879458904266, + 0.20169642567634583 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.005996584892272949, + -0.005809187889099121, + -0.0057015568017959595 + ], + "candidate_oracle_branch_scores": [ + 0.20739798247814178, + 0.20140139758586884, + 0.20158879458904266, + 0.20169642567634583 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.610604166984558, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 3, + 19, + 35 + ], + "candidate_oracle_potentials": [ + -1.610604166984558, + -1.8419618606567383, + -1.8447357416152954, + -1.852028489112854 + ], + "candidate_oracle_progress": 0.20739798247814178, + "candidate_oracle_regret": 1.7926020175218582, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20739798247814178, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.20739798247814178, + "candidate_oracle_selected_branch_score": 0.20739798247814178, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ec2e4afb34b439731136;ms-36d1128e3bd512cffe18;ms-33a0bdb4bcee42c79a2b;ms-320d99264926ea029f95;ms-e7573c5d29c3a1a3f228;ms-efb5a07185a3a1b33226", + "expert_regret": 0.5209322869777679, + "expert_score": 0.728327751159668, + "expert_success": false, + "group_id": "ms-e1b6bcb41532a800d3cb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7926045358181, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20739546418190002, + "restore_error": 1.1920928955078125e-07, + "score": 0.20739546418190002, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5295925736427307, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.430221289396286, + 0.3189627528190613, + 0.2221652865409851, + 0.27512186765670776 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.11125853657722473, + -0.2080560028553009, + -0.15509942173957825 + ], + "candidate_oracle_branch_scores": [ + 0.430221289396286, + 0.3189627528190613, + 0.2221652865409851, + 0.27512186765670776 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0976256132125854, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -1.0976256132125854, + -1.5616625547409058, + -1.5809783935546875, + -1.597330093383789 + ], + "candidate_oracle_progress": 0.430221289396286, + "candidate_oracle_regret": 1.569778710603714, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.430221289396286, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.430221289396286, + "candidate_oracle_selected_branch_score": 0.430221289396286, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0d80d6d87a27a53951fe;ms-02663903d88aa84c9c10;ms-9756d07ed207e9ab1d53;ms-0a57aa04002f1b843856;ms-0fe7053483f72737eaec;ms-483520829af0d733cb2a", + "expert_regret": 1.5341479778289795, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87fa87e06dc88c28a44f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5341479778289795, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4658520221710205, + "restore_error": 1.1920928955078125e-07, + "score": 0.4658520221710205, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.47753673791885376, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6706067323684692, + 0.22309699654579163, + 0.32506299018859863, + 0.22177916765213013 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4475097358226776, + -0.3455437421798706, + -0.4488275647163391 + ], + "candidate_oracle_branch_scores": [ + 0.6706067323684692, + 0.22309699654579163, + 0.32506299018859863, + 0.22177916765213013 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.043845534324646, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.043845534324646, + -1.4107118844985962, + -1.4194434881210327, + -1.475502610206604 + ], + "candidate_oracle_progress": 0.6706067323684692, + "candidate_oracle_regret": 1.3293932676315308, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6706067323684692, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6706067323684692, + "candidate_oracle_selected_branch_score": 0.6706067323684692, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-483520829af0d733cb2a;ms-57dc9349b8f2c9c49105;ms-02663903d88aa84c9c10;ms-01926c30568d417edd91;ms-524ae7618ed9b6a272ae;ms-9756d07ed207e9ab1d53", + "expert_regret": 1.3293932676315308, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf7bdf0776c928ee2342", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3293932676315308, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6706067323684692, + "restore_error": 1.1920928955078125e-07, + "score": 0.6706067323684692, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5042080879211426, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.6528995037078857, + 0.4142741560935974, + 0.6763728857040405, + 0.7087751626968384 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.23862534761428833, + 0.023473381996154785, + 0.05587565898895264 + ], + "candidate_oracle_branch_scores": [ + 0.6528995037078857, + 0.4142741560935974, + 0.6763728857040405, + 0.7087751626968384 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.06800497323274612, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 0, + 24, + 4 + ], + "candidate_oracle_potentials": [ + 0.04311787337064743, + 0.03926084190607071, + -0.02165394276380539, + -0.06800497323274612 + ], + "candidate_oracle_progress": 0.7087751626968384, + "candidate_oracle_regret": 1.2912248373031616, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7087751626968384, + "candidate_oracle_score_gain_over_selected": 0.05587565898895264, + "candidate_oracle_selected_branch_progress": 0.6528995037078857, + "candidate_oracle_selected_branch_score": 0.6528995037078857, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9551db96b60a51ccf62a;ms-dd32ce9859c365c535b4;ms-8864796e31bbe93d7c5d;ms-938b53ef53e669518a56;ms-73906fdb1ffcfbe4aaf4;ms-e7573c5d29c3a1a3f228", + "expert_regret": 1.34589684009552, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5fb06efe2b4bea27cc89", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.34589684009552, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.65410315990448, + "restore_error": 1.1920928955078125e-07, + "score": 0.65410315990448, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3798508942127228, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.692926287651062, + 0.6622676253318787 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.307073712348938, + -1.3377323150634766 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.692926287651062, + 0.6622676253318787 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6346345543861389, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6346345543861389, + -1.1047803163528442, + -1.225942850112915, + -1.3540219068527222 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ff012c1c8597c8db3cc7;ms-84264ef080ec4f3631df;ms-e825996818ee6f2f7d26;ms-8c7bbc80458fce91a1ac;ms-e56b37f0e3881a70ef54;ms-fc3c8a3572fd96442723", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b55ca348be8b64323714", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3521180748939514, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7038605213165283, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2961394786834717, + 1.2961394786834717, + 1.2961394786834717 + ], + "candidate_oracle_branch_scores": [ + 0.7038605213165283, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.655631422996521, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 8 + ], + "candidate_oracle_potentials": [ + -0.5082605481147766, + -0.655631422996521, + -0.7173198461532593, + -0.766614556312561 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2961394786834717, + "candidate_oracle_selected_branch_progress": 0.7038605213165283, + "candidate_oracle_selected_branch_score": 0.7038605213165283, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ec4accef21246e0c9213;ms-ad7b7d5d7fb25961859f;ms-b0302a41f75a827cd4e4;ms-c76aba3db8d4ce0062bc;ms-9a72e47e2204fa794718;ms-4dc9ab19fbe571f09699", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f24ad2e217963943c12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2647252678871155, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6486291289329529, + 0.6073805093765259, + 0.5558549761772156, + 0.5175080299377441 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.041248619556427, + -0.0927741527557373, + -0.13112109899520874 + ], + "candidate_oracle_branch_scores": [ + 0.6486291289329529, + 0.6073805093765259, + 0.5558549761772156, + 0.5175080299377441 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7776298522949219, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7776298522949219, + -1.0649908781051636, + -1.138069987297058, + -1.2198665142059326 + ], + "candidate_oracle_progress": 0.6486291289329529, + "candidate_oracle_regret": 1.3513708710670471, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6486291289329529, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6486291289329529, + "candidate_oracle_selected_branch_score": 0.6486291289329529, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6939f3ecafd5e0a4bfee;ms-d602b7370c5b90f8a439;ms-9756d07ed207e9ab1d53;ms-fc3c8a3572fd96442723;ms-0fe90299788e1f71f98a;ms-5fc588b9c9d52034f4c4", + "expert_regret": 1.3488281965255737, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f6e7085c865144a7408", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3488281965255737, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6511718034744263, + "restore_error": 1.1920928955078125e-07, + "score": 0.6511718034744263, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.11649174243211746, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.19353345036506653, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.19353345036506653, + -0.23146477341651917, + -0.23979687690734863, + -0.24945074319839478 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6e2b02ee71a4a44bc325;ms-59474486dd5cb4e5bfd5;ms-6a4398375c43dbf887b1;ms-145f60d5fff285e7d05b;ms-9a72e47e2204fa794718;ms-b933fbfb7c8fa68a445f", + "expert_regret": 0.0, + "expert_score": 0.7104858756065369, + "expert_success": false, + "group_id": "ms-20cd6d8ccbf13e36dcdb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41001567244529724, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6876029968261719, + 0.3628421723842621, + 0.35110148787498474, + 0.32373130321502686 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.3247608244419098, + -0.33650150895118713, + -0.363871693611145 + ], + "candidate_oracle_branch_scores": [ + 0.6876029968261719, + 0.3628421723842621, + 0.35110148787498474, + 0.32373130321502686 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9464603662490845, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9464603662490845, + -1.3270834684371948, + -1.3885332345962524, + -1.450380563735962 + ], + "candidate_oracle_progress": 0.6876029968261719, + "candidate_oracle_regret": 1.3123970031738281, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6876029968261719, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6876029968261719, + "candidate_oracle_selected_branch_score": 0.6876029968261719, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d602b7370c5b90f8a439;ms-6939f3ecafd5e0a4bfee;ms-fc3c8a3572fd96442723;ms-35d84da6eb1afcf8a811;ms-483520829af0d733cb2a;ms-9756d07ed207e9ab1d53", + "expert_regret": 1.312066376209259, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3996b923bb25440c29e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.312066376209259, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.687933623790741, + "restore_error": 1.1920928955078125e-07, + "score": 0.687933623790741, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2411678284406662, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.5559631586074829, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 3 + ], + "candidate_oracle_potentials": [ + 0.5559631586074829, + 0.5089449286460876, + 0.4362793564796448, + 0.38687607645988464 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dd32ce9859c365c535b4;ms-8864796e31bbe93d7c5d;ms-9551db96b60a51ccf62a;ms-938b53ef53e669518a56;ms-73906fdb1ffcfbe4aaf4;ms-487d0fe2a13fb699dd7a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5b4f2522663bec742b02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1870657354593277, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.44129249453544617, + 0.4509199857711792, + 0.44435185194015503, + 0.362053245306015 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.009627491235733032, + 0.0030593574047088623, + -0.07923924922943115 + ], + "candidate_oracle_branch_scores": [ + 0.44129249453544617, + 0.4509199857711792, + 0.44435185194015503, + 0.362053245306015 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2269700765609741, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.8764156103134155, + -1.2269700765609741, + -1.304619312286377, + -1.3543064594268799 + ], + "candidate_oracle_progress": 0.4509199857711792, + "candidate_oracle_regret": 1.5490800142288208, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4509199857711792, + "candidate_oracle_score_gain_over_selected": 0.009627491235733032, + "candidate_oracle_selected_branch_progress": 0.44129249453544617, + "candidate_oracle_selected_branch_score": 0.44129249453544617, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-28fe4b5a2888189c28d9;ms-fc3c8a3572fd96442723;ms-9554f100dd5be3a4fa47;ms-d799435b5f6b8fae2ffb;ms-6939f3ecafd5e0a4bfee;ms-84264ef080ec4f3631df", + "expert_regret": 1.5587075054645538, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3176a570b75767d1d729", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5587075054645538, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.44129249453544617, + "restore_error": 1.1920928955078125e-07, + "score": 0.44129249453544617, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4260144829750061, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.22437000274658203, + 0.25258177518844604, + 0.2078123390674591 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.775629997253418, + -1.7474181652069092, + -1.7921876907348633 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.22437000274658203, + 0.25258177518844604, + 0.2078123390674591 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.4974795579910278, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 1 + ], + "candidate_oracle_potentials": [ + -1.4974795579910278, + -1.798732876777649, + -1.8175716400146484, + -1.8241798877716064 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8b15f77ad3436ac282ba;ms-50b9f93dd246400d20c8;ms-524ae7618ed9b6a272ae;ms-01926c30568d417edd91;ms-57dc9349b8f2c9c49105;ms-cf2603516869355b8b13", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-917b0f051489227842f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3767886161804199, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.19954685866832733, + 0.20383332669734955, + 0.19944904744625092, + 0.19940832257270813 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.004286468029022217, + -9.781122207641602e-05, + -0.00013853609561920166 + ], + "candidate_oracle_branch_scores": [ + 0.19954685866832733, + 0.20383332669734955, + 0.19944904744625092, + 0.19940832257270813 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.8348087072372437, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 3, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.832259178161621, + -1.8348087072372437, + -1.8634377717971802, + -1.8669140338897705 + ], + "candidate_oracle_progress": 0.20383332669734955, + "candidate_oracle_regret": 0.5228116065263748, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20383332669734955, + "candidate_oracle_score_gain_over_selected": 0.004286468029022217, + "candidate_oracle_selected_branch_progress": 0.19954685866832733, + "candidate_oracle_selected_branch_score": 0.19954685866832733, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0660d5f65df5fc4b6132;ms-ec2e4afb34b439731136;ms-320d99264926ea029f95;ms-35c12c467fb8a54f89f0;ms-1bbd61ce613ae75c8bb0;ms-33a0bdb4bcee42c79a2b", + "expert_regret": 0.5270977765321732, + "expert_score": 0.7266449332237244, + "expert_success": false, + "group_id": "ms-68d9596217cc37c949c4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5270977765321732, + "oracle_score": 0.7266449332237244, + "oracle_success": false, + "progress": 0.1995471566915512, + "restore_error": 1.1920928955078125e-07, + "score": 0.1995471566915512, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.06379421055316925, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7167650461196899, + 0.2525930106639862, + 0.7067047357559204 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.28323495388031, + -1.7474069595336914, + -1.2932952642440796 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7167650461196899, + 0.2525930106639862, + 0.7067047357559204 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8695293068885803, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -0.8695293068885803, + -1.4797266721725464, + -1.4869794845581055, + -1.563334584236145 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3661d65df223386f1be9;ms-9c33d4837de7d23232d6;ms-bdb04ada069c35d51e2e;ms-1b8e9b173562648021f6;ms-835bd462e505aa659d16;ms-832f0e966173abd16c34", + "expert_regret": 0.0, + "expert_score": 0.7198172807693481, + "expert_success": false, + "group_id": "ms-ebeb5587176e3877b98a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.7268234491348267, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6291477084159851, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7268712520599365, + 0.7266526222229004, + 0.7251428365707397, + 0.7268692851066589 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0002186298370361328, + -0.0017284154891967773, + -1.9669532775878906e-06 + ], + "candidate_oracle_branch_scores": [ + 0.7268712520599365, + 0.7266526222229004, + 0.7251428365707397, + 0.7268692851066589 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.38561582565307617, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 0, + 33 + ], + "candidate_oracle_potentials": [ + -0.38561582565307617, + -0.3890136182308197, + -0.40162089467048645, + -0.40754157304763794 + ], + "candidate_oracle_progress": 0.7268712520599365, + "candidate_oracle_regret": 1.2731287479400635, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7268712520599365, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7268712520599365, + "candidate_oracle_selected_branch_score": 0.7268712520599365, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3d862f2a32d3404926c3;ms-cc5f2a24e2571cb23050;ms-96e1562aaca7ef49db28;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-ed30f8fbb80b2cf46fbc", + "expert_regret": 1.2739958763122559, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-605dbfbe6bef2b15b58c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2739958763122559, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7260041236877441, + "restore_error": 1.1920928955078125e-07, + "score": 0.7260041236877441, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.07029250264167786, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.6924297213554382, + 0.6944972276687622, + 0.2540479898452759, + 0.6966733336448669 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0020675063133239746, + -0.43838173151016235, + 0.004243612289428711 + ], + "candidate_oracle_branch_scores": [ + 0.6924297213554382, + 0.6944972276687622, + 0.2540479898452759, + 0.6966733336448669 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.06487651914358139, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 40, + 1 + ], + "candidate_oracle_potentials": [ + 0.13487973809242249, + 0.11030188202857971, + 0.07448408007621765, + 0.06487651914358139 + ], + "candidate_oracle_progress": 0.6966733336448669, + "candidate_oracle_regret": 1.303326666355133, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6966733336448669, + "candidate_oracle_score_gain_over_selected": 0.004243612289428711, + "candidate_oracle_selected_branch_progress": 0.6924297213554382, + "candidate_oracle_selected_branch_score": 0.6924297213554382, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ed30f8fbb80b2cf46fbc;ms-ed4f6388ae96f9da76fa;ms-96e1562aaca7ef49db28;ms-145f60d5fff285e7d05b;ms-cc5f2a24e2571cb23050;ms-9a72e47e2204fa794718", + "expert_regret": 0.03385347127914429, + "expert_score": 0.7279080748558044, + "expert_success": false, + "group_id": "ms-7b229b60d7f64fb624cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3059453964233398, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6940546035766602, + "restore_error": 1.1920928955078125e-07, + "score": 0.6940546035766602, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4132533669471741, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.20285771787166595, + 0.20554035902023315, + 0.20575857162475586, + 0.20587706565856934 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0026826411485671997, + 0.002900853753089905, + 0.0030193477869033813 + ], + "candidate_oracle_branch_scores": [ + 0.20285771787166595, + 0.20554035902023315, + 0.20575857162475586, + 0.20587706565856934 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.7126363515853882, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 3, + 19, + 35 + ], + "candidate_oracle_potentials": [ + -1.5565510988235474, + -1.6713595390319824, + -1.688839316368103, + -1.7126363515853882 + ], + "candidate_oracle_progress": 0.20587706565856934, + "candidate_oracle_regret": 0.5155033469200134, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20587706565856934, + "candidate_oracle_score_gain_over_selected": 0.0030193477869033813, + "candidate_oracle_selected_branch_progress": 0.20285771787166595, + "candidate_oracle_selected_branch_score": 0.20285771787166595, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ec2e4afb34b439731136;ms-320d99264926ea029f95;ms-1bbd61ce613ae75c8bb0;ms-0660d5f65df5fc4b6132;ms-35c12c467fb8a54f89f0;ms-e7573c5d29c3a1a3f228", + "expert_regret": 0.5185226798057556, + "expert_score": 0.7213804125785828, + "expert_success": false, + "group_id": "ms-648250f7c25953eab081", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5185226798057556, + "oracle_score": 0.7213804125785828, + "oracle_success": false, + "progress": 0.20285773277282715, + "restore_error": 1.1920928955078125e-07, + "score": 0.20285773277282715, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.0975695848464966, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.20905140042304993, + 0.20905743539333344, + 0.20529356598854065, + 0.2051621377468109 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 6.034970283508301e-06, + -0.0037578344345092773, + -0.0038892626762390137 + ], + "candidate_oracle_branch_scores": [ + 0.20905140042304993, + 0.20905743539333344, + 0.20529356598854065, + 0.2051621377468109 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.6234663724899292, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 33, + 17 + ], + "candidate_oracle_potentials": [ + -1.59561026096344, + -1.6234663724899292, + -1.6299477815628052, + -1.643728494644165 + ], + "candidate_oracle_progress": 0.20905743539333344, + "candidate_oracle_regret": 1.7909425646066666, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20905743539333344, + "candidate_oracle_score_gain_over_selected": 6.034970283508301e-06, + "candidate_oracle_selected_branch_progress": 0.20905140042304993, + "candidate_oracle_selected_branch_score": 0.20905140042304993, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-35c12c467fb8a54f89f0;ms-a103dfbc0567d05ade6e;ms-0a8109ce7ab2ddc1bb1e;ms-1bbd61ce613ae75c8bb0;ms-83c0299c23fa800452c7;ms-288ce929957d627c569c", + "expert_regret": 1.7909485846757889, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ba9541c7192498a1d8bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7909485846757889, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20905141532421112, + "restore_error": 1.1920928955078125e-07, + "score": 0.20905141532421112, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.21744801104068756, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.25259125232696533, + 0.25258660316467285, + 0.25258660316467285, + 0.24800240993499756 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -4.649162292480469e-06, + -4.649162292480469e-06, + -0.0045888423919677734 + ], + "candidate_oracle_branch_scores": [ + 0.25259125232696533, + 0.25258660316467285, + 0.25258660316467285, + 0.24800240993499756 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1431041955947876, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 4 + ], + "candidate_oracle_potentials": [ + -1.1431041955947876, + -1.6483219861984253, + -1.7140377759933472, + -1.7509464025497437 + ], + "candidate_oracle_progress": 0.25259125232696533, + "candidate_oracle_regret": 1.7474087476730347, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.25259125232696533, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.25259125232696533, + "candidate_oracle_selected_branch_score": 0.25259125232696533, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-38758efd8620a312267d;ms-9c33d4837de7d23232d6;ms-078317e23cc56a9d719d;ms-d3a7e3f163b142a3e56b;ms-835bd462e505aa659d16;ms-4a86d570dabb0916f020", + "expert_regret": 1.7474088072776794, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e0952f3218e0bf6fe027", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7474088072776794, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25259119272232056, + "restore_error": 1.1920928955078125e-07, + "score": 0.25259119272232056, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36158818006515503, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.7188715934753418, + 0.683617353439331 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.2811284065246582, + -1.316382646560669 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.7188715934753418, + 0.683617353439331 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.30331647396087646, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.30331647396087646, + -0.5845130085945129, + -0.6470999717712402, + -0.7109097838401794 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c3818c2c4474a784fc6b;ms-d26dc2146eb8ae9a5434;ms-dd94921779f12b249579;ms-295dab0e1d105e758827;ms-a5a56eefeb2de0abe600;ms-c1f3359c70d068a36081", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9bb65f13e00984482ef8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.20192205905914307, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7089263796806335, + 0.6988584399223328, + 0.6975406408309937, + 0.2526065409183502 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.010067939758300781, + -0.011385738849639893, + -0.4563198387622833 + ], + "candidate_oracle_branch_scores": [ + 0.7089263796806335, + 0.6988584399223328, + 0.6975406408309937, + 0.2526065409183502 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7354799509048462, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.7354799509048462, + -1.4082753658294678, + -1.4955114126205444, + -1.5217653512954712 + ], + "candidate_oracle_progress": 0.7089263796806335, + "candidate_oracle_regret": 1.2910736203193665, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7089263796806335, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7089263796806335, + "candidate_oracle_selected_branch_score": 0.7089263796806335, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-078317e23cc56a9d719d;ms-dd94921779f12b249579;ms-d3a7e3f163b142a3e56b;ms-38758efd8620a312267d;ms-d26dc2146eb8ae9a5434;ms-c871c1157a16e19e6150", + "expert_regret": 1.2881988286972046, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e3526036a5bf85cac0bf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2881988286972046, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7118011713027954, + "restore_error": 1.1920928955078125e-07, + "score": 0.7118011713027954, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4094417095184326, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6988983154296875, + 0.5334232449531555, + 0.5175510048866272, + 0.4720650315284729 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.16547507047653198, + -0.1813473105430603, + -0.2268332839012146 + ], + "candidate_oracle_branch_scores": [ + 0.6988983154296875, + 0.5334232449531555, + 0.5175510048866272, + 0.4720650315284729 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3806040287017822, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3806040287017822, + -0.5447099804878235, + -0.5715617537498474, + -0.5965460538864136 + ], + "candidate_oracle_progress": 0.6988983154296875, + "candidate_oracle_regret": 1.3011016845703125, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6988983154296875, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6988983154296875, + "candidate_oracle_selected_branch_score": 0.6988983154296875, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-97c28a7584b35207bf84;ms-a5a56eefeb2de0abe600;ms-6c7f34ae8218aa0952c8;ms-d30b515ab0ee174afa58;ms-c1f3359c70d068a36081;ms-c871c1157a16e19e6150", + "expert_regret": 1.3038557171821594, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-076246c4c5d1ca8ccd9d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3038557171821594, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6961442828178406, + "restore_error": 1.1920928955078125e-07, + "score": 0.6961442828178406, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3891153037548065, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5021877884864807, + 0.5661911368370056, + 0.5261563062667847, + 0.4659903049468994 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0640033483505249, + 0.023968517780303955, + -0.0361974835395813 + ], + "candidate_oracle_branch_scores": [ + 0.5021877884864807, + 0.5661911368370056, + 0.5261563062667847, + 0.4659903049468994 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9921430349349976, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6992775201797485, + -0.9921430349349976, + -1.0844539403915405, + -1.188571810722351 + ], + "candidate_oracle_progress": 0.5661911368370056, + "candidate_oracle_regret": 1.4338088631629944, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5661911368370056, + "candidate_oracle_score_gain_over_selected": 0.0640033483505249, + "candidate_oracle_selected_branch_progress": 0.5021877884864807, + "candidate_oracle_selected_branch_score": 0.5021877884864807, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0d80d6d87a27a53951fe;ms-02663903d88aa84c9c10;ms-9756d07ed207e9ab1d53;ms-0a57aa04002f1b843856;ms-0fe7053483f72737eaec;ms-851d25e7a1dde4242f33", + "expert_regret": 1.498565673828125, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-093472a082b3b61e73d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.498565673828125, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.501434326171875, + "restore_error": 1.1920928955078125e-07, + "score": 0.501434326171875, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5443590879440308, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7020469903945923, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 33, + 8 + ], + "candidate_oracle_potentials": [ + 0.7020469903945923, + 0.6527336835861206, + 0.601953387260437, + 0.586516261100769 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ed30f8fbb80b2cf46fbc;ms-96e1562aaca7ef49db28;ms-145f60d5fff285e7d05b;ms-5799584ed40e211c50a5;ms-59474486dd5cb4e5bfd5;ms-6a4398375c43dbf887b1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ecb5cc61f0b736e3f06f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36684709787368774, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.20479050278663635, + 0.2057434767484665, + 0.20487594604492188, + 0.20596715807914734 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0009529739618301392, + 8.544325828552246e-05, + 0.0011766552925109863 + ], + "candidate_oracle_branch_scores": [ + 0.20479050278663635, + 0.2057434767484665, + 0.20487594604492188, + 0.20596715807914734 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.6295408010482788, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -1.3663132190704346, + -1.6015583276748657, + -1.6171543598175049, + -1.6295408010482788 + ], + "candidate_oracle_progress": 0.20596715807914734, + "candidate_oracle_regret": 1.7940328419208527, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20596715807914734, + "candidate_oracle_score_gain_over_selected": 0.0011766552925109863, + "candidate_oracle_selected_branch_progress": 0.20479050278663635, + "candidate_oracle_selected_branch_score": 0.20479050278663635, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d799435b5f6b8fae2ffb;ms-9554f100dd5be3a4fa47;ms-5fc588b9c9d52034f4c4;ms-28fe4b5a2888189c28d9;ms-35d84da6eb1afcf8a811;ms-e56b37f0e3881a70ef54", + "expert_regret": 1.7951806783676147, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f4060cdbe6d39b9215ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7951806783676147, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20481932163238525, + "restore_error": 1.1920928955078125e-07, + "score": 0.20481932163238525, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5206547379493713, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6833646297454834, + 0.33182650804519653, + 0.32264748215675354, + 0.3125534653663635 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.35153812170028687, + -0.36071714758872986, + -0.3708111643791199 + ], + "candidate_oracle_branch_scores": [ + 0.6833646297454834, + 0.33182650804519653, + 0.32264748215675354, + 0.3125534653663635 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2082196474075317, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.2082196474075317, + -1.6512268781661987, + -1.6797927618026733, + -1.6909310817718506 + ], + "candidate_oracle_progress": 0.6833646297454834, + "candidate_oracle_regret": 1.3166353702545166, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6833646297454834, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6833646297454834, + "candidate_oracle_selected_branch_score": 0.6833646297454834, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0d80d6d87a27a53951fe;ms-02663903d88aa84c9c10;ms-9756d07ed207e9ab1d53;ms-0fe7053483f72737eaec;ms-0a57aa04002f1b843856;ms-483520829af0d733cb2a", + "expert_regret": 1.3166187405586243, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1d5ca9681600acdaba39", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3166187405586243, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6833812594413757, + "restore_error": 1.1920928955078125e-07, + "score": 0.6833812594413757, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.33106374740600586, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6851379871368408, + 0.27422741055488586, + 0.24983149766921997, + 0.6806098222732544 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.41091057658195496, + -0.43530648946762085, + -0.004528164863586426 + ], + "candidate_oracle_branch_scores": [ + 0.6851379871368408, + 0.27422741055488586, + 0.24983149766921997, + 0.6806098222732544 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4447900056838989, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.4447900056838989, + -0.7969650030136108, + -0.8511770367622375, + -0.8789153099060059 + ], + "candidate_oracle_progress": 0.6851379871368408, + "candidate_oracle_regret": 1.3148620128631592, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6851379871368408, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6851379871368408, + "candidate_oracle_selected_branch_score": 0.6851379871368408, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-31fe1d98bc7adcd515db;ms-ad7b7d5d7fb25961859f;ms-29027a8e3742362fd477;ms-6e2b02ee71a4a44bc325;ms-ec4accef21246e0c9213;ms-832f0e966173abd16c34", + "expert_regret": 1.2813022136688232, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a6e4ac1995198def96a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2813022136688232, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7186977863311768, + "restore_error": 1.1920928955078125e-07, + "score": 0.7186977863311768, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.347391277551651, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.44614124298095703, + 0.37369483709335327, + 0.38574546575546265, + 0.509312629699707 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.07244640588760376, + -0.060395777225494385, + 0.06317138671875 + ], + "candidate_oracle_branch_scores": [ + 0.44614124298095703, + 0.37369483709335327, + 0.38574546575546265, + 0.509312629699707 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5218866467475891, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.33335554599761963, + -0.4617827534675598, + -0.4910166263580322, + -0.5218866467475891 + ], + "candidate_oracle_progress": 0.509312629699707, + "candidate_oracle_regret": 1.490687370300293, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.509312629699707, + "candidate_oracle_score_gain_over_selected": 0.06317138671875, + "candidate_oracle_selected_branch_progress": 0.44614124298095703, + "candidate_oracle_selected_branch_score": 0.44614124298095703, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a5a56eefeb2de0abe600;ms-97c28a7584b35207bf84;ms-c1f3359c70d068a36081;ms-dd94921779f12b249579;ms-c871c1157a16e19e6150;ms-6c7f34ae8218aa0952c8", + "expert_regret": 1.5869423151016235, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a4420cda0b159dda82a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5869423151016235, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.41305768489837646, + "restore_error": 1.1920928955078125e-07, + "score": 0.41305768489837646, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22948823869228363, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.7115421295166016 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.2884578704833984 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.7115421295166016 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7170834541320801, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.7170834541320801, + -1.4830269813537598, + -1.5734765529632568, + -1.5896738767623901 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bdb04ada069c35d51e2e;ms-835bd462e505aa659d16;ms-9c33d4837de7d23232d6;ms-832f0e966173abd16c34;ms-38758efd8620a312267d;ms-4dc9ab19fbe571f09699", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-44e7935dbed5f3b3c739", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4420299530029297, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.25411519408226013, + 0.2530899941921234, + 0.23929642140865326, + 0.240232914686203 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0010251998901367188, + -0.014818772673606873, + -0.013882279396057129 + ], + "candidate_oracle_branch_scores": [ + 0.25411519408226013, + 0.2530899941921234, + 0.23929642140865326, + 0.240232914686203 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3733948767185211, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3733948767185211, + -0.6446315050125122, + -0.6810242533683777, + -0.7109982967376709 + ], + "candidate_oracle_progress": 0.25411519408226013, + "candidate_oracle_regret": 1.7458848059177399, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.25411519408226013, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.25411519408226013, + "candidate_oracle_selected_branch_score": 0.25411519408226013, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c3818c2c4474a784fc6b;ms-dd94921779f12b249579;ms-d26dc2146eb8ae9a5434;ms-295dab0e1d105e758827;ms-c1f3359c70d068a36081;ms-08dc71adea7d8efeb298", + "expert_regret": 1.7459705770015717, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97924f0cc5e7bd79c4a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7459705770015717, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25402942299842834, + "restore_error": 1.825392246246338e-07, + "score": 0.25402942299842834, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4033420979976654, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.21320831775665283, + 0.21088090538978577, + 0.43785735964775085 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.7867916822433472, + -1.7891191244125366, + -1.5621426105499268 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.21320831775665283, + 0.21088090538978577, + 0.43785735964775085 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9208729267120361, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.9208729267120361, + -1.3439217805862427, + -1.409849762916565, + -1.417410969734192 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-483520829af0d733cb2a;ms-d602b7370c5b90f8a439;ms-6939f3ecafd5e0a4bfee;ms-0fe90299788e1f71f98a;ms-57dc9349b8f2c9c49105;ms-c090bce47703a4c4bb0b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8be8a38748f9fb037556", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.825392246246338e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42440691590309143, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.41059231758117676, + 0.415928453207016, + 0.37723296880722046, + 0.37097012996673584 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.005336135625839233, + -0.0333593487739563, + -0.03962218761444092 + ], + "candidate_oracle_branch_scores": [ + 0.41059231758117676, + 0.415928453207016, + 0.37723296880722046, + 0.37097012996673584 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.952181339263916, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4333707094192505, + -0.952181339263916, + -1.0777430534362793, + -1.2098395824432373 + ], + "candidate_oracle_progress": 0.415928453207016, + "candidate_oracle_regret": 1.584071546792984, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.415928453207016, + "candidate_oracle_score_gain_over_selected": 0.005336135625839233, + "candidate_oracle_selected_branch_progress": 0.41059231758117676, + "candidate_oracle_selected_branch_score": 0.41059231758117676, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a5a56eefeb2de0abe600;ms-97c28a7584b35207bf84;ms-c1f3359c70d068a36081;ms-6c7f34ae8218aa0952c8;ms-dd94921779f12b249579;ms-dd32ce9859c365c535b4", + "expert_regret": 1.5879493355751038, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08ab006a923f5fdae198", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5879493355751038, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.41205066442489624, + "restore_error": 1.825392246246338e-07, + "score": 0.41205066442489624, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.2202556133270264, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.21338216960430145, + 0.21332785487174988, + 0.2130907028913498, + 0.6801900863647461 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -5.431473255157471e-05, + -0.00029146671295166016, + 0.46680790185928345 + ], + "candidate_oracle_branch_scores": [ + 0.21338216960430145, + 0.21332785487174988, + 0.2130907028913498, + 0.6801900863647461 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.6194851398468018, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -1.5386687517166138, + -1.5800127983093262, + -1.6184170246124268, + -1.6194851398468018 + ], + "candidate_oracle_progress": 0.6801900863647461, + "candidate_oracle_regret": 1.319809913635254, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6801900863647461, + "candidate_oracle_score_gain_over_selected": 0.46680790185928345, + "candidate_oracle_selected_branch_progress": 0.21338216960430145, + "candidate_oracle_selected_branch_score": 0.21338216960430145, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0a8109ce7ab2ddc1bb1e;ms-a103dfbc0567d05ade6e;ms-35c12c467fb8a54f89f0;ms-83c0299c23fa800452c7;ms-1bbd61ce613ae75c8bb0;ms-288ce929957d627c569c", + "expert_regret": 1.7866178303956985, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f3211ecde366ca9f6ac7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7866178303956985, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21338216960430145, + "restore_error": 1.825392246246338e-07, + "score": 0.21338216960430145, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31581681966781616, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6244184970855713, + 0.2812596559524536, + 0.37027400732040405, + 0.2581097185611725 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.3431588411331177, + -0.25414448976516724, + -0.3663087785243988 + ], + "candidate_oracle_branch_scores": [ + 0.6244184970855713, + 0.2812596559524536, + 0.37027400732040405, + 0.2581097185611725 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4165019094944, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.4165019094944, + -1.3947616815567017, + -1.5441359281539917, + -1.5543584823608398 + ], + "candidate_oracle_progress": 0.6244184970855713, + "candidate_oracle_regret": 1.3755815029144287, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6244184970855713, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6244184970855713, + "candidate_oracle_selected_branch_score": 0.6244184970855713, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9c33d4837de7d23232d6;ms-3661d65df223386f1be9;ms-29027a8e3742362fd477;ms-1b8e9b173562648021f6;ms-caeb4c3d358f256799a8;ms-295dab0e1d105e758827", + "expert_regret": 1.374666690826416, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-efc33064e2a2f7e86dbe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.374666690826416, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.625333309173584, + "restore_error": 1.825392246246338e-07, + "score": 0.625333309173584, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.010803352110087872, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7183401584625244, + 0.6709499359130859, + 0.6949743628501892, + 0.6951738595962524 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.04739022254943848, + -0.023365795612335205, + -0.023166298866271973 + ], + "candidate_oracle_branch_scores": [ + 0.7183401584625244, + 0.6709499359130859, + 0.6949743628501892, + 0.6951738595962524 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6453714370727539, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 20 + ], + "candidate_oracle_potentials": [ + -0.6453714370727539, + -0.9385055899620056, + -0.9494016170501709, + -0.9953223466873169 + ], + "candidate_oracle_progress": 0.7183401584625244, + "candidate_oracle_regret": 1.2816598415374756, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7183401584625244, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7183401584625244, + "candidate_oracle_selected_branch_score": 0.7183401584625244, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4a86d570dabb0916f020;ms-832f0e966173abd16c34;ms-38758efd8620a312267d;ms-31fe1d98bc7adcd515db;ms-9c33d4837de7d23232d6;ms-bdb04ada069c35d51e2e", + "expert_regret": 0.0035253167152404785, + "expert_score": 0.7196991443634033, + "expert_success": false, + "group_id": "ms-ea164b21572d39ffed58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2838261723518372, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7161738276481628, + "restore_error": 1.825392246246338e-07, + "score": 0.7161738276481628, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.21222993731498718, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3499012887477875, + 0.34343916177749634, + 0.3407611548900604, + 0.3068009912967682 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.006462126970291138, + -0.00914013385772705, + -0.04310029745101929 + ], + "candidate_oracle_branch_scores": [ + 0.3499012887477875, + 0.34343916177749634, + 0.3407611548900604, + 0.3068009912967682 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8849056959152222, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.8849056959152222, + -1.4366505146026611, + -1.5086368322372437, + -1.5501424074172974 + ], + "candidate_oracle_progress": 0.3499012887477875, + "candidate_oracle_regret": 1.6500987112522125, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3499012887477875, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3499012887477875, + "candidate_oracle_selected_branch_score": 0.3499012887477875, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fc3c8a3572fd96442723;ms-3a97ee208c6be9ed8b74;ms-cba95475cb68ea42b041;ms-d602b7370c5b90f8a439;ms-0fe90299788e1f71f98a;ms-8fabc0ac20ec87ead026", + "expert_regret": 1.6530500054359436, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-22d1b2dcc954dcdff384", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6530500054359436, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3469499945640564, + "restore_error": 1.825392246246338e-07, + "score": 0.3469499945640564, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5781376957893372, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.4623550772666931, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 24, + 40, + 1 + ], + "candidate_oracle_potentials": [ + 0.4623550772666931, + 0.44952595233917236, + 0.4139776825904846, + 0.36882275342941284 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-957002faf092f769aa8e;ms-ea41340182245326a218;ms-5799584ed40e211c50a5;ms-ed30f8fbb80b2cf46fbc;ms-96e1562aaca7ef49db28;ms-ed4f6388ae96f9da76fa", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a96ff9a1d5571ec4a6f2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.825392246246338e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.15715572237968445, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7085663676261902, + 0.7064868211746216, + 0.7055239677429199, + 0.336100310087204 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0020795464515686035, + -0.0030423998832702637, + -0.3724660575389862 + ], + "candidate_oracle_branch_scores": [ + 0.7085663676261902, + 0.7064868211746216, + 0.7055239677429199, + 0.336100310087204 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7749612927436829, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.7749612927436829, + -1.134751319885254, + -1.1813822984695435, + -1.211205005645752 + ], + "candidate_oracle_progress": 0.7085663676261902, + "candidate_oracle_regret": 1.2914336323738098, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7085663676261902, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7085663676261902, + "candidate_oracle_selected_branch_score": 0.7085663676261902, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-832f0e966173abd16c34;ms-4a86d570dabb0916f020;ms-38758efd8620a312267d;ms-31fe1d98bc7adcd515db;ms-c871c1157a16e19e6150;ms-078317e23cc56a9d719d", + "expert_regret": 1.2939541339874268, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-06cb0796d1097e6ca111", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2939541339874268, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7060458660125732, + "restore_error": 1.1920928955078125e-07, + "score": 0.7060458660125732, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4878113567829132, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.6823734641075134, + 0.6873892545700073, + 0.6838123798370361, + 0.712082028388977 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0050157904624938965, + 0.001438915729522705, + 0.029708564281463623 + ], + "candidate_oracle_branch_scores": [ + 0.6823734641075134, + 0.6873892545700073, + 0.6838123798370361, + 0.712082028388977 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.631621241569519, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 0, + 33 + ], + "candidate_oracle_potentials": [ + -0.5293524861335754, + -0.5682055950164795, + -0.5986303091049194, + -0.631621241569519 + ], + "candidate_oracle_progress": 0.712082028388977, + "candidate_oracle_regret": 1.287917971611023, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.712082028388977, + "candidate_oracle_score_gain_over_selected": 0.029708564281463623, + "candidate_oracle_selected_branch_progress": 0.6823734641075134, + "candidate_oracle_selected_branch_score": 0.6823734641075134, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ad7b7d5d7fb25961859f;ms-9c33d4837de7d23232d6;ms-ec4accef21246e0c9213;ms-b0302a41f75a827cd4e4;ms-4a86d570dabb0916f020;ms-c76aba3db8d4ce0062bc", + "expert_regret": 1.3188893795013428, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-02cacb03f445c8a460e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3188893795013428, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6811106204986572, + "restore_error": 1.1920928955078125e-07, + "score": 0.6811106204986572, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.05915412679314613, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.1992470622062683, + 0.20274363458156586, + 0.2030647099018097, + 0.20330309867858887 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0034965723752975464, + 0.003817647695541382, + 0.004056036472320557 + ], + "candidate_oracle_branch_scores": [ + 0.1992470622062683, + 0.20274363458156586, + 0.2030647099018097, + 0.20330309867858887 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.8013986349105835, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 3, + 19, + 35 + ], + "candidate_oracle_potentials": [ + -1.7149651050567627, + -1.7208062410354614, + -1.7527543306350708, + -1.8013986349105835 + ], + "candidate_oracle_progress": 0.20330309867858887, + "candidate_oracle_regret": 1.7966969013214111, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20330309867858887, + "candidate_oracle_score_gain_over_selected": 0.004056036472320557, + "candidate_oracle_selected_branch_progress": 0.1992470622062683, + "candidate_oracle_selected_branch_score": 0.1992470622062683, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ec2e4afb34b439731136;ms-0660d5f65df5fc4b6132;ms-320d99264926ea029f95;ms-33a0bdb4bcee42c79a2b;ms-1bbd61ce613ae75c8bb0;ms-e7573c5d29c3a1a3f228", + "expert_regret": 0.52842678129673, + "expert_score": 0.7276763319969177, + "expert_success": false, + "group_id": "ms-715db95b13ebc6c977c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8007504492998123, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19924955070018768, + "restore_error": 1.1920928955078125e-07, + "score": 0.19924955070018768, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6263896226882935, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.3249940872192383, + 0.6910580992698669, + 0.6243648529052734, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.36606401205062866, + 0.29937076568603516, + 1.6750059127807617 + ], + "candidate_oracle_branch_scores": [ + 0.3249940872192383, + 0.6910580992698669, + 0.6243648529052734, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.23063614964485168, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 24, + 8, + 33 + ], + "candidate_oracle_potentials": [ + 0.3901391327381134, + 0.36131441593170166, + 0.29490506649017334, + 0.23063614964485168 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.6750059127807617, + "candidate_oracle_selected_branch_progress": 0.3249940872192383, + "candidate_oracle_selected_branch_score": 0.3249940872192383, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5799584ed40e211c50a5;ms-ed30f8fbb80b2cf46fbc;ms-96e1562aaca7ef49db28;ms-ed4f6388ae96f9da76fa;ms-957002faf092f769aa8e;ms-ea41340182245326a218", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b383acd9844466b19579", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.01984749548137188, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.31734347343444824, + 0.304416298866272, + 0.3002781271934509, + 0.29114484786987305 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.01292717456817627, + -0.017065346240997314, + -0.026198625564575195 + ], + "candidate_oracle_branch_scores": [ + 0.31734347343444824, + 0.304416298866272, + 0.3002781271934509, + 0.29114484786987305 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.258470892906189, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.258470892906189, + -1.4990434646606445, + -1.5423990488052368, + -1.5862029790878296 + ], + "candidate_oracle_progress": 0.31734347343444824, + "candidate_oracle_regret": 1.6826565265655518, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.31734347343444824, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.31734347343444824, + "candidate_oracle_selected_branch_score": 0.31734347343444824, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-35d84da6eb1afcf8a811;ms-e56b37f0e3881a70ef54;ms-d799435b5f6b8fae2ffb;ms-5fc588b9c9d52034f4c4;ms-84264ef080ec4f3631df;ms-9554f100dd5be3a4fa47", + "expert_regret": 0.40964749455451965, + "expert_score": 0.7271000146865845, + "expert_success": false, + "group_id": "ms-fb131b52f94500da894b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6825474798679352, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3174525201320648, + "restore_error": 1.1920928955078125e-07, + "score": 0.3174525201320648, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5487144589424133, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.7691629528999329, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 33, + 8 + ], + "candidate_oracle_potentials": [ + 0.7691629528999329, + 0.752738356590271, + 0.7232756614685059, + 0.7225518226623535 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ed30f8fbb80b2cf46fbc;ms-96e1562aaca7ef49db28;ms-5799584ed40e211c50a5;ms-145f60d5fff285e7d05b;ms-ea41340182245326a218;ms-6a4398375c43dbf887b1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-80d8d8fc4a3308139975", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.24945354461669922, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7010742425918579, + 0.6892552375793457, + 0.680648684501648, + 0.43879562616348267 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.011819005012512207, + -0.02042555809020996, + -0.26227861642837524 + ], + "candidate_oracle_branch_scores": [ + 0.7010742425918579, + 0.6892552375793457, + 0.680648684501648, + 0.43879562616348267 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5083739161491394, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.5083739161491394, + -0.7992724180221558, + -0.8476009368896484, + -0.8511580228805542 + ], + "candidate_oracle_progress": 0.7010742425918579, + "candidate_oracle_regret": 1.298925757408142, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7010742425918579, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7010742425918579, + "candidate_oracle_selected_branch_score": 0.7010742425918579, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-31fe1d98bc7adcd515db;ms-4a86d570dabb0916f020;ms-078317e23cc56a9d719d;ms-832f0e966173abd16c34;ms-38758efd8620a312267d;ms-c871c1157a16e19e6150", + "expert_regret": 1.3106682896614075, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f6f0d14ef7c24b9e4621", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3106682896614075, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6893317103385925, + "restore_error": 1.1920928955078125e-07, + "score": 0.6893317103385925, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.49143117666244507, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.7166991233825684 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.2833008766174316 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.7166991233825684 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.6593218445777893, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -0.6593218445777893, + -0.6900344491004944, + -0.7580201029777527, + -0.7948254346847534 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ad7b7d5d7fb25961859f;ms-9c33d4837de7d23232d6;ms-4a86d570dabb0916f020;ms-38758efd8620a312267d;ms-31fe1d98bc7adcd515db;ms-832f0e966173abd16c34", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9bbea286acf66b5cfb8e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.15371759235858917, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.21545705199241638, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 3, + 24, + 33 + ], + "candidate_oracle_potentials": [ + -0.21545705199241638, + -0.22810763120651245, + -0.24511560797691345, + -0.2566071152687073 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-487d0fe2a13fb699dd7a;ms-2436538e05fdcf8e44fc;ms-067e0fe46e4e9483e2a1;ms-14dabc3ac1e1a339ebe4;ms-059d7962a5f998edf668;ms-34f60c9a263bd0a5641f", + "expert_regret": 0.0, + "expert_score": 0.7006968855857849, + "expert_success": false, + "group_id": "ms-472376eba1a5e1c706bf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.7282652854919434, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.550886332988739, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7112287282943726, + 0.7093075513839722, + 0.7079886198043823, + 0.2319050282239914 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0019211769104003906, + -0.0032401084899902344, + -0.47932368516921997 + ], + "candidate_oracle_branch_scores": [ + 0.7112287282943726, + 0.7093075513839722, + 0.7079886198043823, + 0.2319050282239914 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0548150539398193, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.0548150539398193, + -1.7214115858078003, + -1.8050305843353271, + -1.8151602745056152 + ], + "candidate_oracle_progress": 0.7112287282943726, + "candidate_oracle_regret": 1.2887712717056274, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7112287282943726, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7112287282943726, + "candidate_oracle_selected_branch_score": 0.7112287282943726, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-851d25e7a1dde4242f33;ms-0a57aa04002f1b843856;ms-0d80d6d87a27a53951fe;ms-e2f90eb6c79dfd9ce6fd;ms-02663903d88aa84c9c10;ms-cf2603516869355b8b13", + "expert_regret": 1.289032757282257, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d2febdb2a469fbbac4f2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.289032757282257, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7109672427177429, + "restore_error": 1.1920928955078125e-07, + "score": 0.7109672427177429, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4865972697734833, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.7009078860282898, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.2990920543670654, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.7009078860282898, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.4653981924057007, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 24, + 8 + ], + "candidate_oracle_potentials": [ + -0.4653981924057007, + -0.4805082082748413, + -0.49287891387939453, + -0.49622875452041626 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6e2b02ee71a4a44bc325;ms-59474486dd5cb4e5bfd5;ms-6a4398375c43dbf887b1;ms-9a72e47e2204fa794718;ms-145f60d5fff285e7d05b;ms-08dc71adea7d8efeb298", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b5b68468bf26d19252f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6026657819747925, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.6086533069610596, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 8, + 17 + ], + "candidate_oracle_potentials": [ + 0.6086533069610596, + 0.6006251573562622, + 0.5794808864593506, + 0.49395686388015747 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f601aab1d8f7e4f1b97f;ms-ed4f6388ae96f9da76fa;ms-b8956f04f70d6eeecb07;ms-dd32ce9859c365c535b4;ms-5799584ed40e211c50a5;ms-8864796e31bbe93d7c5d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b0f3a35453f8c458ada8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5539677739143372, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.2059464156627655, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 33, + 8 + ], + "candidate_oracle_potentials": [ + -0.2059464156627655, + -0.2393137812614441, + -0.2473592460155487, + -0.2994547486305237 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2436538e05fdcf8e44fc;ms-34f60c9a263bd0a5641f;ms-067e0fe46e4e9483e2a1;ms-938b53ef53e669518a56;ms-487d0fe2a13fb699dd7a;ms-14dabc3ac1e1a339ebe4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-76b0b0463fdb323b6233", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5524963140487671, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.7098473906517029 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.2901525497436523 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.7098473906517029 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.9578789472579956, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 0 + ], + "candidate_oracle_potentials": [ + -0.9578789472579956, + -0.9787362813949585, + -0.9993776082992554, + -1.0457016229629517 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b933fbfb7c8fa68a445f;ms-9a72e47e2204fa794718;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-c76aba3db8d4ce0062bc;ms-59474486dd5cb4e5bfd5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-062a265cedee2107eb17", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.29550889134407043, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.01764877885580063, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 40 + ], + "candidate_oracle_potentials": [ + -0.01764877885580063, + -0.08733043819665909, + -0.16694128513336182, + -0.17416676878929138 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ed30f8fbb80b2cf46fbc;ms-96e1562aaca7ef49db28;ms-145f60d5fff285e7d05b;ms-6a4398375c43dbf887b1;ms-5799584ed40e211c50a5;ms-b933fbfb7c8fa68a445f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6abc3749b5df33ea621e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5692470073699951, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.6961148977279663, + 0.6975113153457642, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0013964176177978516, + 1.3038851022720337, + 1.3038851022720337 + ], + "candidate_oracle_branch_scores": [ + 0.6961148977279663, + 0.6975113153457642, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.05254670977592468, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 24, + 8 + ], + "candidate_oracle_potentials": [ + -0.03732682019472122, + -0.048490218818187714, + -0.05254670977592468, + -0.06388526409864426 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.3038851022720337, + "candidate_oracle_selected_branch_progress": 0.6961148977279663, + "candidate_oracle_selected_branch_score": 0.6961148977279663, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-73906fdb1ffcfbe4aaf4;ms-067e0fe46e4e9483e2a1;ms-14dabc3ac1e1a339ebe4;ms-e7573c5d29c3a1a3f228;ms-1bbd61ce613ae75c8bb0;ms-0a8109ce7ab2ddc1bb1e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4f54ed10d332989ae524", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37574324011802673, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7124772071838379, + 1.0, + 0.7081040143966675 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.287522792816162, + 0.0, + -1.2918959856033325 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7124772071838379, + 2.0, + 0.7081040143966675 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.37006422877311707, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.37006422877311707, + -0.8846582174301147, + -0.984355092048645, + -1.0825623273849487 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4dc9ab19fbe571f09699;ms-bdb04ada069c35d51e2e;ms-01ab68aa5051226638ee;ms-1b8e9b173562648021f6;ms-caeb4c3d358f256799a8;ms-3661d65df223386f1be9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e536e40f6902c6ba0927", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5835021138191223, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7148699164390564, + 0.20752422511577606, + 0.21256160736083984, + 0.20751921832561493 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.5073456764221191, + -0.5023083090782166, + -0.5073506832122803 + ], + "candidate_oracle_branch_scores": [ + 0.7148699164390564, + 0.20752422511577606, + 0.21256160736083984, + 0.20751921832561493 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2131038904190063, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.2131038904190063, + -1.7685213088989258, + -1.775638222694397, + -1.8290319442749023 + ], + "candidate_oracle_progress": 0.7148699164390564, + "candidate_oracle_regret": 1.2851300835609436, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7148699164390564, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7148699164390564, + "candidate_oracle_selected_branch_score": 0.7148699164390564, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-851d25e7a1dde4242f33;ms-0a57aa04002f1b843856;ms-0d80d6d87a27a53951fe;ms-e2f90eb6c79dfd9ce6fd;ms-02663903d88aa84c9c10;ms-0fe7053483f72737eaec", + "expert_regret": 1.2851226329803467, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-22d006041320a4487c21", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2851226329803467, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7148773670196533, + "restore_error": 1.1920928955078125e-07, + "score": 0.7148773670196533, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.47082096338272095, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.4753110408782959, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 8, + 33 + ], + "candidate_oracle_potentials": [ + 0.4753110408782959, + 0.44678372144699097, + 0.41695424914360046, + 0.31812766194343567 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8864796e31bbe93d7c5d;ms-dd32ce9859c365c535b4;ms-487d0fe2a13fb699dd7a;ms-067e0fe46e4e9483e2a1;ms-14dabc3ac1e1a339ebe4;ms-938b53ef53e669518a56", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-737e72810112f3246b05", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.546366274356842, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5711414217948914, + 0.571149468421936, + 0.5703760981559753, + 0.5703842639923096 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 8.046627044677734e-06, + -0.0007653236389160156, + -0.0007571578025817871 + ], + "candidate_oracle_branch_scores": [ + 0.5711414217948914, + 0.571149468421936, + 0.5703760981559753, + 0.5703842639923096 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9611799716949463, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + -0.9499037265777588, + -0.9611799716949463, + -1.0657085180282593, + -1.0725151300430298 + ], + "candidate_oracle_progress": 0.571149468421936, + "candidate_oracle_regret": 1.428850531578064, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.571149468421936, + "candidate_oracle_score_gain_over_selected": 8.046627044677734e-06, + "candidate_oracle_selected_branch_progress": 0.5711414217948914, + "candidate_oracle_selected_branch_score": 0.5711414217948914, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-70342af6b601660d7c69;ms-32b9c353a4890631f1bd;ms-c3a1cf0e424a4f065459;ms-6029bab18ae94b126d79;ms-49219cb8ed7dad70c897;ms-2af09f91e05d19f7f181", + "expert_regret": 1.428955614566803, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d88107eff1e361cdcc4c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.428955614566803, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.571044385433197, + "restore_error": 1.1920928955078125e-07, + "score": 0.571044385433197, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3238048553466797, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.541805624961853, + 0.5425916910171509, + 0.5433915257453918, + 0.5480802059173584 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0007860660552978516, + 0.0015859007835388184, + 0.006274580955505371 + ], + "candidate_oracle_branch_scores": [ + 0.541805624961853, + 0.5425916910171509, + 0.5433915257453918, + 0.5480802059173584 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.8882391452789307, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + -0.846774160861969, + -0.8486719727516174, + -0.8511340022087097, + -0.8882391452789307 + ], + "candidate_oracle_progress": 0.5480802059173584, + "candidate_oracle_regret": 1.4519197940826416, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5480802059173584, + "candidate_oracle_score_gain_over_selected": 0.006274580955505371, + "candidate_oracle_selected_branch_progress": 0.541805624961853, + "candidate_oracle_selected_branch_score": 0.541805624961853, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-023e021f079a8774c741;ms-eb16021deb5d03f15c9d;ms-753929cfdc4aaa652b32;ms-570c074dbf28b5faae58;ms-ed7b02bc8f37b8524a56;ms-5d430ebe6f7933dc6c8c", + "expert_regret": 1.4581943154335022, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4cd9eae753bf9e48f520", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4581943154335022, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5418056845664978, + "restore_error": 1.1920928955078125e-07, + "score": 0.5418056845664978, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6462858319282532, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.564731240272522, + 0.5559541583061218, + 0.5658790469169617, + 0.558100163936615 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.008777081966400146, + 0.0011478066444396973, + -0.006631076335906982 + ], + "candidate_oracle_branch_scores": [ + 0.564731240272522, + 0.5559541583061218, + 0.5658790469169617, + 0.558100163936615 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.875863254070282, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.7876078486442566, + -0.8026480078697205, + -0.875863254070282, + -0.9003967046737671 + ], + "candidate_oracle_progress": 0.5658790469169617, + "candidate_oracle_regret": 1.4341209530830383, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5658790469169617, + "candidate_oracle_score_gain_over_selected": 0.0011478066444396973, + "candidate_oracle_selected_branch_progress": 0.564731240272522, + "candidate_oracle_selected_branch_score": 0.564731240272522, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fffe378a3bad31bbed52;ms-9184c93267b4bbfa4cae;ms-f3f6a1b34fdf35290a6c;ms-a73f46824bdbdfb96238;ms-a202dd8923327af132da;ms-478f754a15221314d15e", + "expert_regret": 1.4352697134017944, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6edb3f8fe977a81f8979", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4352697134017944, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5647302865982056, + "restore_error": 1.1920928955078125e-07, + "score": 0.5647302865982056, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8919301629066467, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.06299517303705215, + 0.06299550831317902, + 0.06299195438623428, + 0.06298563629388809 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 3.3527612686157227e-07, + -3.2186508178710938e-06, + -9.5367431640625e-06 + ], + "candidate_oracle_branch_scores": [ + 0.06299517303705215, + 0.06299550831317902, + 0.06299195438623428, + 0.06298563629388809 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.9227943420410156, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -1.8924825191497803, + -1.9227943420410156, + -1.9632606506347656, + -1.9955064058303833 + ], + "candidate_oracle_progress": 0.06299550831317902, + "candidate_oracle_regret": 1.937004491686821, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.06299550831317902, + "candidate_oracle_score_gain_over_selected": 3.3527612686157227e-07, + "candidate_oracle_selected_branch_progress": 0.06299517303705215, + "candidate_oracle_selected_branch_score": 0.06299517303705215, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4f833710c2706ee077af;ms-7cbbc5e7dc896a803efa;ms-98427ae2d94c1f85811a;ms-f5bae191ebad7c9f2687;ms-fed4628b22c7e42e32d9;ms-706943f06888dd5bbb3a", + "expert_regret": 0.5351288169622421, + "expert_score": 0.5981246829032898, + "expert_success": false, + "group_id": "ms-23a355317920e192147f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9370041340589523, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06299586594104767, + "restore_error": 1.1920928955078125e-07, + "score": 0.06299586594104767, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5488730669021606, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.4603350758552551, + 0.460588276386261, + 0.4591253399848938, + 0.45920801162719727 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0002532005310058594, + -0.0012097358703613281, + -0.0011270642280578613 + ], + "candidate_oracle_branch_scores": [ + 0.4603350758552551, + 0.460588276386261, + 0.4591253399848938, + 0.45920801162719727 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.5048012733459473, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 24, + 4, + 20 + ], + "candidate_oracle_potentials": [ + -1.503506064414978, + -1.5048012733459473, + -1.5113611221313477, + -1.5141161680221558 + ], + "candidate_oracle_progress": 0.460588276386261, + "candidate_oracle_regret": 1.539411723613739, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.460588276386261, + "candidate_oracle_score_gain_over_selected": 0.0002532005310058594, + "candidate_oracle_selected_branch_progress": 0.4603350758552551, + "candidate_oracle_selected_branch_score": 0.4603350758552551, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d6305829d7ca1c68a3ce;ms-26e09c86be9068a34acf;ms-b570fe64df70560c8ab6;ms-f8439d39ae9ed028a4cd;ms-ae5421846020d2765f82;ms-3ea30989082ec714e12d", + "expert_regret": 1.5396648347377777, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-faeacb4289bbfe504de1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5396648347377777, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4603351652622223, + "restore_error": 1.1920928955078125e-07, + "score": 0.4603351652622223, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.679789125919342, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5115246772766113, + 0.5110098719596863, + 0.5120550990104675, + 0.5116656422615051 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0005148053169250488, + 0.0005304217338562012, + 0.00014096498489379883 + ], + "candidate_oracle_branch_scores": [ + 0.5115246772766113, + 0.5110098719596863, + 0.5120550990104675, + 0.5116656422615051 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8105495572090149, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.7800137400627136, + -0.7854676246643066, + -0.8105495572090149, + -0.8111423254013062 + ], + "candidate_oracle_progress": 0.5120550990104675, + "candidate_oracle_regret": 1.4879449009895325, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5120550990104675, + "candidate_oracle_score_gain_over_selected": 0.0005304217338562012, + "candidate_oracle_selected_branch_progress": 0.5115246772766113, + "candidate_oracle_selected_branch_score": 0.5115246772766113, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-11a2794efa24f4d93d83;ms-1924e52af208c9f66592;ms-9b4483fb034248fe882d;ms-a3d0c460532de2d801ae;ms-3b4b0b8c60ad41bb16b0;ms-9e53ca6bc5ddb9133ffa", + "expert_regret": 1.4884753227233887, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c8666cbd7e5a9d0fd036", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4884753227233887, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5115246772766113, + "restore_error": 1.1920928955078125e-07, + "score": 0.5115246772766113, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6526677012443542, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.026736581698060036, + 0.027084339410066605, + 0.027437806129455566, + 0.02601184882223606 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0003477577120065689, + 0.0007012244313955307, + -0.0007247328758239746 + ], + "candidate_oracle_branch_scores": [ + 0.026736581698060036, + 0.027084339410066605, + 0.027437806129455566, + 0.02601184882223606 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -3.085711717605591, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -3.0583879947662354, + -3.0707223415374756, + -3.085711717605591, + -3.125983715057373 + ], + "candidate_oracle_progress": 0.027437806129455566, + "candidate_oracle_regret": 0.5741031169891357, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.027437806129455566, + "candidate_oracle_score_gain_over_selected": 0.0007012244313955307, + "candidate_oracle_selected_branch_progress": 0.026736581698060036, + "candidate_oracle_selected_branch_score": 0.026736581698060036, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7670f25745871759e69e;ms-b786173f210fcaa65a6e;ms-c7156b26670838d40934;ms-b9e46b7345a63ded4397;ms-630663751ab841a96d5a;ms-706943f06888dd5bbb3a", + "expert_regret": 0.5748043414205313, + "expert_score": 0.6015409231185913, + "expert_success": false, + "group_id": "ms-f5483f0819e0e8bc352e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5748043414205313, + "oracle_score": 0.6015409231185913, + "oracle_success": false, + "progress": 0.026736581698060036, + "restore_error": 1.1920928955078125e-07, + "score": 0.026736581698060036, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3978043496608734, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5538241863250732, + 0.02684633806347847, + 0.026301397010684013, + 0.5559383630752563 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.5269778370857239, + -0.5275228023529053, + 0.0021141767501831055 + ], + "candidate_oracle_branch_scores": [ + 0.5538241863250732, + 0.02684633806347847, + 0.026301397010684013, + 0.5559383630752563 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.3832104206085205, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 4 + ], + "candidate_oracle_potentials": [ + -2.130204439163208, + -2.3337130546569824, + -2.3650426864624023, + -2.3832104206085205 + ], + "candidate_oracle_progress": 0.5559383630752563, + "candidate_oracle_regret": 1.4440616369247437, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5559383630752563, + "candidate_oracle_score_gain_over_selected": 0.0021141767501831055, + "candidate_oracle_selected_branch_progress": 0.5538241863250732, + "candidate_oracle_selected_branch_score": 0.5538241863250732, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4f833710c2706ee077af;ms-7cbbc5e7dc896a803efa;ms-98427ae2d94c1f85811a;ms-f5bae191ebad7c9f2687;ms-fed4628b22c7e42e32d9;ms-9233eae706910c204b79", + "expert_regret": 1.4461756348609924, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-22675530f3a401b3fd6d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4461756348609924, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5538243651390076, + "restore_error": 1.1920928955078125e-07, + "score": 0.5538243651390076, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12683868408203125, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5622822046279907 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.4377177953720093 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5622822046279907 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.3975370526313782, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 0 + ], + "candidate_oracle_potentials": [ + -0.3975370526313782, + -0.45635294914245605, + -0.7106046080589294, + -0.9165293574333191 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a073398629e6943ad1fb;ms-7d81f3e8b6a42695871d;ms-a576ca39e26c4e1ab240;ms-3f4967102c7b10057ab9;ms-1735d1abca4a91293d78;ms-97140da7cf409922f6ce", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-751daa0137578c486f3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5341301560401917, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.7296017408370972, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 1, + 17 + ], + "candidate_oracle_potentials": [ + 0.7296017408370972, + 0.7220531105995178, + 0.7152482867240906, + 0.7143536806106567 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-570c074dbf28b5faae58;ms-5d430ebe6f7933dc6c8c;ms-d44f5bd2488ea182132b;ms-a6060f858cb9f93c5588;ms-023e021f079a8774c741;ms-61ac2be70a9798adeda0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-193063285cdb9faff39b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4990488588809967, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5711318254470825, + 0.571563720703125, + 0.5714756846427917, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00043189525604248047, + 0.0003438591957092285, + 1.4288681745529175 + ], + "candidate_oracle_branch_scores": [ + 0.5711318254470825, + 0.571563720703125, + 0.5714756846427917, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7116729021072388, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + 0.5894151329994202, + 0.48476704955101013, + 0.35511770844459534, + -0.7116729021072388 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4288681745529175, + "candidate_oracle_selected_branch_progress": 0.5711318254470825, + "candidate_oracle_selected_branch_score": 0.5711318254470825, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-32b9c353a4890631f1bd;ms-c3a1cf0e424a4f065459;ms-49219cb8ed7dad70c897;ms-70342af6b601660d7c69;ms-f88a44616a0985aac518;ms-a01f0549a18d924d31c0", + "expert_regret": 1.4288665652275085, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-67f602a0e4efc9984d72", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4288665652275085, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5711334347724915, + "restore_error": 1.1920928955078125e-07, + "score": 0.5711334347724915, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41886425018310547, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.38013917207717896, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 24 + ], + "candidate_oracle_potentials": [ + 0.38013917207717896, + 0.380117267370224, + 0.379199743270874, + 0.36215338110923767 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cafa65eeb953aff47f30;ms-cdd69b5acc8119e600c7;ms-d6b2d805dc063382ade2;ms-1309e1770b6ca6e71c7e;ms-6905c1d3bc8157697499;ms-aaf1c4931e054f52623c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-564c02492863ae749ea9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6273258924484253, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.05449039861559868, + 0.05703730508685112, + 0.054493498057127, + 0.0563153512775898 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0025469064712524414, + 3.0994415283203125e-06, + 0.0018249526619911194 + ], + "candidate_oracle_branch_scores": [ + 0.05449039861559868, + 0.05703730508685112, + 0.054493498057127, + 0.0563153512775898 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.8746652603149414, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 36, + 40 + ], + "candidate_oracle_potentials": [ + -1.85160493850708, + -1.8746652603149414, + -1.877450704574585, + -1.897478461265564 + ], + "candidate_oracle_progress": 0.05703730508685112, + "candidate_oracle_regret": 1.9429626949131489, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.05703730508685112, + "candidate_oracle_score_gain_over_selected": 0.0025469064712524414, + "candidate_oracle_selected_branch_progress": 0.05449039861559868, + "candidate_oracle_selected_branch_score": 0.05449039861559868, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7651a7f31eae24958ef0;ms-ac79bc3a841958ce127f;ms-cd340bca589f0cebd7da;ms-54f34c73458181a65e9a;ms-fbea3b8005a30431cb52;ms-e20f5d43f319248c5001", + "expert_regret": 1.9455069787800312, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-86b0447349029dfaa6ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9455069787800312, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.054493021219968796, + "restore_error": 1.1920928955078125e-07, + "score": 0.054493021219968796, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7477006912231445, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.10390861332416534, + 0.5187003016471863, + 0.008086931891739368, + 0.051930855959653854 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.41479170322418213, + -0.09582167863845825, + -0.05197775736451149 + ], + "candidate_oracle_branch_scores": [ + 0.10390861332416534, + 0.5187003016471863, + 0.008086931891739368, + 0.051930855959653854 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.770677924156189, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 36, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -1.747196912765503, + -1.770677924156189, + -1.7728956937789917, + -1.8336644172668457 + ], + "candidate_oracle_progress": 0.5187003016471863, + "candidate_oracle_regret": 1.4812996983528137, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5187003016471863, + "candidate_oracle_score_gain_over_selected": 0.41479170322418213, + "candidate_oracle_selected_branch_progress": 0.10390861332416534, + "candidate_oracle_selected_branch_score": 0.10390861332416534, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-630663751ab841a96d5a;ms-b9e46b7345a63ded4397;ms-7670f25745871759e69e;ms-706943f06888dd5bbb3a;ms-9233eae706910c204b79;ms-f5bae191ebad7c9f2687", + "expert_regret": 1.8960913866758347, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b481531ab787e3d6fb1e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8960913866758347, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10390861332416534, + "restore_error": 1.1920928955078125e-07, + "score": 0.10390861332416534, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3760354220867157, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5670678019523621, + 0.5662528276443481, + 0.5659632086753845, + 0.5659541487693787 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.000814974308013916, + -0.001104593276977539, + -0.0011136531829833984 + ], + "candidate_oracle_branch_scores": [ + 0.5670678019523621, + 0.5662528276443481, + 0.5659632086753845, + 0.5659541487693787 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9445213079452515, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.9445213079452515, + -0.9530002474784851, + -1.0472750663757324, + -1.0474530458450317 + ], + "candidate_oracle_progress": 0.5670678019523621, + "candidate_oracle_regret": 1.432932198047638, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5670678019523621, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5670678019523621, + "candidate_oracle_selected_branch_score": 0.5670678019523621, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a145b708d79b243da21f;ms-6133ea5e61638487dd46;ms-d6b2d805dc063382ade2;ms-625b5d55ca76cc565049;ms-766b6fe7c08a3525ce94;ms-1309e1770b6ca6e71c7e", + "expert_regret": 1.4329346418380737, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e441e4042cb7d77a4986", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4329346418380737, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5670653581619263, + "restore_error": 1.1920928955078125e-07, + "score": 0.5670653581619263, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45604559779167175, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.04972357675433159, + 0.06517387926578522, + 0.06435094028711319, + 0.5375370383262634 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.015450302511453629, + 0.014627363532781601, + 0.48781347274780273 + ], + "candidate_oracle_branch_scores": [ + 0.04972357675433159, + 0.06517387926578522, + 0.06435094028711319, + 0.5375370383262634 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.194833278656006, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 3, + 19, + 4 + ], + "candidate_oracle_potentials": [ + -2.144073486328125, + -2.161452531814575, + -2.180983781814575, + -2.194833278656006 + ], + "candidate_oracle_progress": 0.5375370383262634, + "candidate_oracle_regret": 1.4624629616737366, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5375370383262634, + "candidate_oracle_score_gain_over_selected": 0.48781347274780273, + "candidate_oracle_selected_branch_progress": 0.04972357675433159, + "candidate_oracle_selected_branch_score": 0.04972357675433159, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c7156b26670838d40934;ms-b786173f210fcaa65a6e;ms-7670f25745871759e69e;ms-b9e46b7345a63ded4397;ms-630663751ab841a96d5a;ms-706943f06888dd5bbb3a", + "expert_regret": 1.950282085686922, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5dfad80e83d210946447", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.950282085686922, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04971791431307793, + "restore_error": 1.1920928955078125e-07, + "score": 0.04971791431307793, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.11204319447278976, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5322708487510681, + 0.5324773192405701, + 0.5326768159866333, + 0.5339536070823669 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00020647048950195312, + 0.00040596723556518555, + 0.0016827583312988281 + ], + "candidate_oracle_branch_scores": [ + 0.5322708487510681, + 0.5324773192405701, + 0.5326768159866333, + 0.5339536070823669 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9322149753570557, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.9097744226455688, + -0.910111129283905, + -0.910702109336853, + -0.9322149753570557 + ], + "candidate_oracle_progress": 0.5339536070823669, + "candidate_oracle_regret": 1.466046392917633, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5339536070823669, + "candidate_oracle_score_gain_over_selected": 0.0016827583312988281, + "candidate_oracle_selected_branch_progress": 0.5322708487510681, + "candidate_oracle_selected_branch_score": 0.5322708487510681, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6133ea5e61638487dd46;ms-a145b708d79b243da21f;ms-b570fe64df70560c8ab6;ms-766b6fe7c08a3525ce94;ms-26e09c86be9068a34acf;ms-7241a1c25af41f4c0b5a", + "expert_regret": 1.4676528573036194, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-be8eff6e6d520ae11a0d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4676528573036194, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5323471426963806, + "restore_error": 1.1920928955078125e-07, + "score": 0.5323471426963806, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43220895528793335, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.08012481778860092, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + 0.08012481778860092, + 0.0766497254371643, + -0.005160842090845108, + -0.011881878599524498 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f897cc2141a0a303fc6a;ms-29f1abb869ff206a4d52;ms-6905c1d3bc8157697499;ms-d0e4bdc60ab8ea52a320;ms-cdd69b5acc8119e600c7;ms-a43a663a3c4b15ec3ac2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-93e3d9968204474eff49", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5699225664138794, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5533612370491028, + 0.5509855151176453, + 0.5486530065536499, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0023757219314575195, + -0.004708230495452881, + 1.446638822555542 + ], + "candidate_oracle_branch_scores": [ + 0.5533612370491028, + 0.5509855151176453, + 0.5486530065536499, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.06382771581411362, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 33 + ], + "candidate_oracle_potentials": [ + 0.6509588360786438, + 0.5433534383773804, + 0.37429869174957275, + 0.06382771581411362 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.446638822555542, + "candidate_oracle_selected_branch_progress": 0.5533612370491028, + "candidate_oracle_selected_branch_score": 0.5533612370491028, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3aa864ead19c9cb9fb49;ms-95320371ce6b820c85f6;ms-66cc354bbf4e8bdd1051;ms-bb60defa0d234da9e0bc;ms-a202dd8923327af132da;ms-478f754a15221314d15e", + "expert_regret": 1.447317898273468, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-708baf01c22c75cafd22", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.447317898273468, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.552682101726532, + "restore_error": 1.1920928955078125e-07, + "score": 0.552682101726532, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.324165403842926, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.5046768188476562, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 0 + ], + "candidate_oracle_potentials": [ + 0.5046768188476562, + 0.4891624450683594, + 0.46727681159973145, + 0.443766713142395 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c70be4072fb4e49ac106;ms-c1ac63fb3644e3a2ae06;ms-28d5618562729c763eb6;ms-c5d026dffb39f2f1d38a;ms-9af03b651b5e36ac2ae3;ms-bc30ca6b7675f4de5041", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e55645c0c701caac48a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2241242378950119, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.598110556602478, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -1.598110556602478, + -1.5989423990249634, + -1.5998936891555786, + -1.6049641370773315 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f897cc2141a0a303fc6a;ms-6be8614a1bd50b974b95;ms-d0e4bdc60ab8ea52a320;ms-f8c4e700a751537ebb16;ms-6905c1d3bc8157697499;ms-6558f35ae2a2871a4bfd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29dd2cdbb66fe13ab877", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14832745492458344, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5629515051841736, + 0.5631001591682434, + 0.5597101449966431, + 0.5593064427375793 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00014865398406982422, + -0.0032413601875305176, + -0.0036450624465942383 + ], + "candidate_oracle_branch_scores": [ + 0.5629515051841736, + 0.5631001591682434, + 0.5597101449966431, + 0.5593064427375793 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.3625048398971558, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -1.2354557514190674, + -1.3625048398971558, + -1.385931372642517, + -1.3866336345672607 + ], + "candidate_oracle_progress": 0.5631001591682434, + "candidate_oracle_regret": 1.4368998408317566, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5631001591682434, + "candidate_oracle_score_gain_over_selected": 0.00014865398406982422, + "candidate_oracle_selected_branch_progress": 0.5629515051841736, + "candidate_oracle_selected_branch_score": 0.5629515051841736, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7d81f3e8b6a42695871d;ms-6c39b520dca0a325535f;ms-a44a2c9eee8baea5d29e;ms-a576ca39e26c4e1ab240;ms-fe54b45b549a55d45c0e;ms-dc2a8fa76e1ceb0d8925", + "expert_regret": 1.4370484948158264, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4fe47d946641f0096a85", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4370484948158264, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5629515051841736, + "restore_error": 1.1920928955078125e-07, + "score": 0.5629515051841736, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.34342530369758606, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5620990991592407, + 0.5646688342094421, + 0.560253918170929, + 0.5628415942192078 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.002569735050201416, + -0.0018451809883117676, + 0.000742495059967041 + ], + "candidate_oracle_branch_scores": [ + 0.5620990991592407, + 0.5646688342094421, + 0.560253918170929, + 0.5628415942192078 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.44143107533454895, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -0.4157183766365051, + -0.44143107533454895, + -0.6330627799034119, + -0.6608766317367554 + ], + "candidate_oracle_progress": 0.5646688342094421, + "candidate_oracle_regret": 1.4353311657905579, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5646688342094421, + "candidate_oracle_score_gain_over_selected": 0.002569735050201416, + "candidate_oracle_selected_branch_progress": 0.5620990991592407, + "candidate_oracle_selected_branch_score": 0.5620990991592407, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2b3e081263ed25d45dc8;ms-41c5500153912a1743de;ms-2a67eea0b1293de9bcf9;ms-6be8614a1bd50b974b95;ms-c9e31a19a776a861f9d7;ms-f8c4e700a751537ebb16", + "expert_regret": 1.43789941072464, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb98254adaa23dc128df", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.43789941072464, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5621005892753601, + "restore_error": 1.1920928955078125e-07, + "score": 0.5621005892753601, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22096286714076996, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.535730242729187, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 8, + 4, + 19 + ], + "candidate_oracle_potentials": [ + 0.535730242729187, + 0.47548380494117737, + 0.4727475643157959, + 0.4542630910873413 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dc2a8fa76e1ceb0d8925;ms-bcfeba2af1e844c22aed;ms-97140da7cf409922f6ce;ms-a10d8368c33b56390f77;ms-867fd9318b2445dcefb5;ms-bb60defa0d234da9e0bc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10621e1108a69d0b633e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5436750650405884, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5376918911933899, + 0.5408049821853638, + 0.5380697846412659, + 0.540759801864624 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.003113090991973877, + 0.00037789344787597656, + 0.003067910671234131 + ], + "candidate_oracle_branch_scores": [ + 0.5376918911933899, + 0.5408049821853638, + 0.5380697846412659, + 0.540759801864624 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6098377704620361, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -0.6019083261489868, + -0.6098377704620361, + -0.705657958984375, + -0.7114261388778687 + ], + "candidate_oracle_progress": 0.5408049821853638, + "candidate_oracle_regret": 1.4591950178146362, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5408049821853638, + "candidate_oracle_score_gain_over_selected": 0.003113090991973877, + "candidate_oracle_selected_branch_progress": 0.5376918911933899, + "candidate_oracle_selected_branch_score": 0.5376918911933899, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8522a9364bf70311450d;ms-e45b5de01eafae73e492;ms-36e8cb2e7f34f8dceb05;ms-00b9ad6a8fe73fccc6fc;ms-5daa8575a80e98a83170;ms-d73a2a984d5829e884f9", + "expert_regret": 1.4622655510902405, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fd225482b96686f51dc8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4622655510902405, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5377344489097595, + "restore_error": 2.384185791015625e-07, + "score": 0.5377344489097595, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4690689742565155, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.5873368382453918, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.412663221359253, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.5873368382453918, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.7609528303146362, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + 0.7609528303146362, + 0.7595957517623901, + 0.7579318881034851, + 0.7537641525268555 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-11a2794efa24f4d93d83;ms-1924e52af208c9f66592;ms-39af5447d3c90872c25f;ms-9e53ca6bc5ddb9133ffa;ms-61ac2be70a9798adeda0;ms-9b4483fb034248fe882d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c07472c627b51086ff33", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.36729392409324646, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.27967706322669983, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 0.27967706322669983, + 0.2747311294078827, + 0.17806705832481384, + 0.1729804426431656 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e793d78eaff3fb28deb6;ms-6d7b10e8b2b0a516b786;ms-6995d4366e7c20010126;ms-9b4483fb034248fe882d;ms-bcc70292f404cd1c7f75;ms-1924e52af208c9f66592", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f07607bc0ce1c4e202b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5453656911849976, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5618067979812622, + 0.5613037943840027, + 0.5617060661315918, + 0.561255693435669 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0005030035972595215, + -0.00010073184967041016, + -0.0005511045455932617 + ], + "candidate_oracle_branch_scores": [ + 0.5618067979812622, + 0.5613037943840027, + 0.5617060661315918, + 0.561255693435669 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9010408520698547, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 24 + ], + "candidate_oracle_potentials": [ + -0.9010408520698547, + -0.9106865525245667, + -0.9140117168426514, + -0.92055743932724 + ], + "candidate_oracle_progress": 0.5618067979812622, + "candidate_oracle_regret": 1.4381932020187378, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5618067979812622, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5618067979812622, + "candidate_oracle_selected_branch_score": 0.5618067979812622, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f897cc2141a0a303fc6a;ms-6905c1d3bc8157697499;ms-d0e4bdc60ab8ea52a320;ms-29f1abb869ff206a4d52;ms-d988976b029886d18476;ms-6be8614a1bd50b974b95", + "expert_regret": 1.4381939768791199, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-23d6e5835aa90a62b6ef", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4381939768791199, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5618060231208801, + "restore_error": 2.384185791015625e-07, + "score": 0.5618060231208801, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4879111349582672, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5145286917686462, + 0.5163489580154419, + 0.5145999789237976, + 0.5161885023117065 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0018202662467956543, + 7.128715515136719e-05, + 0.0016598105430603027 + ], + "candidate_oracle_branch_scores": [ + 0.5145286917686462, + 0.5163489580154419, + 0.5145999789237976, + 0.5161885023117065 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.608316957950592, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + -0.5959992408752441, + -0.608316957950592, + -0.7141635417938232, + -0.7224122881889343 + ], + "candidate_oracle_progress": 0.5163489580154419, + "candidate_oracle_regret": 1.483651041984558, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5163489580154419, + "candidate_oracle_score_gain_over_selected": 0.0018202662467956543, + "candidate_oracle_selected_branch_progress": 0.5145286917686462, + "candidate_oracle_selected_branch_score": 0.5145286917686462, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-29f1abb869ff206a4d52;ms-eb16021deb5d03f15c9d;ms-ed7b02bc8f37b8524a56;ms-753929cfdc4aaa652b32;ms-023e021f079a8774c741;ms-f897cc2141a0a303fc6a", + "expert_regret": 1.4854707717895508, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-52c6c227fd4b61609031", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4854707717895508, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5145292282104492, + "restore_error": 2.384185791015625e-07, + "score": 0.5145292282104492, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5935212969779968, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5230028033256531, + 0.5232238173484802, + 0.5229735374450684, + 0.11504284292459488 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00022101402282714844, + -2.9265880584716797e-05, + -0.4079599678516388 + ], + "candidate_oracle_branch_scores": [ + 0.5230028033256531, + 0.5232238173484802, + 0.5229735374450684, + 0.11504284292459488 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.6558901071548462, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 20, + 0, + 36 + ], + "candidate_oracle_potentials": [ + -1.6049796342849731, + -1.6558901071548462, + -1.8796695470809937, + -1.910399317741394 + ], + "candidate_oracle_progress": 0.5232238173484802, + "candidate_oracle_regret": 1.4767761826515198, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5232238173484802, + "candidate_oracle_score_gain_over_selected": 0.00022101402282714844, + "candidate_oracle_selected_branch_progress": 0.5230028033256531, + "candidate_oracle_selected_branch_score": 0.5230028033256531, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c7f427f37d47501932e8;ms-aaf1c4931e054f52623c;ms-b666f24369c548cd56ab;ms-a43a663a3c4b15ec3ac2;ms-4f833710c2706ee077af;ms-7cbbc5e7dc896a803efa", + "expert_regret": 1.476997196674347, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8a22f0da78e59cd1eb5f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.476997196674347, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5230028033256531, + "restore_error": 2.384185791015625e-07, + "score": 0.5230028033256531, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7532114386558533, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.15615811944007874, + 0.15911592543125153, + 0.5190914273262024, + 0.15603360533714294 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0029578059911727905, + 0.36293330788612366, + -0.00012451410293579102 + ], + "candidate_oracle_branch_scores": [ + 0.15615811944007874, + 0.15911592543125153, + 0.5190914273262024, + 0.15603360533714294 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.4899156093597412, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 36, + 0 + ], + "candidate_oracle_potentials": [ + -1.4728963375091553, + -1.477672815322876, + -1.4899156093597412, + -1.5335654020309448 + ], + "candidate_oracle_progress": 0.5190914273262024, + "candidate_oracle_regret": 1.4809085726737976, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5190914273262024, + "candidate_oracle_score_gain_over_selected": 0.36293330788612366, + "candidate_oracle_selected_branch_progress": 0.15615811944007874, + "candidate_oracle_selected_branch_score": 0.15615811944007874, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-706943f06888dd5bbb3a;ms-630663751ab841a96d5a;ms-9233eae706910c204b79;ms-b9e46b7345a63ded4397;ms-f5bae191ebad7c9f2687;ms-98427ae2d94c1f85811a", + "expert_regret": 1.8433014452457428, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4acbf69acd30d96e46a7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8433014452457428, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1566985547542572, + "restore_error": 2.384185791015625e-07, + "score": 0.1566985547542572, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.412978857755661, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5672056078910828, + 1.0, + 0.5696399211883545, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.4327943325042725, + 0.0024343132972717285, + 1.4327943325042725 + ], + "candidate_oracle_branch_scores": [ + 0.5672056078910828, + 2.0, + 0.5696399211883545, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.06695174425840378, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + 0.11910860985517502, + 0.06695174425840378, + 0.06481225788593292, + 0.010967971757054329 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4327943325042725, + "candidate_oracle_selected_branch_progress": 0.5672056078910828, + "candidate_oracle_selected_branch_score": 0.5672056078910828, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6905c1d3bc8157697499;ms-f897cc2141a0a303fc6a;ms-a01f0549a18d924d31c0;ms-a43a663a3c4b15ec3ac2;ms-b666f24369c548cd56ab;ms-c7f427f37d47501932e8", + "expert_regret": 1.4327945709228516, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1518756d5da0b8d3c190", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4327945709228516, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5672054290771484, + "restore_error": 2.384185791015625e-07, + "score": 0.5672054290771484, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5091966986656189, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5416727066040039, + 0.544725239276886, + 0.5457553267478943, + 0.5507662892341614 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00305253267288208, + 0.004082620143890381, + 0.00909358263015747 + ], + "candidate_oracle_branch_scores": [ + 0.5416727066040039, + 0.544725239276886, + 0.5457553267478943, + 0.5507662892341614 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.1111568212509155, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + -0.8106145262718201, + -0.8602775931358337, + -0.9195734858512878, + -1.1111568212509155 + ], + "candidate_oracle_progress": 0.5507662892341614, + "candidate_oracle_regret": 1.4492337107658386, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5507662892341614, + "candidate_oracle_score_gain_over_selected": 0.00909358263015747, + "candidate_oracle_selected_branch_progress": 0.5416727066040039, + "candidate_oracle_selected_branch_score": 0.5416727066040039, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-eac0d7dd54b1e797fdbd;ms-3f4967102c7b10057ab9;ms-a44a2c9eee8baea5d29e;ms-6c39b520dca0a325535f;ms-7d81f3e8b6a42695871d;ms-a576ca39e26c4e1ab240", + "expert_regret": 1.4583293795585632, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-417cab1470cf46273b02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4583293795585632, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5416706204414368, + "restore_error": 1.1920928955078125e-07, + "score": 0.5416706204414368, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7041571736335754, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5465050935745239, + 0.5500516295433044, + 0.5500495433807373, + 0.545965850353241 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0035465359687805176, + 0.003544449806213379, + -0.000539243221282959 + ], + "candidate_oracle_branch_scores": [ + 0.5465050935745239, + 0.5500516295433044, + 0.5500495433807373, + 0.545965850353241 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.660715937614441, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 0, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -1.6596980094909668, + -1.660715937614441, + -1.6607600450515747, + -1.6614489555358887 + ], + "candidate_oracle_progress": 0.5500516295433044, + "candidate_oracle_regret": 1.4499483704566956, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5500516295433044, + "candidate_oracle_score_gain_over_selected": 0.0035465359687805176, + "candidate_oracle_selected_branch_progress": 0.5465050935745239, + "candidate_oracle_selected_branch_score": 0.5465050935745239, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f897cc2141a0a303fc6a;ms-6905c1d3bc8157697499;ms-fbea3b8005a30431cb52;ms-bfda95ffffd5d1a2683a;ms-a01f0549a18d924d31c0;ms-c7156b26670838d40934", + "expert_regret": 1.4534958600997925, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ee05717b29d39d7cddff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4534958600997925, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5465041399002075, + "restore_error": 1.1920928955078125e-07, + "score": 0.5465041399002075, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7169497609138489, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.05296187475323677, + 0.03953981399536133, + 0.052477505058050156, + 0.045607876032590866 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.013422060757875443, + -0.000484369695186615, + -0.0073539987206459045 + ], + "candidate_oracle_branch_scores": [ + 0.05296187475323677, + 0.03953981399536133, + 0.052477505058050156, + 0.045607876032590866 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.322270631790161, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 4, + 36, + 0 + ], + "candidate_oracle_potentials": [ + -2.322270631790161, + -2.33489727973938, + -2.391761064529419, + -2.4393038749694824 + ], + "candidate_oracle_progress": 0.05296187475323677, + "candidate_oracle_regret": 1.9470381252467632, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.05296187475323677, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.05296187475323677, + "candidate_oracle_selected_branch_score": 0.05296187475323677, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4f833710c2706ee077af;ms-7cbbc5e7dc896a803efa;ms-a43a663a3c4b15ec3ac2;ms-aaf1c4931e054f52623c;ms-b666f24369c548cd56ab;ms-98427ae2d94c1f85811a", + "expert_regret": 1.9470590353012085, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7020f1cda882b79bffa3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9470590353012085, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.052940964698791504, + "restore_error": 1.1920928955078125e-07, + "score": 0.052940964698791504, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7475495934486389, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5089659690856934, + 0.5064801573753357, + 0.13373272120952606, + 0.13320164382457733 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002485811710357666, + -0.3752332329750061, + -0.37576431035995483 + ], + "candidate_oracle_branch_scores": [ + 0.5089659690856934, + 0.5064801573753357, + 0.13373272120952606, + 0.13320164382457733 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.8878343105316162, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -1.8878343105316162, + -1.9076087474822998, + -1.9808378219604492, + -1.9971754550933838 + ], + "candidate_oracle_progress": 0.5089659690856934, + "candidate_oracle_regret": 1.4910340309143066, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5089659690856934, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5089659690856934, + "candidate_oracle_selected_branch_score": 0.5089659690856934, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a509a572b3871e591d26;ms-59020093d2eeaf58aa84;ms-03ed7e57992354e27896;ms-87f65c35c9d8b3ced6fc;ms-fa62bbb3e8416561ed69;ms-ddb8f148dff1db91851f", + "expert_regret": 1.4910306930541992, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-91d86cba2602d1fa780d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4910306930541992, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5089693069458008, + "restore_error": 1.1920928955078125e-07, + "score": 0.5089693069458008, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.338852196931839, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.1123078390955925, + 0.1075950637459755, + 0.10277485847473145, + 0.5336373448371887 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.004712775349617004, + -0.009532980620861053, + 0.4213294982910156 + ], + "candidate_oracle_branch_scores": [ + 0.1123078390955925, + 0.1075950637459755, + 0.10277485847473145, + 0.5336373448371887 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -2.2806568145751953, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + -1.9327315092086792, + -1.9567815065383911, + -1.9847382307052612, + -2.2806568145751953 + ], + "candidate_oracle_progress": 0.5336373448371887, + "candidate_oracle_regret": 1.4663626551628113, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5336373448371887, + "candidate_oracle_score_gain_over_selected": 0.4213294982910156, + "candidate_oracle_selected_branch_progress": 0.1123078390955925, + "candidate_oracle_selected_branch_score": 0.1123078390955925, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5415e349e8f9f2bce641;ms-a1d69e0b112064914357;ms-fd1c44c6d5d8f7f11451;ms-f682952c6ecb2b833c35;ms-55c2bba961a327aa5260;ms-cea745484a24f376d7e8", + "expert_regret": 1.8876922726631165, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-52cdfff790d71133c5a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8876922726631165, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11230772733688354, + "restore_error": 1.1920928955078125e-07, + "score": 0.11230772733688354, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45270928740501404, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.03000103309750557, + 0.029616940766572952, + 0.029995059594511986, + 0.029740095138549805 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0003840923309326172, + -5.973502993583679e-06, + -0.00026093795895576477 + ], + "candidate_oracle_branch_scores": [ + 0.03000103309750557, + 0.029616940766572952, + 0.029995059594511986, + 0.029740095138549805 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -2.652061700820923, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -2.652061700820923, + -2.6548879146575928, + -2.6610584259033203, + -2.6613476276397705 + ], + "candidate_oracle_progress": 0.03000103309750557, + "candidate_oracle_regret": 1.9699989669024944, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.03000103309750557, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.03000103309750557, + "candidate_oracle_selected_branch_score": 0.03000103309750557, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4b970be37419ce0be0ae;ms-732d0515ed28df031b8e;ms-1f8e2d5d25706493821d;ms-f682952c6ecb2b833c35;ms-8e4755f1627d85c12bd8;ms-7651a7f31eae24958ef0", + "expert_regret": 1.9699989669024944, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-caed5c1b1c882141e2e9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9699989669024944, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03000103309750557, + "restore_error": 1.1920928955078125e-07, + "score": 0.03000103309750557, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5268607139587402, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5415024757385254, + 0.5430811643600464, + 0.5445700883865356, + 0.5516374111175537 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.001578688621520996, + 0.003067612648010254, + 0.01013493537902832 + ], + "candidate_oracle_branch_scores": [ + 0.5415024757385254, + 0.5430811643600464, + 0.5445700883865356, + 0.5516374111175537 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.860906720161438, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -0.39251282811164856, + -0.41951972246170044, + -0.47431811690330505, + -0.860906720161438 + ], + "candidate_oracle_progress": 0.5516374111175537, + "candidate_oracle_regret": 1.4483625888824463, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5516374111175537, + "candidate_oracle_score_gain_over_selected": 0.01013493537902832, + "candidate_oracle_selected_branch_progress": 0.5415024757385254, + "candidate_oracle_selected_branch_score": 0.5415024757385254, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bb60defa0d234da9e0bc;ms-867fd9318b2445dcefb5;ms-3aa864ead19c9cb9fb49;ms-66cc354bbf4e8bdd1051;ms-95320371ce6b820c85f6;ms-a202dd8923327af132da", + "expert_regret": 1.458496868610382, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ea72196e20393870bcbb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.458496868610382, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5415031313896179, + "restore_error": 1.1920928955078125e-07, + "score": 0.5415031313896179, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.84914630651474, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5343756079673767, + 0.5378112196922302, + 0.5342457890510559, + 0.537842333316803 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0034356117248535156, + -0.00012981891632080078, + 0.0034667253494262695 + ], + "candidate_oracle_branch_scores": [ + 0.5343756079673767, + 0.5378112196922302, + 0.5342457890510559, + 0.537842333316803 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9380714297294617, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.8440128564834595, + -0.8665682673454285, + -0.917425274848938, + -0.9380714297294617 + ], + "candidate_oracle_progress": 0.537842333316803, + "candidate_oracle_regret": 1.462157666683197, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.537842333316803, + "candidate_oracle_score_gain_over_selected": 0.0034667253494262695, + "candidate_oracle_selected_branch_progress": 0.5343756079673767, + "candidate_oracle_selected_branch_score": 0.5343756079673767, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-478f754a15221314d15e;ms-9184c93267b4bbfa4cae;ms-a202dd8923327af132da;ms-3aa864ead19c9cb9fb49;ms-95320371ce6b820c85f6;ms-a73f46824bdbdfb96238", + "expert_regret": 1.4656246304512024, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b6827e38768a63212d73", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4656246304512024, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5343753695487976, + "restore_error": 1.1920928955078125e-07, + "score": 0.5343753695487976, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8906577229499817, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.06785056740045547, + 0.06607276201248169, + 0.06509967148303986, + 0.07046373188495636 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0017778053879737854, + -0.002750895917415619, + 0.002613164484500885 + ], + "candidate_oracle_branch_scores": [ + 0.06785056740045547, + 0.06607276201248169, + 0.06509967148303986, + 0.07046373188495636 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.71616530418396, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 3 + ], + "candidate_oracle_potentials": [ + -2.6304030418395996, + -2.634288787841797, + -2.681927442550659, + -2.71616530418396 + ], + "candidate_oracle_progress": 0.07046373188495636, + "candidate_oracle_regret": 1.9295362681150436, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.07046373188495636, + "candidate_oracle_score_gain_over_selected": 0.002613164484500885, + "candidate_oracle_selected_branch_progress": 0.06785056740045547, + "candidate_oracle_selected_branch_score": 0.06785056740045547, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-706943f06888dd5bbb3a;ms-9233eae706910c204b79;ms-b9e46b7345a63ded4397;ms-630663751ab841a96d5a;ms-f5bae191ebad7c9f2687;ms-fed4628b22c7e42e32d9", + "expert_regret": 1.9321979507803917, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a01e21b91a5b37a16afe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9321979507803917, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0678020492196083, + "restore_error": 1.1920928955078125e-07, + "score": 0.0678020492196083, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5400887131690979, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.05028296634554863, + 0.05069625377655029, + 0.04623795673251152, + 0.0446791909635067 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0004132874310016632, + -0.004045009613037109, + -0.005603775382041931 + ], + "candidate_oracle_branch_scores": [ + 0.05028296634554863, + 0.05069625377655029, + 0.04623795673251152, + 0.0446791909635067 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.126087188720703, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 24, + 8 + ], + "candidate_oracle_potentials": [ + -2.107241153717041, + -2.126087188720703, + -2.167847156524658, + -2.178384780883789 + ], + "candidate_oracle_progress": 0.05069625377655029, + "candidate_oracle_regret": 1.9493037462234497, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.05069625377655029, + "candidate_oracle_score_gain_over_selected": 0.0004132874310016632, + "candidate_oracle_selected_branch_progress": 0.05028296634554863, + "candidate_oracle_selected_branch_score": 0.05028296634554863, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13557287cd450bc12c6f;ms-cc0b33f92229d32bd84f;ms-6558f35ae2a2871a4bfd;ms-18fb80871b8e11d1ae9a;ms-d988976b029886d18476;ms-739a89fb4521bc481a9f", + "expert_regret": 1.949718188494444, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c425c810f7865e9564ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.949718188494444, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05028181150555611, + "restore_error": 1.1920928955078125e-07, + "score": 0.05028181150555611, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5381069779396057, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6009672284126282, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.6009672284126282, + -0.6316549777984619, + -0.7006409764289856, + -0.7263545989990234 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bcc70292f404cd1c7f75;ms-3b4b0b8c60ad41bb16b0;ms-935ff204de9424ec00a2;ms-a3d0c460532de2d801ae;ms-48d490ed21088bb5ba85;ms-d73a2a984d5829e884f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f39bbaa063044719a98d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5209324955940247, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.025431906804442406, + 0.025496268644928932, + 0.02543170563876629, + 0.02643587626516819 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 6.436184048652649e-05, + -2.0116567611694336e-07, + 0.0010039694607257843 + ], + "candidate_oracle_branch_scores": [ + 0.025431906804442406, + 0.025496268644928932, + 0.02543170563876629, + 0.02643587626516819 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -2.1920526027679443, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -2.1103405952453613, + -2.1256473064422607, + -2.1765737533569336, + -2.1920526027679443 + ], + "candidate_oracle_progress": 0.02643587626516819, + "candidate_oracle_regret": 1.9735641237348318, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.02643587626516819, + "candidate_oracle_score_gain_over_selected": 0.0010039694607257843, + "candidate_oracle_selected_branch_progress": 0.025431906804442406, + "candidate_oracle_selected_branch_score": 0.025431906804442406, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a1d69e0b112064914357;ms-f682952c6ecb2b833c35;ms-5415e349e8f9f2bce641;ms-732d0515ed28df031b8e;ms-1f8e2d5d25706493821d;ms-8e4755f1627d85c12bd8", + "expert_regret": 1.9745683670043945, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c3cdd70e2bc10bba1930", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9745683670043945, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02543163299560547, + "restore_error": 1.1920928955078125e-07, + "score": 0.02543163299560547, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.38098689913749695, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.01927947998046875, + 0.02050701342523098, + 0.019598985090851784, + 0.02016075886785984 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00122753344476223, + 0.00031950511038303375, + 0.0008812788873910904 + ], + "candidate_oracle_branch_scores": [ + 0.01927947998046875, + 0.02050701342523098, + 0.019598985090851784, + 0.02016075886785984 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.8259434700012207, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 3, + 36, + 19 + ], + "candidate_oracle_potentials": [ + -2.720269203186035, + -2.8259434700012207, + -2.8344361782073975, + -2.8358139991760254 + ], + "candidate_oracle_progress": 0.02050701342523098, + "candidate_oracle_regret": 1.979492986574769, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.02050701342523098, + "candidate_oracle_score_gain_over_selected": 0.00122753344476223, + "candidate_oracle_selected_branch_progress": 0.01927947998046875, + "candidate_oracle_selected_branch_score": 0.01927947998046875, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7670f25745871759e69e;ms-b9e46b7345a63ded4397;ms-630663751ab841a96d5a;ms-b786173f210fcaa65a6e;ms-c7156b26670838d40934;ms-706943f06888dd5bbb3a", + "expert_regret": 1.9807203877717257, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ed9addab41f3298db7bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9807203877717257, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.019279612228274345, + "restore_error": 1.1920928955078125e-07, + "score": 0.019279612228274345, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40379396080970764, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.6139181852340698, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + 0.6139181852340698, + 0.6126894950866699, + 0.6115677356719971, + 0.5965920686721802 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d44f5bd2488ea182132b;ms-61ac2be70a9798adeda0;ms-3417f5f2f1470c61d0a8;ms-68ab6033433b360464f8;ms-a6060f858cb9f93c5588;ms-a3d0c460532de2d801ae", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-912718b1f2ef92066799", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15272864699363708, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.4145522713661194, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.4145522713661194, + 0.4033440351486206, + 0.40112125873565674, + 0.39901745319366455 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c70be4072fb4e49ac106;ms-c5d026dffb39f2f1d38a;ms-c151229bc1dd03ed2feb;ms-47a55ae1d3a858eed51c;ms-c1ac63fb3644e3a2ae06;ms-c9e31a19a776a861f9d7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9783ccaf76f1b20c766e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7225239872932434, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5822541117668152, + 0.5821031928062439, + 0.5820180773735046, + 0.5765292048454285 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00015091896057128906, + -0.00023603439331054688, + -0.005724906921386719 + ], + "candidate_oracle_branch_scores": [ + 0.5822541117668152, + 0.5821031928062439, + 0.5820180773735046, + 0.5765292048454285 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.078367829322815, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 40 + ], + "candidate_oracle_potentials": [ + -1.078367829322815, + -1.1492608785629272, + -1.2032216787338257, + -1.2122383117675781 + ], + "candidate_oracle_progress": 0.5822541117668152, + "candidate_oracle_regret": 1.4177458882331848, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5822541117668152, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5822541117668152, + "candidate_oracle_selected_branch_score": 0.5822541117668152, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0cc80a2933abf1b4853f;ms-6558f35ae2a2871a4bfd;ms-12a997dde50b7a7f35cb;ms-cc0b33f92229d32bd84f;ms-13557287cd450bc12c6f;ms-8fa24da5c97dc1dad5c1", + "expert_regret": 1.4177460074424744, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ffc3f18cbc674bdcc085", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4177460074424744, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5822539925575256, + "restore_error": 1.1920928955078125e-07, + "score": 0.5822539925575256, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.21996669471263885, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.6036497354507446, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 3, + 1, + 19 + ], + "candidate_oracle_potentials": [ + -1.6036497354507446, + -1.6233359575271606, + -1.6273219585418701, + -1.627375841140747 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2af09f91e05d19f7f181;ms-6be8614a1bd50b974b95;ms-70342af6b601660d7c69;ms-f8c4e700a751537ebb16;ms-f897cc2141a0a303fc6a;ms-32b9c353a4890631f1bd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c2515d4a10082514714", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4247260093688965, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.18937194347381592, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + -0.18937194347381592, + -0.21775394678115845, + -0.2892912030220032, + -0.3220345973968506 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a01f0549a18d924d31c0;ms-b9e46b7345a63ded4397;ms-9233eae706910c204b79;ms-706943f06888dd5bbb3a;ms-98427ae2d94c1f85811a;ms-fed4628b22c7e42e32d9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bef9b88ae40ca98647aa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4035395085811615, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5532601475715637, + 0.5427924990653992, + 0.551487922668457, + 0.5430732369422913 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.01046764850616455, + -0.0017722249031066895, + -0.010186910629272461 + ], + "candidate_oracle_branch_scores": [ + 0.5532601475715637, + 0.5427924990653992, + 0.551487922668457, + 0.5430732369422913 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.129157304763794, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 36, + 19, + 40 + ], + "candidate_oracle_potentials": [ + -1.129157304763794, + -1.167564868927002, + -1.1732197999954224, + -1.177717685699463 + ], + "candidate_oracle_progress": 0.5532601475715637, + "candidate_oracle_regret": 1.4467398524284363, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5532601475715637, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5532601475715637, + "candidate_oracle_selected_branch_score": 0.5532601475715637, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f88a44616a0985aac518;ms-95320371ce6b820c85f6;ms-5a7891a58bac94796178;ms-3aa864ead19c9cb9fb49;ms-49219cb8ed7dad70c897;ms-478f754a15221314d15e", + "expert_regret": 1.4465999007225037, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a17ceb004979b99a586", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4465999007225037, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5534000992774963, + "restore_error": 1.1920928955078125e-07, + "score": 0.5534000992774963, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33559995889663696, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.40879982709884644, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + 0.40879982709884644, + 0.40867260098457336, + 0.4085567593574524, + 0.3990166187286377 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-570c074dbf28b5faae58;ms-3417f5f2f1470c61d0a8;ms-d44f5bd2488ea182132b;ms-5d430ebe6f7933dc6c8c;ms-a6060f858cb9f93c5588;ms-61ac2be70a9798adeda0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2be3bf4f348678c0cc6c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41861289739608765, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.46142688393592834, + 0.46141430735588074, + 0.46140390634536743, + 0.4614090621471405 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2576580047607422e-05, + -2.2977590560913086e-05, + -1.7821788787841797e-05 + ], + "candidate_oracle_branch_scores": [ + 0.46142688393592834, + 0.46141430735588074, + 0.46140390634536743, + 0.4614090621471405 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.9665416479110718, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 8 + ], + "candidate_oracle_potentials": [ + -0.9665416479110718, + -0.9666796922683716, + -0.9669252634048462, + -0.9774303436279297 + ], + "candidate_oracle_progress": 0.46142688393592834, + "candidate_oracle_regret": 1.5385731160640717, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.46142688393592834, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.46142688393592834, + "candidate_oracle_selected_branch_score": 0.46142688393592834, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-570c074dbf28b5faae58;ms-023e021f079a8774c741;ms-a13ee9983c139d34fca8;ms-5d430ebe6f7933dc6c8c;ms-ed7b02bc8f37b8524a56;ms-eb16021deb5d03f15c9d", + "expert_regret": 1.5385735034942627, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8fbdbddd9200f5091d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.5385735034942627, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4614264965057373, + "restore_error": 1.1920928955078125e-07, + "score": 0.4614264965057373, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5188573002815247, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.48862454295158386, + 0.48957559466362, + 0.488981157541275, + 0.4898294508457184 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0009510517120361328, + 0.0003566145896911621, + 0.0012049078941345215 + ], + "candidate_oracle_branch_scores": [ + 0.48862454295158386, + 0.48957559466362, + 0.488981157541275, + 0.4898294508457184 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.239119052886963, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + -1.185403823852539, + -1.1942466497421265, + -1.2301372289657593, + -1.239119052886963 + ], + "candidate_oracle_progress": 0.4898294508457184, + "candidate_oracle_regret": 1.5101705491542816, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4898294508457184, + "candidate_oracle_score_gain_over_selected": 0.0012049078941345215, + "candidate_oracle_selected_branch_progress": 0.48862454295158386, + "candidate_oracle_selected_branch_score": 0.48862454295158386, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-570c074dbf28b5faae58;ms-5d430ebe6f7933dc6c8c;ms-a13ee9983c139d34fca8;ms-023e021f079a8774c741;ms-3d095a49ed03de972849;ms-ed7b02bc8f37b8524a56", + "expert_regret": 1.5113754570484161, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2dc8e489908f72903319", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5113754570484161, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.48862454295158386, + "restore_error": 1.1920928955078125e-07, + "score": 0.48862454295158386, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19956807792186737, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.38137584924697876, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -0.38137584924697876, + -0.3821147084236145, + -0.38329634070396423, + -0.39315372705459595 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9e1f3c14116ebca6164d;ms-c78721d9c4196a9e8ec5;ms-28d5618562729c763eb6;ms-36e8cb2e7f34f8dceb05;ms-9af03b651b5e36ac2ae3;ms-e45b5de01eafae73e492", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ca11ec8f7fbf0c1d66e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.49557116627693176, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5468589663505554, + 0.08987889438867569, + 0.5465889573097229, + 0.08789526671171188 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4569800794124603, + -0.00027000904083251953, + -0.45896369218826294 + ], + "candidate_oracle_branch_scores": [ + 0.5468589663505554, + 0.08987889438867569, + 0.5465889573097229, + 0.08789526671171188 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.7729849815368652, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 20, + 4, + 36 + ], + "candidate_oracle_potentials": [ + -1.7729849815368652, + -1.8084690570831299, + -1.8108612298965454, + -1.8307660818099976 + ], + "candidate_oracle_progress": 0.5468589663505554, + "candidate_oracle_regret": 0.07135909795761108, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5468589663505554, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5468589663505554, + "candidate_oracle_selected_branch_score": 0.5468589663505554, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a43a663a3c4b15ec3ac2;ms-aaf1c4931e054f52623c;ms-4f833710c2706ee077af;ms-b666f24369c548cd56ab;ms-7cbbc5e7dc896a803efa;ms-c7f427f37d47501932e8", + "expert_regret": 0.06571716070175171, + "expert_score": 0.6129657030105591, + "expert_success": false, + "group_id": "ms-f653a3ac16eba9fba5dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.07096952199935913, + "oracle_score": 0.6182180643081665, + "oracle_success": false, + "progress": 0.5472485423088074, + "restore_error": 1.1920928955078125e-07, + "score": 0.5472485423088074, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5882164835929871, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.020638728514313698, + 0.027501439675688744, + 0.031478025019168854, + 0.041230786591768265 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.006862711161375046, + 0.010839296504855156, + 0.020592058077454567 + ], + "candidate_oracle_branch_scores": [ + 0.020638728514313698, + 0.027501439675688744, + 0.031478025019168854, + 0.041230786591768265 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.524036169052124, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 24, + 8, + 20, + 35 + ], + "candidate_oracle_potentials": [ + -2.4701592922210693, + -2.503096103668213, + -2.506438732147217, + -2.524036169052124 + ], + "candidate_oracle_progress": 0.041230786591768265, + "candidate_oracle_regret": 1.9587692134082317, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.041230786591768265, + "candidate_oracle_score_gain_over_selected": 0.020592058077454567, + "candidate_oracle_selected_branch_progress": 0.020638728514313698, + "candidate_oracle_selected_branch_score": 0.020638728514313698, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e20f5d43f319248c5001;ms-55c2bba961a327aa5260;ms-8d94c7c692c91a962f25;ms-f4860c7945db15b54d2e;ms-81729abe5d83a1ca280d;ms-9b15f9c696a2661346cf", + "expert_regret": 1.9793623443692923, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e058c0dba52df04b8642", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9793623443692923, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02063765563070774, + "restore_error": 1.1920928955078125e-07, + "score": 0.02063765563070774, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4783014953136444, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5653247833251953, + 0.5656180381774902, + 0.5662119388580322, + 0.5671784281730652 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0002932548522949219, + 0.0008871555328369141, + 0.001853644847869873 + ], + "candidate_oracle_branch_scores": [ + 0.5653247833251953, + 0.5656180381774902, + 0.5662119388580322, + 0.5671784281730652 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.503861665725708, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 4 + ], + "candidate_oracle_potentials": [ + -1.4547863006591797, + -1.4603171348571777, + -1.465408444404602, + -1.503861665725708 + ], + "candidate_oracle_progress": 0.5671784281730652, + "candidate_oracle_regret": 1.4328215718269348, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5671784281730652, + "candidate_oracle_score_gain_over_selected": 0.001853644847869873, + "candidate_oracle_selected_branch_progress": 0.5653247833251953, + "candidate_oracle_selected_branch_score": 0.5653247833251953, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f8c4e700a751537ebb16;ms-6be8614a1bd50b974b95;ms-f897cc2141a0a303fc6a;ms-d0e4bdc60ab8ea52a320;ms-41c5500153912a1743de;ms-2b3e081263ed25d45dc8", + "expert_regret": 1.4343490600585938, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c0bfce3c9dd10f9d3231", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4343490600585938, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5656509399414062, + "restore_error": 1.1920928955078125e-07, + "score": 0.5656509399414062, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5147750377655029, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.04296661540865898, + 0.03890788555145264, + 0.043549586087465286, + 0.051923420280218124 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.004058729857206345, + 0.0005829706788063049, + 0.008956804871559143 + ], + "candidate_oracle_branch_scores": [ + 0.04296661540865898, + 0.03890788555145264, + 0.043549586087465286, + 0.051923420280218124 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.2898077964782715, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 24, + 35 + ], + "candidate_oracle_potentials": [ + -2.207425594329834, + -2.227161169052124, + -2.2737207412719727, + -2.2898077964782715 + ], + "candidate_oracle_progress": 0.051923420280218124, + "candidate_oracle_regret": 1.9480765797197819, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.051923420280218124, + "candidate_oracle_score_gain_over_selected": 0.008956804871559143, + "candidate_oracle_selected_branch_progress": 0.04296661540865898, + "candidate_oracle_selected_branch_score": 0.04296661540865898, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-81729abe5d83a1ca280d;ms-4f190184d3920a0add8b;ms-8d94c7c692c91a962f25;ms-8e4755f1627d85c12bd8;ms-f4860c7945db15b54d2e;ms-a1846ef1f00eb54e2d60", + "expert_regret": 1.957031212747097, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-296b75a11f61d61d5fba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.957031212747097, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.042968787252902985, + "restore_error": 1.1920928955078125e-07, + "score": 0.042968787252902985, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45596814155578613, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.023896563798189163, + 0.023092031478881836, + 0.022447073832154274, + 0.022966062650084496 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0008045323193073273, + -0.0014494899660348892, + -0.0009305011481046677 + ], + "candidate_oracle_branch_scores": [ + 0.023896563798189163, + 0.023092031478881836, + 0.022447073832154274, + 0.022966062650084496 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.721400260925293, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -2.721400260925293, + -2.7389795780181885, + -2.75250506401062, + -2.766801118850708 + ], + "candidate_oracle_progress": 0.023896563798189163, + "candidate_oracle_regret": 1.9761034362018108, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.023896563798189163, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.023896563798189163, + "candidate_oracle_selected_branch_score": 0.023896563798189163, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4f833710c2706ee077af;ms-7cbbc5e7dc896a803efa;ms-a43a663a3c4b15ec3ac2;ms-98427ae2d94c1f85811a;ms-aaf1c4931e054f52623c;ms-f5bae191ebad7c9f2687", + "expert_regret": 1.976103937253356, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d1978e8c3540cb5b1f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.976103937253356, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02389606274664402, + "restore_error": 1.1920928955078125e-07, + "score": 0.02389606274664402, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6427125930786133, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.601668655872345, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -0.601668655872345, + -0.6053159236907959, + -0.6222755908966064, + -0.6258679032325745 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f897cc2141a0a303fc6a;ms-29f1abb869ff206a4d52;ms-d0e4bdc60ab8ea52a320;ms-f8c4e700a751537ebb16;ms-6905c1d3bc8157697499;ms-12a997dde50b7a7f35cb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6355260c6fa49f291729", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24913237988948822, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5428528189659119, + 0.5454661250114441, + 0.5480784773826599, + 0.5626676082611084 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0026133060455322266, + 0.005225658416748047, + 0.019814789295196533 + ], + "candidate_oracle_branch_scores": [ + 0.5428528189659119, + 0.5454661250114441, + 0.5480784773826599, + 0.5626676082611084 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.6035276651382446, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + -1.5242445468902588, + -1.557426929473877, + -1.586789608001709, + -1.6035276651382446 + ], + "candidate_oracle_progress": 0.5626676082611084, + "candidate_oracle_regret": 1.4373323917388916, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5626676082611084, + "candidate_oracle_score_gain_over_selected": 0.019814789295196533, + "candidate_oracle_selected_branch_progress": 0.5428528189659119, + "candidate_oracle_selected_branch_score": 0.5428528189659119, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2af09f91e05d19f7f181;ms-70342af6b601660d7c69;ms-c9e31a19a776a861f9d7;ms-f8c4e700a751537ebb16;ms-c3a1cf0e424a4f065459;ms-6be8614a1bd50b974b95", + "expert_regret": 1.4571471810340881, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e275939f12a9dcee0a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4571471810340881, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5428528189659119, + "restore_error": 1.1920928955078125e-07, + "score": 0.5428528189659119, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.34460729360580444, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.0074880123138428, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + -1.0074880123138428, + -1.0120002031326294, + -1.0166128873825073, + -1.0599756240844727 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f897cc2141a0a303fc6a;ms-d0e4bdc60ab8ea52a320;ms-29f1abb869ff206a4d52;ms-eb16021deb5d03f15c9d;ms-753929cfdc4aaa652b32;ms-6be8614a1bd50b974b95", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe2964cc8940ee7c24aa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5280059576034546, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.7313897013664246, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 1, + 17, + 19 + ], + "candidate_oracle_potentials": [ + 0.7313897013664246, + 0.7257665991783142, + 0.7249371409416199, + 0.7241630554199219 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-570c074dbf28b5faae58;ms-5d430ebe6f7933dc6c8c;ms-a6060f858cb9f93c5588;ms-d44f5bd2488ea182132b;ms-61ac2be70a9798adeda0;ms-023e021f079a8774c741", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3731f1c5af3c4a133633", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7287248969078064, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5508589148521423, + 0.5506436228752136, + 0.550391674041748, + 0.5506201982498169 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00021529197692871094, + -0.0004672408103942871, + -0.00023871660232543945 + ], + "candidate_oracle_branch_scores": [ + 0.5508589148521423, + 0.5506436228752136, + 0.550391674041748, + 0.5506201982498169 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.011669635772705, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 24 + ], + "candidate_oracle_potentials": [ + -1.011669635772705, + -1.014620304107666, + -1.0184993743896484, + -1.0270283222198486 + ], + "candidate_oracle_progress": 0.5508589148521423, + "candidate_oracle_regret": 1.4491410851478577, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5508589148521423, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5508589148521423, + "candidate_oracle_selected_branch_score": 0.5508589148521423, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f897cc2141a0a303fc6a;ms-fbea3b8005a30431cb52;ms-bfda95ffffd5d1a2683a;ms-6905c1d3bc8157697499;ms-c7156b26670838d40934;ms-b786173f210fcaa65a6e", + "expert_regret": 1.449137270450592, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-090e18187bb6ae4a9120", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.449137270450592, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.550862729549408, + "restore_error": 1.1920928955078125e-07, + "score": 0.550862729549408, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.276980459690094, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.03860582038760185, + 0.03713303804397583, + 0.035711970180273056, + 0.02579181268811226 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0014727823436260223, + -0.0028938502073287964, + -0.012814007699489594 + ], + "candidate_oracle_branch_scores": [ + 0.03860582038760185, + 0.03713303804397583, + 0.035711970180273056, + 0.02579181268811226 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.3017325401306152, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -2.3017325401306152, + -2.3229146003723145, + -2.3440299034118652, + -2.5119738578796387 + ], + "candidate_oracle_progress": 0.03860582038760185, + "candidate_oracle_regret": 1.9613941796123981, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.03860582038760185, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.03860582038760185, + "candidate_oracle_selected_branch_score": 0.03860582038760185, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fd1c44c6d5d8f7f11451;ms-55c2bba961a327aa5260;ms-e20f5d43f319248c5001;ms-5415e349e8f9f2bce641;ms-68e331088400739273da;ms-a1d69e0b112064914357", + "expert_regret": 1.961393903940916, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4f938bd3599c372c8bff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.961393903940916, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03860609605908394, + "restore_error": 1.1920928955078125e-07, + "score": 0.03860609605908394, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7611421942710876, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.560893714427948, + 0.5608283877372742, + 0.5587344169616699, + 0.5589343309402466 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -6.532669067382812e-05, + -0.002159297466278076, + -0.001959383487701416 + ], + "candidate_oracle_branch_scores": [ + 0.560893714427948, + 0.5608283877372742, + 0.5587344169616699, + 0.5589343309402466 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7467902898788452, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 24 + ], + "candidate_oracle_potentials": [ + -0.7467902898788452, + -0.7468569278717041, + -0.753470778465271, + -0.7535234689712524 + ], + "candidate_oracle_progress": 0.560893714427948, + "candidate_oracle_regret": 1.439106285572052, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.560893714427948, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.560893714427948, + "candidate_oracle_selected_branch_score": 0.560893714427948, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-12a997dde50b7a7f35cb;ms-87f65c35c9d8b3ced6fc;ms-59020093d2eeaf58aa84;ms-03ed7e57992354e27896;ms-bfda95ffffd5d1a2683a;ms-0cc80a2933abf1b4853f", + "expert_regret": 1.4391064047813416, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-362ba7cebb2bab1421e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4391064047813416, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5608935952186584, + "restore_error": 1.1920928955078125e-07, + "score": 0.5608935952186584, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7384584546089172, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5372039675712585, + 0.5331341624259949, + 0.5366712212562561, + 0.5331721901893616 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.004069805145263672, + -0.0005327463150024414, + -0.004031777381896973 + ], + "candidate_oracle_branch_scores": [ + 0.5372039675712585, + 0.5331341624259949, + 0.5366712212562561, + 0.5331721901893616 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.969091534614563, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.969091534614563, + -0.9875009655952454, + -1.039977788925171, + -1.0561472177505493 + ], + "candidate_oracle_progress": 0.5372039675712585, + "candidate_oracle_regret": 1.4627960324287415, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5372039675712585, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5372039675712585, + "candidate_oracle_selected_branch_score": 0.5372039675712585, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9cf068e0d2896f655ad2;ms-b786173f210fcaa65a6e;ms-c7156b26670838d40934;ms-7670f25745871759e69e;ms-12a997dde50b7a7f35cb;ms-b9e46b7345a63ded4397", + "expert_regret": 0.0571366548538208, + "expert_score": 0.594340980052948, + "expert_success": false, + "group_id": "ms-70bc2fe01ba217676b26", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4627956748008728, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5372043251991272, + "restore_error": 1.1920928955078125e-07, + "score": 0.5372043251991272, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.38162845373153687, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5669267773628235, + 1.0, + 0.5668456554412842, + 0.5669969320297241 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.4330732822418213, + -8.112192153930664e-05, + 7.015466690063477e-05 + ], + "candidate_oracle_branch_scores": [ + 0.5669267773628235, + 2.0, + 0.5668456554412842, + 0.5669969320297241 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6712318658828735, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 33, + 17 + ], + "candidate_oracle_potentials": [ + -0.6620662808418274, + -0.6712318658828735, + -0.8241602182388306, + -0.8249437808990479 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4330732822418213, + "candidate_oracle_selected_branch_progress": 0.5669267773628235, + "candidate_oracle_selected_branch_score": 0.5669267773628235, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d6b2d805dc063382ade2;ms-1309e1770b6ca6e71c7e;ms-a145b708d79b243da21f;ms-c91cae30acaa8dc7a12b;ms-c7f427f37d47501932e8;ms-cafa65eeb953aff47f30", + "expert_regret": 1.4330703616142273, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0f219ce35aff264455e2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4330703616142273, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5669296383857727, + "restore_error": 1.1920928955078125e-07, + "score": 0.5669296383857727, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9506838917732239, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.10082937777042389, + 0.1008274108171463, + 0.10082552582025528, + 0.10082180798053741 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.9669532775878906e-06, + -3.851950168609619e-06, + -7.569789886474609e-06 + ], + "candidate_oracle_branch_scores": [ + 0.10082937777042389, + 0.1008274108171463, + 0.10082552582025528, + 0.10082180798053741 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.6164458990097046, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -1.6164458990097046, + -1.6175251007080078, + -1.6198705434799194, + -1.658384919166565 + ], + "candidate_oracle_progress": 0.10082937777042389, + "candidate_oracle_regret": 1.899170622229576, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.10082937777042389, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.10082937777042389, + "candidate_oracle_selected_branch_score": 0.10082937777042389, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7670f25745871759e69e;ms-b786173f210fcaa65a6e;ms-c7156b26670838d40934;ms-b9e46b7345a63ded4397;ms-630663751ab841a96d5a;ms-706943f06888dd5bbb3a", + "expert_regret": 1.899170622229576, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d9e3a187dcadb9ad26b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.899170622229576, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10082937777042389, + "restore_error": 1.1920928955078125e-07, + "score": 0.10082937777042389, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6754390001296997, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5325927734375, + 0.5316779017448425, + 0.16772790253162384, + 0.5269856452941895 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0009148716926574707, + -0.36486488580703735, + -0.005607128143310547 + ], + "candidate_oracle_branch_scores": [ + 0.5325927734375, + 0.5316779017448425, + 0.16772790253162384, + 0.5269856452941895 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.5085599422454834, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 8 + ], + "candidate_oracle_potentials": [ + -2.5085599422454834, + -2.537930727005005, + -2.5516955852508545, + -2.649357795715332 + ], + "candidate_oracle_progress": 0.5325927734375, + "candidate_oracle_regret": 1.4674072265625, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5325927734375, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5325927734375, + "candidate_oracle_selected_branch_score": 0.5325927734375, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a43a663a3c4b15ec3ac2;ms-aaf1c4931e054f52623c;ms-b666f24369c548cd56ab;ms-c7f427f37d47501932e8;ms-4f833710c2706ee077af;ms-7cbbc5e7dc896a803efa", + "expert_regret": 1.467408299446106, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7e6493bb6b1ff650d6de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.467408299446106, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.532591700553894, + "restore_error": 1.1920928955078125e-07, + "score": 0.532591700553894, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.61577969789505, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.06003871187567711, + 0.5698973536491394, + 1.0, + 0.5639615058898926 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.5098586678504944, + 1.939961314201355, + 0.5039228200912476 + ], + "candidate_oracle_branch_scores": [ + 0.06003871187567711, + 0.5698973536491394, + 2.0, + 0.5639615058898926 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5281862020492554, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 8, + 0 + ], + "candidate_oracle_potentials": [ + -0.5024293065071106, + -0.5035457015037537, + -0.5281862020492554, + -0.5297179818153381 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.939961314201355, + "candidate_oracle_selected_branch_progress": 0.06003871187567711, + "candidate_oracle_selected_branch_score": 0.06003871187567711, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a145b708d79b243da21f;ms-6133ea5e61638487dd46;ms-625b5d55ca76cc565049;ms-766b6fe7c08a3525ce94;ms-81085eba1dd49b17ec9c;ms-d6b2d805dc063382ade2", + "expert_regret": 1.9399577863514423, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4276f24b1b5dce771bff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9399577863514423, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06004221364855766, + "restore_error": 1.1920928955078125e-07, + "score": 0.06004221364855766, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.34403589367866516, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 1.2222695350646973, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 0 + ], + "candidate_oracle_potentials": [ + 1.2222695350646973, + 1.2221812009811401, + 1.2164270877838135, + 1.0450323820114136 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c1ac63fb3644e3a2ae06;ms-28d5618562729c763eb6;ms-bc30ca6b7675f4de5041;ms-c70be4072fb4e49ac106;ms-c151229bc1dd03ed2feb;ms-c5d026dffb39f2f1d38a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4385e9c56007fdaa94b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.30161815881729126, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.06833691895008087, + 0.0640491396188736, + 0.06007065996527672, + 0.036373771727085114 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.004287779331207275, + -0.008266258984804153, + -0.03196314722299576 + ], + "candidate_oracle_branch_scores": [ + 0.06833691895008087, + 0.0640491396188736, + 0.06007065996527672, + 0.036373771727085114 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.241774797439575, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 24 + ], + "candidate_oracle_potentials": [ + -2.241774797439575, + -2.2999987602233887, + -2.3582372665405273, + -2.526306629180908 + ], + "candidate_oracle_progress": 0.06833691895008087, + "candidate_oracle_regret": 1.9316630810499191, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.06833691895008087, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.06833691895008087, + "candidate_oracle_selected_branch_score": 0.06833691895008087, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a1d69e0b112064914357;ms-5415e349e8f9f2bce641;ms-fd1c44c6d5d8f7f11451;ms-f682952c6ecb2b833c35;ms-b5deb1971bf3b3484282;ms-8b98e8aa8ecee10bea27", + "expert_regret": 1.9316626638174057, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2e5c2f75d3f6311e0a1c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9316626638174057, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0683373361825943, + "restore_error": 1.1920928955078125e-07, + "score": 0.0683373361825943, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.524095356464386, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6509233713150024, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 20, + 36, + 24 + ], + "candidate_oracle_potentials": [ + -0.6509233713150024, + -0.650986909866333, + -0.6532785296440125, + -0.6563253998756409 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-36e8cb2e7f34f8dceb05;ms-28b1f1e4380d434605de;ms-e45b5de01eafae73e492;ms-4177936dc3e043366181;ms-00b9ad6a8fe73fccc6fc;ms-d73a2a984d5829e884f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e589f7d40c12eff1712e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4728561043739319, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5253593921661377, + 0.5293871760368347, + 0.5319910049438477, + 0.5308942794799805 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0040277838706970215, + 0.006631612777709961, + 0.0055348873138427734 + ], + "candidate_oracle_branch_scores": [ + 0.5253593921661377, + 0.5293871760368347, + 0.5319910049438477, + 0.5308942794799805 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.1182481050491333, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 35, + 19 + ], + "candidate_oracle_potentials": [ + -0.9388023018836975, + -0.9540879130363464, + -1.1182481050491333, + -1.1565890312194824 + ], + "candidate_oracle_progress": 0.5319910049438477, + "candidate_oracle_regret": 1.4680089950561523, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5319910049438477, + "candidate_oracle_score_gain_over_selected": 0.006631612777709961, + "candidate_oracle_selected_branch_progress": 0.5253593921661377, + "candidate_oracle_selected_branch_score": 0.5253593921661377, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cafa65eeb953aff47f30;ms-ed7b02bc8f37b8524a56;ms-87b44e6219279322a723;ms-1abf5e6d483e2788b086;ms-d6b2d805dc063382ade2;ms-81085eba1dd49b17ec9c", + "expert_regret": 1.47464120388031, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-17330235d51598ebcb4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.47464120388031, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5253587961196899, + "restore_error": 1.1920928955078125e-07, + "score": 0.5253587961196899, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2617493271827698, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.03408011794090271, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 0, + 1, + 19 + ], + "candidate_oracle_potentials": [ + -0.03408011794090271, + -0.053255729377269745, + -0.09811630100011826, + -0.10321254283189774 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f897cc2141a0a303fc6a;ms-d0e4bdc60ab8ea52a320;ms-f8c4e700a751537ebb16;ms-6be8614a1bd50b974b95;ms-29f1abb869ff206a4d52;ms-6905c1d3bc8157697499", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-910364d2d86091c5e0cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6015979051589966, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.022362995892763138, + 0.022208143025636673, + 0.02142258919775486, + 0.02141096629202366 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00015485286712646484, + -0.0009404066950082779, + -0.0009520296007394791 + ], + "candidate_oracle_branch_scores": [ + 0.022362995892763138, + 0.022208143025636673, + 0.02142258919775486, + 0.02141096629202366 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -2.275503158569336, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 8, + 20, + 4 + ], + "candidate_oracle_potentials": [ + -2.275503158569336, + -2.2920706272125244, + -2.2943496704101562, + -2.311732292175293 + ], + "candidate_oracle_progress": 0.022362995892763138, + "candidate_oracle_regret": 1.9776370041072369, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.022362995892763138, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.022362995892763138, + "candidate_oracle_selected_branch_score": 0.022362995892763138, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fbea3b8005a30431cb52;ms-54f34c73458181a65e9a;ms-bfda95ffffd5d1a2683a;ms-9b15f9c696a2661346cf;ms-f4860c7945db15b54d2e;ms-8d94c7c692c91a962f25", + "expert_regret": 1.9776370041072369, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5316151a88a3282436ca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9776370041072369, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.022362995892763138, + "restore_error": 1.1920928955078125e-07, + "score": 0.022362995892763138, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43711450695991516, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.09195265918970108, + 0.08926478773355484, + 0.08652303367853165, + 0.1047263965010643 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0026878714561462402, + -0.005429625511169434, + 0.01277373731136322 + ], + "candidate_oracle_branch_scores": [ + 0.09195265918970108, + 0.08926478773355484, + 0.08652303367853165, + 0.1047263965010643 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.1041312217712402, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 4 + ], + "candidate_oracle_potentials": [ + -2.0503087043762207, + -2.0513343811035156, + -2.052241802215576, + -2.1041312217712402 + ], + "candidate_oracle_progress": 0.1047263965010643, + "candidate_oracle_regret": 1.8952736034989357, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.1047263965010643, + "candidate_oracle_score_gain_over_selected": 0.01277373731136322, + "candidate_oracle_selected_branch_progress": 0.09195265918970108, + "candidate_oracle_selected_branch_score": 0.09195265918970108, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5415e349e8f9f2bce641;ms-a1d69e0b112064914357;ms-fd1c44c6d5d8f7f11451;ms-55c2bba961a327aa5260;ms-f682952c6ecb2b833c35;ms-e20f5d43f319248c5001", + "expert_regret": 1.908046342432499, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6b9ede8946200ad0cd5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.908046342432499, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09195365756750107, + "restore_error": 1.1920928955078125e-07, + "score": 0.09195365756750107, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5413861274719238, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5648798942565918, + 0.5648493766784668, + 0.5647719502449036, + 0.5622625350952148 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -3.0517578125e-05, + -0.00010794401168823242, + -0.002617359161376953 + ], + "candidate_oracle_branch_scores": [ + 0.5648798942565918, + 0.5648493766784668, + 0.5647719502449036, + 0.5622625350952148 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.14927920699119568, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.14927920699119568, + -0.15983322262763977, + -0.19388461112976074, + -0.2251756638288498 + ], + "candidate_oracle_progress": 0.5648798942565918, + "candidate_oracle_regret": 1.4351201057434082, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5648798942565918, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5648798942565918, + "candidate_oracle_selected_branch_score": 0.5648798942565918, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-625b5d55ca76cc565049;ms-a145b708d79b243da21f;ms-d6b2d805dc063382ade2;ms-cdd69b5acc8119e600c7;ms-766b6fe7c08a3525ce94;ms-6133ea5e61638487dd46", + "expert_regret": 1.4351202249526978, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5f98f13f17e8f41f7436", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4351202249526978, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5648797750473022, + "restore_error": 1.1920928955078125e-07, + "score": 0.5648797750473022, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5930305123329163, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.5645840764045715, + 1.0, + 0.5653801560401917 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.4354159832000732, + 0.0, + -1.4346199035644531 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.5645840764045715, + 2.0, + 0.5653801560401917 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6385502219200134, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.6385502219200134, + -0.6439512968063354, + -0.671242892742157, + -0.676074206829071 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cdd69b5acc8119e600c7;ms-12a997dde50b7a7f35cb;ms-87f65c35c9d8b3ced6fc;ms-59020093d2eeaf58aa84;ms-bfda95ffffd5d1a2683a;ms-9b15f9c696a2661346cf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbcc714230de2c097d0d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5678181648254395, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5643861293792725, + 0.5642697215080261, + 0.564003050327301, + 0.5644949078559875 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00011640787124633789, + -0.00038307905197143555, + 0.00010877847671508789 + ], + "candidate_oracle_branch_scores": [ + 0.5643861293792725, + 0.5642697215080261, + 0.564003050327301, + 0.5644949078559875 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7605152726173401, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 20, + 36, + 0 + ], + "candidate_oracle_potentials": [ + -0.7558721899986267, + -0.7589004635810852, + -0.759341299533844, + -0.7605152726173401 + ], + "candidate_oracle_progress": 0.5644949078559875, + "candidate_oracle_regret": 1.4355050921440125, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5644949078559875, + "candidate_oracle_score_gain_over_selected": 0.00010877847671508789, + "candidate_oracle_selected_branch_progress": 0.5643861293792725, + "candidate_oracle_selected_branch_score": 0.5643861293792725, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c7156b26670838d40934;ms-b786173f210fcaa65a6e;ms-7670f25745871759e69e;ms-b9e46b7345a63ded4397;ms-630663751ab841a96d5a;ms-706943f06888dd5bbb3a", + "expert_regret": 1.4356134533882141, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a196fc3a729550509b18", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4356134533882141, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5643865466117859, + "restore_error": 2.384185791015625e-07, + "score": 0.5643865466117859, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1911357343196869, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5475190877914429, + 0.540909469127655, + 0.542254626750946, + 0.5399624705314636 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.006609618663787842, + -0.005264461040496826, + -0.007556617259979248 + ], + "candidate_oracle_branch_scores": [ + 0.5475190877914429, + 0.540909469127655, + 0.542254626750946, + 0.5399624705314636 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.6359775066375732, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.6359775066375732, + -1.6488784551620483, + -1.652427077293396, + -1.6560570001602173 + ], + "candidate_oracle_progress": 0.5475190877914429, + "candidate_oracle_regret": 1.4524809122085571, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5475190877914429, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5475190877914429, + "candidate_oracle_selected_branch_score": 0.5475190877914429, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fa62bbb3e8416561ed69;ms-ddb8f148dff1db91851f;ms-03ed7e57992354e27896;ms-a1846ef1f00eb54e2d60;ms-59020093d2eeaf58aa84;ms-4f190184d3920a0add8b", + "expert_regret": 1.4524794816970825, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-227fe0347d2ea57a66a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4524794816970825, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5475205183029175, + "restore_error": 2.384185791015625e-07, + "score": 0.5475205183029175, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9188719987869263, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.08186297863721848, + 0.08407068252563477, + 0.08100362122058868, + 0.07969548553228378 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0022077038884162903, + -0.0008593574166297913, + -0.0021674931049346924 + ], + "candidate_oracle_branch_scores": [ + 0.08186297863721848, + 0.08407068252563477, + 0.08100362122058868, + 0.07969548553228378 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.5266350507736206, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 36, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -1.5098692178726196, + -1.5266350507736206, + -1.5706685781478882, + -1.7036510705947876 + ], + "candidate_oracle_progress": 0.08407068252563477, + "candidate_oracle_regret": 1.9159293174743652, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.08407068252563477, + "candidate_oracle_score_gain_over_selected": 0.0022077038884162903, + "candidate_oracle_selected_branch_progress": 0.08186297863721848, + "candidate_oracle_selected_branch_score": 0.08186297863721848, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a43a663a3c4b15ec3ac2;ms-aaf1c4931e054f52623c;ms-b666f24369c548cd56ab;ms-4f833710c2706ee077af;ms-c7f427f37d47501932e8;ms-7cbbc5e7dc896a803efa", + "expert_regret": 1.9181387647986412, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10cb98b0a1ca5429dd28", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9181387647986412, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0818612352013588, + "restore_error": 2.384185791015625e-07, + "score": 0.0818612352013588, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3852807581424713, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5713288187980652, + 0.5695981383323669, + 0.5695382356643677, + 0.5678715705871582 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0017306804656982422, + -0.0017905831336975098, + -0.0034572482109069824 + ], + "candidate_oracle_branch_scores": [ + 0.5713288187980652, + 0.5695981383323669, + 0.5695382356643677, + 0.5678715705871582 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5988084077835083, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -0.5988084077835083, + -0.6015656590461731, + -0.7117257714271545, + -0.739574670791626 + ], + "candidate_oracle_progress": 0.5713288187980652, + "candidate_oracle_regret": 1.4286711812019348, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5713288187980652, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5713288187980652, + "candidate_oracle_selected_branch_score": 0.5713288187980652, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2af09f91e05d19f7f181;ms-6be8614a1bd50b974b95;ms-70342af6b601660d7c69;ms-2b3e081263ed25d45dc8;ms-f8c4e700a751537ebb16;ms-32b9c353a4890631f1bd", + "expert_regret": 1.4286702275276184, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5a651f9e28ea52016fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4286702275276184, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5713297724723816, + "restore_error": 2.384185791015625e-07, + "score": 0.5713297724723816, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.537467360496521, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.0534936897456646, + 0.05228924751281738, + 0.053524162620306015, + 0.051113106310367584 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0012044422328472137, + 3.0472874641418457e-05, + -0.0023805834352970123 + ], + "candidate_oracle_branch_scores": [ + 0.0534936897456646, + 0.05228924751281738, + 0.053524162620306015, + 0.051113106310367584 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.830325961112976, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.7920912504196167, + -1.8006750345230103, + -1.830325961112976, + -1.8845661878585815 + ], + "candidate_oracle_progress": 0.053524162620306015, + "candidate_oracle_regret": 0.5250471569597721, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.053524162620306015, + "candidate_oracle_score_gain_over_selected": 3.0472874641418457e-05, + "candidate_oracle_selected_branch_progress": 0.0534936897456646, + "candidate_oracle_selected_branch_score": 0.0534936897456646, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13557287cd450bc12c6f;ms-d988976b029886d18476;ms-cc0b33f92229d32bd84f;ms-18fb80871b8e11d1ae9a;ms-739a89fb4521bc481a9f;ms-6558f35ae2a2871a4bfd", + "expert_regret": 0.5250776298344135, + "expert_score": 0.5785713195800781, + "expert_success": false, + "group_id": "ms-42edbdb8ff281fc33a99", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5250776298344135, + "oracle_score": 0.5785713195800781, + "oracle_success": false, + "progress": 0.0534936897456646, + "restore_error": 2.384185791015625e-07, + "score": 0.0534936897456646, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5384415984153748, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.511103093624115, + 0.5152084231376648, + 0.5111876726150513, + 0.511226236820221 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.004105329513549805, + 8.45789909362793e-05, + 0.00012314319610595703 + ], + "candidate_oracle_branch_scores": [ + 0.511103093624115, + 0.5152084231376648, + 0.5111876726150513, + 0.511226236820221 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2881709337234497, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 4 + ], + "candidate_oracle_potentials": [ + -1.272905707359314, + -1.2881709337234497, + -1.289628028869629, + -1.2960461378097534 + ], + "candidate_oracle_progress": 0.5152084231376648, + "candidate_oracle_regret": 1.4847915768623352, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5152084231376648, + "candidate_oracle_score_gain_over_selected": 0.004105329513549805, + "candidate_oracle_selected_branch_progress": 0.511103093624115, + "candidate_oracle_selected_branch_score": 0.511103093624115, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a8e6435948250f5e163d;ms-3ea30989082ec714e12d;ms-f8439d39ae9ed028a4cd;ms-ae5421846020d2765f82;ms-f3f6a1b34fdf35290a6c;ms-26e09c86be9068a34acf", + "expert_regret": 1.488899827003479, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d849d754f346b826e052", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.488899827003479, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.511100172996521, + "restore_error": 2.384185791015625e-07, + "score": 0.511100172996521, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2998729348182678, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5819575786590576 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.4180424213409424 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5819575786590576 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.0409146547317505, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 40 + ], + "candidate_oracle_potentials": [ + -1.0409146547317505, + -1.1219509840011597, + -1.2087154388427734, + -1.6242456436157227 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2f846e9f31e2b8c4965f;ms-70342af6b601660d7c69;ms-6029bab18ae94b126d79;ms-c3a1cf0e424a4f065459;ms-c9e31a19a776a861f9d7;ms-f77305a344da6a4ccc84", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0c7dab7ee052231f3f57", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43245846033096313, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5437692999839783, + 0.5488004684448242, + 0.5379592180252075, + 0.5447224974632263 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.005031168460845947, + -0.005810081958770752, + 0.0009531974792480469 + ], + "candidate_oracle_branch_scores": [ + 0.5437692999839783, + 0.5488004684448242, + 0.5379592180252075, + 0.5447224974632263 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6082431077957153, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 0, + 24, + 1 + ], + "candidate_oracle_potentials": [ + -0.5743497014045715, + -0.6082431077957153, + -0.619527280330658, + -0.6518690586090088 + ], + "candidate_oracle_progress": 0.5488004684448242, + "candidate_oracle_regret": 1.4511995315551758, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5488004684448242, + "candidate_oracle_score_gain_over_selected": 0.005031168460845947, + "candidate_oracle_selected_branch_progress": 0.5437692999839783, + "candidate_oracle_selected_branch_score": 0.5437692999839783, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d6b2d805dc063382ade2;ms-cafa65eeb953aff47f30;ms-1309e1770b6ca6e71c7e;ms-cdd69b5acc8119e600c7;ms-6905c1d3bc8157697499;ms-c91cae30acaa8dc7a12b", + "expert_regret": 1.4577742218971252, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-76b9f40367a1ee020744", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4577742218971252, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5422257781028748, + "restore_error": 1.1920928955078125e-07, + "score": 0.5422257781028748, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.540489137172699, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.7333918213844299, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 1 + ], + "candidate_oracle_potentials": [ + 0.7333918213844299, + 0.7273790240287781, + 0.7198604941368103, + 0.7172229290008545 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-61ac2be70a9798adeda0;ms-a6060f858cb9f93c5588;ms-d44f5bd2488ea182132b;ms-39af5447d3c90872c25f;ms-3417f5f2f1470c61d0a8;ms-11a2794efa24f4d93d83", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-66540aefd55a84b5088f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3555395007133484, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.0290385615080595, + 0.028673529624938965, + 0.028320956975221634, + 0.5114579796791077 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0003650318831205368, + -0.0007176045328378677, + 0.4824194312095642 + ], + "candidate_oracle_branch_scores": [ + 0.0290385615080595, + 0.028673529624938965, + 0.028320956975221634, + 0.5114579796791077 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.838291883468628, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 4 + ], + "candidate_oracle_potentials": [ + -2.766836643218994, + -2.79555344581604, + -2.825263500213623, + -2.838291883468628 + ], + "candidate_oracle_progress": 0.5114579796791077, + "candidate_oracle_regret": 1.4885420203208923, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5114579796791077, + "candidate_oracle_score_gain_over_selected": 0.4824194312095642, + "candidate_oracle_selected_branch_progress": 0.0290385615080595, + "candidate_oracle_selected_branch_score": 0.0290385615080595, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4f190184d3920a0add8b;ms-55c2bba961a327aa5260;ms-81729abe5d83a1ca280d;ms-fd1c44c6d5d8f7f11451;ms-8e4755f1627d85c12bd8;ms-5415e349e8f9f2bce641", + "expert_regret": 1.9709615465253592, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bdd1924b44de2db5b07a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9709615465253592, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.029038453474640846, + "restore_error": 1.1920928955078125e-07, + "score": 0.029038453474640846, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47860977053642273, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5522968173027039, + 0.5556966662406921, + 0.5587458610534668, + 0.546035647392273 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0033998489379882812, + 0.0064490437507629395, + -0.006261169910430908 + ], + "candidate_oracle_branch_scores": [ + 0.5522968173027039, + 0.5556966662406921, + 0.5587458610534668, + 0.546035647392273 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.9336420893669128, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 1 + ], + "candidate_oracle_potentials": [ + -0.9291717410087585, + -0.929949939250946, + -0.9336420893669128, + -0.9699702262878418 + ], + "candidate_oracle_progress": 0.5587458610534668, + "candidate_oracle_regret": 1.4412541389465332, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5587458610534668, + "candidate_oracle_score_gain_over_selected": 0.0064490437507629395, + "candidate_oracle_selected_branch_progress": 0.5522968173027039, + "candidate_oracle_selected_branch_score": 0.5522968173027039, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b570fe64df70560c8ab6;ms-26e09c86be9068a34acf;ms-766b6fe7c08a3525ce94;ms-6133ea5e61638487dd46;ms-a145b708d79b243da21f;ms-7241a1c25af41f4c0b5a", + "expert_regret": 1.4477025866508484, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8af87d14945da6a910e4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4477025866508484, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5522974133491516, + "restore_error": 1.1920928955078125e-07, + "score": 0.5522974133491516, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4307875633239746, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5686952471733093, + 0.5686297416687012, + 0.5688199400901794, + 0.5684314966201782 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -6.55055046081543e-05, + 0.0001246929168701172, + -0.0002637505531311035 + ], + "candidate_oracle_branch_scores": [ + 0.5686952471733093, + 0.5686297416687012, + 0.5688199400901794, + 0.5684314966201782 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.53941810131073, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 17, + 1, + 33 + ], + "candidate_oracle_potentials": [ + -0.5308433771133423, + -0.5392645597457886, + -0.53941810131073, + -0.5397682785987854 + ], + "candidate_oracle_progress": 0.5688199400901794, + "candidate_oracle_regret": 1.4311800599098206, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5688199400901794, + "candidate_oracle_score_gain_over_selected": 0.0001246929168701172, + "candidate_oracle_selected_branch_progress": 0.5686952471733093, + "candidate_oracle_selected_branch_score": 0.5686952471733093, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7241a1c25af41f4c0b5a;ms-766b6fe7c08a3525ce94;ms-5a7891a58bac94796178;ms-71452ba714a10880870b;ms-a73f46824bdbdfb96238;ms-b570fe64df70560c8ab6", + "expert_regret": 1.4313064217567444, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d962acc9cfbc27c599c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4313064217567444, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5686935782432556, + "restore_error": 1.1920928955078125e-07, + "score": 0.5686935782432556, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.53938227891922, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.7348924875259399, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 1 + ], + "candidate_oracle_potentials": [ + 0.7348924875259399, + 0.7288258671760559, + 0.7211965322494507, + 0.717331051826477 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-61ac2be70a9798adeda0;ms-a6060f858cb9f93c5588;ms-d44f5bd2488ea182132b;ms-39af5447d3c90872c25f;ms-3417f5f2f1470c61d0a8;ms-11a2794efa24f4d93d83", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b6df140b235c8fe0eaad", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5763335227966309, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.08997156471014023, + 0.09503494948148727, + 0.08477175235748291, + 0.07735836505889893 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.005063384771347046, + -0.005199812352657318, + -0.012613199651241302 + ], + "candidate_oracle_branch_scores": [ + 0.08997156471014023, + 0.09503494948148727, + 0.08477175235748291, + 0.07735836505889893 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.8670533895492554, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.8588627576828003, + -1.8670533895492554, + -1.9570502042770386, + -2.008143901824951 + ], + "candidate_oracle_progress": 0.09503494948148727, + "candidate_oracle_regret": 1.9049650505185127, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.09503494948148727, + "candidate_oracle_score_gain_over_selected": 0.005063384771347046, + "candidate_oracle_selected_branch_progress": 0.08997156471014023, + "candidate_oracle_selected_branch_score": 0.08997156471014023, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7670f25745871759e69e;ms-b786173f210fcaa65a6e;ms-c7156b26670838d40934;ms-b9e46b7345a63ded4397;ms-630663751ab841a96d5a;ms-706943f06888dd5bbb3a", + "expert_regret": 1.91001695394516, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-547f4204888aee978bf0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.91001695394516, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08998304605484009, + "restore_error": 1.1920928955078125e-07, + "score": 0.08998304605484009, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4562093913555145, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.022839749231934547, + 0.025269651785492897, + 0.02426607720553875, + 0.02564898692071438 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0024299025535583496, + 0.0014263279736042023, + 0.002809237688779831 + ], + "candidate_oracle_branch_scores": [ + 0.022839749231934547, + 0.025269651785492897, + 0.02426607720553875, + 0.02564898692071438 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -2.9494104385375977, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -2.8800618648529053, + -2.886970281600952, + -2.9451398849487305, + -2.9494104385375977 + ], + "candidate_oracle_progress": 0.02564898692071438, + "candidate_oracle_regret": 1.9743510130792856, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.02564898692071438, + "candidate_oracle_score_gain_over_selected": 0.002809237688779831, + "candidate_oracle_selected_branch_progress": 0.022839749231934547, + "candidate_oracle_selected_branch_score": 0.022839749231934547, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bfda95ffffd5d1a2683a;ms-fbea3b8005a30431cb52;ms-0cc80a2933abf1b4853f;ms-12a997dde50b7a7f35cb;ms-59020093d2eeaf58aa84;ms-87f65c35c9d8b3ced6fc", + "expert_regret": 1.9771764278411865, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-723a1f2e22afe15b6981", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9771764278411865, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.022823572158813477, + "restore_error": 1.1920928955078125e-07, + "score": 0.022823572158813477, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5427177548408508, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.15519580245018005, + 0.15674558281898499, + 0.1576469987630844, + 0.14143522083759308 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0015497803688049316, + 0.002451196312904358, + -0.013760581612586975 + ], + "candidate_oracle_branch_scores": [ + 0.15519580245018005, + 0.15674558281898499, + 0.1576469987630844, + 0.14143522083759308 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.084197521209717, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 36 + ], + "candidate_oracle_potentials": [ + -2.0377445220947266, + -2.056349754333496, + -2.084197521209717, + -2.4116098880767822 + ], + "candidate_oracle_progress": 0.1576469987630844, + "candidate_oracle_regret": 1.8423530012369156, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.1576469987630844, + "candidate_oracle_score_gain_over_selected": 0.002451196312904358, + "candidate_oracle_selected_branch_progress": 0.15519580245018005, + "candidate_oracle_selected_branch_score": 0.15519580245018005, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-66ec6692758e9a7f2e01;ms-739a89fb4521bc481a9f;ms-18fb80871b8e11d1ae9a;ms-d988976b029886d18476;ms-cc0b33f92229d32bd84f;ms-6558f35ae2a2871a4bfd", + "expert_regret": 1.8448047786951065, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10f2865bef6da7b66423", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8448047786951065, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1551952213048935, + "restore_error": 1.1920928955078125e-07, + "score": 0.1551952213048935, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3277270197868347, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0026280879974365, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 0, + 8, + 1 + ], + "candidate_oracle_potentials": [ + -1.0026280879974365, + -1.0027750730514526, + -1.0333878993988037, + -1.0695624351501465 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2af09f91e05d19f7f181;ms-6be8614a1bd50b974b95;ms-70342af6b601660d7c69;ms-6905c1d3bc8157697499;ms-32b9c353a4890631f1bd;ms-f8c4e700a751537ebb16", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-351818a836474e594d3c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46871572732925415, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5476428866386414, + 0.5489025115966797, + 0.5468018651008606, + 0.5466134548187256 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00125962495803833, + -0.0008410215377807617, + -0.0010294318199157715 + ], + "candidate_oracle_branch_scores": [ + 0.5476428866386414, + 0.5489025115966797, + 0.5468018651008606, + 0.5466134548187256 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.44452136754989624, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.4387825131416321, + -0.44452136754989624, + -0.6327239274978638, + -0.6335334181785583 + ], + "candidate_oracle_progress": 0.5489025115966797, + "candidate_oracle_regret": 1.4510974884033203, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5489025115966797, + "candidate_oracle_score_gain_over_selected": 0.00125962495803833, + "candidate_oracle_selected_branch_progress": 0.5476428866386414, + "candidate_oracle_selected_branch_score": 0.5476428866386414, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-570c074dbf28b5faae58;ms-5d430ebe6f7933dc6c8c;ms-68ab6033433b360464f8;ms-a13ee9983c139d34fca8;ms-a6060f858cb9f93c5588;ms-61ac2be70a9798adeda0", + "expert_regret": 1.4523560404777527, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-42117385b9e6e57c7e63", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4523560404777527, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5476439595222473, + "restore_error": 1.1920928955078125e-07, + "score": 0.5476439595222473, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.08914123475551605, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.548674464225769, + 0.5481398701667786, + 0.5487421751022339, + 0.5488042235374451 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0005345940589904785, + 6.771087646484375e-05, + 0.0001297593116760254 + ], + "candidate_oracle_branch_scores": [ + 0.548674464225769, + 0.5481398701667786, + 0.5487421751022339, + 0.5488042235374451 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.9439187049865723, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 0, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.9397389888763428, + -0.9406973123550415, + -0.9417338371276855, + -0.9439187049865723 + ], + "candidate_oracle_progress": 0.5488042235374451, + "candidate_oracle_regret": 1.451195776462555, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5488042235374451, + "candidate_oracle_score_gain_over_selected": 0.0001297593116760254, + "candidate_oracle_selected_branch_progress": 0.548674464225769, + "candidate_oracle_selected_branch_score": 0.548674464225769, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d44f5bd2488ea182132b;ms-61ac2be70a9798adeda0;ms-11a2794efa24f4d93d83;ms-a6060f858cb9f93c5588;ms-3b4b0b8c60ad41bb16b0;ms-a3d0c460532de2d801ae", + "expert_regret": 1.451323390007019, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c83412fa0aa5180ad89", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.451323390007019, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.548676609992981, + "restore_error": 1.1920928955078125e-07, + "score": 0.548676609992981, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33465322852134705, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.04021007940173149, + 0.037409354001283646, + 0.03480212762951851, + 0.02155677042901516 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0028007254004478455, + -0.005407951772212982, + -0.01865330897271633 + ], + "candidate_oracle_branch_scores": [ + 0.04021007940173149, + 0.037409354001283646, + 0.03480212762951851, + 0.02155677042901516 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.4034159183502197, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -2.4034159183502197, + -2.469731092453003, + -2.521311044692993, + -2.773017406463623 + ], + "candidate_oracle_progress": 0.04021007940173149, + "candidate_oracle_regret": 1.9597899205982685, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.04021007940173149, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.04021007940173149, + "candidate_oracle_selected_branch_score": 0.04021007940173149, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5415e349e8f9f2bce641;ms-a1d69e0b112064914357;ms-fd1c44c6d5d8f7f11451;ms-b5deb1971bf3b3484282;ms-55c2bba961a327aa5260;ms-8b98e8aa8ecee10bea27", + "expert_regret": 1.9597899429500103, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1c0e2bb3a811fac6d567", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9597899429500103, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0402100570499897, + "restore_error": 1.1920928955078125e-07, + "score": 0.0402100570499897, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5146409869194031, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.46888208389282227, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 35, + 19 + ], + "candidate_oracle_potentials": [ + 0.46888208389282227, + 0.46420660614967346, + 0.4353427588939667, + 0.36214184761047363 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-39af5447d3c90872c25f;ms-1924e52af208c9f66592;ms-11a2794efa24f4d93d83;ms-3417f5f2f1470c61d0a8;ms-61ac2be70a9798adeda0;ms-a6060f858cb9f93c5588", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-03cdc738473ac1df9dfc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44718223810195923, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.568011999130249, + 0.5662859678268433, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.431988000869751, + -1.4337140321731567, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.568011999130249, + 0.5662859678268433, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.6790896654129028, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 1 + ], + "candidate_oracle_potentials": [ + 0.6790896654129028, + 0.6527907252311707, + 0.6020702719688416, + 0.4033530652523041 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-87b44e6219279322a723;ms-1abf5e6d483e2788b086;ms-81085eba1dd49b17ec9c;ms-09de52dad7e40970c938;ms-cafa65eeb953aff47f30;ms-625b5d55ca76cc565049", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb92a1e6b67121783fff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3268639147281647, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.3718010187149048, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 0.3718010187149048, + 0.37121981382369995, + 0.3341048061847687, + 0.32946619391441345 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bcc70292f404cd1c7f75;ms-48d490ed21088bb5ba85;ms-935ff204de9424ec00a2;ms-a3d0c460532de2d801ae;ms-d44f5bd2488ea182132b;ms-d73a2a984d5829e884f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-759ba8b7be233ca47c30", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6599730253219604, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5964165925979614, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 4 + ], + "candidate_oracle_potentials": [ + -0.5964165925979614, + -0.6443479657173157, + -0.6634535193443298, + -0.6793494820594788 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9b15f9c696a2661346cf;ms-54f34c73458181a65e9a;ms-8d94c7c692c91a962f25;ms-f4860c7945db15b54d2e;ms-e20f5d43f319248c5001;ms-fbea3b8005a30431cb52", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c92e8da7621fbf50cd4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3187488615512848, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.07718497514724731, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 8, + 24 + ], + "candidate_oracle_potentials": [ + 0.07718497514724731, + 0.06712090969085693, + 0.06220325455069542, + 0.05070513114333153 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9e1f3c14116ebca6164d;ms-36e8cb2e7f34f8dceb05;ms-e45b5de01eafae73e492;ms-28b1f1e4380d434605de;ms-00b9ad6a8fe73fccc6fc;ms-c78721d9c4196a9e8ec5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ece7b8c91d9d82f244b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9360950589179993, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.10226231068372726, + 0.09654662758111954, + 0.09147275984287262, + 0.0953061506152153 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.005715683102607727, + -0.010789550840854645, + -0.006956160068511963 + ], + "candidate_oracle_branch_scores": [ + 0.10226231068372726, + 0.09654662758111954, + 0.09147275984287262, + 0.0953061506152153 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.5392122268676758, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -1.5392122268676758, + -1.5456953048706055, + -1.5548479557037354, + -1.5961400270462036 + ], + "candidate_oracle_progress": 0.10226231068372726, + "candidate_oracle_regret": 1.8977376893162727, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.10226231068372726, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.10226231068372726, + "candidate_oracle_selected_branch_score": 0.10226231068372726, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5bae191ebad7c9f2687;ms-98427ae2d94c1f85811a;ms-706943f06888dd5bbb3a;ms-9233eae706910c204b79;ms-7cbbc5e7dc896a803efa;ms-fed4628b22c7e42e32d9", + "expert_regret": 1.8978423327207565, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ca1c25fddb7da05d80a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8978423327207565, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10215766727924347, + "restore_error": 1.1920928955078125e-07, + "score": 0.10215766727924347, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.667430579662323, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.30934420228004456, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 20, + 3, + 0 + ], + "candidate_oracle_potentials": [ + 0.30934420228004456, + 0.3071483075618744, + 0.30377092957496643, + 0.297931969165802 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-eb16021deb5d03f15c9d;ms-023e021f079a8774c741;ms-ed7b02bc8f37b8524a56;ms-753929cfdc4aaa652b32;ms-29f1abb869ff206a4d52;ms-cafa65eeb953aff47f30", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f0e2c9caad14bd37ecf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.08107607811689377, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5283007025718689, + 0.5282130241394043, + 0.5281248688697815, + 0.5289251804351807 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -8.767843246459961e-05, + -0.00017583370208740234, + 0.0006244778633117676 + ], + "candidate_oracle_branch_scores": [ + 0.5283007025718689, + 0.5282130241394043, + 0.5281248688697815, + 0.5289251804351807 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7268189191818237, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -0.7153767347335815, + -0.7155442237854004, + -0.7157779335975647, + -0.7268189191818237 + ], + "candidate_oracle_progress": 0.5289251804351807, + "candidate_oracle_regret": 1.4710748195648193, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5289251804351807, + "candidate_oracle_score_gain_over_selected": 0.0006244778633117676, + "candidate_oracle_selected_branch_progress": 0.5283007025718689, + "candidate_oracle_selected_branch_score": 0.5283007025718689, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5d430ebe6f7933dc6c8c;ms-570c074dbf28b5faae58;ms-68ab6033433b360464f8;ms-3417f5f2f1470c61d0a8;ms-a6060f858cb9f93c5588;ms-61ac2be70a9798adeda0", + "expert_regret": 1.4716978073120117, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83d2b158041f4eed3646", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4716978073120117, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5283021926879883, + "restore_error": 1.1920928955078125e-07, + "score": 0.5283021926879883, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6242164373397827, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.02582702599465847, + 0.02606412209570408, + 0.02642500400543213, + 0.02566070668399334 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00023709610104560852, + 0.0005979780107736588, + -0.00016631931066513062 + ], + "candidate_oracle_branch_scores": [ + 0.02582702599465847, + 0.02606412209570408, + 0.02642500400543213, + 0.02566070668399334 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.575099229812622, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -2.5100929737091064, + -2.526031970977783, + -2.575099229812622, + -2.587050199508667 + ], + "candidate_oracle_progress": 0.02642500400543213, + "candidate_oracle_regret": 1.9735749959945679, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.02642500400543213, + "candidate_oracle_score_gain_over_selected": 0.0005979780107736588, + "candidate_oracle_selected_branch_progress": 0.02582702599465847, + "candidate_oracle_selected_branch_score": 0.02582702599465847, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8fa24da5c97dc1dad5c1;ms-fef1cf4879be83a77574;ms-c7156b26670838d40934;ms-b786173f210fcaa65a6e;ms-12a997dde50b7a7f35cb;ms-87f65c35c9d8b3ced6fc", + "expert_regret": 1.9741729740053415, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ba156a5cdaf40cc85cc4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9741729740053415, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02582702599465847, + "restore_error": 1.1920928955078125e-07, + "score": 0.02582702599465847, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5369221568107605, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.555812656879425, + 0.5630389451980591, + 0.5545610189437866, + 0.5629827976226807 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.007226288318634033, + -0.0012516379356384277, + 0.007170140743255615 + ], + "candidate_oracle_branch_scores": [ + 0.555812656879425, + 0.5630389451980591, + 0.5545610189437866, + 0.5629827976226807 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.016404645517468452, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 4, + 19, + 36 + ], + "candidate_oracle_potentials": [ + 0.04189122095704079, + -0.016404645517468452, + -0.031108621507883072, + -0.047820985317230225 + ], + "candidate_oracle_progress": 0.5630389451980591, + "candidate_oracle_regret": 1.436961054801941, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5630389451980591, + "candidate_oracle_score_gain_over_selected": 0.007226288318634033, + "candidate_oracle_selected_branch_progress": 0.555812656879425, + "candidate_oracle_selected_branch_score": 0.555812656879425, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-36e8cb2e7f34f8dceb05;ms-e45b5de01eafae73e492;ms-28b1f1e4380d434605de;ms-00b9ad6a8fe73fccc6fc;ms-48d490ed21088bb5ba85;ms-4177936dc3e043366181", + "expert_regret": 1.4441866278648376, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-da46296bd4e9032570df", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4441866278648376, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5558133721351624, + "restore_error": 1.1920928955078125e-07, + "score": 0.5558133721351624, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.07203047722578049, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.08754859119653702, + 0.08646415919065475, + 0.08664491027593613, + 0.0863460898399353 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0010844320058822632, + -0.0009036809206008911, + -0.001202501356601715 + ], + "candidate_oracle_branch_scores": [ + 0.08754859119653702, + 0.08646415919065475, + 0.08664491027593613, + 0.0863460898399353 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.656551718711853, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -1.656551718711853, + -1.664543867111206, + -1.71631920337677, + -1.724053978919983 + ], + "candidate_oracle_progress": 0.08754859119653702, + "candidate_oracle_regret": 0.07137494534254074, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.08754859119653702, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.08754859119653702, + "candidate_oracle_selected_branch_score": 0.08754859119653702, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a1846ef1f00eb54e2d60;ms-cea745484a24f376d7e8;ms-4f190184d3920a0add8b;ms-81729abe5d83a1ca280d;ms-8e4755f1627d85c12bd8;ms-4b970be37419ce0be0ae", + "expert_regret": 0.06102624535560608, + "expert_score": 0.14857541024684906, + "expert_success": false, + "group_id": "ms-0843bef6b0c13c3ede69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.07137437164783478, + "oracle_score": 0.15892353653907776, + "oracle_success": false, + "progress": 0.08754916489124298, + "restore_error": 1.1920928955078125e-07, + "score": 0.08754916489124298, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.055720992386341095, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5272539258003235, + 0.1699286699295044, + 0.1684349626302719, + 0.5292124152183533 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.3573252558708191, + -0.3588189482688904, + 0.001958489418029785 + ], + "candidate_oracle_branch_scores": [ + 0.5272539258003235, + 0.1699286699295044, + 0.1684349626302719, + 0.5292124152183533 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.48901015520095825, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 35 + ], + "candidate_oracle_potentials": [ + -0.41368263959884644, + -0.4165665805339813, + -0.4207352101802826, + -0.48901015520095825 + ], + "candidate_oracle_progress": 0.5292124152183533, + "candidate_oracle_regret": 1.4707875847816467, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5292124152183533, + "candidate_oracle_score_gain_over_selected": 0.001958489418029785, + "candidate_oracle_selected_branch_progress": 0.5272539258003235, + "candidate_oracle_selected_branch_score": 0.5272539258003235, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4f833710c2706ee077af;ms-7cbbc5e7dc896a803efa;ms-98427ae2d94c1f85811a;ms-f5bae191ebad7c9f2687;ms-a43a663a3c4b15ec3ac2;ms-fed4628b22c7e42e32d9", + "expert_regret": 1.4561463594436646, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-642670f4bb658d32970b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4561463594436646, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5438536405563354, + "restore_error": 1.1920928955078125e-07, + "score": 0.5438536405563354, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.537123441696167, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.7346464395523071, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 1 + ], + "candidate_oracle_potentials": [ + 0.7346464395523071, + 0.7278863787651062, + 0.7194188833236694, + 0.7160031199455261 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6060f858cb9f93c5588;ms-61ac2be70a9798adeda0;ms-d44f5bd2488ea182132b;ms-39af5447d3c90872c25f;ms-3417f5f2f1470c61d0a8;ms-11a2794efa24f4d93d83", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-76c78750d7abc6570487", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.49225035309791565, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.020070349797606468, + 0.01939079724252224, + 0.01932065561413765, + 0.019247258082032204 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0006795525550842285, + -0.0007496941834688187, + -0.0008230917155742645 + ], + "candidate_oracle_branch_scores": [ + 0.020070349797606468, + 0.01939079724252224, + 0.01932065561413765, + 0.019247258082032204 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.7028610706329346, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 3, + 19, + 35 + ], + "candidate_oracle_potentials": [ + -2.7028610706329346, + -2.7821133136749268, + -2.7857682704925537, + -2.792527437210083 + ], + "candidate_oracle_progress": 0.020070349797606468, + "candidate_oracle_regret": 0.5748282913118601, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.020070349797606468, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.020070349797606468, + "candidate_oracle_selected_branch_score": 0.020070349797606468, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b786173f210fcaa65a6e;ms-c7156b26670838d40934;ms-7670f25745871759e69e;ms-b9e46b7345a63ded4397;ms-630663751ab841a96d5a;ms-706943f06888dd5bbb3a", + "expert_regret": 0.5748283378779888, + "expert_score": 0.5948986411094666, + "expert_success": false, + "group_id": "ms-197fee321caebfd320f5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5748283378779888, + "oracle_score": 0.5948986411094666, + "oracle_success": false, + "progress": 0.020070303231477737, + "restore_error": 1.1920928955078125e-07, + "score": 0.020070303231477737, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39051148295402527, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5281183123588562, + 0.5282841920852661, + 0.5272736549377441, + 0.5273270010948181 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0001658797264099121, + -0.0008446574211120605, + -0.0007913112640380859 + ], + "candidate_oracle_branch_scores": [ + 0.5281183123588562, + 0.5282841920852661, + 0.5272736549377441, + 0.5273270010948181 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0385527610778809, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -1.0353047847747803, + -1.0385527610778809, + -1.1359837055206299, + -1.1389816999435425 + ], + "candidate_oracle_progress": 0.5282841920852661, + "candidate_oracle_regret": 1.4717158079147339, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5282841920852661, + "candidate_oracle_score_gain_over_selected": 0.0001658797264099121, + "candidate_oracle_selected_branch_progress": 0.5281183123588562, + "candidate_oracle_selected_branch_score": 0.5281183123588562, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a1846ef1f00eb54e2d60;ms-cea745484a24f376d7e8;ms-ddb8f148dff1db91851f;ms-fa62bbb3e8416561ed69;ms-a509a572b3871e591d26;ms-03ed7e57992354e27896", + "expert_regret": 1.4718838930130005, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7571c367fe683b0f1cf9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4718838930130005, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5281161069869995, + "restore_error": 1.1920928955078125e-07, + "score": 0.5281161069869995, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5428648591041565, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5663907527923584, + 0.5614984631538391, + 0.5615143775939941, + 0.561497688293457 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.004892289638519287, + -0.004876375198364258, + -0.004893064498901367 + ], + "candidate_oracle_branch_scores": [ + 0.5663907527923584, + 0.5614984631538391, + 0.5615143775939941, + 0.561497688293457 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.5966419577598572, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + -0.5966419577598572, + -0.6448913812637329, + -0.6450948715209961, + -0.6456600427627563 + ], + "candidate_oracle_progress": 0.5663907527923584, + "candidate_oracle_regret": 1.4336092472076416, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5663907527923584, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5663907527923584, + "candidate_oracle_selected_branch_score": 0.5663907527923584, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-766b6fe7c08a3525ce94;ms-7241a1c25af41f4c0b5a;ms-b570fe64df70560c8ab6;ms-a145b708d79b243da21f;ms-6133ea5e61638487dd46;ms-625b5d55ca76cc565049", + "expert_regret": 1.4336068034172058, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13192a27f5fcf4fd24d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4336068034172058, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5663931965827942, + "restore_error": 1.1920928955078125e-07, + "score": 0.5663931965827942, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4287344515323639, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.0307213068008423, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 0, + 33 + ], + "candidate_oracle_potentials": [ + -1.0307213068008423, + -1.0327340364456177, + -1.0336768627166748, + -1.034937858581543 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-eac0d7dd54b1e797fdbd;ms-3f4967102c7b10057ab9;ms-a073398629e6943ad1fb;ms-732819b0c220a4c06870;ms-fe54b45b549a55d45c0e;ms-7d81f3e8b6a42695871d", + "expert_regret": 0.0, + "expert_score": 0.5829448699951172, + "expert_success": false, + "group_id": "ms-4ca84594a789c9abd5d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.5829448699951172, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6210147738456726, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.03161560371518135, + 0.032331742346286774, + 0.03173081949353218, + 0.03215526416897774 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.000716138631105423, + 0.00011521577835083008, + 0.0005396604537963867 + ], + "candidate_oracle_branch_scores": [ + 0.03161560371518135, + 0.032331742346286774, + 0.03173081949353218, + 0.03215526416897774 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9832743406295776, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + -0.9674198627471924, + -0.9832743406295776, + -0.9920288324356079, + -1.0097651481628418 + ], + "candidate_oracle_progress": 0.032331742346286774, + "candidate_oracle_regret": 1.9676682576537132, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.032331742346286774, + "candidate_oracle_score_gain_over_selected": 0.000716138631105423, + "candidate_oracle_selected_branch_progress": 0.03161560371518135, + "candidate_oracle_selected_branch_score": 0.03161560371518135, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bfda95ffffd5d1a2683a;ms-12a997dde50b7a7f35cb;ms-fbea3b8005a30431cb52;ms-9b15f9c696a2661346cf;ms-87f65c35c9d8b3ced6fc;ms-59020093d2eeaf58aa84", + "expert_regret": 1.9682692177593708, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-91ad1a5f945470b4346e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9682692177593708, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.031730782240629196, + "restore_error": 1.1920928955078125e-07, + "score": 0.031730782240629196, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4607867896556854, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.52938312292099, + 0.027384459972381592, + 0.029170824214816093, + 0.02907400205731392 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.5019986629486084, + -0.5002123117446899, + -0.5003091096878052 + ], + "candidate_oracle_branch_scores": [ + 0.52938312292099, + 0.027384459972381592, + 0.029170824214816093, + 0.02907400205731392 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.7597804069519043, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -2.7597804069519043, + -2.8023107051849365, + -2.8102993965148926, + -2.815952777862549 + ], + "candidate_oracle_progress": 0.52938312292099, + "candidate_oracle_regret": 1.47061687707901, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.52938312292099, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.52938312292099, + "candidate_oracle_selected_branch_score": 0.52938312292099, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4f833710c2706ee077af;ms-a43a663a3c4b15ec3ac2;ms-7cbbc5e7dc896a803efa;ms-aaf1c4931e054f52623c;ms-b666f24369c548cd56ab;ms-98427ae2d94c1f85811a", + "expert_regret": 1.4706171154975891, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-263556e167dc363ebc42", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4706171154975891, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5293828845024109, + "restore_error": 1.1920928955078125e-07, + "score": 0.5293828845024109, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19862301647663116, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5392007231712341, + 0.5399469137191772, + 0.5406908392906189, + 0.5339340567588806 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0007461905479431152, + 0.0014901161193847656, + -0.005266666412353516 + ], + "candidate_oracle_branch_scores": [ + 0.5392007231712341, + 0.5399469137191772, + 0.5406908392906189, + 0.5339340567588806 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.5873523950576782, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -1.5842540264129639, + -1.585749626159668, + -1.5873523950576782, + -1.5876165628433228 + ], + "candidate_oracle_progress": 0.5406908392906189, + "candidate_oracle_regret": 1.459309160709381, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5406908392906189, + "candidate_oracle_score_gain_over_selected": 0.0014901161193847656, + "candidate_oracle_selected_branch_progress": 0.5392007231712341, + "candidate_oracle_selected_branch_score": 0.5392007231712341, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d6305829d7ca1c68a3ce;ms-ae5421846020d2765f82;ms-f8439d39ae9ed028a4cd;ms-97140da7cf409922f6ce;ms-0a48fbd111be17b50be5;ms-bcfeba2af1e844c22aed", + "expert_regret": 1.460739552974701, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e07f80b44faf328c5e58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.460739552974701, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5392604470252991, + "restore_error": 2.384185791015625e-07, + "score": 0.5392604470252991, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4753461480140686, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5602010488510132, + 0.5605106353759766, + 0.5624548196792603, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0003095865249633789, + 0.0022537708282470703, + 1.4397989511489868 + ], + "candidate_oracle_branch_scores": [ + 0.5602010488510132, + 0.5605106353759766, + 0.5624548196792603, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.09761865437030792, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + 0.6176625490188599, + 0.5862369537353516, + 0.528658926486969, + -0.09761865437030792 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4397989511489868, + "candidate_oracle_selected_branch_progress": 0.5602010488510132, + "candidate_oracle_selected_branch_score": 0.5602010488510132, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c9e31a19a776a861f9d7;ms-2a67eea0b1293de9bcf9;ms-c151229bc1dd03ed2feb;ms-2b3e081263ed25d45dc8;ms-47a55ae1d3a858eed51c;ms-f8c4e700a751537ebb16", + "expert_regret": 1.4397990107536316, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8a74cf665984273be00d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4397990107536316, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5602009892463684, + "restore_error": 2.384185791015625e-07, + "score": 0.5602009892463684, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3149603307247162, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.04161534458398819, + 0.04034073278307915, + 0.03907438740134239, + 0.031052112579345703 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0012746118009090424, + -0.0025409571826457977, + -0.010563232004642487 + ], + "candidate_oracle_branch_scores": [ + 0.04161534458398819, + 0.04034073278307915, + 0.03907438740134239, + 0.031052112579345703 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.2288873195648193, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 8 + ], + "candidate_oracle_potentials": [ + -2.2288873195648193, + -2.2673561573028564, + -2.3092286586761475, + -2.3658640384674072 + ], + "candidate_oracle_progress": 0.04161534458398819, + "candidate_oracle_regret": 1.9583846554160118, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.04161534458398819, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.04161534458398819, + "candidate_oracle_selected_branch_score": 0.04161534458398819, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8e4755f1627d85c12bd8;ms-4b970be37419ce0be0ae;ms-81729abe5d83a1ca280d;ms-8d94c7c692c91a962f25;ms-7651a7f31eae24958ef0;ms-1f8e2d5d25706493821d", + "expert_regret": 1.958384681493044, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4cd1ceea2dda2732110a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.958384681493044, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0416153185069561, + "restore_error": 2.384185791015625e-07, + "score": 0.0416153185069561, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5990878343582153, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5581647157669067, + 0.5594462752342224, + 0.5570104122161865, + 0.5578702688217163 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0012815594673156738, + -0.0011543035507202148, + -0.0002944469451904297 + ], + "candidate_oracle_branch_scores": [ + 0.5581647157669067, + 0.5594462752342224, + 0.5570104122161865, + 0.5578702688217163 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.1993474960327148, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -1.1914560794830322, + -1.1993474960327148, + -1.2080763578414917, + -1.2197083234786987 + ], + "candidate_oracle_progress": 0.5594462752342224, + "candidate_oracle_regret": 1.4405537247657776, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5594462752342224, + "candidate_oracle_score_gain_over_selected": 0.0012815594673156738, + "candidate_oracle_selected_branch_progress": 0.5581647157669067, + "candidate_oracle_selected_branch_score": 0.5581647157669067, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c3a1cf0e424a4f065459;ms-6029bab18ae94b126d79;ms-49219cb8ed7dad70c897;ms-70342af6b601660d7c69;ms-2af09f91e05d19f7f181;ms-f77305a344da6a4ccc84", + "expert_regret": 1.4418330192565918, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-746436cac05100783ad7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4418330192565918, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5581669807434082, + "restore_error": 2.384185791015625e-07, + "score": 0.5581669807434082, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5855664014816284, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5445337295532227, + 0.5441845059394836, + 0.5447695851325989, + 0.5450716018676758 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00034922361373901367, + 0.0002358555793762207, + 0.000537872314453125 + ], + "candidate_oracle_branch_scores": [ + 0.5445337295532227, + 0.5441845059394836, + 0.5447695851325989, + 0.5450716018676758 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6292951107025146, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 0 + ], + "candidate_oracle_potentials": [ + -0.5733453631401062, + -0.604995846748352, + -0.6230856776237488, + -0.6292951107025146 + ], + "candidate_oracle_progress": 0.5450716018676758, + "candidate_oracle_regret": 1.4549283981323242, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5450716018676758, + "candidate_oracle_score_gain_over_selected": 0.000537872314453125, + "candidate_oracle_selected_branch_progress": 0.5445337295532227, + "candidate_oracle_selected_branch_score": 0.5445337295532227, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cafa65eeb953aff47f30;ms-d6b2d805dc063382ade2;ms-1309e1770b6ca6e71c7e;ms-cdd69b5acc8119e600c7;ms-c91cae30acaa8dc7a12b;ms-625b5d55ca76cc565049", + "expert_regret": 1.455466628074646, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-486ff31b7a04a7e9e8f9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.455466628074646, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.544533371925354, + "restore_error": 2.384185791015625e-07, + "score": 0.544533371925354, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28050532937049866, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.02491394244134426, + 0.023793160915374756, + 0.020714139565825462, + 0.020624076947569847 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0011207815259695053, + -0.004199802875518799, + -0.004289865493774414 + ], + "candidate_oracle_branch_scores": [ + 0.02491394244134426, + 0.023793160915374756, + 0.020714139565825462, + 0.020624076947569847 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.559922933578491, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 8, + 1 + ], + "candidate_oracle_potentials": [ + -2.559922933578491, + -2.578336238861084, + -2.611780881881714, + -2.6576056480407715 + ], + "candidate_oracle_progress": 0.02491394244134426, + "candidate_oracle_regret": 1.9750860575586557, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.02491394244134426, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.02491394244134426, + "candidate_oracle_selected_branch_score": 0.02491394244134426, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8c8198e44eea32f98ca7;ms-c2e07545267c612a022c;ms-8fa24da5c97dc1dad5c1;ms-6558f35ae2a2871a4bfd;ms-13557287cd450bc12c6f;ms-fef1cf4879be83a77574", + "expert_regret": 1.9750860575586557, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-793a98188fd57ed5291f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9750860575586557, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02491394244134426, + "restore_error": 2.384185791015625e-07, + "score": 0.02491394244134426, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5989823937416077, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.530919075012207, + 0.5175303816795349, + 0.06822621077299118, + 0.5299077033996582 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.01338869333267212, + -0.46269285678863525, + -0.0010113716125488281 + ], + "candidate_oracle_branch_scores": [ + 0.530919075012207, + 0.5175303816795349, + 0.06822621077299118, + 0.5299077033996582 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.3541419506073, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 36, + 0 + ], + "candidate_oracle_potentials": [ + -2.3541419506073, + -2.36372709274292, + -2.4735660552978516, + -2.475084066390991 + ], + "candidate_oracle_progress": 0.530919075012207, + "candidate_oracle_regret": 1.469080924987793, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.530919075012207, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.530919075012207, + "candidate_oracle_selected_branch_score": 0.530919075012207, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7670f25745871759e69e;ms-b9e46b7345a63ded4397;ms-630663751ab841a96d5a;ms-c7156b26670838d40934;ms-b786173f210fcaa65a6e;ms-706943f06888dd5bbb3a", + "expert_regret": 1.4690709710121155, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-999a8c1454dd4597a834", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4690709710121155, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5309290289878845, + "restore_error": 2.384185791015625e-07, + "score": 0.5309290289878845, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7434433698654175, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.49616771936416626, + 0.4958864152431488, + 0.4953300952911377, + 0.4950726628303528 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00028130412101745605, + -0.0008376240730285645, + -0.0010950565338134766 + ], + "candidate_oracle_branch_scores": [ + 0.49616771936416626, + 0.4958864152431488, + 0.4953300952911377, + 0.4950726628303528 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2339661121368408, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -1.2339661121368408, + -1.2433979511260986, + -1.280595302581787, + -1.2853248119354248 + ], + "candidate_oracle_progress": 0.49616771936416626, + "candidate_oracle_regret": 0.12129831314086914, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.49616771936416626, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.49616771936416626, + "candidate_oracle_selected_branch_score": 0.49616771936416626, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5a7891a58bac94796178;ms-478f754a15221314d15e;ms-9184c93267b4bbfa4cae;ms-766b6fe7c08a3525ce94;ms-7241a1c25af41f4c0b5a;ms-f88a44616a0985aac518", + "expert_regret": 0.1212986409664154, + "expert_score": 0.6174660325050354, + "expert_success": false, + "group_id": "ms-309c09cf5d782e9ba0a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.1212986409664154, + "oracle_score": 0.6174660325050354, + "oracle_success": false, + "progress": 0.49616739153862, + "restore_error": 2.384185791015625e-07, + "score": 0.49616739153862, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14909778535366058, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.9788540601730347, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + 0.9788540601730347, + 0.9520372152328491, + 0.9170191884040833, + 0.49698489904403687 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3417f5f2f1470c61d0a8;ms-39af5447d3c90872c25f;ms-d44f5bd2488ea182132b;ms-61ac2be70a9798adeda0;ms-1924e52af208c9f66592;ms-a6060f858cb9f93c5588", + "expert_regret": 0.0, + "expert_score": 0.5946909785270691, + "expert_success": false, + "group_id": "ms-309d2258d275ae304857", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6756706237792969, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.20880450308322906, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.20880450308322906, + 0.1801833212375641, + -0.05082745850086212, + -0.07837291061878204 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f897cc2141a0a303fc6a;ms-d0e4bdc60ab8ea52a320;ms-29f1abb869ff206a4d52;ms-f8c4e700a751537ebb16;ms-6be8614a1bd50b974b95;ms-6905c1d3bc8157697499", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbb609a3f2a334986245", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.31468483805656433, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.4090818166732788, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 36 + ], + "candidate_oracle_potentials": [ + 0.4090818166732788, + 0.39761483669281006, + 0.3424481153488159, + 0.3325461149215698 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-48d490ed21088bb5ba85;ms-d73a2a984d5829e884f9;ms-e45b5de01eafae73e492;ms-36e8cb2e7f34f8dceb05;ms-935ff204de9424ec00a2;ms-28b1f1e4380d434605de", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2ae57bab6d2ea11f6638", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4323996603488922, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5431753396987915, + 0.5387594103813171, + 0.5401359796524048, + 0.5359923243522644 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.004415929317474365, + -0.0030393600463867188, + -0.0071830153465271 + ], + "candidate_oracle_branch_scores": [ + 0.5431753396987915, + 0.5387594103813171, + 0.5401359796524048, + 0.5359923243522644 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.7708200216293335, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -1.7708200216293335, + -1.78581702709198, + -1.7978826761245728, + -1.8184186220169067 + ], + "candidate_oracle_progress": 0.5431753396987915, + "candidate_oracle_regret": 1.4568246603012085, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5431753396987915, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5431753396987915, + "candidate_oracle_selected_branch_score": 0.5431753396987915, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4b970be37419ce0be0ae;ms-4f190184d3920a0add8b;ms-54f34c73458181a65e9a;ms-81729abe5d83a1ca280d;ms-8e4755f1627d85c12bd8;ms-1f8e2d5d25706493821d", + "expert_regret": 1.4568231701850891, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7849511ad9b8262adae7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4568231701850891, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5431768298149109, + "restore_error": 1.1920928955078125e-07, + "score": 0.5431768298149109, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5432763695716858, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5327633023262024, + 0.534398078918457, + 0.5331258773803711, + 0.5316764116287231 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0016347765922546387, + 0.00036257505416870117, + -0.001086890697479248 + ], + "candidate_oracle_branch_scores": [ + 0.5327633023262024, + 0.534398078918457, + 0.5331258773803711, + 0.5316764116287231 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8797561526298523, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 0 + ], + "candidate_oracle_potentials": [ + -0.8737927079200745, + -0.8797561526298523, + -1.0199381113052368, + -1.0290026664733887 + ], + "candidate_oracle_progress": 0.534398078918457, + "candidate_oracle_regret": 1.465601921081543, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.534398078918457, + "candidate_oracle_score_gain_over_selected": 0.0016347765922546387, + "candidate_oracle_selected_branch_progress": 0.5327633023262024, + "candidate_oracle_selected_branch_score": 0.5327633023262024, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-11a2794efa24f4d93d83;ms-39af5447d3c90872c25f;ms-a6060f858cb9f93c5588;ms-61ac2be70a9798adeda0;ms-3417f5f2f1470c61d0a8;ms-1924e52af208c9f66592", + "expert_regret": 1.4672365188598633, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c35a083df7c08225af3b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4672365188598633, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5327634811401367, + "restore_error": 1.1920928955078125e-07, + "score": 0.5327634811401367, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7901859879493713, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5152279138565063, + 0.5147781372070312, + 0.5158107280731201, + 0.5142223238945007 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00044977664947509766, + 0.0005828142166137695, + -0.0010055899620056152 + ], + "candidate_oracle_branch_scores": [ + 0.5152279138565063, + 0.5147781372070312, + 0.5158107280731201, + 0.5142223238945007 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.8397918939590454, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 36, + 0 + ], + "candidate_oracle_potentials": [ + -1.7642046213150024, + -1.7670178413391113, + -1.8397918939590454, + -1.8976203203201294 + ], + "candidate_oracle_progress": 0.5158107280731201, + "candidate_oracle_regret": 1.4841892719268799, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5158107280731201, + "candidate_oracle_score_gain_over_selected": 0.0005828142166137695, + "candidate_oracle_selected_branch_progress": 0.5152279138565063, + "candidate_oracle_selected_branch_score": 0.5152279138565063, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a43a663a3c4b15ec3ac2;ms-aaf1c4931e054f52623c;ms-4f833710c2706ee077af;ms-b666f24369c548cd56ab;ms-7cbbc5e7dc896a803efa;ms-c7f427f37d47501932e8", + "expert_regret": 1.4847720861434937, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-14c40aa19f7b9307511d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4847720861434937, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5152279138565063, + "restore_error": 1.1920928955078125e-07, + "score": 0.5152279138565063, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22509925067424774, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.4745105504989624, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + 0.4745105504989624, + 0.41926416754722595, + 0.28417032957077026, + 0.1548406332731247 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-867fd9318b2445dcefb5;ms-2f846e9f31e2b8c4965f;ms-a10d8368c33b56390f77;ms-bb60defa0d234da9e0bc;ms-dc2a8fa76e1ceb0d8925;ms-6029bab18ae94b126d79", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ae6d60345612be32478c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15334860980510712, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.258732408285141, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + 0.258732408285141, + 0.25743022561073303, + 0.2559341490268707, + 0.25186702609062195 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-753929cfdc4aaa652b32;ms-023e021f079a8774c741;ms-eb16021deb5d03f15c9d;ms-29f1abb869ff206a4d52;ms-ed7b02bc8f37b8524a56;ms-5daa8575a80e98a83170", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fd6deac5a281d169bc75", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18098291754722595, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.5659040808677673, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.5659040808677673, + -0.5660809874534607, + -0.5662432312965393, + -0.5772237777709961 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6905c1d3bc8157697499;ms-a01f0549a18d924d31c0;ms-b786173f210fcaa65a6e;ms-7670f25745871759e69e;ms-c7156b26670838d40934;ms-f897cc2141a0a303fc6a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c335deaaa5c63478701", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.34309640526771545, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5597781538963318, + 0.5587496161460876, + 0.557420015335083, + 0.544381856918335 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0010285377502441406, + -0.0023581385612487793, + -0.015396296977996826 + ], + "candidate_oracle_branch_scores": [ + 0.5597781538963318, + 0.5587496161460876, + 0.557420015335083, + 0.544381856918335 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.0490645170211792, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + -1.0490645170211792, + -1.1606642007827759, + -1.246819257736206, + -1.5112189054489136 + ], + "candidate_oracle_progress": 0.5597781538963318, + "candidate_oracle_regret": 1.4402218461036682, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5597781538963318, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5597781538963318, + "candidate_oracle_selected_branch_score": 0.5597781538963318, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ad10dacf462663ab68ad;ms-a073398629e6943ad1fb;ms-a44a2c9eee8baea5d29e;ms-7d81f3e8b6a42695871d;ms-a576ca39e26c4e1ab240;ms-6c39b520dca0a325535f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-15ef6ee70a8df3cfa578", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48635998368263245, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5549140572547913, + 0.5635251402854919, + 0.5661188364028931, + 0.5648126006126404 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.008611083030700684, + 0.011204779148101807, + 0.009898543357849121 + ], + "candidate_oracle_branch_scores": [ + 0.5549140572547913, + 0.5635251402854919, + 0.5661188364028931, + 0.5648126006126404 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.838181734085083, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.726474642753601, + -1.8193466663360596, + -1.838181734085083, + -1.8634936809539795 + ], + "candidate_oracle_progress": 0.5661188364028931, + "candidate_oracle_regret": 1.433881163597107, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5661188364028931, + "candidate_oracle_score_gain_over_selected": 0.011204779148101807, + "candidate_oracle_selected_branch_progress": 0.5549140572547913, + "candidate_oracle_selected_branch_score": 0.5549140572547913, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c2e07545267c612a022c;ms-8c8198e44eea32f98ca7;ms-8fa24da5c97dc1dad5c1;ms-6558f35ae2a2871a4bfd;ms-d988976b029886d18476;ms-739a89fb4521bc481a9f", + "expert_regret": 1.4450703263282776, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5e23219a8e2aadd039c7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4450703263282776, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5549296736717224, + "restore_error": 1.1920928955078125e-07, + "score": 0.5549296736717224, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3806837201118469, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.13780643045902252, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 24 + ], + "candidate_oracle_potentials": [ + -0.13780643045902252, + -0.13970039784908295, + -0.1728857010602951, + -0.840412974357605 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3f4967102c7b10057ab9;ms-a576ca39e26c4e1ab240;ms-6c39b520dca0a325535f;ms-7d81f3e8b6a42695871d;ms-dc2a8fa76e1ceb0d8925;ms-1735d1abca4a91293d78", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d26a60e383a2e822615a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46249574422836304, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.5875852108001709, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 0 + ], + "candidate_oracle_potentials": [ + 0.5875852108001709, + 0.5769273638725281, + 0.5586691498756409, + 0.44455158710479736 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6060f858cb9f93c5588;ms-5d430ebe6f7933dc6c8c;ms-570c074dbf28b5faae58;ms-a13ee9983c139d34fca8;ms-61ac2be70a9798adeda0;ms-39af5447d3c90872c25f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4ddda51b1c6809c3531d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4601514935493469, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5631970763206482, + 0.5643061399459839, + 0.5653858184814453, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0011090636253356934, + 0.002188742160797119, + 1.436802864074707 + ], + "candidate_oracle_branch_scores": [ + 0.5631970763206482, + 0.5643061399459839, + 0.5653858184814453, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.9470818042755127, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + -0.4484444260597229, + -0.4545477032661438, + -0.4919237494468689, + -0.9470818042755127 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.436802864074707, + "candidate_oracle_selected_branch_progress": 0.5631970763206482, + "candidate_oracle_selected_branch_score": 0.5631970763206482, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3f4967102c7b10057ab9;ms-eac0d7dd54b1e797fdbd;ms-a44a2c9eee8baea5d29e;ms-6c39b520dca0a325535f;ms-a576ca39e26c4e1ab240;ms-7d81f3e8b6a42695871d", + "expert_regret": 1.4368029236793518, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5e85dc3760eef8a53a67", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4368029236793518, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5631970763206482, + "restore_error": 1.1920928955078125e-07, + "score": 0.5631970763206482, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15676702558994293, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5662246942520142, + 0.5656015872955322, + 0.5648426413536072, + 0.5667288899421692 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0006231069564819336, + -0.0013820528984069824, + 0.0005041956901550293 + ], + "candidate_oracle_branch_scores": [ + 0.5662246942520142, + 0.5656015872955322, + 0.5648426413536072, + 0.5667288899421692 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.44324809312820435, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 0 + ], + "candidate_oracle_potentials": [ + -0.16615568101406097, + -0.24456427991390228, + -0.31920063495635986, + -0.44324809312820435 + ], + "candidate_oracle_progress": 0.5667288899421692, + "candidate_oracle_regret": 1.4332711100578308, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5667288899421692, + "candidate_oracle_score_gain_over_selected": 0.0005041956901550293, + "candidate_oracle_selected_branch_progress": 0.5662246942520142, + "candidate_oracle_selected_branch_score": 0.5662246942520142, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a44a2c9eee8baea5d29e;ms-6c39b520dca0a325535f;ms-7d81f3e8b6a42695871d;ms-a576ca39e26c4e1ab240;ms-fe54b45b549a55d45c0e;ms-a073398629e6943ad1fb", + "expert_regret": 1.4337743520736694, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-704fee4c9fb9941a26e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4337743520736694, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5662256479263306, + "restore_error": 1.1920928955078125e-07, + "score": 0.5662256479263306, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.719715416431427, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5567607879638672, + 0.5600902438163757, + 0.5563165545463562, + 0.5590241551399231 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.003329455852508545, + -0.00044423341751098633, + 0.002263367176055908 + ], + "candidate_oracle_branch_scores": [ + 0.5567607879638672, + 0.5600902438163757, + 0.5563165545463562, + 0.5590241551399231 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7002037763595581, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -0.6846784949302673, + -0.7002037763595581, + -0.7117558121681213, + -0.7183611392974854 + ], + "candidate_oracle_progress": 0.5600902438163757, + "candidate_oracle_regret": 1.4399097561836243, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5600902438163757, + "candidate_oracle_score_gain_over_selected": 0.003329455852508545, + "candidate_oracle_selected_branch_progress": 0.5567607879638672, + "candidate_oracle_selected_branch_score": 0.5567607879638672, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9b15f9c696a2661346cf;ms-bfda95ffffd5d1a2683a;ms-54f34c73458181a65e9a;ms-fbea3b8005a30431cb52;ms-8d94c7c692c91a962f25;ms-f4860c7945db15b54d2e", + "expert_regret": 1.4432373642921448, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-578e24198ed828a74485", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4432373642921448, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5567626357078552, + "restore_error": 1.1920928955078125e-07, + "score": 0.5567626357078552, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6487234234809875, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5676413178443909, + 0.5669691562652588, + 0.5662079453468323, + 0.5690662264823914 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0006721615791320801, + -0.0014333724975585938, + 0.0014249086380004883 + ], + "candidate_oracle_branch_scores": [ + 0.5676413178443909, + 0.5669691562652588, + 0.5662079453468323, + 0.5690662264823914 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.15850146114826202, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 4 + ], + "candidate_oracle_potentials": [ + 0.402167409658432, + 0.3894197940826416, + 0.3628556430339813, + 0.15850146114826202 + ], + "candidate_oracle_progress": 0.5690662264823914, + "candidate_oracle_regret": 1.4309337735176086, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5690662264823914, + "candidate_oracle_score_gain_over_selected": 0.0014249086380004883, + "candidate_oracle_selected_branch_progress": 0.5676413178443909, + "candidate_oracle_selected_branch_score": 0.5676413178443909, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-48d490ed21088bb5ba85;ms-28b1f1e4380d434605de;ms-e45b5de01eafae73e492;ms-36e8cb2e7f34f8dceb05;ms-d73a2a984d5829e884f9;ms-4177936dc3e043366181", + "expert_regret": 1.4321720004081726, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-910d27b58a0585327a27", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4321720004081726, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5678279995918274, + "restore_error": 1.1920928955078125e-07, + "score": 0.5678279995918274, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6174505352973938, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5722793340682983, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.4277206659317017, + 1.4277206659317017, + 1.4277206659317017 + ], + "candidate_oracle_branch_scores": [ + 0.5722793340682983, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.5811460614204407, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.5721517205238342, + -0.5811460614204407, + -0.5847591161727905, + -0.5886605381965637 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4277206659317017, + "candidate_oracle_selected_branch_progress": 0.5722793340682983, + "candidate_oracle_selected_branch_score": 0.5722793340682983, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d73a2a984d5829e884f9;ms-48d490ed21088bb5ba85;ms-00b9ad6a8fe73fccc6fc;ms-e45b5de01eafae73e492;ms-36e8cb2e7f34f8dceb05;ms-935ff204de9424ec00a2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8fcc78fba7b3bec0fab6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6457146406173706, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.557724118232727, + 0.5583931803703308, + 0.5582205057144165, + 0.5580447912216187 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0006690621376037598, + 0.0004963874816894531, + 0.00032067298889160156 + ], + "candidate_oracle_branch_scores": [ + 0.557724118232727, + 0.5583931803703308, + 0.5582205057144165, + 0.5580447912216187 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.2861173152923584, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.2836673259735107, + -1.2861173152923584, + -1.286407709121704, + -1.2867823839187622 + ], + "candidate_oracle_progress": 0.5583931803703308, + "candidate_oracle_regret": 1.4416068196296692, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5583931803703308, + "candidate_oracle_score_gain_over_selected": 0.0006690621376037598, + "candidate_oracle_selected_branch_progress": 0.557724118232727, + "candidate_oracle_selected_branch_score": 0.557724118232727, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f897cc2141a0a303fc6a;ms-d0e4bdc60ab8ea52a320;ms-f8c4e700a751537ebb16;ms-29f1abb869ff206a4d52;ms-6be8614a1bd50b974b95;ms-753929cfdc4aaa652b32", + "expert_regret": 1.442143440246582, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-348af0b70d3e679f40a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.442143440246582, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.557856559753418, + "restore_error": 1.1920928955078125e-07, + "score": 0.557856559753418, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.17921750247478485, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5604230761528015, + 0.5595563054084778, + 0.561285138130188, + 0.5558444857597351 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0008667707443237305, + 0.0008620619773864746, + -0.004578590393066406 + ], + "candidate_oracle_branch_scores": [ + 0.5604230761528015, + 0.5595563054084778, + 0.561285138130188, + 0.5558444857597351 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.13443797826766968, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 1 + ], + "candidate_oracle_potentials": [ + -0.10707667469978333, + -0.111480712890625, + -0.13443797826766968, + -0.348954439163208 + ], + "candidate_oracle_progress": 0.561285138130188, + "candidate_oracle_regret": 1.438714861869812, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.561285138130188, + "candidate_oracle_score_gain_over_selected": 0.0008620619773864746, + "candidate_oracle_selected_branch_progress": 0.5604230761528015, + "candidate_oracle_selected_branch_score": 0.5604230761528015, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dc2a8fa76e1ceb0d8925;ms-a576ca39e26c4e1ab240;ms-97140da7cf409922f6ce;ms-6c39b520dca0a325535f;ms-a10d8368c33b56390f77;ms-3f4967102c7b10057ab9", + "expert_regret": 1.4395776391029358, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-25839c690d85a4f5b986", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4395776391029358, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5604223608970642, + "restore_error": 1.1920928955078125e-07, + "score": 0.5604223608970642, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5813997983932495, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5722290873527527 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.4277708530426025 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5722290873527527 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.7541628479957581, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + -0.7541628479957581, + -0.7645558714866638, + -0.7749050259590149, + -0.8469368815422058 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6be8614a1bd50b974b95;ms-29f1abb869ff206a4d52;ms-f897cc2141a0a303fc6a;ms-d0e4bdc60ab8ea52a320;ms-f8c4e700a751537ebb16;ms-41c5500153912a1743de", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a0e07d6e4725342ffff2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.32118991017341614, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5642166137695312, + 0.562745988368988, + 0.5639071464538574, + 0.5621804594993591 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0014706254005432129, + -0.0003094673156738281, + -0.002036154270172119 + ], + "candidate_oracle_branch_scores": [ + 0.5642166137695312, + 0.562745988368988, + 0.5639071464538574, + 0.5621804594993591 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5574787259101868, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -0.5574787259101868, + -0.5868662595748901, + -0.5989301204681396, + -0.6354251503944397 + ], + "candidate_oracle_progress": 0.5642166137695312, + "candidate_oracle_regret": 1.4357833862304688, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5642166137695312, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5642166137695312, + "candidate_oracle_selected_branch_score": 0.5642166137695312, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6133ea5e61638487dd46;ms-a145b708d79b243da21f;ms-766b6fe7c08a3525ce94;ms-7241a1c25af41f4c0b5a;ms-5a7891a58bac94796178;ms-d6b2d805dc063382ade2", + "expert_regret": 1.4357833862304688, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d965f63e091a5d6dd6d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4357833862304688, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5642166137695312, + "restore_error": 1.1920928955078125e-07, + "score": 0.5642166137695312, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3025984764099121, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.4593912959098816, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.4593912959098816, + 0.4461755156517029, + 0.43711262941360474, + 0.42602792382240295 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-70342af6b601660d7c69;ms-c3a1cf0e424a4f065459;ms-6029bab18ae94b126d79;ms-2f846e9f31e2b8c4965f;ms-32b9c353a4890631f1bd;ms-2af09f91e05d19f7f181", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-64ab703e7a82799a47dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42750999331474304, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.535376787185669, + 0.5336586833000183, + 0.5330222249031067, + 0.5327848792076111 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0017181038856506348, + -0.002354562282562256, + -0.0025919079780578613 + ], + "candidate_oracle_branch_scores": [ + 0.535376787185669, + 0.5336586833000183, + 0.5330222249031067, + 0.5327848792076111 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3736461400985718, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.3736461400985718, + -1.379430890083313, + -1.6861002445220947, + -1.6873213052749634 + ], + "candidate_oracle_progress": 0.535376787185669, + "candidate_oracle_regret": 1.464623212814331, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.535376787185669, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.535376787185669, + "candidate_oracle_selected_branch_score": 0.535376787185669, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a73f46824bdbdfb96238;ms-7241a1c25af41f4c0b5a;ms-71452ba714a10880870b;ms-b570fe64df70560c8ab6;ms-478f754a15221314d15e;ms-766b6fe7c08a3525ce94", + "expert_regret": 1.4646225571632385, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4e395d53889980b05784", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4646225571632385, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5353774428367615, + "restore_error": 1.1920928955078125e-07, + "score": 0.5353774428367615, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.638757050037384, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.528509259223938, + 0.5257692933082581, + 0.5281434059143066, + 0.5271224975585938 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0027399659156799316, + -0.00036585330963134766, + -0.0013867616653442383 + ], + "candidate_oracle_branch_scores": [ + 0.528509259223938, + 0.5257692933082581, + 0.5281434059143066, + 0.5271224975585938 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3358640670776367, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -1.3358640670776367, + -1.3576022386550903, + -1.3780920505523682, + -1.390442967414856 + ], + "candidate_oracle_progress": 0.528509259223938, + "candidate_oracle_regret": 1.471490740776062, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.528509259223938, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.528509259223938, + "candidate_oracle_selected_branch_score": 0.528509259223938, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-59020093d2eeaf58aa84;ms-03ed7e57992354e27896;ms-fa62bbb3e8416561ed69;ms-ddb8f148dff1db91851f;ms-87f65c35c9d8b3ced6fc;ms-81729abe5d83a1ca280d", + "expert_regret": 1.4714482426643372, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dea17c1c383f54d05636", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4714482426643372, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5285517573356628, + "restore_error": 1.1920928955078125e-07, + "score": 0.5285517573356628, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6137809753417969, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.5407333970069885, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 33, + 17 + ], + "candidate_oracle_potentials": [ + 0.5407333970069885, + 0.5380793213844299, + 0.5023521780967712, + 0.5000844597816467 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d44f5bd2488ea182132b;ms-61ac2be70a9798adeda0;ms-3417f5f2f1470c61d0a8;ms-a6060f858cb9f93c5588;ms-68ab6033433b360464f8;ms-39af5447d3c90872c25f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-85eef30b36b044b33f60", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5205715298652649, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.09810556471347809, + 0.09899983555078506, + 0.5397979021072388, + 0.11472927778959274 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0008942708373069763, + 0.4416923522949219, + 0.016623713076114655 + ], + "candidate_oracle_branch_scores": [ + 0.09810556471347809, + 0.09899983555078506, + 0.5397979021072388, + 0.11472927778959274 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.6533234119415283, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 3 + ], + "candidate_oracle_potentials": [ + -1.5533276796340942, + -1.5770561695098877, + -1.6533234119415283, + -1.6617088317871094 + ], + "candidate_oracle_progress": 0.5397979021072388, + "candidate_oracle_regret": 1.4602020978927612, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5397979021072388, + "candidate_oracle_score_gain_over_selected": 0.4416923522949219, + "candidate_oracle_selected_branch_progress": 0.09810556471347809, + "candidate_oracle_selected_branch_score": 0.09810556471347809, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cea745484a24f376d7e8;ms-a1846ef1f00eb54e2d60;ms-4f190184d3920a0add8b;ms-4b970be37419ce0be0ae;ms-732d0515ed28df031b8e;ms-ddb8f148dff1db91851f", + "expert_regret": 1.9018943756818771, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e0b2e69a5ea0d0ad4fb5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9018943756818771, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09810562431812286, + "restore_error": 1.1920928955078125e-07, + "score": 0.09810562431812286, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3249506950378418, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.7008692026138306, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + 0.7008692026138306, + 0.6996133923530579, + 0.6981598138809204, + 0.6973005533218384 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d44f5bd2488ea182132b;ms-61ac2be70a9798adeda0;ms-570c074dbf28b5faae58;ms-935ff204de9424ec00a2;ms-a6060f858cb9f93c5588;ms-3417f5f2f1470c61d0a8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4d6099258a3a6e037aff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28000766038894653, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.03843348100781441, + 0.03660484775900841, + 0.03490983322262764, + 0.022232508286833763 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0018286332488059998, + -0.0035236477851867676, + -0.016200972720980644 + ], + "candidate_oracle_branch_scores": [ + 0.03843348100781441, + 0.03660484775900841, + 0.03490983322262764, + 0.022232508286833763 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.583405017852783, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 4 + ], + "candidate_oracle_potentials": [ + -2.583405017852783, + -2.6190216541290283, + -2.649233341217041, + -2.725025177001953 + ], + "candidate_oracle_progress": 0.03843348100781441, + "candidate_oracle_regret": 1.9615665189921856, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.03843348100781441, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.03843348100781441, + "candidate_oracle_selected_branch_score": 0.03843348100781441, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5415e349e8f9f2bce641;ms-a1d69e0b112064914357;ms-fd1c44c6d5d8f7f11451;ms-55c2bba961a327aa5260;ms-f682952c6ecb2b833c35;ms-e20f5d43f319248c5001", + "expert_regret": 0.5658462047576904, + "expert_score": 0.6042797565460205, + "expert_success": false, + "group_id": "ms-307f9067d5b66f55b3a6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.96156644821167, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03843355178833008, + "restore_error": 1.1920928955078125e-07, + "score": 0.03843355178833008, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5166043639183044, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.4288395345211029, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + -0.4288395345211029, + -0.4484105706214905, + -0.5843163728713989, + -0.6027238368988037 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2b3e081263ed25d45dc8;ms-41c5500153912a1743de;ms-f8c4e700a751537ebb16;ms-6be8614a1bd50b974b95;ms-d0e4bdc60ab8ea52a320;ms-2af09f91e05d19f7f181", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-774e954ffdc5da041261", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42053714394569397, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5464470982551575, + 0.5437246561050415, + 0.5409793853759766, + 0.5586066246032715 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002722442150115967, + -0.005467712879180908, + 0.012159526348114014 + ], + "candidate_oracle_branch_scores": [ + 0.5464470982551575, + 0.5437246561050415, + 0.5409793853759766, + 0.5586066246032715 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.8996214270591736, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 33 + ], + "candidate_oracle_potentials": [ + -0.6960000395774841, + -0.739818811416626, + -0.8028542399406433, + -0.8996214270591736 + ], + "candidate_oracle_progress": 0.5586066246032715, + "candidate_oracle_regret": 1.4413933753967285, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5586066246032715, + "candidate_oracle_score_gain_over_selected": 0.012159526348114014, + "candidate_oracle_selected_branch_progress": 0.5464470982551575, + "candidate_oracle_selected_branch_score": 0.5464470982551575, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1735d1abca4a91293d78;ms-97140da7cf409922f6ce;ms-a576ca39e26c4e1ab240;ms-bcfeba2af1e844c22aed;ms-a073398629e6943ad1fb;ms-7d81f3e8b6a42695871d", + "expert_regret": 1.4535558223724365, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b33f1d4ddb6a531d2a71", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4535558223724365, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5464441776275635, + "restore_error": 1.1920928955078125e-07, + "score": 0.5464441776275635, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.08168553560972214, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5524368286132812, + 0.5535006523132324, + 0.5536503195762634, + 0.553796112537384 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0010638236999511719, + 0.0012134909629821777, + 0.0013592839241027832 + ], + "candidate_oracle_branch_scores": [ + 0.5524368286132812, + 0.5535006523132324, + 0.5536503195762634, + 0.553796112537384 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.0228686835616827, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.05702976882457733, + 0.039371125400066376, + 0.03167644143104553, + 0.0228686835616827 + ], + "candidate_oracle_progress": 0.553796112537384, + "candidate_oracle_regret": 1.446203887462616, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.553796112537384, + "candidate_oracle_score_gain_over_selected": 0.0013592839241027832, + "candidate_oracle_selected_branch_progress": 0.5524368286132812, + "candidate_oracle_selected_branch_score": 0.5524368286132812, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3417f5f2f1470c61d0a8;ms-39af5447d3c90872c25f;ms-a13ee9983c139d34fca8;ms-a6060f858cb9f93c5588;ms-5d430ebe6f7933dc6c8c;ms-61ac2be70a9798adeda0", + "expert_regret": 1.4475629925727844, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ed419c64a6693cb8998b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4475629925727844, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5524370074272156, + "restore_error": 1.1920928955078125e-07, + "score": 0.5524370074272156, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6775413155555725, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5720943808555603, + 0.5728520750999451, + 0.5695217847824097, + 0.569168746471405 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0007576942443847656, + -0.0025725960731506348, + -0.0029256343841552734 + ], + "candidate_oracle_branch_scores": [ + 0.5720943808555603, + 0.5728520750999451, + 0.5695217847824097, + 0.569168746471405 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2161389589309692, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -1.2140394449234009, + -1.2161389589309692, + -1.3320550918579102, + -1.333253026008606 + ], + "candidate_oracle_progress": 0.5728520750999451, + "candidate_oracle_regret": 0.027130126953125, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5728520750999451, + "candidate_oracle_score_gain_over_selected": 0.0007576942443847656, + "candidate_oracle_selected_branch_progress": 0.5720943808555603, + "candidate_oracle_selected_branch_score": 0.5720943808555603, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2f846e9f31e2b8c4965f;ms-c3a1cf0e424a4f065459;ms-6029bab18ae94b126d79;ms-70342af6b601660d7c69;ms-f77305a344da6a4ccc84;ms-c70be4072fb4e49ac106", + "expert_regret": 0.028504490852355957, + "expert_score": 0.5999822020530701, + "expert_success": false, + "group_id": "ms-1b9f208b8780cb33b9a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.028504490852355957, + "oracle_score": 0.5999822020530701, + "oracle_success": false, + "progress": 0.5714777112007141, + "restore_error": 1.1920928955078125e-07, + "score": 0.5714777112007141, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6154652833938599, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.04459792375564575, + 0.5229267477989197, + 0.03745926544070244, + 0.03611872345209122 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.4783288240432739, + -0.007138658314943314, + -0.008479200303554535 + ], + "candidate_oracle_branch_scores": [ + 0.04459792375564575, + 0.5229267477989197, + 0.03745926544070244, + 0.03611872345209122 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.507594347000122, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 24 + ], + "candidate_oracle_potentials": [ + -1.4618945121765137, + -1.507594347000122, + -1.5324759483337402, + -1.5716726779937744 + ], + "candidate_oracle_progress": 0.5229267477989197, + "candidate_oracle_regret": 1.4770732522010803, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5229267477989197, + "candidate_oracle_score_gain_over_selected": 0.4783288240432739, + "candidate_oracle_selected_branch_progress": 0.04459792375564575, + "candidate_oracle_selected_branch_score": 0.04459792375564575, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fbea3b8005a30431cb52;ms-bfda95ffffd5d1a2683a;ms-9b15f9c696a2661346cf;ms-f4860c7945db15b54d2e;ms-54f34c73458181a65e9a;ms-8d94c7c692c91a962f25", + "expert_regret": 1.9558176286518574, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-80d5c509e83845ab1bc7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9558176286518574, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.044182371348142624, + "restore_error": 1.1920928955078125e-07, + "score": 0.044182371348142624, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3420701026916504, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.05799774080514908, + 0.055925916880369186, + 0.05397611856460571, + 0.04226909950375557 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002071823924779892, + -0.0040216222405433655, + -0.01572864130139351 + ], + "candidate_oracle_branch_scores": [ + 0.05799774080514908, + 0.055925916880369186, + 0.05397611856460571, + 0.04226909950375557 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.221855878829956, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 24 + ], + "candidate_oracle_potentials": [ + -2.221855878829956, + -2.2554233074188232, + -2.2922725677490234, + -2.426381826400757 + ], + "candidate_oracle_progress": 0.05799774080514908, + "candidate_oracle_regret": 1.942002259194851, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.05799774080514908, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.05799774080514908, + "candidate_oracle_selected_branch_score": 0.05799774080514908, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ac79bc3a841958ce127f;ms-cd340bca589f0cebd7da;ms-7651a7f31eae24958ef0;ms-8b98e8aa8ecee10bea27;ms-68e331088400739273da;ms-1f8e2d5d25706493821d", + "expert_regret": 1.942001461982727, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-578537600f7a649c2dd5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.942001461982727, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05799853801727295, + "restore_error": 1.1920928955078125e-07, + "score": 0.05799853801727295, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3961709439754486, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.3625596761703491, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + 0.3625596761703491, + 0.33788734674453735, + 0.1271599680185318, + 0.10224154591560364 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f897cc2141a0a303fc6a;ms-7670f25745871759e69e;ms-b786173f210fcaa65a6e;ms-6905c1d3bc8157697499;ms-c7156b26670838d40934;ms-b9e46b7345a63ded4397", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3a07c49566decfea04de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4069184362888336, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5617145299911499, + 0.5627570152282715, + 0.561673104763031, + 0.5601403713226318 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.001042485237121582, + -4.1425228118896484e-05, + -0.0015741586685180664 + ], + "candidate_oracle_branch_scores": [ + 0.5617145299911499, + 0.5627570152282715, + 0.561673104763031, + 0.5601403713226318 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.3015988767147064, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 3, + 4, + 1 + ], + "candidate_oracle_potentials": [ + -0.2798484265804291, + -0.3015988767147064, + -0.31248149275779724, + -0.3327890634536743 + ], + "candidate_oracle_progress": 0.5627570152282715, + "candidate_oracle_regret": 1.4372429847717285, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5627570152282715, + "candidate_oracle_score_gain_over_selected": 0.001042485237121582, + "candidate_oracle_selected_branch_progress": 0.5617145299911499, + "candidate_oracle_selected_branch_score": 0.5617145299911499, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d6b2d805dc063382ade2;ms-1309e1770b6ca6e71c7e;ms-4f833710c2706ee077af;ms-7cbbc5e7dc896a803efa;ms-98427ae2d94c1f85811a;ms-f5bae191ebad7c9f2687", + "expert_regret": 1.4382873177528381, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-295de2ad6c52ab50de1a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4382873177528381, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5617126822471619, + "restore_error": 1.1920928955078125e-07, + "score": 0.5617126822471619, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4008004069328308, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.7442111968994141, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 8 + ], + "candidate_oracle_potentials": [ + -0.7442111968994141, + -0.7449323534965515, + -0.7458183765411377, + -0.7489314079284668 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6be8614a1bd50b974b95;ms-f8c4e700a751537ebb16;ms-41c5500153912a1743de;ms-d0e4bdc60ab8ea52a320;ms-f897cc2141a0a303fc6a;ms-2b3e081263ed25d45dc8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ff3f17774184180998f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4823530614376068, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5263401865959167, + 0.5236894488334656, + 0.5225998163223267, + 0.5167784690856934 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002650737762451172, + -0.003740370273590088, + -0.009561717510223389 + ], + "candidate_oracle_branch_scores": [ + 0.5263401865959167, + 0.5236894488334656, + 0.5225998163223267, + 0.5167784690856934 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.1733496189117432, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -1.1733496189117432, + -1.1867526769638062, + -1.5564181804656982, + -1.5672515630722046 + ], + "candidate_oracle_progress": 0.5263401865959167, + "candidate_oracle_regret": 1.4736598134040833, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5263401865959167, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5263401865959167, + "candidate_oracle_selected_branch_score": 0.5263401865959167, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-81729abe5d83a1ca280d;ms-4f190184d3920a0add8b;ms-fa62bbb3e8416561ed69;ms-03ed7e57992354e27896;ms-59020093d2eeaf58aa84;ms-8e4755f1627d85c12bd8", + "expert_regret": 1.4736587405204773, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-59cc3cdf6918248d7f78", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4736587405204773, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5263412594795227, + "restore_error": 1.1920928955078125e-07, + "score": 0.5263412594795227, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14109881222248077, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.560543954372406, + 0.5607883334159851, + 0.5602996349334717, + 0.562417209148407 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00024437904357910156, + -0.00024431943893432617, + 0.0018732547760009766 + ], + "candidate_oracle_branch_scores": [ + 0.560543954372406, + 0.5607883334159851, + 0.5602996349334717, + 0.562417209148407 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.48937469720840454, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 17, + 1, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -0.4681881368160248, + -0.4683056175708771, + -0.4683956205844879, + -0.48937469720840454 + ], + "candidate_oracle_progress": 0.562417209148407, + "candidate_oracle_regret": 1.437582790851593, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.562417209148407, + "candidate_oracle_score_gain_over_selected": 0.0018732547760009766, + "candidate_oracle_selected_branch_progress": 0.560543954372406, + "candidate_oracle_selected_branch_score": 0.560543954372406, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-766b6fe7c08a3525ce94;ms-71452ba714a10880870b;ms-7241a1c25af41f4c0b5a;ms-5a7891a58bac94796178;ms-b570fe64df70560c8ab6;ms-6133ea5e61638487dd46", + "expert_regret": 1.439455807209015, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08858c7ba8d4a3357e05", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.439455807209015, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5605441927909851, + "restore_error": 1.1920928955078125e-07, + "score": 0.5605441927909851, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43580421805381775, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5518323183059692, + 0.548689067363739, + 0.5474758148193359, + 0.5505866408348083 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0031432509422302246, + -0.004356503486633301, + -0.0012456774711608887 + ], + "candidate_oracle_branch_scores": [ + 0.5518323183059692, + 0.548689067363739, + 0.5474758148193359, + 0.5505866408348083 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.978874683380127, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -0.978874683380127, + -0.9819061160087585, + -1.0548515319824219, + -1.060403823852539 + ], + "candidate_oracle_progress": 0.5518323183059692, + "candidate_oracle_regret": 1.4481676816940308, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.470348358154297e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5518323183059692, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5518323183059692, + "candidate_oracle_selected_branch_score": 0.5518323183059692, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-41c5500153912a1743de;ms-2b3e081263ed25d45dc8;ms-6be8614a1bd50b974b95;ms-f8c4e700a751537ebb16;ms-2af09f91e05d19f7f181;ms-2a67eea0b1293de9bcf9", + "expert_regret": 1.4481234550476074, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5b122bd43e749623ebe0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4481234550476074, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5518765449523926, + "restore_error": 1.7881393432617188e-07, + "score": 0.5518765449523926, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5255576968193054, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.1114056333899498, + 0.1100032851099968, + 0.09057267010211945, + 0.077859066426754 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.001402348279953003, + -0.020832963287830353, + -0.0335465669631958 + ], + "candidate_oracle_branch_scores": [ + 0.1114056333899498, + 0.1100032851099968, + 0.09057267010211945, + 0.077859066426754 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.0325582027435303, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 19, + 35, + 3, + 4 + ], + "candidate_oracle_potentials": [ + -2.0325582027435303, + -2.0326642990112305, + -2.032893419265747, + -2.089878559112549 + ], + "candidate_oracle_progress": 0.1114056333899498, + "candidate_oracle_regret": 1.8885943666100502, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.470348358154297e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.1114056333899498, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.1114056333899498, + "candidate_oracle_selected_branch_score": 0.1114056333899498, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5415e349e8f9f2bce641;ms-a1d69e0b112064914357;ms-fd1c44c6d5d8f7f11451;ms-55c2bba961a327aa5260;ms-f682952c6ecb2b833c35;ms-68e331088400739273da", + "expert_regret": 1.8896861523389816, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4d03463bb4536a28d67a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8896861523389816, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11031384766101837, + "restore_error": 1.7881393432617188e-07, + "score": 0.11031384766101837, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19955238699913025, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.554486870765686, + 0.5515236258506775, + 0.5479622483253479, + 0.554548978805542 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002963244915008545, + -0.006524622440338135, + 6.210803985595703e-05 + ], + "candidate_oracle_branch_scores": [ + 0.554486870765686, + 0.5515236258506775, + 0.5479622483253479, + 0.554548978805542 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.903924822807312, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 0 + ], + "candidate_oracle_potentials": [ + -0.13764509558677673, + -0.1891108751296997, + -0.32015615701675415, + -0.903924822807312 + ], + "candidate_oracle_progress": 0.554548978805542, + "candidate_oracle_regret": 1.445451021194458, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.470348358154297e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.554548978805542, + "candidate_oracle_score_gain_over_selected": 6.210803985595703e-05, + "candidate_oracle_selected_branch_progress": 0.554486870765686, + "candidate_oracle_selected_branch_score": 0.554486870765686, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-26e09c86be9068a34acf;ms-b570fe64df70560c8ab6;ms-3ea30989082ec714e12d;ms-766b6fe7c08a3525ce94;ms-6133ea5e61638487dd46;ms-a145b708d79b243da21f", + "expert_regret": 1.4452932476997375, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1abd8c7cc1c683f88d3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4452932476997375, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5547067523002625, + "restore_error": 1.7881393432617188e-07, + "score": 0.5547067523002625, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46809688210487366, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5525302290916443, + 0.5531054139137268, + 0.5467408895492554, + 0.5468602180480957 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0005751848220825195, + -0.005789339542388916, + -0.005670011043548584 + ], + "candidate_oracle_branch_scores": [ + 0.5525302290916443, + 0.5531054139137268, + 0.5467408895492554, + 0.5468602180480957 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.9111600518226624, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.9042787551879883, + -0.9111600518226624, + -0.9118794202804565, + -0.913375735282898 + ], + "candidate_oracle_progress": 0.5531054139137268, + "candidate_oracle_regret": 1.4468945860862732, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.470348358154297e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5531054139137268, + "candidate_oracle_score_gain_over_selected": 0.0005751848220825195, + "candidate_oracle_selected_branch_progress": 0.5525302290916443, + "candidate_oracle_selected_branch_score": 0.5525302290916443, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b570fe64df70560c8ab6;ms-26e09c86be9068a34acf;ms-766b6fe7c08a3525ce94;ms-6133ea5e61638487dd46;ms-a145b708d79b243da21f;ms-7241a1c25af41f4c0b5a", + "expert_regret": 1.4474704265594482, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b82cc8ce5d9d348ba6b4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4474704265594482, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5525295734405518, + "restore_error": 1.7881393432617188e-07, + "score": 0.5525295734405518, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5478781461715698, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.16826273500919342, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + 0.16826273500919342, + 0.15707167983055115, + 0.13751061260700226, + 0.11806175112724304 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.470348358154297e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f8c4e700a751537ebb16;ms-41c5500153912a1743de;ms-2b3e081263ed25d45dc8;ms-6be8614a1bd50b974b95;ms-d0e4bdc60ab8ea52a320;ms-f897cc2141a0a303fc6a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4d9cef437c77474dc62d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4954512417316437, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5683342814445496, + 0.5680313110351562, + 0.5677191615104675, + 0.5700718760490417 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00030297040939331055, + -0.0006151199340820312, + 0.0017375946044921875 + ], + "candidate_oracle_branch_scores": [ + 0.5683342814445496, + 0.5680313110351562, + 0.5677191615104675, + 0.5700718760490417 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9433764219284058, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 0 + ], + "candidate_oracle_potentials": [ + -0.9238162636756897, + -0.9266673922538757, + -0.9325669407844543, + -0.9433764219284058 + ], + "candidate_oracle_progress": 0.5700718760490417, + "candidate_oracle_regret": 1.4299281239509583, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.470348358154297e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5700718760490417, + "candidate_oracle_score_gain_over_selected": 0.0017375946044921875, + "candidate_oracle_selected_branch_progress": 0.5683342814445496, + "candidate_oracle_selected_branch_score": 0.5683342814445496, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6029bab18ae94b126d79;ms-c3a1cf0e424a4f065459;ms-2f846e9f31e2b8c4965f;ms-3aa864ead19c9cb9fb49;ms-95320371ce6b820c85f6;ms-70342af6b601660d7c69", + "expert_regret": 1.4316657185554504, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-99a5ffff5b73cf604b3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4316657185554504, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5683342814445496, + "restore_error": 1.7881393432617188e-07, + "score": 0.5683342814445496, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3296368420124054, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.4725472033023834, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.4725472033023834, + 0.47250062227249146, + 0.4036180377006531, + 0.3992859721183777 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.470348358154297e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-48d490ed21088bb5ba85;ms-28b1f1e4380d434605de;ms-bcc70292f404cd1c7f75;ms-11930c353a2b4fefab82;ms-36e8cb2e7f34f8dceb05;ms-d73a2a984d5829e884f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4a0ae3deadb8560fd315", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 1.0047197341918945, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.12703637778759003, + 0.12702463567256927, + 0.1270226538181305, + 0.12701788544654846 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.1742115020751953e-05, + -1.3723969459533691e-05, + -1.849234104156494e-05 + ], + "candidate_oracle_branch_scores": [ + 0.12703637778759003, + 0.12702463567256927, + 0.1270226538181305, + 0.12701788544654846 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.578959584236145, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -1.578959584236145, + -1.6213363409042358, + -1.6734634637832642, + -1.7709294557571411 + ], + "candidate_oracle_progress": 0.12703637778759003, + "candidate_oracle_regret": 1.87296362221241, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.470348358154297e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.12703637778759003, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.12703637778759003, + "candidate_oracle_selected_branch_score": 0.12703637778759003, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7670f25745871759e69e;ms-630663751ab841a96d5a;ms-b9e46b7345a63ded4397;ms-b786173f210fcaa65a6e;ms-c7156b26670838d40934;ms-706943f06888dd5bbb3a", + "expert_regret": 1.8729651421308517, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d8b4090565126a66d13e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8729651421308517, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.12703485786914825, + "restore_error": 1.7881393432617188e-07, + "score": 0.12703485786914825, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3522677421569824, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5436620116233826, + 0.5432508587837219, + 0.5437192916870117, + 0.5437740683555603 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00041115283966064453, + 5.728006362915039e-05, + 0.00011205673217773438 + ], + "candidate_oracle_branch_scores": [ + 0.5436620116233826, + 0.5432508587837219, + 0.5437192916870117, + 0.5437740683555603 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.743158757686615, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 0, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.7387725710868835, + -0.7389146089553833, + -0.74088054895401, + -0.743158757686615 + ], + "candidate_oracle_progress": 0.5437740683555603, + "candidate_oracle_regret": 1.4562259316444397, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5437740683555603, + "candidate_oracle_score_gain_over_selected": 0.00011205673217773438, + "candidate_oracle_selected_branch_progress": 0.5436620116233826, + "candidate_oracle_selected_branch_score": 0.5436620116233826, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-47a55ae1d3a858eed51c;ms-c9e31a19a776a861f9d7;ms-f77305a344da6a4ccc84;ms-2f846e9f31e2b8c4965f;ms-c151229bc1dd03ed2feb;ms-c70be4072fb4e49ac106", + "expert_regret": 1.4563272595405579, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-50f62a61a82a96061d9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4563272595405579, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5436727404594421, + "restore_error": 1.1920928955078125e-07, + "score": 0.5436727404594421, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7957794070243835, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.1411302089691162, + 0.13062503933906555, + 0.14051024615764618, + 0.13481275737285614 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.01050516963005066, + -0.0006199628114700317, + -0.006317451596260071 + ], + "candidate_oracle_branch_scores": [ + 0.1411302089691162, + 0.13062503933906555, + 0.14051024615764618, + 0.13481275737285614 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2843650579452515, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.2843650579452515, + -1.2876478433609009, + -1.3213616609573364, + -1.3804724216461182 + ], + "candidate_oracle_progress": 0.1411302089691162, + "candidate_oracle_regret": 1.8588697910308838, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.1411302089691162, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.1411302089691162, + "candidate_oracle_selected_branch_score": 0.1411302089691162, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-aaf1c4931e054f52623c;ms-a43a663a3c4b15ec3ac2;ms-b666f24369c548cd56ab;ms-c7f427f37d47501932e8;ms-4f833710c2706ee077af;ms-7cbbc5e7dc896a803efa", + "expert_regret": 1.8588686138391495, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-19e6e6e341aebb7ec693", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8588686138391495, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.14113138616085052, + "restore_error": 1.1920928955078125e-07, + "score": 0.14113138616085052, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4567162096500397, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.3809624910354614, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 40, + 24 + ], + "candidate_oracle_potentials": [ + 0.3809624910354614, + 0.34897908568382263, + 0.3189150094985962, + 0.31043317914009094 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6c39b520dca0a325535f;ms-a44a2c9eee8baea5d29e;ms-a576ca39e26c4e1ab240;ms-7d81f3e8b6a42695871d;ms-dc2a8fa76e1ceb0d8925;ms-97140da7cf409922f6ce", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a6b029a958e91306966a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5895603895187378, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.533810555934906, + 0.5361508727073669, + 0.5332369804382324, + 0.5355954170227051 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0023403167724609375, + -0.000573575496673584, + 0.0017848610877990723 + ], + "candidate_oracle_branch_scores": [ + 0.533810555934906, + 0.5361508727073669, + 0.5332369804382324, + 0.5355954170227051 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.4084759950637817, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 24, + 20, + 40, + 36 + ], + "candidate_oracle_potentials": [ + -1.401060938835144, + -1.4084759950637817, + -1.4283925294876099, + -1.4351953268051147 + ], + "candidate_oracle_progress": 0.5361508727073669, + "candidate_oracle_regret": 1.463849127292633, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5361508727073669, + "candidate_oracle_score_gain_over_selected": 0.0023403167724609375, + "candidate_oracle_selected_branch_progress": 0.533810555934906, + "candidate_oracle_selected_branch_score": 0.533810555934906, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-32b9c353a4890631f1bd;ms-c91cae30acaa8dc7a12b;ms-a01f0549a18d924d31c0;ms-a509a572b3871e591d26;ms-03ed7e57992354e27896;ms-fa62bbb3e8416561ed69", + "expert_regret": 1.4658478498458862, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d4c3c235768529c33843", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4658478498458862, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5341521501541138, + "restore_error": 1.1920928955078125e-07, + "score": 0.5341521501541138, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5269628167152405, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 1.0420787334442139, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + 1.0420787334442139, + 1.028870701789856, + 1.0058865547180176, + 0.5779203176498413 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3417f5f2f1470c61d0a8;ms-39af5447d3c90872c25f;ms-1924e52af208c9f66592;ms-61ac2be70a9798adeda0;ms-a6060f858cb9f93c5588;ms-d44f5bd2488ea182132b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f39e1d7a2d636e39a02f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.836146891117096, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4705120027065277, + 0.4680311381816864, + 0.46932196617126465, + 0.467097669839859 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0024808645248413086, + -0.0011900365352630615, + -0.003414332866668701 + ], + "candidate_oracle_branch_scores": [ + 0.4705120027065277, + 0.4680311381816864, + 0.46932196617126465, + 0.467097669839859 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.534036636352539, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -1.534036636352539, + -1.536633849143982, + -1.5758349895477295, + -1.5841495990753174 + ], + "candidate_oracle_progress": 0.4705120027065277, + "candidate_oracle_regret": 1.5294879972934723, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4705120027065277, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4705120027065277, + "candidate_oracle_selected_branch_score": 0.4705120027065277, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9184c93267b4bbfa4cae;ms-f3f6a1b34fdf35290a6c;ms-ec498d0c649d108513c3;ms-a202dd8923327af132da;ms-0a48fbd111be17b50be5;ms-478f754a15221314d15e", + "expert_regret": 1.5294879972934723, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b05147302972dfd7b450", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5294879972934723, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4705120027065277, + "restore_error": 1.1920928955078125e-07, + "score": 0.4705120027065277, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5104581713676453, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5328075885772705, + 0.08957665413618088, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.44323092699050903, + 1.4671924114227295, + 1.4671924114227295 + ], + "candidate_oracle_branch_scores": [ + 0.5328075885772705, + 0.08957665413618088, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.6691063046455383, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.5859934091567993, + -0.5911183953285217, + -0.6691063046455383, + -0.6705190539360046 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4671924114227295, + "candidate_oracle_selected_branch_progress": 0.5328075885772705, + "candidate_oracle_selected_branch_score": 0.5328075885772705, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-03ed7e57992354e27896;ms-59020093d2eeaf58aa84;ms-87f65c35c9d8b3ced6fc;ms-fa62bbb3e8416561ed69;ms-81729abe5d83a1ca280d;ms-ddb8f148dff1db91851f", + "expert_regret": 1.4671374559402466, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c2fde2d79cdf38555865", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4671374559402466, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5328625440597534, + "restore_error": 1.1920928955078125e-07, + "score": 0.5328625440597534, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.35831329226493835, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5649372935295105, + 0.5646006464958191, + 0.5641215443611145, + 0.5578570365905762 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00033664703369140625, + -0.0008157491683959961, + -0.007080256938934326 + ], + "candidate_oracle_branch_scores": [ + 0.5649372935295105, + 0.5646006464958191, + 0.5641215443611145, + 0.5578570365905762 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.07903122901916504, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + -0.07903122901916504, + -0.12262643873691559, + -0.17460693418979645, + -0.6206998229026794 + ], + "candidate_oracle_progress": 0.5649372935295105, + "candidate_oracle_regret": 1.4350627064704895, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5649372935295105, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5649372935295105, + "candidate_oracle_selected_branch_score": 0.5649372935295105, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3b4b0b8c60ad41bb16b0;ms-a3d0c460532de2d801ae;ms-bcc70292f404cd1c7f75;ms-9b4483fb034248fe882d;ms-2cc8c1975139989940f0;ms-d44f5bd2488ea182132b", + "expert_regret": 1.435063660144806, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1781d9c562b4425df7c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.435063660144806, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5649363398551941, + "restore_error": 1.1920928955078125e-07, + "score": 0.5649363398551941, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47428464889526367, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5721579790115356, + 0.5736981630325317, + 0.5752548575401306, + 0.5752676129341125 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0015401840209960938, + 0.0030968785285949707, + 0.0031096339225769043 + ], + "candidate_oracle_branch_scores": [ + 0.5721579790115356, + 0.5736981630325317, + 0.5752548575401306, + 0.5752676129341125 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9086049795150757, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 8 + ], + "candidate_oracle_potentials": [ + -0.9043756127357483, + -0.9053871631622314, + -0.9066994786262512, + -0.9086049795150757 + ], + "candidate_oracle_progress": 0.5752676129341125, + "candidate_oracle_regret": 1.4247323870658875, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5752676129341125, + "candidate_oracle_score_gain_over_selected": 0.0031096339225769043, + "candidate_oracle_selected_branch_progress": 0.5721579790115356, + "candidate_oracle_selected_branch_score": 0.5721579790115356, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ddb8f148dff1db91851f;ms-fa62bbb3e8416561ed69;ms-a509a572b3871e591d26;ms-03ed7e57992354e27896;ms-a1846ef1f00eb54e2d60;ms-a43a663a3c4b15ec3ac2", + "expert_regret": 1.4278424978256226, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-78da3efba7a739dcad14", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4278424978256226, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5721575021743774, + "restore_error": 1.1920928955078125e-07, + "score": 0.5721575021743774, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48920565843582153, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.06607778370380402, + 0.04402666166424751, + 0.056116748601198196, + 0.05264197662472725 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.022051122039556503, + -0.00996103510260582, + -0.013435807079076767 + ], + "candidate_oracle_branch_scores": [ + 0.06607778370380402, + 0.04402666166424751, + 0.056116748601198196, + 0.05264197662472725 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.0080509185791016, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -2.0080509185791016, + -2.0269525051116943, + -2.039874792098999, + -2.0867137908935547 + ], + "candidate_oracle_progress": 0.06607778370380402, + "candidate_oracle_regret": 0.5130369514226913, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.06607778370380402, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.06607778370380402, + "candidate_oracle_selected_branch_score": 0.06607778370380402, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cc0b33f92229d32bd84f;ms-18fb80871b8e11d1ae9a;ms-13557287cd450bc12c6f;ms-d988976b029886d18476;ms-739a89fb4521bc481a9f;ms-6558f35ae2a2871a4bfd", + "expert_regret": 0.5134725049138069, + "expert_score": 0.5791147351264954, + "expert_success": false, + "group_id": "ms-f763382872d8e89017c2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5134725049138069, + "oracle_score": 0.5791147351264954, + "oracle_success": false, + "progress": 0.06564223021268845, + "restore_error": 1.1920928955078125e-07, + "score": 0.06564223021268845, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4684101641178131, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5559839010238647, + 0.555827796459198, + 0.5535861849784851, + 0.5388435125350952 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00015610456466674805, + -0.0023977160453796387, + -0.01714038848876953 + ], + "candidate_oracle_branch_scores": [ + 0.5559839010238647, + 0.555827796459198, + 0.5535861849784851, + 0.5388435125350952 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.9728795289993286, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 8 + ], + "candidate_oracle_potentials": [ + -1.9728795289993286, + -1.9937206506729126, + -1.9947644472122192, + -2.105381965637207 + ], + "candidate_oracle_progress": 0.5559839010238647, + "candidate_oracle_regret": 1.4440160989761353, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5559839010238647, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5559839010238647, + "candidate_oracle_selected_branch_score": 0.5559839010238647, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13557287cd450bc12c6f;ms-cc0b33f92229d32bd84f;ms-18fb80871b8e11d1ae9a;ms-d988976b029886d18476;ms-6558f35ae2a2871a4bfd;ms-739a89fb4521bc481a9f", + "expert_regret": 1.4438673853874207, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c76158673d20b18c2622", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4438673853874207, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5561326146125793, + "restore_error": 1.1920928955078125e-07, + "score": 0.5561326146125793, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7101651430130005, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.5875478982925415, + 0.5887983441352844, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.4124521017074585, + -1.4112017154693604, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.5875478982925415, + 0.5887983441352844, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.3774994909763336, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.3774994909763336, + -0.3797752261161804, + -0.4860185384750366, + -0.4908207058906555 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-12a997dde50b7a7f35cb;ms-87f65c35c9d8b3ced6fc;ms-bfda95ffffd5d1a2683a;ms-9b15f9c696a2661346cf;ms-59020093d2eeaf58aa84;ms-03ed7e57992354e27896", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-982922e263d07c54c136", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4307476580142975, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.05093342438340187, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 20, + 4, + 8 + ], + "candidate_oracle_potentials": [ + 0.05093342438340187, + 0.04581690579652786, + -0.15399037301540375, + -0.15545544028282166 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c70be4072fb4e49ac106;ms-c5d026dffb39f2f1d38a;ms-2a67eea0b1293de9bcf9;ms-2b3e081263ed25d45dc8;ms-41c5500153912a1743de;ms-47a55ae1d3a858eed51c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b8276cb9b6cb9a9b302f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14244148135185242, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5566970705986023, + 0.5533761382102966, + 0.5528988838195801, + 0.5524227619171143 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.003320932388305664, + -0.003798186779022217, + -0.004274308681488037 + ], + "candidate_oracle_branch_scores": [ + 0.5566970705986023, + 0.5533761382102966, + 0.5528988838195801, + 0.5524227619171143 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.5838383436203003, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.5838383436203003, + -1.5955182313919067, + -1.598756194114685, + -1.6020458936691284 + ], + "candidate_oracle_progress": 0.5566970705986023, + "candidate_oracle_regret": 1.4433029294013977, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5566970705986023, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5566970705986023, + "candidate_oracle_selected_branch_score": 0.5566970705986023, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-478f754a15221314d15e;ms-3aa864ead19c9cb9fb49;ms-9184c93267b4bbfa4cae;ms-66cc354bbf4e8bdd1051;ms-95320371ce6b820c85f6;ms-a202dd8923327af132da", + "expert_regret": 1.4433029294013977, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61b1188974f35233b883", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4433029294013977, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5566970705986023, + "restore_error": 1.1920928955078125e-07, + "score": 0.5566970705986023, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2824219763278961, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.516433835029602, + 0.5149950385093689, + 0.5179553031921387, + 0.5048324465751648 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0014387965202331543, + 0.001521468162536621, + -0.011601388454437256 + ], + "candidate_oracle_branch_scores": [ + 0.516433835029602, + 0.5149950385093689, + 0.5179553031921387, + 0.5048324465751648 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.385323405265808, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 1 + ], + "candidate_oracle_potentials": [ + -1.3141616582870483, + -1.3314889669418335, + -1.385323405265808, + -1.5430582761764526 + ], + "candidate_oracle_progress": 0.5179553031921387, + "candidate_oracle_regret": 1.4820446968078613, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5179553031921387, + "candidate_oracle_score_gain_over_selected": 0.001521468162536621, + "candidate_oracle_selected_branch_progress": 0.516433835029602, + "candidate_oracle_selected_branch_score": 0.516433835029602, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7d81f3e8b6a42695871d;ms-a44a2c9eee8baea5d29e;ms-6c39b520dca0a325535f;ms-a576ca39e26c4e1ab240;ms-a073398629e6943ad1fb;ms-3f4967102c7b10057ab9", + "expert_regret": 1.4835672974586487, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-763c73c94818a090d358", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4835672974586487, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5164327025413513, + "restore_error": 1.1920928955078125e-07, + "score": 0.5164327025413513, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5617786645889282, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.007840610109269619, + 0.5086458325386047, + 0.047563280910253525, + 0.4959929883480072 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.5008051991462708, + 0.03972266986966133, + 0.4881523847579956 + ], + "candidate_oracle_branch_scores": [ + 0.007840610109269619, + 0.5086458325386047, + 0.047563280910253525, + 0.4959929883480072 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.7155160903930664, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.6920435428619385, + -1.7155160903930664, + -1.7165461778640747, + -1.7617403268814087 + ], + "candidate_oracle_progress": 0.5086458325386047, + "candidate_oracle_regret": 1.4913541674613953, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5086458325386047, + "candidate_oracle_score_gain_over_selected": 0.5008051991462708, + "candidate_oracle_selected_branch_progress": 0.007840610109269619, + "candidate_oracle_selected_branch_score": 0.007840610109269619, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13557287cd450bc12c6f;ms-cc0b33f92229d32bd84f;ms-18fb80871b8e11d1ae9a;ms-d988976b029886d18476;ms-6558f35ae2a2871a4bfd;ms-739a89fb4521bc481a9f", + "expert_regret": 1.992641234304756, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de066fc4200163ebd06b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.992641234304756, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.007358765695244074, + "restore_error": 1.1920928955078125e-07, + "score": 0.007358765695244074, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5839053988456726, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.028708862140774727, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 4, + 0, + 36 + ], + "candidate_oracle_potentials": [ + 0.028708862140774727, + 0.0035194691736251116, + -0.0012470036745071411, + -0.056701257824897766 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 3.948807716369629e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6905c1d3bc8157697499;ms-f897cc2141a0a303fc6a;ms-a43a663a3c4b15ec3ac2;ms-aaf1c4931e054f52623c;ms-4f833710c2706ee077af;ms-b666f24369c548cd56ab", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ae33e3afb57e61026d72", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5754587054252625, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5655670762062073, + 0.5652925372123718, + 0.5692293047904968, + 0.5691993832588196 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0002745389938354492, + 0.0036622285842895508, + 0.0036323070526123047 + ], + "candidate_oracle_branch_scores": [ + 0.5655670762062073, + 0.5652925372123718, + 0.5692293047904968, + 0.5691993832588196 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6244673132896423, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 4, + 36 + ], + "candidate_oracle_potentials": [ + -0.597324013710022, + -0.6166083812713623, + -0.6244673132896423, + -0.6347303986549377 + ], + "candidate_oracle_progress": 0.5692293047904968, + "candidate_oracle_regret": 1.4307706952095032, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 3.948807716369629e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5692293047904968, + "candidate_oracle_score_gain_over_selected": 0.0036622285842895508, + "candidate_oracle_selected_branch_progress": 0.5655670762062073, + "candidate_oracle_selected_branch_score": 0.5655670762062073, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c70be4072fb4e49ac106;ms-c5d026dffb39f2f1d38a;ms-c9e31a19a776a861f9d7;ms-47a55ae1d3a858eed51c;ms-c151229bc1dd03ed2feb;ms-2f846e9f31e2b8c4965f", + "expert_regret": 1.4340565204620361, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-479aa7d4248a0ebd94e1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4340565204620361, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5659434795379639, + "restore_error": 2.384185791015625e-07, + "score": 0.5659434795379639, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5521488189697266, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.4945131838321686, + 0.4937288463115692, + 0.4951253831386566, + 0.49445948004722595 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0007843375205993652, + 0.0006121993064880371, + -5.370378494262695e-05 + ], + "candidate_oracle_branch_scores": [ + 0.4945131838321686, + 0.4937288463115692, + 0.4951253831386566, + 0.49445948004722595 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.4364337921142578, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.4061540365219116, + -1.4122971296310425, + -1.4364337921142578, + -1.4383293390274048 + ], + "candidate_oracle_progress": 0.4951253831386566, + "candidate_oracle_regret": 1.5048746168613434, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 3.948807716369629e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4951253831386566, + "candidate_oracle_score_gain_over_selected": 0.0006121993064880371, + "candidate_oracle_selected_branch_progress": 0.4945131838321686, + "candidate_oracle_selected_branch_score": 0.4945131838321686, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cdd69b5acc8119e600c7;ms-625b5d55ca76cc565049;ms-81085eba1dd49b17ec9c;ms-d6b2d805dc063382ade2;ms-cafa65eeb953aff47f30;ms-87b44e6219279322a723", + "expert_regret": 1.5051916539669037, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7fa68a6085e0b973ce6b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5051916539669037, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4948083460330963, + "restore_error": 2.384185791015625e-07, + "score": 0.4948083460330963, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.16514696180820465, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5325457453727722, + 0.5326787233352661, + 0.5328099727630615, + 0.5315165519714355 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00013297796249389648, + 0.00026422739028930664, + -0.00102919340133667 + ], + "candidate_oracle_branch_scores": [ + 0.5325457453727722, + 0.5326787233352661, + 0.5328099727630615, + 0.5315165519714355 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.0745017528533936, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -1.0701488256454468, + -1.0720446109771729, + -1.0745017528533936, + -1.0856488943099976 + ], + "candidate_oracle_progress": 0.5328099727630615, + "candidate_oracle_regret": 1.4671900272369385, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 3.948807716369629e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5328099727630615, + "candidate_oracle_score_gain_over_selected": 0.00026422739028930664, + "candidate_oracle_selected_branch_progress": 0.5325457453727722, + "candidate_oracle_selected_branch_score": 0.5325457453727722, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-732819b0c220a4c06870;ms-fe54b45b549a55d45c0e;ms-53cfcc878e30fc078bba;ms-a44a2c9eee8baea5d29e;ms-6c39b520dca0a325535f;ms-a10d8368c33b56390f77", + "expert_regret": 1.4674535989761353, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b7800060cd4a8c3cb6b9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4674535989761353, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5325464010238647, + "restore_error": 2.384185791015625e-07, + "score": 0.5325464010238647, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8277649283409119, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5659769177436829, + 0.5667539834976196, + 0.5670404434204102, + 0.5497332811355591 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0007770657539367676, + 0.001063525676727295, + -0.01624363660812378 + ], + "candidate_oracle_branch_scores": [ + 0.5659769177436829, + 0.5667539834976196, + 0.5670404434204102, + 0.5497332811355591 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8095415234565735, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 40 + ], + "candidate_oracle_potentials": [ + -0.704967200756073, + -0.7222236394882202, + -0.8095415234565735, + -0.822664737701416 + ], + "candidate_oracle_progress": 0.5670404434204102, + "candidate_oracle_regret": 1.4329595565795898, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 3.948807716369629e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5670404434204102, + "candidate_oracle_score_gain_over_selected": 0.001063525676727295, + "candidate_oracle_selected_branch_progress": 0.5659769177436829, + "candidate_oracle_selected_branch_score": 0.5659769177436829, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a01f0549a18d924d31c0;ms-a43a663a3c4b15ec3ac2;ms-aaf1c4931e054f52623c;ms-b666f24369c548cd56ab;ms-c7f427f37d47501932e8;ms-4f833710c2706ee077af", + "expert_regret": 1.4340253472328186, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e4af96af7d344ec47a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4340253472328186, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5659746527671814, + "restore_error": 2.384185791015625e-07, + "score": 0.5659746527671814, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6030778884887695, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5629307627677917, + 0.5643102526664734, + 0.5624858140945435, + 0.5637551546096802 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0013794898986816406, + -0.000444948673248291, + 0.0008243918418884277 + ], + "candidate_oracle_branch_scores": [ + 0.5629307627677917, + 0.5643102526664734, + 0.5624858140945435, + 0.5637551546096802 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8770094513893127, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + -0.8742260932922363, + -0.8770094513893127, + -0.9369020462036133, + -0.9372413754463196 + ], + "candidate_oracle_progress": 0.5643102526664734, + "candidate_oracle_regret": 1.4356897473335266, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.948807716369629e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5643102526664734, + "candidate_oracle_score_gain_over_selected": 0.0013794898986816406, + "candidate_oracle_selected_branch_progress": 0.5629307627677917, + "candidate_oracle_selected_branch_score": 0.5629307627677917, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fa62bbb3e8416561ed69;ms-ddb8f148dff1db91851f;ms-03ed7e57992354e27896;ms-a509a572b3871e591d26;ms-59020093d2eeaf58aa84;ms-87f65c35c9d8b3ced6fc", + "expert_regret": 1.4370692372322083, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a2c5c9fd35d9fda5ce9e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4370692372322083, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5629307627677917, + "restore_error": 2.384185791015625e-07, + "score": 0.5629307627677917, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6166218519210815, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.00686335563659668, + 0.5332500338554382, + 0.010304892435669899, + 0.5351760983467102 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.5263866782188416, + 0.0034415367990732193, + 0.5283127427101135 + ], + "candidate_oracle_branch_scores": [ + 0.00686335563659668, + 0.5332500338554382, + 0.010304892435669899, + 0.5351760983467102 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3645802736282349, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + -1.2810505628585815, + -1.286361813545227, + -1.3640944957733154, + -1.3645802736282349 + ], + "candidate_oracle_progress": 0.5351760983467102, + "candidate_oracle_regret": 1.4648239016532898, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.948807716369629e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5351760983467102, + "candidate_oracle_score_gain_over_selected": 0.5283127427101135, + "candidate_oracle_selected_branch_progress": 0.00686335563659668, + "candidate_oracle_selected_branch_score": 0.00686335563659668, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ac79bc3a841958ce127f;ms-68e331088400739273da;ms-cd340bca589f0cebd7da;ms-7651a7f31eae24958ef0;ms-e20f5d43f319248c5001;ms-1f8e2d5d25706493821d", + "expert_regret": 1.993150436785072, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7fd4a05174dcc8eaff38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.993150436785072, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.006849563214927912, + "restore_error": 2.384185791015625e-07, + "score": 0.006849563214927912, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14219604432582855, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.26031437516212463, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + 0.26031437516212463, + 0.25861477851867676, + 0.25606071949005127, + 0.23839688301086426 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 3.948807716369629e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-81085eba1dd49b17ec9c;ms-09de52dad7e40970c938;ms-87b44e6219279322a723;ms-625b5d55ca76cc565049;ms-6133ea5e61638487dd46;ms-a145b708d79b243da21f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61068da67676a95e5065", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40803074836730957, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5257551074028015, + 0.5230266451835632, + 0.04013122245669365, + 0.06170773506164551 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0027284622192382812, + -0.48562389612197876, + -0.464047372341156 + ], + "candidate_oracle_branch_scores": [ + 0.5257551074028015, + 0.5230266451835632, + 0.04013122245669365, + 0.06170773506164551 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.282130718231201, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 35 + ], + "candidate_oracle_potentials": [ + -2.282130718231201, + -2.3748886585235596, + -2.4100522994995117, + -2.4161434173583984 + ], + "candidate_oracle_progress": 0.5257551074028015, + "candidate_oracle_regret": 1.4742448925971985, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.647299647331238e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5257551074028015, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5257551074028015, + "candidate_oracle_selected_branch_score": 0.5257551074028015, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1f8e2d5d25706493821d;ms-4b970be37419ce0be0ae;ms-8e4755f1627d85c12bd8;ms-f682952c6ecb2b833c35;ms-7651a7f31eae24958ef0;ms-732d0515ed28df031b8e", + "expert_regret": 1.474351942539215, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-351c397795d9af204ec6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.474351942539215, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5256480574607849, + "restore_error": 1.1920928955078125e-07, + "score": 0.5256480574607849, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4575536251068115, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5647568702697754, + 0.5650269985198975, + 0.5564290881156921, + 0.07670227438211441 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0002701282501220703, + -0.008327782154083252, + -0.4880546033382416 + ], + "candidate_oracle_branch_scores": [ + 0.5647568702697754, + 0.5650269985198975, + 0.5564290881156921, + 0.07670227438211441 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0789293050765991, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 8, + 20 + ], + "candidate_oracle_potentials": [ + -1.055927038192749, + -1.0789293050765991, + -1.0877705812454224, + -1.095467448234558 + ], + "candidate_oracle_progress": 0.5650269985198975, + "candidate_oracle_regret": 1.4349730014801025, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.647299647331238e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5650269985198975, + "candidate_oracle_score_gain_over_selected": 0.0002701282501220703, + "candidate_oracle_selected_branch_progress": 0.5647568702697754, + "candidate_oracle_selected_branch_score": 0.5647568702697754, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c7156b26670838d40934;ms-b786173f210fcaa65a6e;ms-7670f25745871759e69e;ms-b9e46b7345a63ded4397;ms-630663751ab841a96d5a;ms-706943f06888dd5bbb3a", + "expert_regret": 1.435107171535492, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-41279eb586ca5e587474", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.435107171535492, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5648928284645081, + "restore_error": 1.1920928955078125e-07, + "score": 0.5648928284645081, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6155914664268494, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.02609306573867798, + 0.5361852049827576, + 0.5318731665611267, + 0.026560092344880104 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.5100921392440796, + 0.5057801008224487, + 0.00046702660620212555 + ], + "candidate_oracle_branch_scores": [ + 0.02609306573867798, + 0.5361852049827576, + 0.5318731665611267, + 0.026560092344880104 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -3.0526974201202393, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 0, + 4, + 19 + ], + "candidate_oracle_potentials": [ + -3.051316499710083, + -3.0526974201202393, + -3.057344675064087, + -3.066594362258911 + ], + "candidate_oracle_progress": 0.5361852049827576, + "candidate_oracle_regret": 1.4638147950172424, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.647299647331238e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5361852049827576, + "candidate_oracle_score_gain_over_selected": 0.5100921392440796, + "candidate_oracle_selected_branch_progress": 0.02609306573867798, + "candidate_oracle_selected_branch_score": 0.02609306573867798, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9233eae706910c204b79;ms-fed4628b22c7e42e32d9;ms-706943f06888dd5bbb3a;ms-98427ae2d94c1f85811a;ms-f5bae191ebad7c9f2687;ms-630663751ab841a96d5a", + "expert_regret": 1.9739070180803537, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0915b75e9fd1468d464e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9739070180803537, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.026092981919646263, + "restore_error": 1.1920928955078125e-07, + "score": 0.026092981919646263, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42049461603164673, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.49496355652809143, + 0.49439239501953125, + 0.49416494369506836, + 0.4941304326057434 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0005711615085601807, + -0.0007986128330230713, + -0.0008331239223480225 + ], + "candidate_oracle_branch_scores": [ + 0.49496355652809143, + 0.49439239501953125, + 0.49416494369506836, + 0.4941304326057434 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3806123733520508, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.3806123733520508, + -1.3924989700317383, + -1.5233008861541748, + -1.52333664894104 + ], + "candidate_oracle_progress": 0.49496355652809143, + "candidate_oracle_regret": 1.5050364434719086, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.647299647331238e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.49496355652809143, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.49496355652809143, + "candidate_oracle_selected_branch_score": 0.49496355652809143, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9cf068e0d2896f655ad2;ms-81729abe5d83a1ca280d;ms-4f190184d3920a0add8b;ms-f88a44616a0985aac518;ms-a01f0549a18d924d31c0;ms-a1846ef1f00eb54e2d60", + "expert_regret": 1.5058653652668, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ffa71e2ef6c284477c5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5058653652668, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4941346347332001, + "restore_error": 1.1920928955078125e-07, + "score": 0.4941346347332001, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3995593190193176, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.6228176355361938, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 36, + 33 + ], + "candidate_oracle_potentials": [ + -0.6228176355361938, + -0.6251800060272217, + -0.6275628209114075, + -0.6280418634414673 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 4.647299647331238e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cafa65eeb953aff47f30;ms-d6b2d805dc063382ade2;ms-1309e1770b6ca6e71c7e;ms-cdd69b5acc8119e600c7;ms-6905c1d3bc8157697499;ms-c91cae30acaa8dc7a12b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-39450dbba738dbd8a764", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19107095897197723, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.556602418422699, + 0.5570515394210815, + 0.5571138262748718, + 0.5571701526641846 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00044912099838256836, + 0.0005114078521728516, + 0.0005677342414855957 + ], + "candidate_oracle_branch_scores": [ + 0.556602418422699, + 0.5570515394210815, + 0.5571138262748718, + 0.5571701526641846 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.903727114200592, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.8729037046432495, + -0.892388641834259, + -0.8979313373565674, + -0.903727114200592 + ], + "candidate_oracle_progress": 0.5571701526641846, + "candidate_oracle_regret": 1.4428298473358154, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.647299647331238e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5571701526641846, + "candidate_oracle_score_gain_over_selected": 0.0005677342414855957, + "candidate_oracle_selected_branch_progress": 0.556602418422699, + "candidate_oracle_selected_branch_score": 0.556602418422699, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6029bab18ae94b126d79;ms-bb60defa0d234da9e0bc;ms-f77305a344da6a4ccc84;ms-2f846e9f31e2b8c4965f;ms-95320371ce6b820c85f6;ms-c3a1cf0e424a4f065459", + "expert_regret": 1.443397581577301, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2ee00a97b477ba241dba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.443397581577301, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.556602418422699, + "restore_error": 1.1920928955078125e-07, + "score": 0.556602418422699, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41095274686813354, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5646942853927612, + 0.5657809376716614, + 0.5649881362915039, + 0.5638073086738586 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0010866522789001465, + 0.0002938508987426758, + -0.0008869767189025879 + ], + "candidate_oracle_branch_scores": [ + 0.5646942853927612, + 0.5657809376716614, + 0.5649881362915039, + 0.5638073086738586 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.5796610116958618, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 40, + 36 + ], + "candidate_oracle_potentials": [ + -1.5796054601669312, + -1.5796610116958618, + -1.6064437627792358, + -1.6072627305984497 + ], + "candidate_oracle_progress": 0.5657809376716614, + "candidate_oracle_regret": 1.4342190623283386, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 4.647299647331238e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5657809376716614, + "candidate_oracle_score_gain_over_selected": 0.0010866522789001465, + "candidate_oracle_selected_branch_progress": 0.5646942853927612, + "candidate_oracle_selected_branch_score": 0.5646942853927612, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c5d026dffb39f2f1d38a;ms-c70be4072fb4e49ac106;ms-c1ac63fb3644e3a2ae06;ms-c151229bc1dd03ed2feb;ms-c9e31a19a776a861f9d7;ms-47a55ae1d3a858eed51c", + "expert_regret": 1.4353060722351074, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-99ecd2226d7187416316", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4353060722351074, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5646939277648926, + "restore_error": 1.1920928955078125e-07, + "score": 0.5646939277648926, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.27749624848365784, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.9462817907333374, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.9462817907333374, + 0.937122642993927, + 0.9307827949523926, + 0.9230472445487976 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.647299647331238e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2f846e9f31e2b8c4965f;ms-867fd9318b2445dcefb5;ms-47a55ae1d3a858eed51c;ms-c151229bc1dd03ed2feb;ms-53cfcc878e30fc078bba;ms-f77305a344da6a4ccc84", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-38841d5926ac5f2467e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4076244831085205, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.025130856782197952, + 0.5205700993537903, + 0.5087822675704956, + 0.5230826735496521 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.49543923139572144, + 0.48365139961242676, + 0.49795180559158325 + ], + "candidate_oracle_branch_scores": [ + 0.025130856782197952, + 0.5205700993537903, + 0.5087822675704956, + 0.5230826735496521 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.2764222621917725, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -2.153247117996216, + -2.1618731021881104, + -2.2526445388793945, + -2.2764222621917725 + ], + "candidate_oracle_progress": 0.5230826735496521, + "candidate_oracle_regret": 1.476917326450348, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5230826735496521, + "candidate_oracle_score_gain_over_selected": 0.49795180559158325, + "candidate_oracle_selected_branch_progress": 0.025130856782197952, + "candidate_oracle_selected_branch_score": 0.025130856782197952, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cea745484a24f376d7e8;ms-732d0515ed28df031b8e;ms-a1846ef1f00eb54e2d60;ms-4f190184d3920a0add8b;ms-4b970be37419ce0be0ae;ms-f682952c6ecb2b833c35", + "expert_regret": 1.9748836755752563, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2259a78b2187e22f9f37", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9748836755752563, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.025116324424743652, + "restore_error": 1.1920928955078125e-07, + "score": 0.025116324424743652, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7518478035926819, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5534271597862244, + 0.5525898933410645, + 0.5536209940910339, + 0.553686261177063 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0008372664451599121, + 0.0001938343048095703, + 0.00025910139083862305 + ], + "candidate_oracle_branch_scores": [ + 0.5534271597862244, + 0.5525898933410645, + 0.5536209940910339, + 0.553686261177063 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6887765526771545, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 8 + ], + "candidate_oracle_potentials": [ + -0.6723755598068237, + -0.6774553060531616, + -0.6857398748397827, + -0.6887765526771545 + ], + "candidate_oracle_progress": 0.553686261177063, + "candidate_oracle_regret": 1.446313738822937, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.553686261177063, + "candidate_oracle_score_gain_over_selected": 0.00025910139083862305, + "candidate_oracle_selected_branch_progress": 0.5534271597862244, + "candidate_oracle_selected_branch_score": 0.5534271597862244, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-12a997dde50b7a7f35cb;ms-87f65c35c9d8b3ced6fc;ms-59020093d2eeaf58aa84;ms-03ed7e57992354e27896;ms-0cc80a2933abf1b4853f;ms-bfda95ffffd5d1a2683a", + "expert_regret": 1.4468133449554443, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-60a28a9b282e7586d4d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4468133449554443, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5531866550445557, + "restore_error": 1.1920928955078125e-07, + "score": 0.5531866550445557, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.31303855776786804, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.6002559065818787, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + 0.6002559065818787, + 0.5953930020332336, + 0.5869172215461731, + 0.37786391377449036 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d0e4bdc60ab8ea52a320;ms-eb16021deb5d03f15c9d;ms-753929cfdc4aaa652b32;ms-023e021f079a8774c741;ms-f897cc2141a0a303fc6a;ms-f8c4e700a751537ebb16", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-44252df6095f31d8b26e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6911198496818542, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5605567693710327, + 0.5608084797859192, + 0.5607616305351257, + 0.560693085193634 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0002517104148864746, + 0.00020486116409301758, + 0.00013631582260131836 + ], + "candidate_oracle_branch_scores": [ + 0.5605567693710327, + 0.5608084797859192, + 0.5607616305351257, + 0.560693085193634 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7769067287445068, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 0, + 4, + 20 + ], + "candidate_oracle_potentials": [ + -0.7764219641685486, + -0.7769067287445068, + -0.7791057229042053, + -0.7802508473396301 + ], + "candidate_oracle_progress": 0.5608084797859192, + "candidate_oracle_regret": 1.4391915202140808, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5608084797859192, + "candidate_oracle_score_gain_over_selected": 0.0002517104148864746, + "candidate_oracle_selected_branch_progress": 0.5605567693710327, + "candidate_oracle_selected_branch_score": 0.5605567693710327, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7670f25745871759e69e;ms-630663751ab841a96d5a;ms-b9e46b7345a63ded4397;ms-b786173f210fcaa65a6e;ms-c7156b26670838d40934;ms-706943f06888dd5bbb3a", + "expert_regret": 1.4394438862800598, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbcca760f5e16aa5c776", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4394438862800598, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5605561137199402, + "restore_error": 1.1920928955078125e-07, + "score": 0.5605561137199402, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22794601321220398, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.2786642014980316, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 0, + 1 + ], + "candidate_oracle_potentials": [ + 0.2786642014980316, + 0.25747567415237427, + 0.24202778935432434, + 0.23100459575653076 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-023e021f079a8774c741;ms-eb16021deb5d03f15c9d;ms-753929cfdc4aaa652b32;ms-ed7b02bc8f37b8524a56;ms-29f1abb869ff206a4d52;ms-3d095a49ed03de972849", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-561f4f913d7b4991d81a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4373328685760498, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5576609373092651, + 0.5543460845947266, + 0.5550007820129395, + 0.5579284429550171 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0033148527145385742, + -0.0026601552963256836, + 0.0002675056457519531 + ], + "candidate_oracle_branch_scores": [ + 0.5576609373092651, + 0.5543460845947266, + 0.5550007820129395, + 0.5579284429550171 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.281341552734375, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 8, + 4 + ], + "candidate_oracle_potentials": [ + -1.2483772039413452, + -1.2484151124954224, + -1.2782180309295654, + -1.281341552734375 + ], + "candidate_oracle_progress": 0.5579284429550171, + "candidate_oracle_regret": 1.442071557044983, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5579284429550171, + "candidate_oracle_score_gain_over_selected": 0.0002675056457519531, + "candidate_oracle_selected_branch_progress": 0.5576609373092651, + "candidate_oracle_selected_branch_score": 0.5576609373092651, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c91cae30acaa8dc7a12b;ms-cdd69b5acc8119e600c7;ms-cea745484a24f376d7e8;ms-a1846ef1f00eb54e2d60;ms-ddb8f148dff1db91851f;ms-fa62bbb3e8416561ed69", + "expert_regret": 1.4423390626907349, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d69b907e65875420bab7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4423390626907349, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5576609373092651, + "restore_error": 1.1920928955078125e-07, + "score": 0.5576609373092651, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5756310820579529, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.556062638759613, + 0.5561014413833618, + 0.5543927550315857, + 0.5541343688964844 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 3.88026237487793e-05, + -0.0016698837280273438, + -0.0019282698631286621 + ], + "candidate_oracle_branch_scores": [ + 0.556062638759613, + 0.5561014413833618, + 0.5543927550315857, + 0.5541343688964844 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9746190309524536, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.9730473756790161, + -0.9746190309524536, + -0.9757049083709717, + -0.9777096509933472 + ], + "candidate_oracle_progress": 0.5561014413833618, + "candidate_oracle_regret": 1.4438985586166382, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5561014413833618, + "candidate_oracle_score_gain_over_selected": 3.88026237487793e-05, + "candidate_oracle_selected_branch_progress": 0.556062638759613, + "candidate_oracle_selected_branch_score": 0.556062638759613, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c70be4072fb4e49ac106;ms-28d5618562729c763eb6;ms-c5d026dffb39f2f1d38a;ms-c1ac63fb3644e3a2ae06;ms-bc30ca6b7675f4de5041;ms-c151229bc1dd03ed2feb", + "expert_regret": 1.4439358115196228, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ffba357213945be5f9f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4439358115196228, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5560641884803772, + "restore_error": 1.1920928955078125e-07, + "score": 0.5560641884803772, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7514535188674927, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5482084155082703, + 0.5497749447822571, + 0.547768771648407, + 0.5472822189331055 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0015665292739868164, + -0.00043964385986328125, + -0.0009261965751647949 + ], + "candidate_oracle_branch_scores": [ + 0.5482084155082703, + 0.5497749447822571, + 0.547768771648407, + 0.5472822189331055 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.4987785220146179, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 4 + ], + "candidate_oracle_potentials": [ + -0.48345038294792175, + -0.4987785220146179, + -0.6648253202438354, + -0.6750743389129639 + ], + "candidate_oracle_progress": 0.5497749447822571, + "candidate_oracle_regret": 1.450225055217743, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5497749447822571, + "candidate_oracle_score_gain_over_selected": 0.0015665292739868164, + "candidate_oracle_selected_branch_progress": 0.5482084155082703, + "candidate_oracle_selected_branch_score": 0.5482084155082703, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6be8614a1bd50b974b95;ms-f897cc2141a0a303fc6a;ms-41c5500153912a1743de;ms-d0e4bdc60ab8ea52a320;ms-f8c4e700a751537ebb16;ms-29f1abb869ff206a4d52", + "expert_regret": 1.4517918825149536, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-43ce9f798efb923a120c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4517918825149536, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5482081174850464, + "restore_error": 1.1920928955078125e-07, + "score": 0.5482081174850464, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48379653692245483, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.19289568066596985, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 24 + ], + "candidate_oracle_potentials": [ + 0.19289568066596985, + 0.1907840520143509, + 0.1877726912498474, + 0.17684735357761383 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f8c4e700a751537ebb16;ms-2a67eea0b1293de9bcf9;ms-41c5500153912a1743de;ms-2b3e081263ed25d45dc8;ms-c9e31a19a776a861f9d7;ms-47a55ae1d3a858eed51c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a3a13ba6243be437d674", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.05048118904232979, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.55286705493927, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.55286705493927, + -0.5770127177238464, + -0.5845090746879578, + -0.5925750136375427 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6029bab18ae94b126d79;ms-2f846e9f31e2b8c4965f;ms-f77305a344da6a4ccc84;ms-c3a1cf0e424a4f065459;ms-70342af6b601660d7c69;ms-867fd9318b2445dcefb5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b40ee5a75332685d5cec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5216579437255859, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.08401638269424438, + 0.08182301372289658, + 0.07952109724283218, + 0.06176122650504112 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002193368971347809, + -0.004495285451412201, + -0.022255156189203262 + ], + "candidate_oracle_branch_scores": [ + 0.08401638269424438, + 0.08182301372289658, + 0.07952109724283218, + 0.06176122650504112 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.039365768432617, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 4 + ], + "candidate_oracle_potentials": [ + -2.039365768432617, + -2.053658962249756, + -2.0689423084259033, + -2.220108985900879 + ], + "candidate_oracle_progress": 0.08401638269424438, + "candidate_oracle_regret": 0.5154816508293152, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.08401638269424438, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.08401638269424438, + "candidate_oracle_selected_branch_score": 0.08401638269424438, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fd1c44c6d5d8f7f11451;ms-55c2bba961a327aa5260;ms-e20f5d43f319248c5001;ms-68e331088400739273da;ms-5415e349e8f9f2bce641;ms-8b98e8aa8ecee10bea27", + "expert_regret": 0.5154809132218361, + "expert_score": 0.5994980335235596, + "expert_success": false, + "group_id": "ms-9ffeb1600c04f08bdfcb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5154809132218361, + "oracle_score": 0.5994980335235596, + "oracle_success": false, + "progress": 0.08401712030172348, + "restore_error": 1.1920928955078125e-07, + "score": 0.08401712030172348, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4370751976966858, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.4503684639930725, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.4503684639930725, + 0.42576244473457336, + 0.4248487651348114, + 0.4234398901462555 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8b73e5dfa1f2a01e6017;ms-5daa8575a80e98a83170;ms-570c074dbf28b5faae58;ms-935ff204de9424ec00a2;ms-dfc737e32df79e1fc429;ms-d73a2a984d5829e884f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f1fb6cdb836269adb2cc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4512476325035095, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5533647537231445, + 0.5527043342590332, + 0.5517116785049438, + 0.09099302440881729 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0006604194641113281, + -0.0016530752182006836, + -0.46237173676490784 + ], + "candidate_oracle_branch_scores": [ + 0.5533647537231445, + 0.5527043342590332, + 0.5517116785049438, + 0.09099302440881729 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.5683856010437012, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.5683856010437012, + -1.606165885925293, + -1.6277633905410767, + -1.661306381225586 + ], + "candidate_oracle_progress": 0.5533647537231445, + "candidate_oracle_regret": 1.4466352462768555, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5533647537231445, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5533647537231445, + "candidate_oracle_selected_branch_score": 0.5533647537231445, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c7f427f37d47501932e8;ms-b666f24369c548cd56ab;ms-a43a663a3c4b15ec3ac2;ms-aaf1c4931e054f52623c;ms-4f833710c2706ee077af;ms-7cbbc5e7dc896a803efa", + "expert_regret": 1.4466351866722107, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5e621c9ae7bcca8e596", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4466351866722107, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5533648133277893, + "restore_error": 1.1920928955078125e-07, + "score": 0.5533648133277893, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3054101765155792, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5401201844215393, + 0.5388781428337097, + 0.5375789999961853, + 0.5304352045059204 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0012420415878295898, + -0.002541184425354004, + -0.009684979915618896 + ], + "candidate_oracle_branch_scores": [ + 0.5401201844215393, + 0.5388781428337097, + 0.5375789999961853, + 0.5304352045059204 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.1524925231933594, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + -1.1524925231933594, + -1.2123098373413086, + -1.2744219303131104, + -1.3480949401855469 + ], + "candidate_oracle_progress": 0.5401201844215393, + "candidate_oracle_regret": 1.4598798155784607, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5401201844215393, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5401201844215393, + "candidate_oracle_selected_branch_score": 0.5401201844215393, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cafa65eeb953aff47f30;ms-ed7b02bc8f37b8524a56;ms-a13ee9983c139d34fca8;ms-3d095a49ed03de972849;ms-023e021f079a8774c741;ms-eb16021deb5d03f15c9d", + "expert_regret": 1.4598798155784607, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b5b5e5f9237c41e0fe9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4598798155784607, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5401201844215393, + "restore_error": 1.1920928955078125e-07, + "score": 0.5401201844215393, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4082106053829193, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5653711557388306, + 0.5653120875358582, + 0.5652534365653992, + 0.5623106360435486 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -5.906820297241211e-05, + -0.00011771917343139648, + -0.0030605196952819824 + ], + "candidate_oracle_branch_scores": [ + 0.5653711557388306, + 0.5653120875358582, + 0.5652534365653992, + 0.5623106360435486 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.3463587760925293, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 24 + ], + "candidate_oracle_potentials": [ + -1.3463587760925293, + -1.346967101097107, + -1.3476552963256836, + -1.3489327430725098 + ], + "candidate_oracle_progress": 0.5653711557388306, + "candidate_oracle_regret": 1.4346288442611694, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5653711557388306, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5653711557388306, + "candidate_oracle_selected_branch_score": 0.5653711557388306, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-49219cb8ed7dad70c897;ms-c3a1cf0e424a4f065459;ms-95320371ce6b820c85f6;ms-f88a44616a0985aac518;ms-3aa864ead19c9cb9fb49;ms-6029bab18ae94b126d79", + "expert_regret": 1.4346292614936829, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7de8743758ec505a3294", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4346292614936829, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5653707385063171, + "restore_error": 1.1920928955078125e-07, + "score": 0.5653707385063171, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20174165070056915, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5599793195724487, + 0.5532860159873962, + 0.5526294708251953, + 0.5525346398353577 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00669330358505249, + -0.007349848747253418, + -0.0074446797370910645 + ], + "candidate_oracle_branch_scores": [ + 0.5599793195724487, + 0.5532860159873962, + 0.5526294708251953, + 0.5525346398353577 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.3031141757965088, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 0, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.3031141757965088, + -0.39028632640838623, + -0.40131083130836487, + -0.4082401692867279 + ], + "candidate_oracle_progress": 0.5599793195724487, + "candidate_oracle_regret": 1.4400206804275513, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5599793195724487, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5599793195724487, + "candidate_oracle_selected_branch_score": 0.5599793195724487, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2f846e9f31e2b8c4965f;ms-867fd9318b2445dcefb5;ms-6029bab18ae94b126d79;ms-f77305a344da6a4ccc84;ms-bb60defa0d234da9e0bc;ms-c3a1cf0e424a4f065459", + "expert_regret": 1.4400212168693542, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-82e28eb350e21d43d3eb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4400212168693542, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5599787831306458, + "restore_error": 1.1920928955078125e-07, + "score": 0.5599787831306458, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3658203184604645, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5621111392974854, + 0.5620641112327576, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -4.70280647277832e-05, + 1.4378888607025146, + 1.4378888607025146 + ], + "candidate_oracle_branch_scores": [ + 0.5621111392974854, + 0.5620641112327576, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.1444897651672363, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 35, + 19 + ], + "candidate_oracle_potentials": [ + -0.7463114857673645, + -0.7507985234260559, + -1.1444897651672363, + -1.192407488822937 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4378888607025146, + "candidate_oracle_selected_branch_progress": 0.5621111392974854, + "candidate_oracle_selected_branch_score": 0.5621111392974854, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cafa65eeb953aff47f30;ms-ed7b02bc8f37b8524a56;ms-d6b2d805dc063382ade2;ms-87b44e6219279322a723;ms-753929cfdc4aaa652b32;ms-eb16021deb5d03f15c9d", + "expert_regret": 1.4379408955574036, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-351844f358ea7564d27d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4379408955574036, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5620591044425964, + "restore_error": 1.1920928955078125e-07, + "score": 0.5620591044425964, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7107623219490051, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5128581523895264, + 0.5179325342178345, + 0.5113256573677063, + 0.5197224020957947 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0050743818283081055, + -0.0015324950218200684, + 0.0068642497062683105 + ], + "candidate_oracle_branch_scores": [ + 0.5128581523895264, + 0.5179325342178345, + 0.5113256573677063, + 0.5197224020957947 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.099942922592163, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 4 + ], + "candidate_oracle_potentials": [ + -1.0770823955535889, + -1.0929837226867676, + -1.094295859336853, + -1.099942922592163 + ], + "candidate_oracle_progress": 0.5197224020957947, + "candidate_oracle_regret": 1.4802775979042053, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5197224020957947, + "candidate_oracle_score_gain_over_selected": 0.0068642497062683105, + "candidate_oracle_selected_branch_progress": 0.5128581523895264, + "candidate_oracle_selected_branch_score": 0.5128581523895264, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fffe378a3bad31bbed52;ms-9184c93267b4bbfa4cae;ms-a202dd8923327af132da;ms-f3f6a1b34fdf35290a6c;ms-0a48fbd111be17b50be5;ms-478f754a15221314d15e", + "expert_regret": 1.487142264842987, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f4fd59b4d1bce2d6b6a4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.487142264842987, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5128577351570129, + "restore_error": 1.1920928955078125e-07, + "score": 0.5128577351570129, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5028616786003113, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.2930532395839691, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.2930532395839691, + -0.31232312321662903, + -0.36242830753326416, + -0.4111429452896118 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-00b9ad6a8fe73fccc6fc;ms-9e1f3c14116ebca6164d;ms-9af03b651b5e36ac2ae3;ms-e45b5de01eafae73e492;ms-36e8cb2e7f34f8dceb05;ms-c78721d9c4196a9e8ec5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10f4c68dcad8285f4acd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.49417251348495483, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.01905759796500206, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + 0.01905759796500206, + -0.07718032598495483, + -0.1963992416858673, + -1.1029362678527832 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fe54b45b549a55d45c0e;ms-6c39b520dca0a325535f;ms-a44a2c9eee8baea5d29e;ms-dc2a8fa76e1ceb0d8925;ms-a10d8368c33b56390f77;ms-732819b0c220a4c06870", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b90d7926b23eabbbed04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6643557548522949, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.05861547216773033, + 0.05813115835189819, + 0.05480318143963814, + 0.054931093007326126 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00048431381583213806, + -0.0038122907280921936, + -0.0036843791604042053 + ], + "candidate_oracle_branch_scores": [ + 0.05861547216773033, + 0.05813115835189819, + 0.05480318143963814, + 0.054931093007326126 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.7596683502197266, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 24 + ], + "candidate_oracle_potentials": [ + -2.7596683502197266, + -2.766052007675171, + -2.7906267642974854, + -2.792104482650757 + ], + "candidate_oracle_progress": 0.05861547216773033, + "candidate_oracle_regret": 1.9413845278322697, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.05861547216773033, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.05861547216773033, + "candidate_oracle_selected_branch_score": 0.05861547216773033, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cc0b33f92229d32bd84f;ms-18fb80871b8e11d1ae9a;ms-13557287cd450bc12c6f;ms-d988976b029886d18476;ms-6558f35ae2a2871a4bfd;ms-739a89fb4521bc481a9f", + "expert_regret": 1.9413913488388062, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6e14cec49894dd329f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9413913488388062, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05860865116119385, + "restore_error": 1.1920928955078125e-07, + "score": 0.05860865116119385, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.23228880763053894, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5549262166023254, + 0.5466181635856628, + 0.54644775390625, + 0.5477668642997742 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.008308053016662598, + -0.00847846269607544, + -0.0071593523025512695 + ], + "candidate_oracle_branch_scores": [ + 0.5549262166023254, + 0.5466181635856628, + 0.54644775390625, + 0.5477668642997742 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.9098880290985107, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 1, + 17, + 0 + ], + "candidate_oracle_potentials": [ + -0.9098880290985107, + -1.0861294269561768, + -1.0891430377960205, + -1.0907450914382935 + ], + "candidate_oracle_progress": 0.5549262166023254, + "candidate_oracle_regret": 1.4450737833976746, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5549262166023254, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5549262166023254, + "candidate_oracle_selected_branch_score": 0.5549262166023254, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6029bab18ae94b126d79;ms-2f846e9f31e2b8c4965f;ms-bb60defa0d234da9e0bc;ms-867fd9318b2445dcefb5;ms-f77305a344da6a4ccc84;ms-95320371ce6b820c85f6", + "expert_regret": 1.4450737833976746, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7cab119c7b8019254ba4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4450737833976746, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5549262166023254, + "restore_error": 1.1920928955078125e-07, + "score": 0.5549262166023254, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4870363771915436, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5550104975700378, + 0.5569796562194824, + 0.5562908053398132, + 0.5557908415794373 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00196915864944458, + 0.0012803077697753906, + 0.0007803440093994141 + ], + "candidate_oracle_branch_scores": [ + 0.5550104975700378, + 0.5569796562194824, + 0.5562908053398132, + 0.5557908415794373 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6046496033668518, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.6027737259864807, + -0.6046496033668518, + -0.8437683582305908, + -0.8445137143135071 + ], + "candidate_oracle_progress": 0.5569796562194824, + "candidate_oracle_regret": 1.4430203437805176, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5569796562194824, + "candidate_oracle_score_gain_over_selected": 0.00196915864944458, + "candidate_oracle_selected_branch_progress": 0.5550104975700378, + "candidate_oracle_selected_branch_score": 0.5550104975700378, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fa62bbb3e8416561ed69;ms-ddb8f148dff1db91851f;ms-03ed7e57992354e27896;ms-59020093d2eeaf58aa84;ms-a1846ef1f00eb54e2d60;ms-81729abe5d83a1ca280d", + "expert_regret": 1.4449865818023682, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-96da3b7a3c2a2411fa66", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4449865818023682, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5550134181976318, + "restore_error": 1.1920928955078125e-07, + "score": 0.5550134181976318, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5776985883712769, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.12648431956768036, + 0.1211559921503067, + 0.11589615792036057, + 0.08963804692029953 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.005328327417373657, + -0.010588161647319794, + -0.03684627264738083 + ], + "candidate_oracle_branch_scores": [ + 0.12648431956768036, + 0.1211559921503067, + 0.11589615792036057, + 0.08963804692029953 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.1948211193084717, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 4 + ], + "candidate_oracle_potentials": [ + -2.1948211193084717, + -2.2196521759033203, + -2.246685743331909, + -2.30794095993042 + ], + "candidate_oracle_progress": 0.12648431956768036, + "candidate_oracle_regret": 1.8735156804323196, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.12648431956768036, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.12648431956768036, + "candidate_oracle_selected_branch_score": 0.12648431956768036, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cc0b33f92229d32bd84f;ms-0cc80a2933abf1b4853f;ms-6558f35ae2a2871a4bfd;ms-18fb80871b8e11d1ae9a;ms-13557287cd450bc12c6f;ms-d988976b029886d18476", + "expert_regret": 1.8735164552927017, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e7f2d1f0de50c6fcccb4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8735164552927017, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.12648354470729828, + "restore_error": 1.1920928955078125e-07, + "score": 0.12648354470729828, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42188411951065063, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.727333128452301, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + 0.727333128452301, + 0.7267758250236511, + 0.7262555956840515, + 0.712619423866272 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a13ee9983c139d34fca8;ms-5d430ebe6f7933dc6c8c;ms-570c074dbf28b5faae58;ms-a6060f858cb9f93c5588;ms-ed7b02bc8f37b8524a56;ms-3417f5f2f1470c61d0a8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5367a8bae4304851384e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.943631112575531, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.015046822838485241, + 0.01663045957684517, + 0.016524482518434525, + 0.014674794860184193 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0015836367383599281, + 0.0014776596799492836, + -0.0003720279783010483 + ], + "candidate_oracle_branch_scores": [ + 0.015046822838485241, + 0.01663045957684517, + 0.016524482518434525, + 0.014674794860184193 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.7133772373199463, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 40 + ], + "candidate_oracle_potentials": [ + -2.712714910507202, + -2.7133772373199463, + -2.725487470626831, + -2.7293221950531006 + ], + "candidate_oracle_progress": 0.01663045957684517, + "candidate_oracle_regret": 1.9833695404231548, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.01663045957684517, + "candidate_oracle_score_gain_over_selected": 0.0015836367383599281, + "candidate_oracle_selected_branch_progress": 0.015046822838485241, + "candidate_oracle_selected_branch_score": 0.015046822838485241, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-98427ae2d94c1f85811a;ms-fed4628b22c7e42e32d9;ms-7cbbc5e7dc896a803efa;ms-f5bae191ebad7c9f2687;ms-4f833710c2706ee077af;ms-9233eae706910c204b79", + "expert_regret": 1.9849531054496765, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c679fdafdd776a14b66f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9849531054496765, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.015046894550323486, + "restore_error": 1.1920928955078125e-07, + "score": 0.015046894550323486, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14935050904750824, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.5688608288764954, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.4311392307281494, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.5688608288764954, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.5059833526611328, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 8, + 4, + 19 + ], + "candidate_oracle_potentials": [ + 0.5059833526611328, + 0.4635438621044159, + 0.459859699010849, + 0.44499334692955017 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9e53ca6bc5ddb9133ffa;ms-1924e52af208c9f66592;ms-6d7b10e8b2b0a516b786;ms-6995d4366e7c20010126;ms-39af5447d3c90872c25f;ms-11a2794efa24f4d93d83", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1fec069b4a095dd0425a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3306962847709656, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.7144702672958374, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + 0.7144702672958374, + 0.7137587070465088, + 0.7130960822105408, + 0.7012977600097656 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-39af5447d3c90872c25f;ms-3417f5f2f1470c61d0a8;ms-a6060f858cb9f93c5588;ms-61ac2be70a9798adeda0;ms-11a2794efa24f4d93d83;ms-5d430ebe6f7933dc6c8c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2f57eadf546710065684", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6967052817344666, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.5629640221595764, + 1.0, + 0.5639793276786804 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.4370360374450684, + 0.0, + -1.4360206127166748 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.5629640221595764, + 2.0, + 0.5639793276786804 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.1495647430419922, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -1.1495647430419922, + -1.1642558574676514, + -1.2218985557556152, + -1.2369393110275269 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-12a997dde50b7a7f35cb;ms-b786173f210fcaa65a6e;ms-c7156b26670838d40934;ms-7670f25745871759e69e;ms-b9e46b7345a63ded4397;ms-630663751ab841a96d5a", + "expert_regret": 0.0, + "expert_score": 0.5876509547233582, + "expert_success": false, + "group_id": "ms-51873059990aa55691a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.5876509547233582, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5128651261329651, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5072850584983826, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 36, + 24, + 40 + ], + "candidate_oracle_potentials": [ + -0.5072850584983826, + -0.5238887071609497, + -0.5348993539810181, + -0.5467507839202881 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cafa65eeb953aff47f30;ms-d6b2d805dc063382ade2;ms-1309e1770b6ca6e71c7e;ms-cdd69b5acc8119e600c7;ms-6905c1d3bc8157697499;ms-c91cae30acaa8dc7a12b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d7a32da3ed5d010654a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4690953195095062, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.1610511541366577, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 8 + ], + "candidate_oracle_potentials": [ + -1.1610511541366577, + -1.1617754697799683, + -1.1626057624816895, + -1.1632846593856812 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-09de52dad7e40970c938;ms-87b44e6219279322a723;ms-1abf5e6d483e2788b086;ms-81085eba1dd49b17ec9c;ms-26e09c86be9068a34acf;ms-625b5d55ca76cc565049", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-283da8c8dae2e161c439", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8907328844070435, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.01832677237689495, + 0.018450403586030006, + 0.018413782119750977, + 0.018326282501220703 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00012363120913505554, + 8.70097428560257e-05, + -4.898756742477417e-07 + ], + "candidate_oracle_branch_scores": [ + 0.01832677237689495, + 0.018450403586030006, + 0.018413782119750977, + 0.018326282501220703 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.7937967777252197, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 4, + 20, + 0 + ], + "candidate_oracle_potentials": [ + -2.777509927749634, + -2.7937967777252197, + -2.799189567565918, + -2.812857151031494 + ], + "candidate_oracle_progress": 0.018450403586030006, + "candidate_oracle_regret": 0.5693441983312368, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.018450403586030006, + "candidate_oracle_score_gain_over_selected": 0.00012363120913505554, + "candidate_oracle_selected_branch_progress": 0.01832677237689495, + "candidate_oracle_selected_branch_score": 0.01832677237689495, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c7f427f37d47501932e8;ms-b666f24369c548cd56ab;ms-a43a663a3c4b15ec3ac2;ms-aaf1c4931e054f52623c;ms-4f833710c2706ee077af;ms-7cbbc5e7dc896a803efa", + "expert_regret": 0.5694679487496614, + "expert_score": 0.5877946019172668, + "expert_success": false, + "group_id": "ms-4c7138016830a563fb1b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5694679487496614, + "oracle_score": 0.5877946019172668, + "oracle_success": false, + "progress": 0.0183266531676054, + "restore_error": 1.1920928955078125e-07, + "score": 0.0183266531676054, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.10778679698705673, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8925139904022217, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.8925139904022217, + -0.8981061577796936, + -0.9018929600715637, + -0.9061223864555359 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bb60defa0d234da9e0bc;ms-66cc354bbf4e8bdd1051;ms-3aa864ead19c9cb9fb49;ms-95320371ce6b820c85f6;ms-a202dd8923327af132da;ms-6029bab18ae94b126d79", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-519fb779d24a0bdf3809", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.31208714842796326, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.049980390816926956, + 0.04694573953747749, + 0.04404309019446373, + 0.03185262903571129 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.003034651279449463, + -0.005937300622463226, + -0.018127761781215668 + ], + "candidate_oracle_branch_scores": [ + 0.049980390816926956, + 0.04694573953747749, + 0.04404309019446373, + 0.03185262903571129 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.0355472564697266, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -2.0355472564697266, + -2.064861297607422, + -2.0998153686523438, + -2.3923842906951904 + ], + "candidate_oracle_progress": 0.049980390816926956, + "candidate_oracle_regret": 1.950019609183073, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.049980390816926956, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.049980390816926956, + "candidate_oracle_selected_branch_score": 0.049980390816926956, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a1d69e0b112064914357;ms-5415e349e8f9f2bce641;ms-fd1c44c6d5d8f7f11451;ms-b5deb1971bf3b3484282;ms-8b98e8aa8ecee10bea27;ms-f682952c6ecb2b833c35", + "expert_regret": 1.9500194527208805, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8af2224cc82636ef1dd7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9500194527208805, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04998054727911949, + "restore_error": 1.1920928955078125e-07, + "score": 0.04998054727911949, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.554012656211853, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5192896723747253, + 0.5194637179374695, + 0.5194171071052551, + 0.5192033648490906 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00017404556274414062, + 0.00012743473052978516, + -8.630752563476562e-05 + ], + "candidate_oracle_branch_scores": [ + 0.5192896723747253, + 0.5194637179374695, + 0.5194171071052551, + 0.5192033648490906 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8488332033157349, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -0.8483167886734009, + -0.8488332033157349, + -0.9649848937988281, + -0.9685783386230469 + ], + "candidate_oracle_progress": 0.5194637179374695, + "candidate_oracle_regret": 1.4805362820625305, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5194637179374695, + "candidate_oracle_score_gain_over_selected": 0.00017404556274414062, + "candidate_oracle_selected_branch_progress": 0.5192896723747253, + "candidate_oracle_selected_branch_score": 0.5192896723747253, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3b4b0b8c60ad41bb16b0;ms-9b4483fb034248fe882d;ms-a3d0c460532de2d801ae;ms-e793d78eaff3fb28deb6;ms-1924e52af208c9f66592;ms-6d7b10e8b2b0a516b786", + "expert_regret": 1.4807106852531433, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9a2d8f0085e6740cf5b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4807106852531433, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5192893147468567, + "restore_error": 1.1920928955078125e-07, + "score": 0.5192893147468567, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24560223519802094, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5567556023597717, + 0.5401612520217896, + 0.540641725063324, + 0.5411199927330017 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.016594350337982178, + -0.016113877296447754, + -0.01563560962677002 + ], + "candidate_oracle_branch_scores": [ + 0.5567556023597717, + 0.5401612520217896, + 0.540641725063324, + 0.5411199927330017 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.8315509557723999, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.8315509557723999, + -0.8821502923965454, + -0.8826280236244202, + -0.8834531307220459 + ], + "candidate_oracle_progress": 0.5567556023597717, + "candidate_oracle_regret": 1.4432443976402283, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5567556023597717, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5567556023597717, + "candidate_oracle_selected_branch_score": 0.5567556023597717, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5a7891a58bac94796178;ms-7241a1c25af41f4c0b5a;ms-766b6fe7c08a3525ce94;ms-71452ba714a10880870b;ms-478f754a15221314d15e;ms-a01f0549a18d924d31c0", + "expert_regret": 1.4432430863380432, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-70381721e736d44afeaf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4432430863380432, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5567569136619568, + "restore_error": 1.1920928955078125e-07, + "score": 0.5567569136619568, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6570935249328613, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6118564605712891, + 0.6090232133865356, + 0.6059698462486267, + 0.565185546875 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002833247184753418, + -0.0058866143226623535, + -0.04667091369628906 + ], + "candidate_oracle_branch_scores": [ + 0.6118564605712891, + 0.6090232133865356, + 0.6059698462486267, + 0.565185546875 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.41652148962020874, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 4 + ], + "candidate_oracle_potentials": [ + 0.41652148962020874, + 0.36319947242736816, + 0.3053562641143799, + -0.19353576004505157 + ], + "candidate_oracle_progress": 0.6118564605712891, + "candidate_oracle_regret": 1.388143539428711, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6118564605712891, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6118564605712891, + "candidate_oracle_selected_branch_score": 0.6118564605712891, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-023e021f079a8774c741;ms-753929cfdc4aaa652b32;ms-570c074dbf28b5faae58;ms-eb16021deb5d03f15c9d;ms-3d095a49ed03de972849;ms-ed7b02bc8f37b8524a56", + "expert_regret": 1.3881444931030273, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1df0775c4ef08d0cf1bf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.3881444931030273, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6118555068969727, + "restore_error": 1.1920928955078125e-07, + "score": 0.6118555068969727, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3705885410308838, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.562508225440979, + 0.5578644871711731, + 0.5629585981369019, + 0.5589296817779541 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.004643738269805908, + 0.00045037269592285156, + -0.0035785436630249023 + ], + "candidate_oracle_branch_scores": [ + 0.562508225440979, + 0.5578644871711731, + 0.5629585981369019, + 0.5589296817779541 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5373994708061218, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + -0.3737633228302002, + -0.40089914202690125, + -0.5373994708061218, + -0.5609737038612366 + ], + "candidate_oracle_progress": 0.5629585981369019, + "candidate_oracle_regret": 1.4370414018630981, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5629585981369019, + "candidate_oracle_score_gain_over_selected": 0.00045037269592285156, + "candidate_oracle_selected_branch_progress": 0.562508225440979, + "candidate_oracle_selected_branch_score": 0.562508225440979, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bcc70292f404cd1c7f75;ms-e793d78eaff3fb28deb6;ms-2cc8c1975139989940f0;ms-3b4b0b8c60ad41bb16b0;ms-a3d0c460532de2d801ae;ms-9b4483fb034248fe882d", + "expert_regret": 1.437491774559021, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9c8a90334c3b933c8976", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.437491774559021, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.562508225440979, + "restore_error": 1.1920928955078125e-07, + "score": 0.562508225440979, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5662099719047546, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5544945597648621, + 0.5545744895935059, + 0.554927408695221, + 0.5549540519714355 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 7.992982864379883e-05, + 0.0004328489303588867, + 0.00045949220657348633 + ], + "candidate_oracle_branch_scores": [ + 0.5544945597648621, + 0.5545744895935059, + 0.554927408695221, + 0.5549540519714355 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.6358299851417542, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 24, + 1 + ], + "candidate_oracle_potentials": [ + -0.6177194714546204, + -0.6249374151229858, + -0.6343697309494019, + -0.6358299851417542 + ], + "candidate_oracle_progress": 0.5549540519714355, + "candidate_oracle_regret": 0.009540021419525146, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5549540519714355, + "candidate_oracle_score_gain_over_selected": 0.00045949220657348633, + "candidate_oracle_selected_branch_progress": 0.5544945597648621, + "candidate_oracle_selected_branch_score": 0.5544945597648621, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-28d5618562729c763eb6;ms-bc30ca6b7675f4de5041;ms-c1ac63fb3644e3a2ae06;ms-c70be4072fb4e49ac106;ms-c151229bc1dd03ed2feb;ms-c78721d9c4196a9e8ec5", + "expert_regret": 0.009998321533203125, + "expert_score": 0.5644940733909607, + "expert_success": false, + "group_id": "ms-0adce283894b0a2b7b94", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.009998321533203125, + "oracle_score": 0.5644940733909607, + "oracle_success": false, + "progress": 0.5544957518577576, + "restore_error": 1.1920928955078125e-07, + "score": 0.5544957518577576, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4562326967716217, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.034302759915590286, + 0.0349532850086689, + 0.03194749355316162, + 0.4914390742778778 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0006505250930786133, + -0.002355266362428665, + 0.4571363031864166 + ], + "candidate_oracle_branch_scores": [ + 0.034302759915590286, + 0.0349532850086689, + 0.03194749355316162, + 0.4914390742778778 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.829240322113037, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 20, + 8, + 0 + ], + "candidate_oracle_potentials": [ + -2.735142707824707, + -2.793609857559204, + -2.7971718311309814, + -2.829240322113037 + ], + "candidate_oracle_progress": 0.4914390742778778, + "candidate_oracle_regret": 1.5085609257221222, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4914390742778778, + "candidate_oracle_score_gain_over_selected": 0.4571363031864166, + "candidate_oracle_selected_branch_progress": 0.034302759915590286, + "candidate_oracle_selected_branch_score": 0.034302759915590286, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8c8198e44eea32f98ca7;ms-c2e07545267c612a022c;ms-13557287cd450bc12c6f;ms-8fa24da5c97dc1dad5c1;ms-d988976b029886d18476;ms-6558f35ae2a2871a4bfd", + "expert_regret": 1.9655994400382042, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cdcdb32d7c02c49869ef", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9655994400382042, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03440055996179581, + "restore_error": 1.1920928955078125e-07, + "score": 0.03440055996179581, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5379295945167542, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.721015453338623, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 1, + 0 + ], + "candidate_oracle_potentials": [ + 0.721015453338623, + 0.7127853035926819, + 0.7107728123664856, + 0.7104578018188477 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-570c074dbf28b5faae58;ms-5d430ebe6f7933dc6c8c;ms-d44f5bd2488ea182132b;ms-023e021f079a8774c741;ms-a6060f858cb9f93c5588;ms-8b73e5dfa1f2a01e6017", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4746e04d636d13cfbe6c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44234925508499146, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5439906120300293 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.4560093879699707 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5439906120300293 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.6037853956222534, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 40 + ], + "candidate_oracle_potentials": [ + 0.6037853956222534, + 0.3918934166431427, + 0.08023767173290253, + -1.208982229232788 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d6305829d7ca1c68a3ce;ms-ae5421846020d2765f82;ms-f8439d39ae9ed028a4cd;ms-fffe378a3bad31bbed52;ms-f3f6a1b34fdf35290a6c;ms-0a48fbd111be17b50be5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2df0b9d5fa91156e430a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6813216805458069, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5535685420036316, + 0.5390238165855408, + 0.5539726614952087, + 0.5410327911376953 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.01454472541809082, + 0.00040411949157714844, + -0.01253575086593628 + ], + "candidate_oracle_branch_scores": [ + 0.5535685420036316, + 0.5390238165855408, + 0.5539726614952087, + 0.5410327911376953 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5005092024803162, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.3850315809249878, + -0.3856971561908722, + -0.5005092024803162, + -0.5096167325973511 + ], + "candidate_oracle_progress": 0.5539726614952087, + "candidate_oracle_regret": 1.4460273385047913, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5539726614952087, + "candidate_oracle_score_gain_over_selected": 0.00040411949157714844, + "candidate_oracle_selected_branch_progress": 0.5535685420036316, + "candidate_oracle_selected_branch_score": 0.5535685420036316, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a01f0549a18d924d31c0;ms-9cf068e0d2896f655ad2;ms-4f833710c2706ee077af;ms-7cbbc5e7dc896a803efa;ms-98427ae2d94c1f85811a;ms-f5bae191ebad7c9f2687", + "expert_regret": 1.4465193152427673, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c81880a77c4d978a0b7a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4465193152427673, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5534806847572327, + "restore_error": 2.384185791015625e-07, + "score": 0.5534806847572327, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22783733904361725, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5584157109260559, + 0.5581299066543579, + 0.557841956615448, + 0.5603735446929932 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00028580427169799805, + -0.0005737543106079102, + 0.001957833766937256 + ], + "candidate_oracle_branch_scores": [ + 0.5584157109260559, + 0.5581299066543579, + 0.557841956615448, + 0.5603735446929932 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.4079715013504028, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -1.3982526063919067, + -1.3991708755493164, + -1.4003158807754517, + -1.4079715013504028 + ], + "candidate_oracle_progress": 0.5603735446929932, + "candidate_oracle_regret": 1.4396264553070068, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5603735446929932, + "candidate_oracle_score_gain_over_selected": 0.001957833766937256, + "candidate_oracle_selected_branch_progress": 0.5584157109260559, + "candidate_oracle_selected_branch_score": 0.5584157109260559, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6029bab18ae94b126d79;ms-2f846e9f31e2b8c4965f;ms-bb60defa0d234da9e0bc;ms-867fd9318b2445dcefb5;ms-f77305a344da6a4ccc84;ms-95320371ce6b820c85f6", + "expert_regret": 1.4415839314460754, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6b750c1bef91c5d15526", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4415839314460754, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5584160685539246, + "restore_error": 2.384185791015625e-07, + "score": 0.5584160685539246, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24513258039951324, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.5767067670822144, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + 0.5767067670822144, + 0.5761865973472595, + 0.575833797454834, + 0.5650832653045654 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d44f5bd2488ea182132b;ms-bcc70292f404cd1c7f75;ms-a3d0c460532de2d801ae;ms-48d490ed21088bb5ba85;ms-1924e52af208c9f66592;ms-68ab6033433b360464f8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f219d526891ae3c2dea", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4247605800628662, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.6306008696556091, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 1, + 17, + 0 + ], + "candidate_oracle_potentials": [ + 0.6306008696556091, + 0.6305561661720276, + 0.6305329203605652, + 0.6216190457344055 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1924e52af208c9f66592;ms-9b4483fb034248fe882d;ms-a3d0c460532de2d801ae;ms-d44f5bd2488ea182132b;ms-61ac2be70a9798adeda0;ms-6d7b10e8b2b0a516b786", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6f1ec735350c81ef9fca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.35788530111312866, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.6105193495750427, + 0.6163846850395203, + 1.0, + 0.6106997728347778 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.005865335464477539, + 1.3894805908203125, + 0.00018042325973510742 + ], + "candidate_oracle_branch_scores": [ + 0.6105193495750427, + 0.6163846850395203, + 2.0, + 0.6106997728347778 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.28796714544296265, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 35, + 1 + ], + "candidate_oracle_potentials": [ + 0.3912317454814911, + 0.38816097378730774, + 0.28796714544296265, + 0.17821696400642395 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.3894805908203125, + "candidate_oracle_selected_branch_progress": 0.6105193495750427, + "candidate_oracle_selected_branch_score": 0.6105193495750427, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f8c4e700a751537ebb16;ms-2af09f91e05d19f7f181;ms-32b9c353a4890631f1bd;ms-6be8614a1bd50b974b95;ms-d0e4bdc60ab8ea52a320;ms-70342af6b601660d7c69", + "expert_regret": 1.3894838094711304, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7be1c6c8ef67031b1f90", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.3894838094711304, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6105161905288696, + "restore_error": 2.384185791015625e-07, + "score": 0.6105161905288696, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5723748803138733, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5422232747077942, + 0.5420131683349609, + 0.5459335446357727, + 0.5476927161216736 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00021010637283325195, + 0.0037102699279785156, + 0.0054694414138793945 + ], + "candidate_oracle_branch_scores": [ + 0.5422232747077942, + 0.5420131683349609, + 0.5459335446357727, + 0.5476927161216736 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9499596953392029, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 36, + 24, + 40 + ], + "candidate_oracle_potentials": [ + -0.9442148804664612, + -0.9457998871803284, + -0.9491172432899475, + -0.9499596953392029 + ], + "candidate_oracle_progress": 0.5476927161216736, + "candidate_oracle_regret": 1.4523072838783264, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5476927161216736, + "candidate_oracle_score_gain_over_selected": 0.0054694414138793945, + "candidate_oracle_selected_branch_progress": 0.5422232747077942, + "candidate_oracle_selected_branch_score": 0.5422232747077942, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cdd69b5acc8119e600c7;ms-c91cae30acaa8dc7a12b;ms-03ed7e57992354e27896;ms-29f1abb869ff206a4d52;ms-fa62bbb3e8416561ed69;ms-a509a572b3871e591d26", + "expert_regret": 1.4577769041061401, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-21155188bc35f0f021d3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4577769041061401, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5422230958938599, + "restore_error": 2.384185791015625e-07, + "score": 0.5422230958938599, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7726098895072937, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.46995458006858826, + 0.4704762399196625, + 0.4733927845954895, + 0.4710208475589752 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0005216598510742188, + 0.003438204526901245, + 0.0010662674903869629 + ], + "candidate_oracle_branch_scores": [ + 0.46995458006858826, + 0.4704762399196625, + 0.4733927845954895, + 0.4710208475589752 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8143099546432495, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 4 + ], + "candidate_oracle_potentials": [ + -0.7546558976173401, + -0.8029751777648926, + -0.8143099546432495, + -0.8352265357971191 + ], + "candidate_oracle_progress": 0.4733927845954895, + "candidate_oracle_regret": 0.12003594636917114, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4733927845954895, + "candidate_oracle_score_gain_over_selected": 0.003438204526901245, + "candidate_oracle_selected_branch_progress": 0.46995458006858826, + "candidate_oracle_selected_branch_score": 0.46995458006858826, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f4860c7945db15b54d2e;ms-59020093d2eeaf58aa84;ms-87f65c35c9d8b3ced6fc;ms-bfda95ffffd5d1a2683a;ms-8d94c7c692c91a962f25;ms-9b15f9c696a2661346cf", + "expert_regret": 0.12284928560256958, + "expert_score": 0.5934287309646606, + "expert_success": false, + "group_id": "ms-9a1de6130828dc946a51", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.12284928560256958, + "oracle_score": 0.5934287309646606, + "oracle_success": false, + "progress": 0.47057944536209106, + "restore_error": 1.1920928955078125e-07, + "score": 0.47057944536209106, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.38531726598739624, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5250810384750366, + 0.048001062124967575, + 0.026840461418032646, + 0.03612251207232475 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.47707998752593994, + -0.49824059009552, + -0.48895853757858276 + ], + "candidate_oracle_branch_scores": [ + 0.5250810384750366, + 0.048001062124967575, + 0.026840461418032646, + 0.03612251207232475 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.9800115823745728, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.9800115823745728, + -2.278123378753662, + -2.325582504272461, + -2.343728542327881 + ], + "candidate_oracle_progress": 0.5250810384750366, + "candidate_oracle_regret": 1.4749189615249634, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5250810384750366, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5250810384750366, + "candidate_oracle_selected_branch_score": 0.5250810384750366, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c7f427f37d47501932e8;ms-b666f24369c548cd56ab;ms-a43a663a3c4b15ec3ac2;ms-aaf1c4931e054f52623c;ms-4f833710c2706ee077af;ms-7cbbc5e7dc896a803efa", + "expert_regret": 1.474912941455841, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c0b600aef5393f929cd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.474912941455841, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5250870585441589, + "restore_error": 1.1920928955078125e-07, + "score": 0.5250870585441589, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.527582049369812, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.035184647887945175, + 0.037729036062955856, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.002544388175010681, + 1.964815378189087, + 1.964815378189087 + ], + "candidate_oracle_branch_scores": [ + 0.035184647887945175, + 0.037729036062955856, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.3532212972640991, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + -0.25437214970588684, + -0.31711146235466003, + -0.3532212972640991, + -0.4308217167854309 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.964815378189087, + "candidate_oracle_selected_branch_progress": 0.035184647887945175, + "candidate_oracle_selected_branch_score": 0.035184647887945175, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6905c1d3bc8157697499;ms-1309e1770b6ca6e71c7e;ms-f897cc2141a0a303fc6a;ms-29f1abb869ff206a4d52;ms-cdd69b5acc8119e600c7;ms-c91cae30acaa8dc7a12b", + "expert_regret": 1.9650226943194866, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4082ce1f04dbacd6a5b9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9650226943194866, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03497730568051338, + "restore_error": 1.1920928955078125e-07, + "score": 0.03497730568051338, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44682931900024414, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5538648962974548, + 0.5543221831321716, + 0.5558197498321533, + 0.5550479888916016 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0004572868347167969, + 0.0019548535346984863, + 0.0011830925941467285 + ], + "candidate_oracle_branch_scores": [ + 0.5538648962974548, + 0.5543221831321716, + 0.5558197498321533, + 0.5550479888916016 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.5703493356704712, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 35, + 19 + ], + "candidate_oracle_potentials": [ + -0.43058136105537415, + -0.4416190981864929, + -0.5703493356704712, + -0.5864313840866089 + ], + "candidate_oracle_progress": 0.5558197498321533, + "candidate_oracle_regret": 1.4441802501678467, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5558197498321533, + "candidate_oracle_score_gain_over_selected": 0.0019548535346984863, + "candidate_oracle_selected_branch_progress": 0.5538648962974548, + "candidate_oracle_selected_branch_score": 0.5538648962974548, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c70be4072fb4e49ac106;ms-c5d026dffb39f2f1d38a;ms-2a67eea0b1293de9bcf9;ms-47a55ae1d3a858eed51c;ms-c151229bc1dd03ed2feb;ms-c1ac63fb3644e3a2ae06", + "expert_regret": 1.4462435841560364, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0c9c39c462522b25ef2b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4462435841560364, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5537564158439636, + "restore_error": 1.1920928955078125e-07, + "score": 0.5537564158439636, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39924001693725586, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5693785548210144, + 0.5690956115722656, + 0.5694851279258728, + 0.5706154704093933 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0002829432487487793, + 0.00010657310485839844, + 0.0012369155883789062 + ], + "candidate_oracle_branch_scores": [ + 0.5693785548210144, + 0.5690956115722656, + 0.5694851279258728, + 0.5706154704093933 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.0981550216674805, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 20, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -1.087095022201538, + -1.0876398086547852, + -1.0880060195922852, + -1.0981550216674805 + ], + "candidate_oracle_progress": 0.5706154704093933, + "candidate_oracle_regret": 1.4293845295906067, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5706154704093933, + "candidate_oracle_score_gain_over_selected": 0.0012369155883789062, + "candidate_oracle_selected_branch_progress": 0.5693785548210144, + "candidate_oracle_selected_branch_score": 0.5693785548210144, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-81085eba1dd49b17ec9c;ms-87b44e6219279322a723;ms-09de52dad7e40970c938;ms-625b5d55ca76cc565049;ms-a145b708d79b243da21f;ms-6133ea5e61638487dd46", + "expert_regret": 1.4306210279464722, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1bfca22d4af29f0e14b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4306210279464722, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5693789720535278, + "restore_error": 1.1920928955078125e-07, + "score": 0.5693789720535278, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4211489260196686, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.566342294216156, + 0.5667564272880554, + 0.5671578645706177, + 0.5671505928039551 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00041413307189941406, + 0.0008155703544616699, + 0.0008082985877990723 + ], + "candidate_oracle_branch_scores": [ + 0.566342294216156, + 0.5667564272880554, + 0.5671578645706177, + 0.5671505928039551 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.019857680425047874, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 8 + ], + "candidate_oracle_potentials": [ + -0.015948383137583733, + -0.016750765964388847, + -0.019857680425047874, + -0.02661510556936264 + ], + "candidate_oracle_progress": 0.5671578645706177, + "candidate_oracle_regret": 1.4328421354293823, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5671578645706177, + "candidate_oracle_score_gain_over_selected": 0.0008155703544616699, + "candidate_oracle_selected_branch_progress": 0.566342294216156, + "candidate_oracle_selected_branch_score": 0.566342294216156, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9af03b651b5e36ac2ae3;ms-2592e5fa970f1b474388;ms-8522a9364bf70311450d;ms-c1ac63fb3644e3a2ae06;ms-41c5500153912a1743de;ms-00b9ad6a8fe73fccc6fc", + "expert_regret": 1.433657705783844, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9eb40f856528204bbcfd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.433657705783844, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.566342294216156, + "restore_error": 1.1920928955078125e-07, + "score": 0.566342294216156, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42302098870277405, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5490410327911377, + 0.5508317351341248, + 0.5526173710823059, + 0.565069854259491 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0017907023429870605, + 0.003576338291168213, + 0.01602882146835327 + ], + "candidate_oracle_branch_scores": [ + 0.5490410327911377, + 0.5508317351341248, + 0.5526173710823059, + 0.565069854259491 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4859694242477417, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -0.3615189790725708, + -0.37395161390304565, + -0.3880999684333801, + -0.4859694242477417 + ], + "candidate_oracle_progress": 0.565069854259491, + "candidate_oracle_regret": 1.434930145740509, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.565069854259491, + "candidate_oracle_score_gain_over_selected": 0.01602882146835327, + "candidate_oracle_selected_branch_progress": 0.5490410327911377, + "candidate_oracle_selected_branch_score": 0.5490410327911377, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1309e1770b6ca6e71c7e;ms-d6b2d805dc063382ade2;ms-a145b708d79b243da21f;ms-a43a663a3c4b15ec3ac2;ms-aaf1c4931e054f52623c;ms-4f833710c2706ee077af", + "expert_regret": 1.4509605169296265, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eb48573b3e330e44504d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4509605169296265, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5490394830703735, + "restore_error": 1.1920928955078125e-07, + "score": 0.5490394830703735, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2128765881061554, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.556163489818573, + 0.5499821901321411, + 0.5504139065742493, + 0.5504583716392517 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.006181299686431885, + -0.0057495832443237305, + -0.005705118179321289 + ], + "candidate_oracle_branch_scores": [ + 0.556163489818573, + 0.5499821901321411, + 0.5504139065742493, + 0.5504583716392517 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.4064290523529053, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 0, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.4064290523529053, + -1.4357813596725464, + -1.444997787475586, + -1.4484184980392456 + ], + "candidate_oracle_progress": 0.556163489818573, + "candidate_oracle_regret": 1.443836510181427, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.556163489818573, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.556163489818573, + "candidate_oracle_selected_branch_score": 0.556163489818573, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a073398629e6943ad1fb;ms-1735d1abca4a91293d78;ms-7d81f3e8b6a42695871d;ms-a576ca39e26c4e1ab240;ms-97140da7cf409922f6ce;ms-bcfeba2af1e844c22aed", + "expert_regret": 1.4438371062278748, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e15eeda61ed4064a5c9f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4438371062278748, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5561628937721252, + "restore_error": 1.1920928955078125e-07, + "score": 0.5561628937721252, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3090696334838867, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5037017464637756, + 0.5035876035690308, + 0.5034703612327576, + 0.5044569373130798 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00011414289474487305, + -0.0002313852310180664, + 0.0007551908493041992 + ], + "candidate_oracle_branch_scores": [ + 0.5037017464637756, + 0.5035876035690308, + 0.5034703612327576, + 0.5044569373130798 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3429794311523438, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -1.3316437005996704, + -1.3320577144622803, + -1.332643985748291, + -1.3429794311523438 + ], + "candidate_oracle_progress": 0.5044569373130798, + "candidate_oracle_regret": 1.4955430626869202, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5044569373130798, + "candidate_oracle_score_gain_over_selected": 0.0007551908493041992, + "candidate_oracle_selected_branch_progress": 0.5037017464637756, + "candidate_oracle_selected_branch_score": 0.5037017464637756, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dfc737e32df79e1fc429;ms-3b4b0b8c60ad41bb16b0;ms-935ff204de9424ec00a2;ms-d44f5bd2488ea182132b;ms-570c074dbf28b5faae58;ms-68ab6033433b360464f8", + "expert_regret": 1.4963738918304443, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9eea613e8158816f3193", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4963738918304443, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5036261081695557, + "restore_error": 1.1920928955078125e-07, + "score": 0.5036261081695557, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.27246108651161194, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5530304312705994, + 0.5529123544692993, + 0.5519518852233887, + 0.5515815615653992 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00011807680130004883, + -0.0010785460472106934, + -0.0014488697052001953 + ], + "candidate_oracle_branch_scores": [ + 0.5530304312705994, + 0.5529123544692993, + 0.5519518852233887, + 0.5515815615653992 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.1632788181304932, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 36 + ], + "candidate_oracle_potentials": [ + -1.1632788181304932, + -1.172719120979309, + -1.1930689811706543, + -1.2398414611816406 + ], + "candidate_oracle_progress": 0.5530304312705994, + "candidate_oracle_regret": 1.4469695687294006, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5530304312705994, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5530304312705994, + "candidate_oracle_selected_branch_score": 0.5530304312705994, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-eac0d7dd54b1e797fdbd;ms-3f4967102c7b10057ab9;ms-a44a2c9eee8baea5d29e;ms-a073398629e6943ad1fb;ms-6c39b520dca0a325535f;ms-732819b0c220a4c06870", + "expert_regret": 1.4457531571388245, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c774aeee2c4066edd668", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4457531571388245, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5542468428611755, + "restore_error": 1.1920928955078125e-07, + "score": 0.5542468428611755, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.728066623210907, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5378175377845764, + 0.5397135615348816, + 0.5379306674003601, + 0.5378994941711426 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0018960237503051758, + 0.0001131296157836914, + 8.195638656616211e-05 + ], + "candidate_oracle_branch_scores": [ + 0.5378175377845764, + 0.5397135615348816, + 0.5379306674003601, + 0.5378994941711426 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9368120431900024, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 4 + ], + "candidate_oracle_potentials": [ + -0.9170568585395813, + -0.9368120431900024, + -0.9378761053085327, + -0.9484065771102905 + ], + "candidate_oracle_progress": 0.5397135615348816, + "candidate_oracle_regret": 1.4602864384651184, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5397135615348816, + "candidate_oracle_score_gain_over_selected": 0.0018960237503051758, + "candidate_oracle_selected_branch_progress": 0.5378175377845764, + "candidate_oracle_selected_branch_score": 0.5378175377845764, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f3f6a1b34fdf35290a6c;ms-fffe378a3bad31bbed52;ms-0a48fbd111be17b50be5;ms-9184c93267b4bbfa4cae;ms-a202dd8923327af132da;ms-f8439d39ae9ed028a4cd", + "expert_regret": 1.462137520313263, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f28fbb82a51d4de7811b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.462137520313263, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5378624796867371, + "restore_error": 1.1920928955078125e-07, + "score": 0.5378624796867371, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5158191919326782, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5627161860466003, + 0.5658859610557556, + 0.5688078999519348, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0031697750091552734, + 0.006091713905334473, + 1.4372837543487549 + ], + "candidate_oracle_branch_scores": [ + 0.5627161860466003, + 0.5658859610557556, + 0.5688078999519348, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.5009467601776123, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 4 + ], + "candidate_oracle_potentials": [ + -1.3154746294021606, + -1.3431298732757568, + -1.3683158159255981, + -1.5009467601776123 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4372837543487549, + "candidate_oracle_selected_branch_progress": 0.5627161860466003, + "candidate_oracle_selected_branch_score": 0.5627161860466003, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c5d026dffb39f2f1d38a;ms-c9e31a19a776a861f9d7;ms-c70be4072fb4e49ac106;ms-c151229bc1dd03ed2feb;ms-70342af6b601660d7c69;ms-47a55ae1d3a858eed51c", + "expert_regret": 1.4372795820236206, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-772768ec2f9792127251", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4372795820236206, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5627204179763794, + "restore_error": 1.1920928955078125e-07, + "score": 0.5627204179763794, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.38111695647239685, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.2793842852115631, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 35, + 3 + ], + "candidate_oracle_potentials": [ + 0.2793842852115631, + 0.2790709435939789, + 0.17673388123512268, + 0.16257938742637634 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9e53ca6bc5ddb9133ffa;ms-9b4483fb034248fe882d;ms-6d7b10e8b2b0a516b786;ms-1924e52af208c9f66592;ms-6995d4366e7c20010126;ms-e793d78eaff3fb28deb6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7fa85a7251186eb18d0b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4212816059589386, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.563452422618866, + 0.5626760125160217, + 0.5635654330253601, + 0.5635059475898743 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0007764101028442383, + 0.00011301040649414062, + 5.352497100830078e-05 + ], + "candidate_oracle_branch_scores": [ + 0.563452422618866, + 0.5626760125160217, + 0.5635654330253601, + 0.5635059475898743 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.347633719444275, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.2506998777389526, + -1.2568700313568115, + -1.347633719444275, + -1.348953127861023 + ], + "candidate_oracle_progress": 0.5635654330253601, + "candidate_oracle_regret": 1.43643456697464, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5635654330253601, + "candidate_oracle_score_gain_over_selected": 0.00011301040649414062, + "candidate_oracle_selected_branch_progress": 0.563452422618866, + "candidate_oracle_selected_branch_score": 0.563452422618866, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f8439d39ae9ed028a4cd;ms-fffe378a3bad31bbed52;ms-71452ba714a10880870b;ms-f3f6a1b34fdf35290a6c;ms-a73f46824bdbdfb96238;ms-478f754a15221314d15e", + "expert_regret": 1.436547577381134, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2b556c4c1b55a20b14c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.436547577381134, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.563452422618866, + "restore_error": 1.1920928955078125e-07, + "score": 0.563452422618866, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7852893471717834, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5274433493614197, + 0.5200236439704895, + 0.5270363688468933, + 0.5210180282592773 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.007419705390930176, + -0.0004069805145263672, + -0.006425321102142334 + ], + "candidate_oracle_branch_scores": [ + 0.5274433493614197, + 0.5200236439704895, + 0.5270363688468933, + 0.5210180282592773 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2242199182510376, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -1.2242199182510376, + -1.2433711290359497, + -1.2628599405288696, + -1.2781850099563599 + ], + "candidate_oracle_progress": 0.5274433493614197, + "candidate_oracle_regret": 1.4725566506385803, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5274433493614197, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5274433493614197, + "candidate_oracle_selected_branch_score": 0.5274433493614197, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-59020093d2eeaf58aa84;ms-bfda95ffffd5d1a2683a;ms-87f65c35c9d8b3ced6fc;ms-12a997dde50b7a7f35cb;ms-03ed7e57992354e27896;ms-a509a572b3871e591d26", + "expert_regret": 1.4725579619407654, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de0321d0ece4c58bc224", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4725579619407654, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5274420380592346, + "restore_error": 1.1920928955078125e-07, + "score": 0.5274420380592346, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2958732545375824, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.40729331970214844, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.40729331970214844, + 0.40485987067222595, + 0.35437268018722534, + 0.3495103716850281 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-36e8cb2e7f34f8dceb05;ms-e45b5de01eafae73e492;ms-28b1f1e4380d434605de;ms-48d490ed21088bb5ba85;ms-d73a2a984d5829e884f9;ms-00b9ad6a8fe73fccc6fc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d33444117889b5aa9cfb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19181717932224274, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5650762915611267, + 0.5629385113716125, + 0.5607398152351379, + 0.5446308255195618 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00213778018951416, + -0.0043364763259887695, + -0.02044546604156494 + ], + "candidate_oracle_branch_scores": [ + 0.5650762915611267, + 0.5629385113716125, + 0.5607398152351379, + 0.5446308255195618 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.6970577836036682, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + -0.6970577836036682, + -0.7460822463035583, + -0.7968563437461853, + -1.0256787538528442 + ], + "candidate_oracle_progress": 0.5650762915611267, + "candidate_oracle_regret": 1.4349237084388733, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5650762915611267, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5650762915611267, + "candidate_oracle_selected_branch_score": 0.5650762915611267, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-935ff204de9424ec00a2;ms-d73a2a984d5829e884f9;ms-dfc737e32df79e1fc429;ms-48d490ed21088bb5ba85;ms-4177936dc3e043366181;ms-3b4b0b8c60ad41bb16b0", + "expert_regret": 1.4346607327461243, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d5bfdabc97e56c680680", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4346607327461243, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5653392672538757, + "restore_error": 1.1920928955078125e-07, + "score": 0.5653392672538757, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20256192982196808, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.2154146134853363, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + 0.2154146134853363, + 0.19564670324325562, + 0.15734568238258362, + 0.0649450495839119 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2592e5fa970f1b474388;ms-9af03b651b5e36ac2ae3;ms-8522a9364bf70311450d;ms-41c5500153912a1743de;ms-f8c4e700a751537ebb16;ms-d0e4bdc60ab8ea52a320", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-51f2c34d5f8f132af1ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6269308924674988, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.11866028606891632, + 0.13237479329109192, + 0.127706840634346, + 0.09975910186767578 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.013714507222175598, + 0.009046554565429688, + -0.01890118420124054 + ], + "candidate_oracle_branch_scores": [ + 0.11866028606891632, + 0.13237479329109192, + 0.127706840634346, + 0.09975910186767578 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.758796215057373, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 24 + ], + "candidate_oracle_potentials": [ + -1.7413036823272705, + -1.758796215057373, + -1.7774040699005127, + -1.967586874961853 + ], + "candidate_oracle_progress": 0.13237479329109192, + "candidate_oracle_regret": 1.867625206708908, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.13237479329109192, + "candidate_oracle_score_gain_over_selected": 0.013714507222175598, + "candidate_oracle_selected_branch_progress": 0.11866028606891632, + "candidate_oracle_selected_branch_score": 0.11866028606891632, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-55c2bba961a327aa5260;ms-e20f5d43f319248c5001;ms-fd1c44c6d5d8f7f11451;ms-8d94c7c692c91a962f25;ms-81729abe5d83a1ca280d;ms-68e331088400739273da", + "expert_regret": 1.881339855492115, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bcd9be34f050d97499bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.881339855492115, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11866014450788498, + "restore_error": 1.1920928955078125e-07, + "score": 0.11866014450788498, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5837020874023438, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.1122584119439125, + 0.10316365212202072, + 0.11451120674610138, + 0.11822231113910675 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.009094759821891785, + 0.0022527948021888733, + 0.005963899195194244 + ], + "candidate_oracle_branch_scores": [ + 0.1122584119439125, + 0.10316365212202072, + 0.11451120674610138, + 0.11822231113910675 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.746982455253601, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.5399136543273926, + -1.6229419708251953, + -1.6911565065383911, + -1.746982455253601 + ], + "candidate_oracle_progress": 0.11822231113910675, + "candidate_oracle_regret": 0.49899260699748993, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.11822231113910675, + "candidate_oracle_score_gain_over_selected": 0.005963899195194244, + "candidate_oracle_selected_branch_progress": 0.1122584119439125, + "candidate_oracle_selected_branch_score": 0.1122584119439125, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a43a663a3c4b15ec3ac2;ms-aaf1c4931e054f52623c;ms-4f833710c2706ee077af;ms-b666f24369c548cd56ab;ms-7cbbc5e7dc896a803efa;ms-c7f427f37d47501932e8", + "expert_regret": 0.5138383954763412, + "expert_score": 0.6172149181365967, + "expert_success": false, + "group_id": "ms-8bb2d8cb7c0d33fa0c1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5138383954763412, + "oracle_score": 0.6172149181365967, + "oracle_success": false, + "progress": 0.10337652266025543, + "restore_error": 1.1920928955078125e-07, + "score": 0.10337652266025543, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42600852251052856, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.5993624925613403, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 33, + 17 + ], + "candidate_oracle_potentials": [ + 0.5993624925613403, + 0.5745501518249512, + 0.3944718539714813, + 0.39045432209968567 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-53cfcc878e30fc078bba;ms-a10d8368c33b56390f77;ms-dc2a8fa76e1ceb0d8925;ms-fe54b45b549a55d45c0e;ms-867fd9318b2445dcefb5;ms-3f4967102c7b10057ab9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-339ae3ec9482aa259eec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5066487789154053, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.5883259177207947, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 0.5883259177207947, + 0.5817537307739258, + 0.46670395135879517, + 0.43993696570396423 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dc2a8fa76e1ceb0d8925;ms-6c39b520dca0a325535f;ms-a10d8368c33b56390f77;ms-fe54b45b549a55d45c0e;ms-a44a2c9eee8baea5d29e;ms-a576ca39e26c4e1ab240", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f6d30c2ade00e451dc2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6398872137069702, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.22553083300590515, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + -0.22553083300590515, + -0.3935435712337494, + -0.5680004954338074, + -1.34162175655365 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bcfeba2af1e844c22aed;ms-97140da7cf409922f6ce;ms-1735d1abca4a91293d78;ms-a202dd8923327af132da;ms-3f4967102c7b10057ab9;ms-dc2a8fa76e1ceb0d8925", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cb99eeafec52800f3b77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2675341069698334, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.49698278307914734, + 0.49679404497146606, + 0.4966048300266266, + 0.49828967452049255 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00018873810768127441, + -0.00037795305252075195, + 0.0013068914413452148 + ], + "candidate_oracle_branch_scores": [ + 0.49698278307914734, + 0.49679404497146606, + 0.4966048300266266, + 0.49828967452049255 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1218994855880737, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -1.1033486127853394, + -1.103519320487976, + -1.103927731513977, + -1.1218994855880737 + ], + "candidate_oracle_progress": 0.49828967452049255, + "candidate_oracle_regret": 1.5017103254795074, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.49828967452049255, + "candidate_oracle_score_gain_over_selected": 0.0013068914413452148, + "candidate_oracle_selected_branch_progress": 0.49698278307914734, + "candidate_oracle_selected_branch_score": 0.49698278307914734, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-625b5d55ca76cc565049;ms-a145b708d79b243da21f;ms-6133ea5e61638487dd46;ms-766b6fe7c08a3525ce94;ms-81085eba1dd49b17ec9c;ms-7241a1c25af41f4c0b5a", + "expert_regret": 1.5030170381069183, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cddf387bbcd6aed98fca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.5030170381069183, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49698296189308167, + "restore_error": 1.1920928955078125e-07, + "score": 0.49698296189308167, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.35242846608161926, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.28533628582954407, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 0.28533628582954407, + 0.28060707449913025, + 0.18938273191452026, + 0.18460139632225037 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e793d78eaff3fb28deb6;ms-6d7b10e8b2b0a516b786;ms-6995d4366e7c20010126;ms-9b4483fb034248fe882d;ms-bcc70292f404cd1c7f75;ms-1924e52af208c9f66592", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a2908e99b0a12a9980cc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45704030990600586, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5496919751167297, + 0.5486835241317749, + 0.5494288206100464, + 0.5484501123428345 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.001008450984954834, + -0.0002631545066833496, + -0.0012418627738952637 + ], + "candidate_oracle_branch_scores": [ + 0.5496919751167297, + 0.5486835241317749, + 0.5494288206100464, + 0.5484501123428345 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8630316257476807, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -0.8630316257476807, + -0.8742731213569641, + -0.9380295276641846, + -0.9493643641471863 + ], + "candidate_oracle_progress": 0.5496919751167297, + "candidate_oracle_regret": 1.4503080248832703, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5496919751167297, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5496919751167297, + "candidate_oracle_selected_branch_score": 0.5496919751167297, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d73a2a984d5829e884f9;ms-e45b5de01eafae73e492;ms-36e8cb2e7f34f8dceb05;ms-00b9ad6a8fe73fccc6fc;ms-48d490ed21088bb5ba85;ms-935ff204de9424ec00a2", + "expert_regret": 1.450303077697754, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8420ccaff5986c85063f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.450303077697754, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5496969223022461, + "restore_error": 1.1920928955078125e-07, + "score": 0.5496969223022461, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6801189184188843, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5087584257125854, + 0.5064582228660583, + 0.5086109042167664, + 0.5068315863609314 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0023002028465270996, + -0.0001475214958190918, + -0.0019268393516540527 + ], + "candidate_oracle_branch_scores": [ + 0.5087584257125854, + 0.5064582228660583, + 0.5086109042167664, + 0.5068315863609314 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.4483544826507568, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -1.4483544826507568, + -1.4622490406036377, + -1.4895241260528564, + -1.4988839626312256 + ], + "candidate_oracle_progress": 0.5087584257125854, + "candidate_oracle_regret": 1.4912415742874146, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5087584257125854, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5087584257125854, + "candidate_oracle_selected_branch_score": 0.5087584257125854, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ad10dacf462663ab68ad;ms-d6305829d7ca1c68a3ce;ms-ae5421846020d2765f82;ms-a073398629e6943ad1fb;ms-a8e6435948250f5e163d;ms-7d81f3e8b6a42695871d", + "expert_regret": 1.491240382194519, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1c4ab2b6f004fc8fa66d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.491240382194519, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.508759617805481, + "restore_error": 1.1920928955078125e-07, + "score": 0.508759617805481, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6042205691337585, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5435346961021423, + 0.5373658537864685, + 0.5439017415046692, + 0.5445883274078369 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.006168842315673828, + 0.00036704540252685547, + 0.00105363130569458 + ], + "candidate_oracle_branch_scores": [ + 0.5435346961021423, + 0.5373658537864685, + 0.5439017415046692, + 0.5445883274078369 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8475967645645142, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -0.7656899690628052, + -0.8050375580787659, + -0.844417154788971, + -0.8475967645645142 + ], + "candidate_oracle_progress": 0.5445883274078369, + "candidate_oracle_regret": 1.455411672592163, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5445883274078369, + "candidate_oracle_score_gain_over_selected": 0.00105363130569458, + "candidate_oracle_selected_branch_progress": 0.5435346961021423, + "candidate_oracle_selected_branch_score": 0.5435346961021423, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-81729abe5d83a1ca280d;ms-8d94c7c692c91a962f25;ms-8e4755f1627d85c12bd8;ms-54f34c73458181a65e9a;ms-f4860c7945db15b54d2e;ms-4f190184d3920a0add8b", + "expert_regret": 1.4564695954322815, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2073841ae01f224365a1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4564695954322815, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5435304045677185, + "restore_error": 1.1920928955078125e-07, + "score": 0.5435304045677185, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4006882607936859, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5559958815574646, + 0.5582337975502014, + 0.5578364729881287, + 0.5559388995170593 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0022379159927368164, + 0.0018405914306640625, + -5.698204040527344e-05 + ], + "candidate_oracle_branch_scores": [ + 0.5559958815574646, + 0.5582337975502014, + 0.5578364729881287, + 0.5559388995170593 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3522636890411377, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 24, + 20, + 4, + 8 + ], + "candidate_oracle_potentials": [ + -1.3519452810287476, + -1.3522636890411377, + -1.3719801902770996, + -1.372962474822998 + ], + "candidate_oracle_progress": 0.5582337975502014, + "candidate_oracle_regret": 1.4417662024497986, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5582337975502014, + "candidate_oracle_score_gain_over_selected": 0.0022379159927368164, + "candidate_oracle_selected_branch_progress": 0.5559958815574646, + "candidate_oracle_selected_branch_score": 0.5559958815574646, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-625b5d55ca76cc565049;ms-81085eba1dd49b17ec9c;ms-87b44e6219279322a723;ms-cdd69b5acc8119e600c7;ms-6133ea5e61638487dd46;ms-a145b708d79b243da21f", + "expert_regret": 1.444004774093628, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-943b5187cbe128b9b563", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.444004774093628, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5559952259063721, + "restore_error": 1.1920928955078125e-07, + "score": 0.5559952259063721, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42490291595458984, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.7853309512138367, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + 0.7853309512138367, + 0.7852500677108765, + 0.7850973010063171, + 0.7740136981010437 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3417f5f2f1470c61d0a8;ms-d44f5bd2488ea182132b;ms-61ac2be70a9798adeda0;ms-39af5447d3c90872c25f;ms-1924e52af208c9f66592;ms-a6060f858cb9f93c5588", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c6e41e7542bc6924a1f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5168997049331665, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5603687167167664, + 0.5505300164222717, + 0.559130847454071, + 0.5500880479812622 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.009838700294494629, + -0.0012378692626953125, + -0.01028066873550415 + ], + "candidate_oracle_branch_scores": [ + 0.5603687167167664, + 0.5505300164222717, + 0.559130847454071, + 0.5500880479812622 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2344582080841064, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -1.2344582080841064, + -1.274919867515564, + -1.4285002946853638, + -1.482981562614441 + ], + "candidate_oracle_progress": 0.5603687167167664, + "candidate_oracle_regret": 1.4396312832832336, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5603687167167664, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5603687167167664, + "candidate_oracle_selected_branch_score": 0.5603687167167664, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f682952c6ecb2b833c35;ms-732d0515ed28df031b8e;ms-1f8e2d5d25706493821d;ms-4b970be37419ce0be0ae;ms-a1d69e0b112064914357;ms-8e4755f1627d85c12bd8", + "expert_regret": 1.4396297335624695, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4fad1f976cc64cc06826", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4396297335624695, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5603702664375305, + "restore_error": 1.1920928955078125e-07, + "score": 0.5603702664375305, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8423932194709778, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.064095638692379, + 0.0644182488322258, + 0.06571047753095627, + 0.06624841690063477 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00032261013984680176, + 0.0016148388385772705, + 0.002152778208255768 + ], + "candidate_oracle_branch_scores": [ + 0.064095638692379, + 0.0644182488322258, + 0.06571047753095627, + 0.06624841690063477 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2889997959136963, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -1.2252471446990967, + -1.2470697164535522, + -1.2704744338989258, + -1.2889997959136963 + ], + "candidate_oracle_progress": 0.06624841690063477, + "candidate_oracle_regret": 1.9337515830993652, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.06624841690063477, + "candidate_oracle_score_gain_over_selected": 0.002152778208255768, + "candidate_oracle_selected_branch_progress": 0.064095638692379, + "candidate_oracle_selected_branch_score": 0.064095638692379, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-59020093d2eeaf58aa84;ms-87f65c35c9d8b3ced6fc;ms-03ed7e57992354e27896;ms-fa62bbb3e8416561ed69;ms-81729abe5d83a1ca280d;ms-ddb8f148dff1db91851f", + "expert_regret": 1.9359044805169106, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-382000b79932b7c68326", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9359044805169106, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06409551948308945, + "restore_error": 1.1920928955078125e-07, + "score": 0.06409551948308945, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3317232131958008, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.03274736553430557, + 0.03176107630133629, + 0.03075258806347847, + 0.022793306037783623 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.000986289232969284, + -0.0019947774708271027, + -0.00995405949652195 + ], + "candidate_oracle_branch_scores": [ + 0.03274736553430557, + 0.03176107630133629, + 0.03075258806347847, + 0.022793306037783623 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.5378637313842773, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 8 + ], + "candidate_oracle_potentials": [ + -2.5378637313842773, + -2.5598104000091553, + -2.5897505283355713, + -2.7181055545806885 + ], + "candidate_oracle_progress": 0.03274736553430557, + "candidate_oracle_regret": 1.9672526344656944, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.03274736553430557, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.03274736553430557, + "candidate_oracle_selected_branch_score": 0.03274736553430557, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cea745484a24f376d7e8;ms-81729abe5d83a1ca280d;ms-4f190184d3920a0add8b;ms-a1846ef1f00eb54e2d60;ms-fef1cf4879be83a77574;ms-8e4755f1627d85c12bd8", + "expert_regret": 1.9672530181705952, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ac281cce8f6e42586359", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9672530181705952, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03274698182940483, + "restore_error": 1.1920928955078125e-07, + "score": 0.03274698182940483, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6118654608726501, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.5457425117492676, + 1.0, + 0.5456060171127319 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.4542574882507324, + 0.0, + -1.454393982887268 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.5457425117492676, + 2.0, + 0.5456060171127319 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.0530043840408325, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 1, + 19, + 17 + ], + "candidate_oracle_potentials": [ + -1.0530043840408325, + -1.066083312034607, + -1.066224217414856, + -1.0673363208770752 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-26e09c86be9068a34acf;ms-b570fe64df70560c8ab6;ms-3ea30989082ec714e12d;ms-6133ea5e61638487dd46;ms-766b6fe7c08a3525ce94;ms-a145b708d79b243da21f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b7ed399f40d2d554b16d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.810135543346405, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.04223839193582535, + 0.02478807047009468, + 0.04421382024884224, + 0.047756124287843704 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.017450321465730667, + 0.0019754283130168915, + 0.005517732352018356 + ], + "candidate_oracle_branch_scores": [ + 0.04223839193582535, + 0.02478807047009468, + 0.04421382024884224, + 0.047756124287843704 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.4396398067474365, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 0, + 20, + 4 + ], + "candidate_oracle_potentials": [ + -2.3975002765655518, + -2.41306209564209, + -2.4145102500915527, + -2.4396398067474365 + ], + "candidate_oracle_progress": 0.047756124287843704, + "candidate_oracle_regret": 1.9522438757121563, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.047756124287843704, + "candidate_oracle_score_gain_over_selected": 0.005517732352018356, + "candidate_oracle_selected_branch_progress": 0.04223839193582535, + "candidate_oracle_selected_branch_score": 0.04223839193582535, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fef1cf4879be83a77574;ms-8fa24da5c97dc1dad5c1;ms-aaf1c4931e054f52623c;ms-c7f427f37d47501932e8;ms-b666f24369c548cd56ab;ms-a43a663a3c4b15ec3ac2", + "expert_regret": 1.9577606916427612, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fcbac5ac63b87452c719", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9577606916427612, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04223930835723877, + "restore_error": 1.1920928955078125e-07, + "score": 0.04223930835723877, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18699240684509277, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.3691415786743164, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + 0.3691415786743164, + 0.3691103160381317, + 0.3687308132648468, + 0.3543320298194885 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a3d0c460532de2d801ae;ms-bcc70292f404cd1c7f75;ms-d44f5bd2488ea182132b;ms-935ff204de9424ec00a2;ms-68ab6033433b360464f8;ms-48d490ed21088bb5ba85", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cca07eb504a242633931", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5946658849716187, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.15291443467140198, + 0.14957328140735626, + 0.14598026871681213, + 0.4946698248386383 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0033411532640457153, + -0.006934165954589844, + 0.34175539016723633 + ], + "candidate_oracle_branch_scores": [ + 0.15291443467140198, + 0.14957328140735626, + 0.14598026871681213, + 0.4946698248386383 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.0948753356933594, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 4 + ], + "candidate_oracle_potentials": [ + -1.8847922086715698, + -1.8923031091690063, + -1.9037336111068726, + -2.0948753356933594 + ], + "candidate_oracle_progress": 0.4946698248386383, + "candidate_oracle_regret": 1.5053301751613617, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4946698248386383, + "candidate_oracle_score_gain_over_selected": 0.34175539016723633, + "candidate_oracle_selected_branch_progress": 0.15291443467140198, + "candidate_oracle_selected_branch_score": 0.15291443467140198, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a1d69e0b112064914357;ms-f682952c6ecb2b833c35;ms-5415e349e8f9f2bce641;ms-1f8e2d5d25706493821d;ms-68e331088400739273da;ms-fd1c44c6d5d8f7f11451", + "expert_regret": 1.8470850884914398, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-62b597990a3d637e5a8a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8470850884914398, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.15291491150856018, + "restore_error": 1.1920928955078125e-07, + "score": 0.15291491150856018, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1396419107913971, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5581152439117432, + 0.5556777119636536, + 0.5553287267684937, + 0.5549802780151367 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0024375319480895996, + -0.0027865171432495117, + -0.0031349658966064453 + ], + "candidate_oracle_branch_scores": [ + 0.5581152439117432, + 0.5556777119636536, + 0.5553287267684937, + 0.5549802780151367 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7079521417617798, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.7079521417617798, + -0.7172563672065735, + -0.7210111021995544, + -0.7249510884284973 + ], + "candidate_oracle_progress": 0.5581152439117432, + "candidate_oracle_regret": 1.4418847560882568, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5581152439117432, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5581152439117432, + "candidate_oracle_selected_branch_score": 0.5581152439117432, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-81085eba1dd49b17ec9c;ms-87b44e6219279322a723;ms-09de52dad7e40970c938;ms-26e09c86be9068a34acf;ms-a145b708d79b243da21f;ms-6133ea5e61638487dd46", + "expert_regret": 1.4418847560882568, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-48cdfa31865ed70997c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4418847560882568, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5581152439117432, + "restore_error": 1.1920928955078125e-07, + "score": 0.5581152439117432, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3428492546081543, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 1.274587631225586, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 0 + ], + "candidate_oracle_potentials": [ + 1.274587631225586, + 1.2681972980499268, + 1.2566617727279663, + 1.1473077535629272 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c1ac63fb3644e3a2ae06;ms-28d5618562729c763eb6;ms-bc30ca6b7675f4de5041;ms-c70be4072fb4e49ac106;ms-c151229bc1dd03ed2feb;ms-c5d026dffb39f2f1d38a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-45ed57caa698d87a99cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.664156436920166, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5616230964660645, + 0.5606251955032349, + 0.5600854754447937, + 0.560767412185669 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0009979009628295898, + -0.001537621021270752, + -0.0008556842803955078 + ], + "candidate_oracle_branch_scores": [ + 0.5616230964660645, + 0.5606251955032349, + 0.5600854754447937, + 0.560767412185669 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0529286861419678, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + -1.0529286861419678, + -1.0748058557510376, + -1.0792860984802246, + -1.0982016324996948 + ], + "candidate_oracle_progress": 0.5616230964660645, + "candidate_oracle_regret": 1.4383769035339355, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5616230964660645, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5616230964660645, + "candidate_oracle_selected_branch_score": 0.5616230964660645, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c91cae30acaa8dc7a12b;ms-7241a1c25af41f4c0b5a;ms-b786173f210fcaa65a6e;ms-c7156b26670838d40934;ms-7670f25745871759e69e;ms-a01f0549a18d924d31c0", + "expert_regret": 1.4382875561714172, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a934ef3c442100d9cc58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4382875561714172, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5617124438285828, + "restore_error": 1.1920928955078125e-07, + "score": 0.5617124438285828, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6652940511703491, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5844301581382751, + 1.0, + 0.5614988207817078, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.41556978225708, + -0.022931337356567383, + 1.41556978225708 + ], + "candidate_oracle_branch_scores": [ + 0.5844301581382751, + 2.0, + 0.5614988207817078, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7434765100479126, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + -0.732257068157196, + -0.7434765100479126, + -0.8161391615867615, + -0.8212079405784607 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.41556978225708, + "candidate_oracle_selected_branch_progress": 0.5844301581382751, + "candidate_oracle_selected_branch_score": 0.5844301581382751, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7651a7f31eae24958ef0;ms-1f8e2d5d25706493821d;ms-8e4755f1627d85c12bd8;ms-cd340bca589f0cebd7da;ms-ac79bc3a841958ce127f;ms-4b970be37419ce0be0ae", + "expert_regret": 1.416168749332428, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-326f54ae8f73791c49e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.416168749332428, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.583831250667572, + "restore_error": 1.1920928955078125e-07, + "score": 0.583831250667572, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.17123976349830627, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5592164993286133, + 0.5587560534477234, + 0.5582192540168762, + 0.559212863445282 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0004604458808898926, + -0.0009972453117370605, + -3.635883331298828e-06 + ], + "candidate_oracle_branch_scores": [ + 0.5592164993286133, + 0.5587560534477234, + 0.5582192540168762, + 0.559212863445282 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.1837692260742188, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 8 + ], + "candidate_oracle_potentials": [ + -1.1837692260742188, + -1.1849337816238403, + -1.1864036321640015, + -1.1878151893615723 + ], + "candidate_oracle_progress": 0.5592164993286133, + "candidate_oracle_regret": 1.4407835006713867, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5592164993286133, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5592164993286133, + "candidate_oracle_selected_branch_score": 0.5592164993286133, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0a48fbd111be17b50be5;ms-d6305829d7ca1c68a3ce;ms-f3f6a1b34fdf35290a6c;ms-f8439d39ae9ed028a4cd;ms-ae5421846020d2765f82;ms-1735d1abca4a91293d78", + "expert_regret": 0.035620927810668945, + "expert_score": 0.5949071645736694, + "expert_success": false, + "group_id": "ms-b6fd2931116c15db0f0a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4407137632369995, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5592862367630005, + "restore_error": 1.1920928955078125e-07, + "score": 0.5592862367630005, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.720335066318512, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5636903643608093, + 1.0, + 0.5624969601631165, + 0.5638817548751831 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.436309576034546, + -0.001193404197692871, + 0.0001913905143737793 + ], + "candidate_oracle_branch_scores": [ + 0.5636903643608093, + 2.0, + 0.5624969601631165, + 0.5638817548751831 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5384976863861084, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 36, + 33, + 17 + ], + "candidate_oracle_potentials": [ + -0.514864981174469, + -0.5384976863861084, + -0.7410717606544495, + -0.7466365694999695 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.436309576034546, + "candidate_oracle_selected_branch_progress": 0.5636903643608093, + "candidate_oracle_selected_branch_score": 0.5636903643608093, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-49219cb8ed7dad70c897;ms-a01f0549a18d924d31c0;ms-32b9c353a4890631f1bd;ms-4f833710c2706ee077af;ms-7cbbc5e7dc896a803efa;ms-98427ae2d94c1f85811a", + "expert_regret": 1.4363125562667847, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1451f536f2ac0df844f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4363125562667847, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5636874437332153, + "restore_error": 1.1920928955078125e-07, + "score": 0.5636874437332153, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33700451254844666, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.23632529377937317, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + 0.23632529377937317, + 0.18860316276550293, + 0.11393587291240692, + 0.07971759140491486 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-867fd9318b2445dcefb5;ms-bb60defa0d234da9e0bc;ms-2f846e9f31e2b8c4965f;ms-3aa864ead19c9cb9fb49;ms-95320371ce6b820c85f6;ms-66cc354bbf4e8bdd1051", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08c75f74bf7813b1c257", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5360341668128967, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5523974895477295, + 0.553001344203949, + 0.553562343120575, + 0.5562057495117188 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0006038546562194824, + 0.001164853572845459, + 0.003808259963989258 + ], + "candidate_oracle_branch_scores": [ + 0.5523974895477295, + 0.553001344203949, + 0.553562343120575, + 0.5562057495117188 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.3385990262031555, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 4 + ], + "candidate_oracle_potentials": [ + -0.18032635748386383, + -0.18556685745716095, + -0.19547273218631744, + -0.3385990262031555 + ], + "candidate_oracle_progress": 0.5562057495117188, + "candidate_oracle_regret": 1.4437942504882812, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5562057495117188, + "candidate_oracle_score_gain_over_selected": 0.003808259963989258, + "candidate_oracle_selected_branch_progress": 0.5523974895477295, + "candidate_oracle_selected_branch_score": 0.5523974895477295, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f8c4e700a751537ebb16;ms-f897cc2141a0a303fc6a;ms-2af09f91e05d19f7f181;ms-d0e4bdc60ab8ea52a320;ms-6be8614a1bd50b974b95;ms-32b9c353a4890631f1bd", + "expert_regret": 1.4476022124290466, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ce992c1fa0bcc38512b7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4476022124290466, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5523977875709534, + "restore_error": 1.1920928955078125e-07, + "score": 0.5523977875709534, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.10992107540369034, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5648137331008911, + 0.5648114681243896, + 0.5647746920585632, + 0.5636855959892273 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -2.2649765014648438e-06, + -3.904104232788086e-05, + -0.0011281371116638184 + ], + "candidate_oracle_branch_scores": [ + 0.5648137331008911, + 0.5648114681243896, + 0.5647746920585632, + 0.5636855959892273 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.6817408800125122, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 17, + 1, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -0.6817408800125122, + -0.6820274591445923, + -0.6823932528495789, + -0.7169842720031738 + ], + "candidate_oracle_progress": 0.5648137331008911, + "candidate_oracle_regret": 1.4351862668991089, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5648137331008911, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5648137331008911, + "candidate_oracle_selected_branch_score": 0.5648137331008911, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f8439d39ae9ed028a4cd;ms-fffe378a3bad31bbed52;ms-a73f46824bdbdfb96238;ms-71452ba714a10880870b;ms-f3f6a1b34fdf35290a6c;ms-b570fe64df70560c8ab6", + "expert_regret": 1.4351862668991089, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-488a34fe7b7e84250616", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4351862668991089, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5648137331008911, + "restore_error": 1.1920928955078125e-07, + "score": 0.5648137331008911, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.35748472809791565, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.5173658728599548, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 4 + ], + "candidate_oracle_potentials": [ + 0.5173658728599548, + 0.5133790969848633, + 0.5098976492881775, + 0.5066569447517395 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bcc70292f404cd1c7f75;ms-9b4483fb034248fe882d;ms-e793d78eaff3fb28deb6;ms-2cc8c1975139989940f0;ms-3b4b0b8c60ad41bb16b0;ms-4177936dc3e043366181", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97aebe1dd42939e3b340", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7075163722038269, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5437637567520142, + 0.541374921798706, + 0.543764054775238, + 0.5437422394752502 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0023888349533081055, + 2.980232238769531e-07, + -2.1517276763916016e-05 + ], + "candidate_oracle_branch_scores": [ + 0.5437637567520142, + 0.541374921798706, + 0.543764054775238, + 0.5437422394752502 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5916752815246582, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 4 + ], + "candidate_oracle_potentials": [ + -0.5520709753036499, + -0.555768609046936, + -0.5916752815246582, + -0.5954530835151672 + ], + "candidate_oracle_progress": 0.543764054775238, + "candidate_oracle_regret": 1.456235945224762, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.543764054775238, + "candidate_oracle_score_gain_over_selected": 2.980232238769531e-07, + "candidate_oracle_selected_branch_progress": 0.5437637567520142, + "candidate_oracle_selected_branch_score": 0.5437637567520142, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c5d026dffb39f2f1d38a;ms-c70be4072fb4e49ac106;ms-41c5500153912a1743de;ms-9af03b651b5e36ac2ae3;ms-2592e5fa970f1b474388;ms-2b3e081263ed25d45dc8", + "expert_regret": 1.4562367796897888, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5f5bf12b5ebb67eeb361", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4562367796897888, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5437632203102112, + "restore_error": 1.1920928955078125e-07, + "score": 0.5437632203102112, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44615840911865234, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5174547433853149, + 0.5175196528434753, + 0.5179838538169861, + 0.5180506110191345 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 6.490945816040039e-05, + 0.0005291104316711426, + 0.0005958676338195801 + ], + "candidate_oracle_branch_scores": [ + 0.5174547433853149, + 0.5175196528434753, + 0.5179838538169861, + 0.5180506110191345 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.5961353778839111, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -1.524120569229126, + -1.5444345474243164, + -1.5807064771652222, + -1.5961353778839111 + ], + "candidate_oracle_progress": 0.5180506110191345, + "candidate_oracle_regret": 1.4819493889808655, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.7881393432617188e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5180506110191345, + "candidate_oracle_score_gain_over_selected": 0.0005958676338195801, + "candidate_oracle_selected_branch_progress": 0.5174547433853149, + "candidate_oracle_selected_branch_score": 0.5174547433853149, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9e1f3c14116ebca6164d;ms-11930c353a2b4fefab82;ms-c78721d9c4196a9e8ec5;ms-c70be4072fb4e49ac106;ms-36e8cb2e7f34f8dceb05;ms-28d5618562729c763eb6", + "expert_regret": 1.4825461506843567, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5ad75923125806db5404", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4825461506843567, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5174538493156433, + "restore_error": 1.7881393432617188e-07, + "score": 0.5174538493156433, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15070632100105286, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.4360922873020172, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 8, + 4 + ], + "candidate_oracle_potentials": [ + 0.4360922873020172, + 0.35258761048316956, + 0.3036385178565979, + 0.27029162645339966 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.7881393432617188e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-97140da7cf409922f6ce;ms-bcfeba2af1e844c22aed;ms-1735d1abca4a91293d78;ms-a576ca39e26c4e1ab240;ms-7d81f3e8b6a42695871d;ms-dc2a8fa76e1ceb0d8925", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-64e28ad134f73fdce800", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6644247770309448, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.0186803936958313, + 0.017501963302493095, + 0.018668247386813164, + 0.017490267753601074 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0011784303933382034, + -1.214630901813507e-05, + -0.0011901259422302246 + ], + "candidate_oracle_branch_scores": [ + 0.0186803936958313, + 0.017501963302493095, + 0.018668247386813164, + 0.017490267753601074 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.9359270334243774, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -1.9359270334243774, + -1.9556477069854736, + -2.067577838897705, + -2.0869784355163574 + ], + "candidate_oracle_progress": 0.0186803936958313, + "candidate_oracle_regret": 1.9813196063041687, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.7881393432617188e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.0186803936958313, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.0186803936958313, + "candidate_oracle_selected_branch_score": 0.0186803936958313, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f682952c6ecb2b833c35;ms-732d0515ed28df031b8e;ms-4b970be37419ce0be0ae;ms-1f8e2d5d25706493821d;ms-4f190184d3920a0add8b;ms-8e4755f1627d85c12bd8", + "expert_regret": 1.9813193436712027, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28817fe297f38fd9550a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9813193436712027, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.01868065632879734, + "restore_error": 1.7881393432617188e-07, + "score": 0.01868065632879734, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4868495464324951, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5335957407951355, + 0.5335957407951355, + 0.5327337980270386, + 0.5326100587844849 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -0.0008619427680969238, + -0.0009856820106506348 + ], + "candidate_oracle_branch_scores": [ + 0.5335957407951355, + 0.5335957407951355, + 0.5327337980270386, + 0.5326100587844849 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.130612850189209, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 0, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.130612850189209, + -1.131302833557129, + -1.1329748630523682, + -1.1352806091308594 + ], + "candidate_oracle_progress": 0.5335957407951355, + "candidate_oracle_regret": 1.4664042592048645, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.7881393432617188e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5335957407951355, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5335957407951355, + "candidate_oracle_selected_branch_score": 0.5335957407951355, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-eac0d7dd54b1e797fdbd;ms-3f4967102c7b10057ab9;ms-a073398629e6943ad1fb;ms-a576ca39e26c4e1ab240;ms-fe54b45b549a55d45c0e;ms-7d81f3e8b6a42695871d", + "expert_regret": 1.466407835483551, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69962cd1c448094e4fb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.466407835483551, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.533592164516449, + "restore_error": 1.7881393432617188e-07, + "score": 0.533592164516449, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42231374979019165, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.017241299152374268, + 0.016144895926117897, + 0.023806357756257057, + 0.018969202414155006 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0010964032262563705, + 0.00656505860388279, + 0.0017279032617807388 + ], + "candidate_oracle_branch_scores": [ + 0.017241299152374268, + 0.016144895926117897, + 0.023806357756257057, + 0.018969202414155006 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -2.575606107711792, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -2.4754140377044678, + -2.574699878692627, + -2.575606107711792, + -2.590651035308838 + ], + "candidate_oracle_progress": 0.023806357756257057, + "candidate_oracle_regret": 1.976193642243743, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.7881393432617188e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.023806357756257057, + "candidate_oracle_score_gain_over_selected": 0.00656505860388279, + "candidate_oracle_selected_branch_progress": 0.017241299152374268, + "candidate_oracle_selected_branch_score": 0.017241299152374268, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4f833710c2706ee077af;ms-7cbbc5e7dc896a803efa;ms-98427ae2d94c1f85811a;ms-f5bae191ebad7c9f2687;ms-fed4628b22c7e42e32d9;ms-9233eae706910c204b79", + "expert_regret": 1.982756793498993, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d32f6b32c14e33b1eb1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.982756793498993, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.01724320650100708, + "restore_error": 1.7881393432617188e-07, + "score": 0.01724320650100708, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33824819326400757, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.3613791763782501, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -0.3613791763782501, + -0.37547165155410767, + -0.649062991142273, + -0.670140266418457 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.7881393432617188e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c9e31a19a776a861f9d7;ms-2b3e081263ed25d45dc8;ms-2a67eea0b1293de9bcf9;ms-41c5500153912a1743de;ms-2af09f91e05d19f7f181;ms-47a55ae1d3a858eed51c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a3c53708416dbfb9fbc5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2927720546722412, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.033011388033628464, + 0.017793690785765648, + 0.017579425126314163, + 0.03168019279837608 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.015217697247862816, + -0.0154319629073143, + -0.0013311952352523804 + ], + "candidate_oracle_branch_scores": [ + 0.033011388033628464, + 0.017793690785765648, + 0.017579425126314163, + 0.03168019279837608 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.4641594886779785, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 4, + 8, + 19 + ], + "candidate_oracle_potentials": [ + -2.4641594886779785, + -2.4778871536254883, + -2.5002551078796387, + -2.520174026489258 + ], + "candidate_oracle_progress": 0.033011388033628464, + "candidate_oracle_regret": 0.5554604418575764, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.7881393432617188e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.033011388033628464, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.033011388033628464, + "candidate_oracle_selected_branch_score": 0.033011388033628464, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fd1c44c6d5d8f7f11451;ms-55c2bba961a327aa5260;ms-e20f5d43f319248c5001;ms-5415e349e8f9f2bce641;ms-68e331088400739273da;ms-a1d69e0b112064914357", + "expert_regret": 0.5549179203808308, + "expert_score": 0.587929368019104, + "expert_success": false, + "group_id": "ms-cdfe8f580576f4c577b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5554603822529316, + "oracle_score": 0.5884718298912048, + "oracle_success": false, + "progress": 0.03301144763827324, + "restore_error": 1.7881393432617188e-07, + "score": 0.03301144763827324, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6024177670478821, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5556076765060425, + 0.5599786043167114, + 0.5558574199676514, + 0.5598720908164978 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.004370927810668945, + 0.0002497434616088867, + 0.004264414310455322 + ], + "candidate_oracle_branch_scores": [ + 0.5556076765060425, + 0.5599786043167114, + 0.5558574199676514, + 0.5598720908164978 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0332099199295044, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -1.0207411050796509, + -1.0332099199295044, + -1.1309795379638672, + -1.1386897563934326 + ], + "candidate_oracle_progress": 0.5599786043167114, + "candidate_oracle_regret": 1.4400213956832886, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.7881393432617188e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5599786043167114, + "candidate_oracle_score_gain_over_selected": 0.004370927810668945, + "candidate_oracle_selected_branch_progress": 0.5556076765060425, + "candidate_oracle_selected_branch_score": 0.5556076765060425, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d73a2a984d5829e884f9;ms-5daa8575a80e98a83170;ms-935ff204de9424ec00a2;ms-00b9ad6a8fe73fccc6fc;ms-8b73e5dfa1f2a01e6017;ms-48d490ed21088bb5ba85", + "expert_regret": 1.4443917870521545, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f101cf5cc8575be3c201", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4443917870521545, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5556082129478455, + "restore_error": 1.7881393432617188e-07, + "score": 0.5556082129478455, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3853129744529724, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.05602482706308365, + 0.053035881370306015, + 0.05018022283911705, + 0.03495906665921211 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0029889456927776337, + -0.0058446042239665985, + -0.021065760403871536 + ], + "candidate_oracle_branch_scores": [ + 0.05602482706308365, + 0.053035881370306015, + 0.05018022283911705, + 0.03495906665921211 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.581329822540283, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 8 + ], + "candidate_oracle_potentials": [ + -2.581329822540283, + -2.6570088863372803, + -2.7310471534729004, + -2.9149458408355713 + ], + "candidate_oracle_progress": 0.05602482706308365, + "candidate_oracle_regret": 1.9439751729369164, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 2.0116567611694336e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.05602482706308365, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.05602482706308365, + "candidate_oracle_selected_branch_score": 0.05602482706308365, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-732d0515ed28df031b8e;ms-f682952c6ecb2b833c35;ms-4b970be37419ce0be0ae;ms-cea745484a24f376d7e8;ms-1f8e2d5d25706493821d;ms-4f190184d3920a0add8b", + "expert_regret": 1.9439752101898193, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c458f671129e1ebe7b4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9439752101898193, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.056024789810180664, + "restore_error": 2.0116567611694336e-07, + "score": 0.056024789810180664, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5019001364707947, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5180814862251282, + 0.5172539949417114, + 0.5183562636375427, + 0.517413854598999 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.000827491283416748, + 0.0002747774124145508, + -0.0006676316261291504 + ], + "candidate_oracle_branch_scores": [ + 0.5180814862251282, + 0.5172539949417114, + 0.5183562636375427, + 0.517413854598999 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9466496706008911, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 24, + 20, + 40, + 36 + ], + "candidate_oracle_potentials": [ + -0.9292423129081726, + -0.931233823299408, + -0.9466496706008911, + -0.9481335878372192 + ], + "candidate_oracle_progress": 0.5183562636375427, + "candidate_oracle_regret": 1.4816437363624573, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 2.0116567611694336e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5183562636375427, + "candidate_oracle_score_gain_over_selected": 0.0002747774124145508, + "candidate_oracle_selected_branch_progress": 0.5180814862251282, + "candidate_oracle_selected_branch_score": 0.5180814862251282, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-81085eba1dd49b17ec9c;ms-87b44e6219279322a723;ms-09de52dad7e40970c938;ms-625b5d55ca76cc565049;ms-6133ea5e61638487dd46;ms-3ea30989082ec714e12d", + "expert_regret": 1.4819183945655823, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f6591d52d6824c6d2909", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4819183945655823, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5180816054344177, + "restore_error": 2.0116567611694336e-07, + "score": 0.5180816054344177, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.11363168060779572, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.5601965188980103, + 0.5581895709037781, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.4398034811019897, + -1.4418103694915771, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.5601965188980103, + 0.5581895709037781, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.24503065645694733, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 1 + ], + "candidate_oracle_potentials": [ + -0.24503065645694733, + -0.33991044759750366, + -0.4429636597633362, + -0.5220993757247925 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 2.0116567611694336e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3f4967102c7b10057ab9;ms-a576ca39e26c4e1ab240;ms-7d81f3e8b6a42695871d;ms-6c39b520dca0a325535f;ms-1735d1abca4a91293d78;ms-97140da7cf409922f6ce", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4a7b774ee02339c4ca19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.0116567611694336e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3271763026714325, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.02837200276553631, + 0.02777559868991375, + 0.027256369590759277, + 0.02537926472723484 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0005964040756225586, + -0.001115633174777031, + -0.002992738038301468 + ], + "candidate_oracle_branch_scores": [ + 0.02837200276553631, + 0.02777559868991375, + 0.027256369590759277, + 0.02537926472723484 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.452894687652588, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -2.452894687652588, + -2.462097644805908, + -2.4742190837860107, + -2.6954145431518555 + ], + "candidate_oracle_progress": 0.02837200276553631, + "candidate_oracle_regret": 1.9716279972344637, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 2.0116567611694336e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.02837200276553631, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.02837200276553631, + "candidate_oracle_selected_branch_score": 0.02837200276553631, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a1d69e0b112064914357;ms-f682952c6ecb2b833c35;ms-5415e349e8f9f2bce641;ms-1f8e2d5d25706493821d;ms-fd1c44c6d5d8f7f11451;ms-8e4755f1627d85c12bd8", + "expert_regret": 1.9716277588158846, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7e94769c30229d5cc7b8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9716277588158846, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02837224118411541, + "restore_error": 2.0116567611694336e-07, + "score": 0.02837224118411541, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.23513296246528625, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5192697644233704, + 0.5107952356338501, + 0.5086471438407898, + 0.5230299830436707 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.008474528789520264, + -0.010622620582580566, + 0.003760218620300293 + ], + "candidate_oracle_branch_scores": [ + 0.5192697644233704, + 0.5107952356338501, + 0.5086471438407898, + 0.5230299830436707 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.1109275817871094, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 4 + ], + "candidate_oracle_potentials": [ + -1.9140746593475342, + -2.0608677864074707, + -2.086060047149658, + -2.1109275817871094 + ], + "candidate_oracle_progress": 0.5230299830436707, + "candidate_oracle_regret": 1.4769700169563293, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 2.0116567611694336e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5230299830436707, + "candidate_oracle_score_gain_over_selected": 0.003760218620300293, + "candidate_oracle_selected_branch_progress": 0.5192697644233704, + "candidate_oracle_selected_branch_score": 0.5192697644233704, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8c8198e44eea32f98ca7;ms-c2e07545267c612a022c;ms-6558f35ae2a2871a4bfd;ms-d988976b029886d18476;ms-13557287cd450bc12c6f;ms-8fa24da5c97dc1dad5c1", + "expert_regret": 1.4807299971580505, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3abfb4c309360a304d54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4807299971580505, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5192700028419495, + "restore_error": 2.0116567611694336e-07, + "score": 0.5192700028419495, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.37673935294151306, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.3967057466506958, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + -0.3967057466506958, + -0.4359285235404968, + -0.44268548488616943, + -0.4751659035682678 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 2.0116567611694336e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e45b5de01eafae73e492;ms-36e8cb2e7f34f8dceb05;ms-d73a2a984d5829e884f9;ms-00b9ad6a8fe73fccc6fc;ms-48d490ed21088bb5ba85;ms-28b1f1e4380d434605de", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0d1db6695acdf1ec3eaf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.0116567611694336e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.23594442009925842, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5335232615470886, + 0.5343431830406189, + 0.5351272225379944, + 0.5394843816757202 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0008199214935302734, + 0.0016039609909057617, + 0.005961120128631592 + ], + "candidate_oracle_branch_scores": [ + 0.5335232615470886, + 0.5343431830406189, + 0.5351272225379944, + 0.5394843816757202 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0497928857803345, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -0.83519446849823, + -0.8949726819992065, + -0.9642213582992554, + -1.0497928857803345 + ], + "candidate_oracle_progress": 0.5394843816757202, + "candidate_oracle_regret": 1.4605156183242798, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 2.0116567611694336e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5394843816757202, + "candidate_oracle_score_gain_over_selected": 0.005961120128631592, + "candidate_oracle_selected_branch_progress": 0.5335232615470886, + "candidate_oracle_selected_branch_score": 0.5335232615470886, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9af03b651b5e36ac2ae3;ms-c1ac63fb3644e3a2ae06;ms-2592e5fa970f1b474388;ms-9e1f3c14116ebca6164d;ms-c5d026dffb39f2f1d38a;ms-28d5618562729c763eb6", + "expert_regret": 1.466475486755371, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-caeb59971565b08f2513", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.466475486755371, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5335245132446289, + "restore_error": 2.0116567611694336e-07, + "score": 0.5335245132446289, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4249926507472992, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.030866026878356934, + 0.020090198144316673, + 0.030419601127505302, + 0.02418273687362671 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.01077582873404026, + -0.00044642575085163116, + -0.006683290004730225 + ], + "candidate_oracle_branch_scores": [ + 0.030866026878356934, + 0.020090198144316673, + 0.030419601127505302, + 0.02418273687362671 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.7933783531188965, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 4, + 19, + 8 + ], + "candidate_oracle_potentials": [ + -2.7933783531188965, + -2.808164358139038, + -2.819751262664795, + -2.8348519802093506 + ], + "candidate_oracle_progress": 0.030866026878356934, + "candidate_oracle_regret": 1.969133973121643, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 2.0116567611694336e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.030866026878356934, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.030866026878356934, + "candidate_oracle_selected_branch_score": 0.030866026878356934, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-66ec6692758e9a7f2e01;ms-6558f35ae2a2871a4bfd;ms-739a89fb4521bc481a9f;ms-18fb80871b8e11d1ae9a;ms-a509a572b3871e591d26;ms-d988976b029886d18476", + "expert_regret": 1.969133960083127, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbda7bc51ca269d1cda4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.969133960083127, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.030866039916872978, + "restore_error": 2.0116567611694336e-07, + "score": 0.030866039916872978, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5361700654029846, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5685936212539673, + 1.0, + 0.5685949325561523, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.4314063787460327, + 1.3113021850585938e-06, + 1.4314063787460327 + ], + "candidate_oracle_branch_scores": [ + 0.5685936212539673, + 2.0, + 0.5685949325561523, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.260032594203949, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -0.2599547505378723, + -0.260032594203949, + -0.26299792528152466, + -0.2657938599586487 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4314063787460327, + "candidate_oracle_selected_branch_progress": 0.5685936212539673, + "candidate_oracle_selected_branch_score": 0.5685936212539673, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-625b5d55ca76cc565049;ms-a145b708d79b243da21f;ms-d6b2d805dc063382ade2;ms-766b6fe7c08a3525ce94;ms-6133ea5e61638487dd46;ms-cdd69b5acc8119e600c7", + "expert_regret": 1.4313083291053772, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d19c9e3ab1d7daf06344", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4313083291053772, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5686916708946228, + "restore_error": 1.1920928955078125e-07, + "score": 0.5686916708946228, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6546596884727478, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.12150108814239502, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 4, + 36, + 1 + ], + "candidate_oracle_potentials": [ + -0.12150108814239502, + -0.12206926941871643, + -0.12265914678573608, + -0.14320777356624603 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cafa65eeb953aff47f30;ms-cdd69b5acc8119e600c7;ms-d6b2d805dc063382ade2;ms-1309e1770b6ca6e71c7e;ms-ed7b02bc8f37b8524a56;ms-c91cae30acaa8dc7a12b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dd1311efb8ab2a0a2d23", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48721805214881897, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.03298312425613403, + 0.03289255127310753, + 0.04896782711148262, + 0.04684079810976982 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -9.057298302650452e-05, + 0.015984702855348587, + 0.013857673853635788 + ], + "candidate_oracle_branch_scores": [ + 0.03298312425613403, + 0.03289255127310753, + 0.04896782711148262, + 0.04684079810976982 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.253037691116333, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 35, + 19 + ], + "candidate_oracle_potentials": [ + -2.085076332092285, + -2.0858724117279053, + -2.253037691116333, + -2.2640628814697266 + ], + "candidate_oracle_progress": 0.04896782711148262, + "candidate_oracle_regret": 1.9510321728885174, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.04896782711148262, + "candidate_oracle_score_gain_over_selected": 0.015984702855348587, + "candidate_oracle_selected_branch_progress": 0.03298312425613403, + "candidate_oracle_selected_branch_score": 0.03298312425613403, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cea745484a24f376d7e8;ms-a1846ef1f00eb54e2d60;ms-ddb8f148dff1db91851f;ms-a509a572b3871e591d26;ms-4f190184d3920a0add8b;ms-fa62bbb3e8416561ed69", + "expert_regret": 1.967016790062189, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-950df0830b2e57010248", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.967016790062189, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0329832099378109, + "restore_error": 1.1920928955078125e-07, + "score": 0.0329832099378109, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44802674651145935, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.2764694094657898, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 35, + 4, + 19 + ], + "candidate_oracle_potentials": [ + 0.2764694094657898, + 0.27271413803100586, + 0.2714990973472595, + 0.2402990460395813 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-32b9c353a4890631f1bd;ms-70342af6b601660d7c69;ms-2af09f91e05d19f7f181;ms-c3a1cf0e424a4f065459;ms-49219cb8ed7dad70c897;ms-a01f0549a18d924d31c0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-813cac6d08ed5af48b12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.514076828956604, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.599796712398529, + 0.5963444113731384, + 0.5998445153236389, + 0.5959723591804504 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.003452301025390625, + 4.780292510986328e-05, + -0.0038243532180786133 + ], + "candidate_oracle_branch_scores": [ + 0.599796712398529, + 0.5963444113731384, + 0.5998445153236389, + 0.5959723591804504 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.352845311164856, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -1.3347203731536865, + -1.3377166986465454, + -1.352845311164856, + -1.3573806285858154 + ], + "candidate_oracle_progress": 0.5998445153236389, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5998445153236389, + "candidate_oracle_score_gain_over_selected": 4.780292510986328e-05, + "candidate_oracle_selected_branch_progress": 0.599796712398529, + "candidate_oracle_selected_branch_score": 0.599796712398529, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0a48fbd111be17b50be5;ms-f3f6a1b34fdf35290a6c;ms-1735d1abca4a91293d78;ms-a073398629e6943ad1fb;ms-bcfeba2af1e844c22aed;ms-f8439d39ae9ed028a4cd", + "expert_regret": 0.0, + "expert_score": 0.5980464816093445, + "expert_success": false, + "group_id": "ms-af0341467b22ec51e557", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.5980464816093445, + "oracle_success": false, + "progress": 0.5997961163520813, + "restore_error": 1.1920928955078125e-07, + "score": 0.5997961163520813, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6124001741409302, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.06661229580640793, + 0.06633951514959335, + 0.05884730815887451, + 0.055332280695438385 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0002727806568145752, + -0.007764987647533417, + -0.011280015110969543 + ], + "candidate_oracle_branch_scores": [ + 0.06661229580640793, + 0.06633951514959335, + 0.05884730815887451, + 0.055332280695438385 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.8724064826965332, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 36, + 24, + 40 + ], + "candidate_oracle_potentials": [ + -1.8724064826965332, + -1.8913403749465942, + -1.8916821479797363, + -1.9371860027313232 + ], + "candidate_oracle_progress": 0.06661229580640793, + "candidate_oracle_regret": 1.933387704193592, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.06661229580640793, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.06661229580640793, + "candidate_oracle_selected_branch_score": 0.06661229580640793, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6558f35ae2a2871a4bfd;ms-a509a572b3871e591d26;ms-0cc80a2933abf1b4853f;ms-03ed7e57992354e27896;ms-8fa24da5c97dc1dad5c1;ms-4f833710c2706ee077af", + "expert_regret": 1.933387704193592, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-175375383979526d80b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.933387704193592, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06661229580640793, + "restore_error": 1.1920928955078125e-07, + "score": 0.06661229580640793, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.23925484716892242, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5397191643714905, + 0.5417065620422363, + 0.5436565279960632, + 0.5555456876754761 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0019873976707458496, + 0.003937363624572754, + 0.015826523303985596 + ], + "candidate_oracle_branch_scores": [ + 0.5397191643714905, + 0.5417065620422363, + 0.5436565279960632, + 0.5555456876754761 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.4586268663406372, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -1.2761311531066895, + -1.3010504245758057, + -1.3251954317092896, + -1.4586268663406372 + ], + "candidate_oracle_progress": 0.5555456876754761, + "candidate_oracle_regret": 1.444454312324524, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5555456876754761, + "candidate_oracle_score_gain_over_selected": 0.015826523303985596, + "candidate_oracle_selected_branch_progress": 0.5397191643714905, + "candidate_oracle_selected_branch_score": 0.5397191643714905, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2b3e081263ed25d45dc8;ms-41c5500153912a1743de;ms-2a67eea0b1293de9bcf9;ms-f8c4e700a751537ebb16;ms-6be8614a1bd50b974b95;ms-c9e31a19a776a861f9d7", + "expert_regret": 1.4602802395820618, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-53fdabb5d8ef20778214", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4602802395820618, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5397197604179382, + "restore_error": 1.1920928955078125e-07, + "score": 0.5397197604179382, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39001089334487915, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5487939715385437, + 0.024037528783082962, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.5247564315795898, + 1.4512059688568115, + 1.4512059688568115 + ], + "candidate_oracle_branch_scores": [ + 0.5487939715385437, + 0.024037528783082962, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.0345686711370945, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 1, + 17 + ], + "candidate_oracle_potentials": [ + 0.0660533681511879, + 0.05856151133775711, + 0.0345686711370945, + 0.03321379795670509 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4512059688568115, + "candidate_oracle_selected_branch_progress": 0.5487939715385437, + "candidate_oracle_selected_branch_score": 0.5487939715385437, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-625b5d55ca76cc565049;ms-a145b708d79b243da21f;ms-d6b2d805dc063382ade2;ms-6133ea5e61638487dd46;ms-81085eba1dd49b17ec9c;ms-766b6fe7c08a3525ce94", + "expert_regret": 1.451196014881134, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b97cb4ec02e8234b08c5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.451196014881134, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.548803985118866, + "restore_error": 1.1920928955078125e-07, + "score": 0.548803985118866, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.25858184695243835, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5585238337516785, + 0.5580733418464661, + 0.5579847693443298, + 0.5578891634941101 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00045049190521240234, + -0.0005390644073486328, + -0.0006346702575683594 + ], + "candidate_oracle_branch_scores": [ + 0.5585238337516785, + 0.5580733418464661, + 0.5579847693443298, + 0.5578891634941101 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9225229024887085, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.9225229024887085, + -0.932577908039093, + -0.9359865784645081, + -0.9395173192024231 + ], + "candidate_oracle_progress": 0.5585238337516785, + "candidate_oracle_regret": 1.4414761662483215, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5585238337516785, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5585238337516785, + "candidate_oracle_selected_branch_score": 0.5585238337516785, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f88a44616a0985aac518;ms-5a7891a58bac94796178;ms-9cf068e0d2896f655ad2;ms-478f754a15221314d15e;ms-49219cb8ed7dad70c897;ms-3aa864ead19c9cb9fb49", + "expert_regret": 1.441252887248993, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6e4cc893fcbca1b385e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.441252887248993, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5587471127510071, + "restore_error": 1.1920928955078125e-07, + "score": 0.5587471127510071, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3597891628742218, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5639498233795166, + 0.5661770105361938, + 0.5697503089904785, + 0.571578860282898 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.002227187156677246, + 0.005800485610961914, + 0.007629036903381348 + ], + "candidate_oracle_branch_scores": [ + 0.5639498233795166, + 0.5661770105361938, + 0.5697503089904785, + 0.571578860282898 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.42159292101860046, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -0.2854788601398468, + -0.35198861360549927, + -0.38303565979003906, + -0.42159292101860046 + ], + "candidate_oracle_progress": 0.571578860282898, + "candidate_oracle_regret": 1.428421139717102, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.571578860282898, + "candidate_oracle_score_gain_over_selected": 0.007629036903381348, + "candidate_oracle_selected_branch_progress": 0.5639498233795166, + "candidate_oracle_selected_branch_score": 0.5639498233795166, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-766b6fe7c08a3525ce94;ms-6133ea5e61638487dd46;ms-a145b708d79b243da21f;ms-7241a1c25af41f4c0b5a;ms-5a7891a58bac94796178;ms-625b5d55ca76cc565049", + "expert_regret": 1.4364256858825684, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5fb668380b64d4f1e74", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4364256858825684, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5635743141174316, + "restore_error": 1.1920928955078125e-07, + "score": 0.5635743141174316, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24830183386802673, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.6013873219490051 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.3986127376556396 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.6013873219490051 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.46762052178382874, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -0.46762052178382874, + -0.4731334149837494, + -0.5803443193435669, + -0.5817211866378784 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3417f5f2f1470c61d0a8;ms-39af5447d3c90872c25f;ms-1924e52af208c9f66592;ms-61ac2be70a9798adeda0;ms-a6060f858cb9f93c5588;ms-11a2794efa24f4d93d83", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5e6d18ccfcf923f52f8e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22926096618175507, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5211949348449707, + 0.5210111141204834, + 0.520983874797821, + 0.5209561586380005 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0001838207244873047, + -0.0002110600471496582, + -0.00023877620697021484 + ], + "candidate_oracle_branch_scores": [ + 0.5211949348449707, + 0.5210111141204834, + 0.520983874797821, + 0.5209561586380005 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0116236209869385, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.0116236209869385, + -1.0170457363128662, + -1.0206159353256226, + -1.0245304107666016 + ], + "candidate_oracle_progress": 0.5211949348449707, + "candidate_oracle_regret": 1.4788050651550293, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5211949348449707, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5211949348449707, + "candidate_oracle_selected_branch_score": 0.5211949348449707, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bb60defa0d234da9e0bc;ms-6029bab18ae94b126d79;ms-66cc354bbf4e8bdd1051;ms-3aa864ead19c9cb9fb49;ms-95320371ce6b820c85f6;ms-c3a1cf0e424a4f065459", + "expert_regret": 1.478804588317871, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ee19bfbcb2f4fbf5a44d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.478804588317871, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5211954116821289, + "restore_error": 1.1920928955078125e-07, + "score": 0.5211954116821289, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22341486811637878, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.2790224850177765, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 4 + ], + "candidate_oracle_potentials": [ + 0.2790224850177765, + 0.24129067361354828, + 0.17488305270671844, + 0.15389575064182281 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-61ac2be70a9798adeda0;ms-3417f5f2f1470c61d0a8;ms-a6060f858cb9f93c5588;ms-d44f5bd2488ea182132b;ms-39af5447d3c90872c25f;ms-68ab6033433b360464f8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61781d30cb05657c5f5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4483616054058075, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5399489402770996, + 0.5400300621986389, + 0.540106475353241, + 0.539328396320343 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 8.112192153930664e-05, + 0.00015753507614135742, + -0.0006205439567565918 + ], + "candidate_oracle_branch_scores": [ + 0.5399489402770996, + 0.5400300621986389, + 0.540106475353241, + 0.539328396320343 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.5851976871490479, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 4 + ], + "candidate_oracle_potentials": [ + -0.5843309760093689, + -0.5847076773643494, + -0.5851976871490479, + -0.5931720733642578 + ], + "candidate_oracle_progress": 0.540106475353241, + "candidate_oracle_regret": 0.014477074146270752, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.540106475353241, + "candidate_oracle_score_gain_over_selected": 0.00015753507614135742, + "candidate_oracle_selected_branch_progress": 0.5399489402770996, + "candidate_oracle_selected_branch_score": 0.5399489402770996, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-29f1abb869ff206a4d52;ms-f897cc2141a0a303fc6a;ms-eb16021deb5d03f15c9d;ms-753929cfdc4aaa652b32;ms-ed7b02bc8f37b8524a56;ms-023e021f079a8774c741", + "expert_regret": 0.01463460922241211, + "expert_score": 0.5545835494995117, + "expert_success": false, + "group_id": "ms-3c4ff3dae26217f22a8b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.01463460922241211, + "oracle_score": 0.5545835494995117, + "oracle_success": false, + "progress": 0.5399489402770996, + "restore_error": 1.1920928955078125e-07, + "score": 0.5399489402770996, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5140713453292847, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5417366623878479, + 0.543344259262085, + 0.5448728799819946, + 0.5522015690803528 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0016075968742370605, + 0.0031362175941467285, + 0.010464906692504883 + ], + "candidate_oracle_branch_scores": [ + 0.5417366623878479, + 0.543344259262085, + 0.5448728799819946, + 0.5522015690803528 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.84337317943573, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -0.37866875529289246, + -0.39827439188957214, + -0.44738247990608215, + -0.84337317943573 + ], + "candidate_oracle_progress": 0.5522015690803528, + "candidate_oracle_regret": 1.4477984309196472, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5522015690803528, + "candidate_oracle_score_gain_over_selected": 0.010464906692504883, + "candidate_oracle_selected_branch_progress": 0.5417366623878479, + "candidate_oracle_selected_branch_score": 0.5417366623878479, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bb60defa0d234da9e0bc;ms-867fd9318b2445dcefb5;ms-3aa864ead19c9cb9fb49;ms-66cc354bbf4e8bdd1051;ms-95320371ce6b820c85f6;ms-a202dd8923327af132da", + "expert_regret": 1.4582642316818237, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-af16712eadcaebf175ff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4582642316818237, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5417357683181763, + "restore_error": 1.1920928955078125e-07, + "score": 0.5417357683181763, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.467496782541275, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5677308440208435, + 0.570538341999054, + 0.5700940489768982, + 0.5705793499946594 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0028074979782104492, + 0.0023632049560546875, + 0.002848505973815918 + ], + "candidate_oracle_branch_scores": [ + 0.5677308440208435, + 0.570538341999054, + 0.5700940489768982, + 0.5705793499946594 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.15052936971187592, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 35, + 19 + ], + "candidate_oracle_potentials": [ + 0.2847308814525604, + 0.28421998023986816, + 0.21036507189273834, + 0.15052936971187592 + ], + "candidate_oracle_progress": 0.5705793499946594, + "candidate_oracle_regret": 1.4294206500053406, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5705793499946594, + "candidate_oracle_score_gain_over_selected": 0.002848505973815918, + "candidate_oracle_selected_branch_progress": 0.5677308440208435, + "candidate_oracle_selected_branch_score": 0.5677308440208435, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1924e52af208c9f66592;ms-9b4483fb034248fe882d;ms-61ac2be70a9798adeda0;ms-d44f5bd2488ea182132b;ms-a3d0c460532de2d801ae;ms-11a2794efa24f4d93d83", + "expert_regret": 1.4322689175605774, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c4cb99b887c88c707ba9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4322689175605774, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5677310824394226, + "restore_error": 1.1920928955078125e-07, + "score": 0.5677310824394226, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5527832508087158, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.3665584325790405, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 20, + 40, + 36 + ], + "candidate_oracle_potentials": [ + -0.3665584325790405, + -0.3855324685573578, + -0.42950439453125, + -0.4418391287326813 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cafa65eeb953aff47f30;ms-d6b2d805dc063382ade2;ms-87b44e6219279322a723;ms-ed7b02bc8f37b8524a56;ms-81085eba1dd49b17ec9c;ms-1309e1770b6ca6e71c7e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dc5a883a3e28b90ebf1a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43613842129707336, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.0393069982528687, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + -1.0393069982528687, + -1.0862720012664795, + -1.1387076377868652, + -1.4436434507369995 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-36e8cb2e7f34f8dceb05;ms-e45b5de01eafae73e492;ms-8522a9364bf70311450d;ms-9af03b651b5e36ac2ae3;ms-00b9ad6a8fe73fccc6fc;ms-9e1f3c14116ebca6164d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d111990da24dde1403b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.17895877361297607, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5019294619560242, + 0.4967288672924042, + 0.49585866928100586, + 0.49501296877861023 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.005200594663619995, + -0.0060707926750183105, + -0.00691649317741394 + ], + "candidate_oracle_branch_scores": [ + 0.5019294619560242, + 0.4967288672924042, + 0.49585866928100586, + 0.49501296877861023 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.0697126388549805, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -2.0697126388549805, + -2.0874972343444824, + -2.092890977859497, + -2.0983693599700928 + ], + "candidate_oracle_progress": 0.5019294619560242, + "candidate_oracle_regret": 1.4980705380439758, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5019294619560242, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5019294619560242, + "candidate_oracle_selected_branch_score": 0.5019294619560242, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a509a572b3871e591d26;ms-6558f35ae2a2871a4bfd;ms-59020093d2eeaf58aa84;ms-03ed7e57992354e27896;ms-fef1cf4879be83a77574;ms-8fa24da5c97dc1dad5c1", + "expert_regret": 1.4980707168579102, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-54a7c3d32b6a267d81a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4980707168579102, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5019292831420898, + "restore_error": 1.1920928955078125e-07, + "score": 0.5019292831420898, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4496683180332184, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.29571548104286194, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.29571548104286194, + 0.2699568271636963, + 0.2613593339920044, + 0.251767635345459 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a13ee9983c139d34fca8;ms-a6060f858cb9f93c5588;ms-5d430ebe6f7933dc6c8c;ms-39af5447d3c90872c25f;ms-11a2794efa24f4d93d83;ms-61ac2be70a9798adeda0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-829156e8e688a433bf4f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3146779239177704, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.04695627838373184, + 0.04678469896316528, + 0.03536827489733696, + 0.03504452854394913 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00017157942056655884, + -0.011588003486394882, + -0.011911749839782715 + ], + "candidate_oracle_branch_scores": [ + 0.04695627838373184, + 0.04678469896316528, + 0.03536827489733696, + 0.03504452854394913 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.4000940322875977, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 8, + 4 + ], + "candidate_oracle_potentials": [ + -2.4000940322875977, + -2.444838047027588, + -2.4762723445892334, + -2.4796154499053955 + ], + "candidate_oracle_progress": 0.04695627838373184, + "candidate_oracle_regret": 1.9530437216162682, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.04695627838373184, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.04695627838373184, + "candidate_oracle_selected_branch_score": 0.04695627838373184, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a509a572b3871e591d26;ms-ddb8f148dff1db91851f;ms-fa62bbb3e8416561ed69;ms-03ed7e57992354e27896;ms-59020093d2eeaf58aa84;ms-a1846ef1f00eb54e2d60", + "expert_regret": 1.9530437588691711, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4bc023d8d1f7748b0e12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9530437588691711, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04695624113082886, + "restore_error": 1.1920928955078125e-07, + "score": 0.04695624113082886, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.37099534273147583, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.1112951785326004, + 0.11068661510944366, + 0.10981106758117676, + 0.09111008793115616 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0006085634231567383, + -0.001484110951423645, + -0.020185090601444244 + ], + "candidate_oracle_branch_scores": [ + 0.1112951785326004, + 0.11068661510944366, + 0.10981106758117676, + 0.09111008793115616 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.07401442527771, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 8 + ], + "candidate_oracle_potentials": [ + -2.07401442527771, + -2.1090738773345947, + -2.154919385910034, + -2.415837049484253 + ], + "candidate_oracle_progress": 0.1112951785326004, + "candidate_oracle_regret": 1.8887048214673996, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.1112951785326004, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.1112951785326004, + "candidate_oracle_selected_branch_score": 0.1112951785326004, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-66ec6692758e9a7f2e01;ms-739a89fb4521bc481a9f;ms-d988976b029886d18476;ms-18fb80871b8e11d1ae9a;ms-6558f35ae2a2871a4bfd;ms-cc0b33f92229d32bd84f", + "expert_regret": 1.8887048214673996, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08c39d9cc9eb7578e6e9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8887048214673996, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1112951785326004, + "restore_error": 1.1920928955078125e-07, + "score": 0.1112951785326004, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.386412650346756, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5336781740188599, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + -0.5336781740188599, + -0.5360534191131592, + -0.571813702583313, + -0.576082170009613 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f897cc2141a0a303fc6a;ms-d0e4bdc60ab8ea52a320;ms-6905c1d3bc8157697499;ms-f8c4e700a751537ebb16;ms-6be8614a1bd50b974b95;ms-706943f06888dd5bbb3a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-054a02413d31389d1b7f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28933435678482056, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5611826777458191 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.4388172626495361 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5611826777458191 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.9603972434997559, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -0.9603972434997559, + -0.9607007503509521, + -0.9609634876251221, + -0.9873535633087158 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2af09f91e05d19f7f181;ms-70342af6b601660d7c69;ms-c9e31a19a776a861f9d7;ms-f8c4e700a751537ebb16;ms-6be8614a1bd50b974b95;ms-32b9c353a4890631f1bd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dbb32d9fd6999e09f589", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4694187641143799, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.4699261784553528, + 0.4705791175365448, + 0.4707983434200287, + 0.47069650888442993 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0006529390811920166, + 0.0008721649646759033, + 0.0007703304290771484 + ], + "candidate_oracle_branch_scores": [ + 0.4699261784553528, + 0.4705791175365448, + 0.4707983434200287, + 0.47069650888442993 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.3922786712646484, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.1034551858901978, + -1.1070760488510132, + -1.3922786712646484, + -1.3934192657470703 + ], + "candidate_oracle_progress": 0.4707983434200287, + "candidate_oracle_regret": 1.5292016565799713, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 2.4586915969848633e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4707983434200287, + "candidate_oracle_score_gain_over_selected": 0.0008721649646759033, + "candidate_oracle_selected_branch_progress": 0.4699261784553528, + "candidate_oracle_selected_branch_score": 0.4699261784553528, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-570c074dbf28b5faae58;ms-5d430ebe6f7933dc6c8c;ms-a13ee9983c139d34fca8;ms-023e021f079a8774c741;ms-753929cfdc4aaa652b32;ms-eb16021deb5d03f15c9d", + "expert_regret": 1.5302172601222992, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-382717cd5bfad063ddf3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5302172601222992, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4697827398777008, + "restore_error": 2.3096799850463867e-07, + "score": 0.4697827398777008, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.192908376455307, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5557359457015991, + 0.5585956573486328, + 0.5589599013328552, + 0.5593142509460449 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0028597116470336914, + 0.0032239556312561035, + 0.0035783052444458008 + ], + "candidate_oracle_branch_scores": [ + 0.5557359457015991, + 0.5585956573486328, + 0.5589599013328552, + 0.5593142509460449 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.920882523059845, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.8680849075317383, + -0.9038259983062744, + -0.9121511578559875, + -0.920882523059845 + ], + "candidate_oracle_progress": 0.5593142509460449, + "candidate_oracle_regret": 1.440685749053955, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.4586915969848633e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5593142509460449, + "candidate_oracle_score_gain_over_selected": 0.0035783052444458008, + "candidate_oracle_selected_branch_progress": 0.5557359457015991, + "candidate_oracle_selected_branch_score": 0.5557359457015991, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2cc8c1975139989940f0;ms-d73a2a984d5829e884f9;ms-3b4b0b8c60ad41bb16b0;ms-00b9ad6a8fe73fccc6fc;ms-935ff204de9424ec00a2;ms-48d490ed21088bb5ba85", + "expert_regret": 1.4442749619483948, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-da855323619ebf257b19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4442749619483948, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5557250380516052, + "restore_error": 2.3096799850463867e-07, + "score": 0.5557250380516052, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.09320630878210068, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6734625697135925, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.6734625697135925, + -0.6743163466453552, + -0.6777353286743164, + -0.6816927194595337 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.4586915969848633e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bb60defa0d234da9e0bc;ms-66cc354bbf4e8bdd1051;ms-3aa864ead19c9cb9fb49;ms-95320371ce6b820c85f6;ms-a202dd8923327af132da;ms-6029bab18ae94b126d79", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4bc32bd893d0cff76423", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5847376585006714, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5633959174156189, + 0.5672096014022827, + 0.5631572604179382, + 0.5662261247634888 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0038136839866638184, + -0.00023865699768066406, + 0.002830207347869873 + ], + "candidate_oracle_branch_scores": [ + 0.5633959174156189, + 0.5672096014022827, + 0.5631572604179382, + 0.5662261247634888 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2323839664459229, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + -1.224998116493225, + -1.2323839664459229, + -1.2562435865402222, + -1.2607804536819458 + ], + "candidate_oracle_progress": 0.5672096014022827, + "candidate_oracle_regret": 1.4327903985977173, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 2.4586915969848633e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5672096014022827, + "candidate_oracle_score_gain_over_selected": 0.0038136839866638184, + "candidate_oracle_selected_branch_progress": 0.5633959174156189, + "candidate_oracle_selected_branch_score": 0.5633959174156189, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-766b6fe7c08a3525ce94;ms-5a7891a58bac94796178;ms-7241a1c25af41f4c0b5a;ms-9cf068e0d2896f655ad2;ms-a43a663a3c4b15ec3ac2;ms-b666f24369c548cd56ab", + "expert_regret": 1.4366056323051453, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f34c69fb0bf1b1055163", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4366056323051453, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5633943676948547, + "restore_error": 2.3096799850463867e-07, + "score": 0.5633943676948547, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.0770791620016098, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5811427235603333, + 0.5802401900291443, + 0.5794744491577148, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0009025335311889648, + -0.0016682744026184082, + 1.4188573360443115 + ], + "candidate_oracle_branch_scores": [ + 0.5811427235603333, + 0.5802401900291443, + 0.5794744491577148, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9307757019996643, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -0.9219464659690857, + -0.9221378564834595, + -0.922354519367218, + -0.9307757019996643 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 2.4586915969848633e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4188573360443115, + "candidate_oracle_selected_branch_progress": 0.5811427235603333, + "candidate_oracle_selected_branch_score": 0.5811427235603333, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5d430ebe6f7933dc6c8c;ms-a6060f858cb9f93c5588;ms-570c074dbf28b5faae58;ms-61ac2be70a9798adeda0;ms-3417f5f2f1470c61d0a8;ms-39af5447d3c90872c25f", + "expert_regret": 1.41885644197464, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a7f98a43ff113d74f009", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.41885644197464, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5811435580253601, + "restore_error": 2.3096799850463867e-07, + "score": 0.5811435580253601, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7624382376670837, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5195838212966919, + 0.5207133293151855, + 0.5214609503746033, + 0.5224968194961548 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0011295080184936523, + 0.001877129077911377, + 0.0029129981994628906 + ], + "candidate_oracle_branch_scores": [ + 0.5195838212966919, + 0.5207133293151855, + 0.5214609503746033, + 0.5224968194961548 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7188655138015747, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 24 + ], + "candidate_oracle_potentials": [ + -0.7014692425727844, + -0.7026121020317078, + -0.7046047449111938, + -0.7188655138015747 + ], + "candidate_oracle_progress": 0.5224968194961548, + "candidate_oracle_regret": 1.4775031805038452, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 2.4586915969848633e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5224968194961548, + "candidate_oracle_score_gain_over_selected": 0.0029129981994628906, + "candidate_oracle_selected_branch_progress": 0.5195838212966919, + "candidate_oracle_selected_branch_score": 0.5195838212966919, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cdd69b5acc8119e600c7;ms-03ed7e57992354e27896;ms-59020093d2eeaf58aa84;ms-fa62bbb3e8416561ed69;ms-87f65c35c9d8b3ced6fc;ms-ddb8f148dff1db91851f", + "expert_regret": 1.480416178703308, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2c9685cffc73e47cc8cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.480416178703308, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5195838212966919, + "restore_error": 2.3096799850463867e-07, + "score": 0.5195838212966919, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5667093396186829, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.03143949434161186, + 0.024676239117980003, + 0.046994566917419434, + 0.044638123363256454 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.006763255223631859, + 0.015555072575807571, + 0.013198629021644592 + ], + "candidate_oracle_branch_scores": [ + 0.03143949434161186, + 0.024676239117980003, + 0.046994566917419434, + 0.044638123363256454 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.2934043407440186, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 35, + 19 + ], + "candidate_oracle_potentials": [ + -2.230841875076294, + -2.2320215702056885, + -2.2934043407440186, + -2.323483467102051 + ], + "candidate_oracle_progress": 0.046994566917419434, + "candidate_oracle_regret": 1.9530054330825806, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 2.4586915969848633e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.046994566917419434, + "candidate_oracle_score_gain_over_selected": 0.015555072575807571, + "candidate_oracle_selected_branch_progress": 0.03143949434161186, + "candidate_oracle_selected_branch_score": 0.03143949434161186, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8b98e8aa8ecee10bea27;ms-b5deb1971bf3b3484282;ms-ac79bc3a841958ce127f;ms-cd340bca589f0cebd7da;ms-68e331088400739273da;ms-e20f5d43f319248c5001", + "expert_regret": 1.9685604684054852, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cd71a93dcab09ba15592", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9685604684054852, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03143953159451485, + "restore_error": 2.3096799850463867e-07, + "score": 0.03143953159451485, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6952808499336243, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.526589035987854, + 0.5265917181968689, + 0.5265903472900391, + 0.5265861749649048 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 2.682209014892578e-06, + 1.3113021850585938e-06, + -2.86102294921875e-06 + ], + "candidate_oracle_branch_scores": [ + 0.526589035987854, + 0.5265917181968689, + 0.5265903472900391, + 0.5265861749649048 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3193514347076416, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -1.3003267049789429, + -1.3193514347076416, + -1.3317581415176392, + -1.3363250494003296 + ], + "candidate_oracle_progress": 0.5265917181968689, + "candidate_oracle_regret": 1.473408281803131, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 2.4586915969848633e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5265917181968689, + "candidate_oracle_score_gain_over_selected": 2.682209014892578e-06, + "candidate_oracle_selected_branch_progress": 0.526589035987854, + "candidate_oracle_selected_branch_score": 0.526589035987854, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-766b6fe7c08a3525ce94;ms-5a7891a58bac94796178;ms-7241a1c25af41f4c0b5a;ms-13557287cd450bc12c6f;ms-d988976b029886d18476;ms-6558f35ae2a2871a4bfd", + "expert_regret": 1.4734114408493042, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-92a126060ec4a40e2c19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4734114408493042, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5265885591506958, + "restore_error": 2.3096799850463867e-07, + "score": 0.5265885591506958, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.535097062587738, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5200555920600891, + 0.5186148881912231, + 0.5207616686820984, + 0.5191301107406616 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0014407038688659668, + 0.0007060766220092773, + -0.0009254813194274902 + ], + "candidate_oracle_branch_scores": [ + 0.5200555920600891, + 0.5186148881912231, + 0.5207616686820984, + 0.5191301107406616 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.8832107782363892, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -1.838573694229126, + -1.8431507349014282, + -1.8832107782363892, + -1.8832380771636963 + ], + "candidate_oracle_progress": 0.5207616686820984, + "candidate_oracle_regret": 1.4792383313179016, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5207616686820984, + "candidate_oracle_score_gain_over_selected": 0.0007060766220092773, + "candidate_oracle_selected_branch_progress": 0.5200555920600891, + "candidate_oracle_selected_branch_score": 0.5200555920600891, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8e4755f1627d85c12bd8;ms-81729abe5d83a1ca280d;ms-8d94c7c692c91a962f25;ms-4b970be37419ce0be0ae;ms-4f190184d3920a0add8b;ms-1f8e2d5d25706493821d", + "expert_regret": 1.4790678024291992, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-80fbba5636cb4f9c64a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4790678024291992, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5209321975708008, + "restore_error": 1.1920928955078125e-07, + "score": 0.5209321975708008, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3553811013698578, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5619370341300964, + 0.5612583160400391, + 0.5634803771972656, + 0.5635742545127869 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.000678718090057373, + 0.0015433430671691895, + 0.0016372203826904297 + ], + "candidate_oracle_branch_scores": [ + 0.5619370341300964, + 0.5612583160400391, + 0.5634803771972656, + 0.5635742545127869 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.0942593812942505, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.0428532361984253, + -1.043657898902893, + -1.0925805568695068, + -1.0942593812942505 + ], + "candidate_oracle_progress": 0.5635742545127869, + "candidate_oracle_regret": 1.4364257454872131, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5635742545127869, + "candidate_oracle_score_gain_over_selected": 0.0016372203826904297, + "candidate_oracle_selected_branch_progress": 0.5619370341300964, + "candidate_oracle_selected_branch_score": 0.5619370341300964, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-41c5500153912a1743de;ms-2b3e081263ed25d45dc8;ms-6be8614a1bd50b974b95;ms-f8c4e700a751537ebb16;ms-2af09f91e05d19f7f181;ms-d0e4bdc60ab8ea52a320", + "expert_regret": 1.4380629062652588, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-978bbf0a6fc563f745ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4380629062652588, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5619370937347412, + "restore_error": 1.1920928955078125e-07, + "score": 0.5619370937347412, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.49665525555610657, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.8493916392326355, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + 0.8493916392326355, + 0.8252765536308289, + 0.7896541953086853, + 0.2420668601989746 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-11930c353a2b4fefab82;ms-48d490ed21088bb5ba85;ms-36e8cb2e7f34f8dceb05;ms-8522a9364bf70311450d;ms-e45b5de01eafae73e492;ms-d73a2a984d5829e884f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-62ece8fe2f85092ca96f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6709450483322144, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.03799865394830704, + 0.038181938230991364, + 0.038363125175237656, + 0.029976069927215576 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00018328428268432617, + 0.0003644712269306183, + -0.008022584021091461 + ], + "candidate_oracle_branch_scores": [ + 0.03799865394830704, + 0.038181938230991364, + 0.038363125175237656, + 0.029976069927215576 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.8634707927703857, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 20 + ], + "candidate_oracle_potentials": [ + -2.8219590187072754, + -2.8423492908477783, + -2.8634707927703857, + -2.906554937362671 + ], + "candidate_oracle_progress": 0.038363125175237656, + "candidate_oracle_regret": 1.9616368748247623, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.038363125175237656, + "candidate_oracle_score_gain_over_selected": 0.0003644712269306183, + "candidate_oracle_selected_branch_progress": 0.03799865394830704, + "candidate_oracle_selected_branch_score": 0.03799865394830704, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c7156b26670838d40934;ms-b786173f210fcaa65a6e;ms-7670f25745871759e69e;ms-b9e46b7345a63ded4397;ms-630663751ab841a96d5a;ms-706943f06888dd5bbb3a", + "expert_regret": 1.9620015136897564, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ac53e56b4852c85ca2e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9620015136897564, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03799848631024361, + "restore_error": 1.1920928955078125e-07, + "score": 0.03799848631024361, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15088264644145966, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.3839190602302551, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + 0.3839190602302551, + 0.3834206163883209, + 0.38288968801498413, + 0.3687850832939148 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f8c4e700a751537ebb16;ms-6be8614a1bd50b974b95;ms-2b3e081263ed25d45dc8;ms-41c5500153912a1743de;ms-d0e4bdc60ab8ea52a320;ms-2af09f91e05d19f7f181", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-25a8e32c071be83d913b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3628142774105072, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.07404672354459763, + 0.07154250144958496, + 0.06907153129577637, + 0.5337660312652588 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002504222095012665, + -0.0049751922488212585, + 0.45971930027008057 + ], + "candidate_oracle_branch_scores": [ + 0.07404672354459763, + 0.07154250144958496, + 0.06907153129577637, + 0.5337660312652588 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.1336824893951416, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -1.8973459005355835, + -1.9077204465866089, + -1.9201358556747437, + -2.1336824893951416 + ], + "candidate_oracle_progress": 0.5337660312652588, + "candidate_oracle_regret": 1.4662339687347412, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5337660312652588, + "candidate_oracle_score_gain_over_selected": 0.45971930027008057, + "candidate_oracle_selected_branch_progress": 0.07404672354459763, + "candidate_oracle_selected_branch_score": 0.07404672354459763, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a1d69e0b112064914357;ms-5415e349e8f9f2bce641;ms-f682952c6ecb2b833c35;ms-fd1c44c6d5d8f7f11451;ms-1f8e2d5d25706493821d;ms-b5deb1971bf3b3484282", + "expert_regret": 1.9259532764554024, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5c8b50523e0de37d80b8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9259532764554024, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07404672354459763, + "restore_error": 1.1920928955078125e-07, + "score": 0.07404672354459763, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19269469380378723, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.563101589679718, + 0.5602043867111206, + 0.5616484880447388, + 0.5501689314842224 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002897202968597412, + -0.001453101634979248, + -0.012932658195495605 + ], + "candidate_oracle_branch_scores": [ + 0.563101589679718, + 0.5602043867111206, + 0.5616484880447388, + 0.5501689314842224 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.04804541915655136, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 3, + 19, + 0 + ], + "candidate_oracle_potentials": [ + -0.04804541915655136, + -0.05034315586090088, + -0.05133765935897827, + -0.23809659481048584 + ], + "candidate_oracle_progress": 0.563101589679718, + "candidate_oracle_regret": 1.436898410320282, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.563101589679718, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.563101589679718, + "candidate_oracle_selected_branch_score": 0.563101589679718, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dc2a8fa76e1ceb0d8925;ms-a576ca39e26c4e1ab240;ms-7d81f3e8b6a42695871d;ms-6c39b520dca0a325535f;ms-97140da7cf409922f6ce;ms-bcfeba2af1e844c22aed", + "expert_regret": 1.4368978142738342, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f4d6da245d340cd16d30", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4368978142738342, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5631021857261658, + "restore_error": 1.1920928955078125e-07, + "score": 0.5631021857261658, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.37112346291542053, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.6106037497520447, + 1.0, + 0.6077538132667542 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.3893961906433105, + 0.0, + -1.3922462463378906 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.6106037497520447, + 2.0, + 0.6077538132667542 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.609470009803772, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 0, + 33 + ], + "candidate_oracle_potentials": [ + 0.609470009803772, + 0.6079750657081604, + 0.6065510511398315, + 0.6062536835670471 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6060f858cb9f93c5588;ms-5d430ebe6f7933dc6c8c;ms-61ac2be70a9798adeda0;ms-a13ee9983c139d34fca8;ms-11a2794efa24f4d93d83;ms-39af5447d3c90872c25f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5db8a7cf17e5fa84dd5b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7240740060806274, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.9251121878623962, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 20 + ], + "candidate_oracle_potentials": [ + -0.9251121878623962, + -0.9263434410095215, + -0.9277676343917847, + -0.9310092329978943 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c3a1cf0e424a4f065459;ms-6029bab18ae94b126d79;ms-49219cb8ed7dad70c897;ms-ec498d0c649d108513c3;ms-70342af6b601660d7c69;ms-2f846e9f31e2b8c4965f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-191a2180e4ad5bbeb3b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.38194748759269714, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.6972541213035583, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 20 + ], + "candidate_oracle_potentials": [ + 0.6972541213035583, + 0.6912745833396912, + 0.5306575298309326, + 0.5306444764137268 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c151229bc1dd03ed2feb;ms-47a55ae1d3a858eed51c;ms-c9e31a19a776a861f9d7;ms-2f846e9f31e2b8c4965f;ms-c70be4072fb4e49ac106;ms-c5d026dffb39f2f1d38a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6a6a41baedceb27ad888", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6235385537147522, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5705403685569763, + 0.5692624449729919, + 0.5679838061332703, + 0.5614623427391052 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.001277923583984375, + -0.0025565624237060547, + -0.009078025817871094 + ], + "candidate_oracle_branch_scores": [ + 0.5705403685569763, + 0.5692624449729919, + 0.5679838061332703, + 0.5614623427391052 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.0381461381912231, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 40 + ], + "candidate_oracle_potentials": [ + -1.0381461381912231, + -1.1310325860977173, + -1.2090494632720947, + -1.4366190433502197 + ], + "candidate_oracle_progress": 0.5705403685569763, + "candidate_oracle_regret": 1.4294596314430237, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5705403685569763, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5705403685569763, + "candidate_oracle_selected_branch_score": 0.5705403685569763, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dc2a8fa76e1ceb0d8925;ms-3f4967102c7b10057ab9;ms-a10d8368c33b56390f77;ms-fe54b45b549a55d45c0e;ms-6c39b520dca0a325535f;ms-a576ca39e26c4e1ab240", + "expert_regret": 1.4292417764663696, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-50d83ce148904504ec50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4292417764663696, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5707582235336304, + "restore_error": 2.384185791015625e-07, + "score": 0.5707582235336304, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15967676043510437, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.3659956753253937, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 8, + 4, + 19 + ], + "candidate_oracle_potentials": [ + 0.3659956753253937, + 0.28793618083000183, + 0.28314438462257385, + 0.24503277242183685 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a44a2c9eee8baea5d29e;ms-6c39b520dca0a325535f;ms-7d81f3e8b6a42695871d;ms-fe54b45b549a55d45c0e;ms-a576ca39e26c4e1ab240;ms-732819b0c220a4c06870", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-663aa9934c0f923cc125", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6396195292472839, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.520211398601532, + 0.520885169506073, + 0.5203256607055664, + 0.5209409594535828 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0006737709045410156, + 0.00011426210403442383, + 0.0007295608520507812 + ], + "candidate_oracle_branch_scores": [ + 0.520211398601532, + 0.520885169506073, + 0.5203256607055664, + 0.5209409594535828 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8560817241668701, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + -0.7427257299423218, + -0.7642113566398621, + -0.8352765440940857, + -0.8560817241668701 + ], + "candidate_oracle_progress": 0.5209409594535828, + "candidate_oracle_regret": 1.4790590405464172, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5209409594535828, + "candidate_oracle_score_gain_over_selected": 0.0007295608520507812, + "candidate_oracle_selected_branch_progress": 0.520211398601532, + "candidate_oracle_selected_branch_score": 0.520211398601532, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5daa8575a80e98a83170;ms-753929cfdc4aaa652b32;ms-023e021f079a8774c741;ms-2592e5fa970f1b474388;ms-eb16021deb5d03f15c9d;ms-8b73e5dfa1f2a01e6017", + "expert_regret": 1.4797896146774292, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d84a4cea86526971b83a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4797896146774292, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5202103853225708, + "restore_error": 2.384185791015625e-07, + "score": 0.5202103853225708, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4995211064815521, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5346837043762207, + 0.530104398727417, + 0.5267637372016907, + 0.5312372446060181 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.004579305648803711, + -0.00791996717453003, + -0.0034464597702026367 + ], + "candidate_oracle_branch_scores": [ + 0.5346837043762207, + 0.530104398727417, + 0.5267637372016907, + 0.5312372446060181 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8777006268501282, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -0.8777006268501282, + -0.8789466619491577, + -0.9084484577178955, + -0.9298652410507202 + ], + "candidate_oracle_progress": 0.5346837043762207, + "candidate_oracle_regret": 1.4653162956237793, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5346837043762207, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5346837043762207, + "candidate_oracle_selected_branch_score": 0.5346837043762207, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-478f754a15221314d15e;ms-fffe378a3bad31bbed52;ms-9184c93267b4bbfa4cae;ms-71452ba714a10880870b;ms-a202dd8923327af132da;ms-a73f46824bdbdfb96238", + "expert_regret": 1.4653162956237793, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7185c6986fed4eee76b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4653162956237793, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5346837043762207, + "restore_error": 2.384185791015625e-07, + "score": 0.5346837043762207, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1360444724559784, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.19792835414409637, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + 0.19792835414409637, + 0.18881642818450928, + 0.1809576004743576, + -0.21376746892929077 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ad10dacf462663ab68ad;ms-a44a2c9eee8baea5d29e;ms-a073398629e6943ad1fb;ms-7d81f3e8b6a42695871d;ms-6c39b520dca0a325535f;ms-a576ca39e26c4e1ab240", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-116bd511ce8862ab73b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.497589111328125, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.570415198802948, + 1.0, + 0.5702229142189026, + 0.5638630390167236 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.4295847415924072, + -0.00019228458404541016, + -0.006552159786224365 + ], + "candidate_oracle_branch_scores": [ + 0.570415198802948, + 2.0, + 0.5702229142189026, + 0.5638630390167236 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9128878116607666, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 36, + 24 + ], + "candidate_oracle_potentials": [ + -0.899898886680603, + -0.9128878116607666, + -0.9172776937484741, + -0.920917809009552 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4295847415924072, + "candidate_oracle_selected_branch_progress": 0.570415198802948, + "candidate_oracle_selected_branch_score": 0.570415198802948, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cdd69b5acc8119e600c7;ms-fa62bbb3e8416561ed69;ms-ddb8f148dff1db91851f;ms-c91cae30acaa8dc7a12b;ms-03ed7e57992354e27896;ms-a1846ef1f00eb54e2d60", + "expert_regret": 1.4295862317085266, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-31782020143c24b4271b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4295862317085266, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5704137682914734, + "restore_error": 2.384185791015625e-07, + "score": 0.5704137682914734, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5119782090187073, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6225881576538086, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + -0.6225881576538086, + -0.6253540515899658, + -0.6261606216430664, + -0.6270765066146851 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d44f5bd2488ea182132b;ms-68ab6033433b360464f8;ms-61ac2be70a9798adeda0;ms-a3d0c460532de2d801ae;ms-a6060f858cb9f93c5588;ms-3417f5f2f1470c61d0a8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5fc884c238818acdde08", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8214184045791626, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5653387904167175, + 0.5649051666259766, + 0.5637074708938599, + 0.5633198618888855 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0004336237907409668, + -0.001631319522857666, + -0.0020189285278320312 + ], + "candidate_oracle_branch_scores": [ + 0.5653387904167175, + 0.5649051666259766, + 0.5637074708938599, + 0.5633198618888855 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6911965012550354, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.6911965012550354, + -0.6988548636436462, + -0.7777832746505737, + -0.7882471084594727 + ], + "candidate_oracle_progress": 0.5653387904167175, + "candidate_oracle_regret": 1.4346612095832825, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5653387904167175, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5653387904167175, + "candidate_oracle_selected_branch_score": 0.5653387904167175, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-59020093d2eeaf58aa84;ms-03ed7e57992354e27896;ms-87f65c35c9d8b3ced6fc;ms-fa62bbb3e8416561ed69;ms-81729abe5d83a1ca280d;ms-ddb8f148dff1db91851f", + "expert_regret": 1.4348803758621216, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b36673c3905a123cbd50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4348803758621216, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5651196241378784, + "restore_error": 1.1920928955078125e-07, + "score": 0.5651196241378784, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7049770355224609, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.233604073524475, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -1.233604073524475, + -1.240129828453064, + -1.2945510149002075, + -1.300218939781189 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4f190184d3920a0add8b;ms-4b970be37419ce0be0ae;ms-81729abe5d83a1ca280d;ms-a1846ef1f00eb54e2d60;ms-cea745484a24f376d7e8;ms-8e4755f1627d85c12bd8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0019f809318a077c3910", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4774681627750397, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.5680882334709167, + 0.5651348233222961 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.4319117069244385, + -1.4348652362823486 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.5680882334709167, + 0.5651348233222961 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7860774397850037, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 8, + 24 + ], + "candidate_oracle_potentials": [ + -0.7860774397850037, + -0.8006769418716431, + -0.8217016458511353, + -0.8255280256271362 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c7f427f37d47501932e8;ms-b666f24369c548cd56ab;ms-a43a663a3c4b15ec3ac2;ms-aaf1c4931e054f52623c;ms-5a7891a58bac94796178;ms-a01f0549a18d924d31c0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d9b2a5ccd43461f827e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6398586630821228, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5629696249961853, + 0.563190758228302, + 0.5635979771614075, + 0.5623123049736023 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00022113323211669922, + 0.000628352165222168, + -0.0006573200225830078 + ], + "candidate_oracle_branch_scores": [ + 0.5629696249961853, + 0.563190758228302, + 0.5635979771614075, + 0.5623123049736023 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.1798129081726074, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 24, + 20, + 40, + 8 + ], + "candidate_oracle_potentials": [ + -1.1677430868148804, + -1.1682305335998535, + -1.1798129081726074, + -1.1799514293670654 + ], + "candidate_oracle_progress": 0.5635979771614075, + "candidate_oracle_regret": 1.4364020228385925, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5635979771614075, + "candidate_oracle_score_gain_over_selected": 0.000628352165222168, + "candidate_oracle_selected_branch_progress": 0.5629696249961853, + "candidate_oracle_selected_branch_score": 0.5629696249961853, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-09de52dad7e40970c938;ms-87b44e6219279322a723;ms-1abf5e6d483e2788b086;ms-81085eba1dd49b17ec9c;ms-26e09c86be9068a34acf;ms-625b5d55ca76cc565049", + "expert_regret": 1.4370301961898804, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-74517e19dfdee44d2f81", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4370301961898804, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5629698038101196, + "restore_error": 1.1920928955078125e-07, + "score": 0.5629698038101196, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5196693539619446, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.60445636510849 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.3955435752868652 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.60445636510849 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.7657796144485474, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 0, + 33 + ], + "candidate_oracle_potentials": [ + 0.7657796144485474, + 0.7640882730484009, + 0.763046383857727, + 0.7621093988418579 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-39af5447d3c90872c25f;ms-3417f5f2f1470c61d0a8;ms-a6060f858cb9f93c5588;ms-61ac2be70a9798adeda0;ms-11a2794efa24f4d93d83;ms-d44f5bd2488ea182132b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a7179e4e4e2a0d5335b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5670534372329712, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5697248578071594, + 1.0, + 0.07637649029493332, + 0.522374153137207 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.4302752017974854, + -0.4933483600616455, + -0.04735070466995239 + ], + "candidate_oracle_branch_scores": [ + 0.5697248578071594, + 2.0, + 0.07637649029493332, + 0.522374153137207 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7287856340408325, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -0.7154308557510376, + -0.7287856340408325, + -0.7457944750785828, + -0.7749233841896057 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4302752017974854, + "candidate_oracle_selected_branch_progress": 0.5697248578071594, + "candidate_oracle_selected_branch_score": 0.5697248578071594, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cd340bca589f0cebd7da;ms-ac79bc3a841958ce127f;ms-68e331088400739273da;ms-8b98e8aa8ecee10bea27;ms-7651a7f31eae24958ef0;ms-1f8e2d5d25706493821d", + "expert_regret": 1.430278480052948, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c2bc492ab5eb87a73789", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.430278480052948, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.569721519947052, + "restore_error": 1.1920928955078125e-07, + "score": 0.569721519947052, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18825523555278778, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5599772334098816, + 0.5599502921104431, + 0.5599234104156494, + 0.5596112608909607 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -2.6941299438476562e-05, + -5.3822994232177734e-05, + -0.00036597251892089844 + ], + "candidate_oracle_branch_scores": [ + 0.5599772334098816, + 0.5599502921104431, + 0.5599234104156494, + 0.5596112608909607 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.3321216106414795, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -1.3321216106414795, + -1.3336650133132935, + -1.3355333805084229, + -1.367699146270752 + ], + "candidate_oracle_progress": 0.5599772334098816, + "candidate_oracle_regret": 1.4400227665901184, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5599772334098816, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5599772334098816, + "candidate_oracle_selected_branch_score": 0.5599772334098816, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b570fe64df70560c8ab6;ms-26e09c86be9068a34acf;ms-766b6fe7c08a3525ce94;ms-6133ea5e61638487dd46;ms-7241a1c25af41f4c0b5a;ms-a145b708d79b243da21f", + "expert_regret": 1.4400224089622498, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-386220c339b7de7f222b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4400224089622498, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5599775910377502, + "restore_error": 1.1920928955078125e-07, + "score": 0.5599775910377502, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42793962359428406, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.582332193851471, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.582332193851471, + 0.5760895609855652, + 0.4160725176334381, + 0.4150520861148834 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dc2a8fa76e1ceb0d8925;ms-a10d8368c33b56390f77;ms-6c39b520dca0a325535f;ms-fe54b45b549a55d45c0e;ms-97140da7cf409922f6ce;ms-a576ca39e26c4e1ab240", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f80ae137a8d9981f8c98", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5990158915519714, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5621910095214844, + 0.5639660954475403, + 0.5623435378074646, + 0.5639126896858215 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0017750859260559082, + 0.0001525282859802246, + 0.0017216801643371582 + ], + "candidate_oracle_branch_scores": [ + 0.5621910095214844, + 0.5639660954475403, + 0.5623435378074646, + 0.5639126896858215 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.24464766681194305, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.23851291835308075, + -0.24464766681194305, + -0.3983801305294037, + -0.4117955267429352 + ], + "candidate_oracle_progress": 0.5639660954475403, + "candidate_oracle_regret": 1.4360339045524597, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5639660954475403, + "candidate_oracle_score_gain_over_selected": 0.0017750859260559082, + "candidate_oracle_selected_branch_progress": 0.5621910095214844, + "candidate_oracle_selected_branch_score": 0.5621910095214844, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6133ea5e61638487dd46;ms-a145b708d79b243da21f;ms-d6b2d805dc063382ade2;ms-625b5d55ca76cc565049;ms-766b6fe7c08a3525ce94;ms-1309e1770b6ca6e71c7e", + "expert_regret": 1.4378079175949097, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3e51a1bdc3a2cc4eb06d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4378079175949097, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5621920824050903, + "restore_error": 1.1920928955078125e-07, + "score": 0.5621920824050903, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6100333333015442, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5500425696372986, + 0.552465558052063, + 0.5508572459220886, + 0.5530156493186951 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0024229884147644043, + 0.0008146762847900391, + 0.0029730796813964844 + ], + "candidate_oracle_branch_scores": [ + 0.5500425696372986, + 0.552465558052063, + 0.5508572459220886, + 0.5530156493186951 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9378822445869446, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + -0.879866898059845, + -0.8893576264381409, + -0.9329105019569397, + -0.9378822445869446 + ], + "candidate_oracle_progress": 0.5530156493186951, + "candidate_oracle_regret": 1.446984350681305, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5530156493186951, + "candidate_oracle_score_gain_over_selected": 0.0029730796813964844, + "candidate_oracle_selected_branch_progress": 0.5500425696372986, + "candidate_oracle_selected_branch_score": 0.5500425696372986, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-753929cfdc4aaa652b32;ms-eb16021deb5d03f15c9d;ms-023e021f079a8774c741;ms-d0e4bdc60ab8ea52a320;ms-f897cc2141a0a303fc6a;ms-29f1abb869ff206a4d52", + "expert_regret": 1.4499567151069641, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c6ec8ef5145ff6274e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4499567151069641, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5500432848930359, + "restore_error": 1.1920928955078125e-07, + "score": 0.5500432848930359, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4907565116882324, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.09211033582687378, + 0.09250789135694504, + 0.09261944144964218, + 0.08333101123571396 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00039755553007125854, + 0.0005091056227684021, + -0.00877932459115982 + ], + "candidate_oracle_branch_scores": [ + 0.09211033582687378, + 0.09250789135694504, + 0.09261944144964218, + 0.08333101123571396 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.8708174228668213, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + -1.8473526239395142, + -1.8588528633117676, + -1.8708174228668213, + -2.0121335983276367 + ], + "candidate_oracle_progress": 0.09261944144964218, + "candidate_oracle_regret": 1.9073805585503578, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.09261944144964218, + "candidate_oracle_score_gain_over_selected": 0.0005091056227684021, + "candidate_oracle_selected_branch_progress": 0.09211033582687378, + "candidate_oracle_selected_branch_score": 0.09211033582687378, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-55c2bba961a327aa5260;ms-fd1c44c6d5d8f7f11451;ms-e20f5d43f319248c5001;ms-81729abe5d83a1ca280d;ms-8d94c7c692c91a962f25;ms-8e4755f1627d85c12bd8", + "expert_regret": 1.9078892096877098, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-169b1786513146593ea8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9078892096877098, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09211079031229019, + "restore_error": 1.1920928955078125e-07, + "score": 0.09211079031229019, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14886429905891418, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5391461253166199, + 0.5300232172012329, + 0.529491126537323, + 0.528961181640625 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.009122908115386963, + -0.009654998779296875, + -0.010184943675994873 + ], + "candidate_oracle_branch_scores": [ + 0.5391461253166199, + 0.5300232172012329, + 0.529491126537323, + 0.528961181640625 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.063901662826538, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.063901662826538, + -1.1025413274765015, + -1.1028605699539185, + -1.1034971475601196 + ], + "candidate_oracle_progress": 0.5391461253166199, + "candidate_oracle_regret": 1.4608538746833801, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5391461253166199, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5391461253166199, + "candidate_oracle_selected_branch_score": 0.5391461253166199, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-eac0d7dd54b1e797fdbd;ms-3f4967102c7b10057ab9;ms-a073398629e6943ad1fb;ms-7d81f3e8b6a42695871d;ms-fe54b45b549a55d45c0e;ms-a44a2c9eee8baea5d29e", + "expert_regret": 1.4608535170555115, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9cdebdcdad56bd8d87cc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4608535170555115, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5391464829444885, + "restore_error": 1.1920928955078125e-07, + "score": 0.5391464829444885, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.373982697725296, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.03306703642010689, + 0.020972061902284622, + 0.02103675715625286, + 0.03125348314642906 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.012094974517822266, + -0.012030279263854027, + -0.001813553273677826 + ], + "candidate_oracle_branch_scores": [ + 0.03306703642010689, + 0.020972061902284622, + 0.02103675715625286, + 0.03125348314642906 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.3968892097473145, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 8, + 4, + 19 + ], + "candidate_oracle_potentials": [ + -2.3968892097473145, + -2.432295799255371, + -2.4369680881500244, + -2.476111650466919 + ], + "candidate_oracle_progress": 0.03306703642010689, + "candidate_oracle_regret": 1.9669329635798931, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.03306703642010689, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.03306703642010689, + "candidate_oracle_selected_branch_score": 0.03306703642010689, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b5deb1971bf3b3484282;ms-a1d69e0b112064914357;ms-8b98e8aa8ecee10bea27;ms-fd1c44c6d5d8f7f11451;ms-5415e349e8f9f2bce641;ms-ac79bc3a841958ce127f", + "expert_regret": 0.5747578851878643, + "expert_score": 0.6078249216079712, + "expert_success": false, + "group_id": "ms-4015c296239564108da2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9669329635798931, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03306703642010689, + "restore_error": 1.1920928955078125e-07, + "score": 0.03306703642010689, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2536153793334961, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3597699403762817, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.3597699403762817, + -1.3680967092514038, + -1.370940089225769, + -1.3738356828689575 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fa62bbb3e8416561ed69;ms-ddb8f148dff1db91851f;ms-03ed7e57992354e27896;ms-59020093d2eeaf58aa84;ms-81729abe5d83a1ca280d;ms-4f190184d3920a0add8b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c0ef0ef8b493232246c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5384025573730469, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.14123792946338654, + 0.14020736515522003, + 0.13856160640716553, + 0.11798141151666641 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.001030564308166504, + -0.0026763230562210083, + -0.023256517946720123 + ], + "candidate_oracle_branch_scores": [ + 0.14123792946338654, + 0.14020736515522003, + 0.13856160640716553, + 0.11798141151666641 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.8712210655212402, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 36 + ], + "candidate_oracle_potentials": [ + -1.8712210655212402, + -1.881423830986023, + -1.9007699489593506, + -2.16092586517334 + ], + "candidate_oracle_progress": 0.14123792946338654, + "candidate_oracle_regret": 1.8587620705366135, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.14123792946338654, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.14123792946338654, + "candidate_oracle_selected_branch_score": 0.14123792946338654, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-18fb80871b8e11d1ae9a;ms-d988976b029886d18476;ms-739a89fb4521bc481a9f;ms-cc0b33f92229d32bd84f;ms-13557287cd450bc12c6f;ms-6558f35ae2a2871a4bfd", + "expert_regret": 1.858761876821518, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8e741ca11a7fbe85ba1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.858761876821518, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.14123812317848206, + "restore_error": 1.1920928955078125e-07, + "score": 0.14123812317848206, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19664910435676575, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.20744743943214417, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + 0.20744743943214417, + 0.20505058765411377, + 0.2010611891746521, + 0.18010857701301575 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fffe378a3bad31bbed52;ms-a73f46824bdbdfb96238;ms-9184c93267b4bbfa4cae;ms-478f754a15221314d15e;ms-a202dd8923327af132da;ms-f3f6a1b34fdf35290a6c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d19573dc65181befd83d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.562828540802002, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.027020132169127464, + 0.027387632057070732, + 0.02772068977355957, + 0.028958940878510475 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0003674998879432678, + 0.000700557604432106, + 0.0019388087093830109 + ], + "candidate_oracle_branch_scores": [ + 0.027020132169127464, + 0.027387632057070732, + 0.02772068977355957, + 0.028958940878510475 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.962444305419922, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -2.8762471675872803, + -2.8836615085601807, + -2.894789934158325, + -2.962444305419922 + ], + "candidate_oracle_progress": 0.028958940878510475, + "candidate_oracle_regret": 0.5647740121930838, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.028958940878510475, + "candidate_oracle_score_gain_over_selected": 0.0019388087093830109, + "candidate_oracle_selected_branch_progress": 0.027020132169127464, + "candidate_oracle_selected_branch_score": 0.027020132169127464, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fed4628b22c7e42e32d9;ms-9233eae706910c204b79;ms-706943f06888dd5bbb3a;ms-98427ae2d94c1f85811a;ms-f5bae191ebad7c9f2687;ms-b9e46b7345a63ded4397", + "expert_regret": 0.5667128209024668, + "expert_score": 0.5937329530715942, + "expert_success": false, + "group_id": "ms-19c0b893fda0e6bb05f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5667128209024668, + "oracle_score": 0.5937329530715942, + "oracle_success": false, + "progress": 0.027020132169127464, + "restore_error": 1.1920928955078125e-07, + "score": 0.027020132169127464, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.37061765789985657, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5471373796463013, + 0.547093391418457, + 0.5442373156547546, + 0.5437896847724915 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -4.398822784423828e-05, + -0.002900063991546631, + -0.0033476948738098145 + ], + "candidate_oracle_branch_scores": [ + 0.5471373796463013, + 0.547093391418457, + 0.5442373156547546, + 0.5437896847724915 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.448529839515686, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.448529839515686, + -1.4624125957489014, + -1.5051981210708618, + -1.5150748491287231 + ], + "candidate_oracle_progress": 0.5471373796463013, + "candidate_oracle_regret": 1.4528626203536987, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5471373796463013, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5471373796463013, + "candidate_oracle_selected_branch_score": 0.5471373796463013, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2592e5fa970f1b474388;ms-8522a9364bf70311450d;ms-5daa8575a80e98a83170;ms-9af03b651b5e36ac2ae3;ms-41c5500153912a1743de;ms-023e021f079a8774c741", + "expert_regret": 1.4528626799583435, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ccc102ca65219d1e5f02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4528626799583435, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5471373200416565, + "restore_error": 1.1920928955078125e-07, + "score": 0.5471373200416565, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6063352227210999, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5249903798103333, + 0.5230034589767456, + 0.07527317851781845, + 0.09042637795209885 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0019869208335876465, + -0.4497171938419342, + -0.4345639944076538 + ], + "candidate_oracle_branch_scores": [ + 0.5249903798103333, + 0.5230034589767456, + 0.07527317851781845, + 0.09042637795209885 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.798098087310791, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 36, + 0 + ], + "candidate_oracle_potentials": [ + -1.798098087310791, + -1.8053449392318726, + -1.892555594444275, + -1.917893409729004 + ], + "candidate_oracle_progress": 0.5249903798103333, + "candidate_oracle_regret": 1.4750096201896667, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5249903798103333, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5249903798103333, + "candidate_oracle_selected_branch_score": 0.5249903798103333, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4f833710c2706ee077af;ms-7cbbc5e7dc896a803efa;ms-a43a663a3c4b15ec3ac2;ms-98427ae2d94c1f85811a;ms-aaf1c4931e054f52623c;ms-f5bae191ebad7c9f2687", + "expert_regret": 1.4750123023986816, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b85ebf659960395db9c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4750123023986816, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5249876976013184, + "restore_error": 1.1920928955078125e-07, + "score": 0.5249876976013184, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12655602395534515, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5581474304199219, + 0.5578427314758301, + 0.5575370192527771, + 0.5602402687072754 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0003046989440917969, + -0.0006104111671447754, + 0.0020928382873535156 + ], + "candidate_oracle_branch_scores": [ + 0.5581474304199219, + 0.5578427314758301, + 0.5575370192527771, + 0.5602402687072754 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2181833982467651, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -1.2032151222229004, + -1.2036203145980835, + -1.2043269872665405, + -1.2181833982467651 + ], + "candidate_oracle_progress": 0.5602402687072754, + "candidate_oracle_regret": 1.4397597312927246, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5602402687072754, + "candidate_oracle_score_gain_over_selected": 0.0020928382873535156, + "candidate_oracle_selected_branch_progress": 0.5581474304199219, + "candidate_oracle_selected_branch_score": 0.5581474304199219, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-867fd9318b2445dcefb5;ms-bb60defa0d234da9e0bc;ms-66cc354bbf4e8bdd1051;ms-2f846e9f31e2b8c4965f;ms-6029bab18ae94b126d79;ms-3aa864ead19c9cb9fb49", + "expert_regret": 1.4418524503707886, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-493f7fe7164e2c3e7616", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4418524503707886, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5581475496292114, + "restore_error": 1.1920928955078125e-07, + "score": 0.5581475496292114, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28894737362861633, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.016047632321715355, + 0.02173302136361599, + 0.020717669278383255, + 0.017192913219332695 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.005685389041900635, + 0.0046700369566679, + 0.00114528089761734 + ], + "candidate_oracle_branch_scores": [ + 0.016047632321715355, + 0.02173302136361599, + 0.020717669278383255, + 0.017192913219332695 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.489943265914917, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -2.395022392272949, + -2.489943265914917, + -2.515265703201294, + -2.5464179515838623 + ], + "candidate_oracle_progress": 0.02173302136361599, + "candidate_oracle_regret": 1.978266978636384, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.02173302136361599, + "candidate_oracle_score_gain_over_selected": 0.005685389041900635, + "candidate_oracle_selected_branch_progress": 0.016047632321715355, + "candidate_oracle_selected_branch_score": 0.016047632321715355, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4f833710c2706ee077af;ms-a43a663a3c4b15ec3ac2;ms-7cbbc5e7dc896a803efa;ms-aaf1c4931e054f52623c;ms-b666f24369c548cd56ab;ms-98427ae2d94c1f85811a", + "expert_regret": 1.9839523676782846, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ff3e5d72f3adf548d0a1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9839523676782846, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.016047632321715355, + "restore_error": 1.1920928955078125e-07, + "score": 0.016047632321715355, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6759680509567261, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.14811675250530243, + 0.14445307850837708, + 0.14048250019550323, + 0.10852717608213425 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.003663673996925354, + -0.007634252309799194, + -0.03958957642316818 + ], + "candidate_oracle_branch_scores": [ + 0.14811675250530243, + 0.14445307850837708, + 0.14048250019550323, + 0.10852717608213425 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.7546536922454834, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 20 + ], + "candidate_oracle_potentials": [ + -1.7546536922454834, + -1.758178949356079, + -1.765538215637207, + -1.8426085710525513 + ], + "candidate_oracle_progress": 0.14811675250530243, + "candidate_oracle_regret": 1.8518832474946976, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.14811675250530243, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.14811675250530243, + "candidate_oracle_selected_branch_score": 0.14811675250530243, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-55c2bba961a327aa5260;ms-fd1c44c6d5d8f7f11451;ms-e20f5d43f319248c5001;ms-68e331088400739273da;ms-5415e349e8f9f2bce641;ms-8b98e8aa8ecee10bea27", + "expert_regret": 1.8518836945295334, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f6db4e8bed63ed868487", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8518836945295334, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1481163054704666, + "restore_error": 1.1920928955078125e-07, + "score": 0.1481163054704666, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 2.6576578617095947, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5669302344322205 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.4330697059631348 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5669302344322205 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.7620186805725098, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 4 + ], + "candidate_oracle_potentials": [ + 0.7620186805725098, + 0.7478160858154297, + 0.731086015701294, + 0.5123399496078491 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9e53ca6bc5ddb9133ffa;ms-6d7b10e8b2b0a516b786;ms-9b4483fb034248fe882d;ms-6995d4366e7c20010126;ms-1924e52af208c9f66592;ms-11a2794efa24f4d93d83", + "expert_regret": 0.0, + "expert_score": 0.6292594075202942, + "expert_success": false, + "group_id": "ms-b1bf2ab59a5385d22e54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.552315354347229, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.8912228941917419, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 1 + ], + "candidate_oracle_potentials": [ + 0.8912228941917419, + 0.8896103501319885, + 0.8778530955314636, + 0.6726787090301514 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3417f5f2f1470c61d0a8;ms-d44f5bd2488ea182132b;ms-11930c353a2b4fefab82;ms-68ab6033433b360464f8;ms-1924e52af208c9f66592;ms-a3d0c460532de2d801ae", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9c1649478107785e9d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7995278239250183, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5280027389526367, + 0.527021050453186, + 0.5285487174987793, + 0.5276901721954346 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0009816884994506836, + 0.0005459785461425781, + -0.00031256675720214844 + ], + "candidate_oracle_branch_scores": [ + 0.5280027389526367, + 0.527021050453186, + 0.5285487174987793, + 0.5276901721954346 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2195048332214355, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -1.1822826862335205, + -1.1911749839782715, + -1.2195048332214355, + -1.2280282974243164 + ], + "candidate_oracle_progress": 0.5285487174987793, + "candidate_oracle_regret": 1.4714512825012207, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5285487174987793, + "candidate_oracle_score_gain_over_selected": 0.0005459785461425781, + "candidate_oracle_selected_branch_progress": 0.5280027389526367, + "candidate_oracle_selected_branch_score": 0.5280027389526367, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-26e09c86be9068a34acf;ms-b570fe64df70560c8ab6;ms-3ea30989082ec714e12d;ms-6133ea5e61638487dd46;ms-766b6fe7c08a3525ce94;ms-7241a1c25af41f4c0b5a", + "expert_regret": 1.471996784210205, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb228a036fe5973bcad1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.471996784210205, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5280032157897949, + "restore_error": 1.1920928955078125e-07, + "score": 0.5280032157897949, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41383835673332214, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5201807022094727, + 0.5200467109680176, + 0.5076186060905457, + 0.5200735926628113 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00013399124145507812, + -0.012562096118927002, + -0.00010710954666137695 + ], + "candidate_oracle_branch_scores": [ + 0.5201807022094727, + 0.5200467109680176, + 0.5076186060905457, + 0.5200735926628113 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.5076607465744019, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 0, + 36, + 20 + ], + "candidate_oracle_potentials": [ + -1.5076607465744019, + -1.5263934135437012, + -1.5319786071777344, + -1.5399718284606934 + ], + "candidate_oracle_progress": 0.5201807022094727, + "candidate_oracle_regret": 1.4798192977905273, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5201807022094727, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5201807022094727, + "candidate_oracle_selected_branch_score": 0.5201807022094727, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a1846ef1f00eb54e2d60;ms-cea745484a24f376d7e8;ms-4f190184d3920a0add8b;ms-ddb8f148dff1db91851f;ms-81729abe5d83a1ca280d;ms-fa62bbb3e8416561ed69", + "expert_regret": 1.4798167943954468, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3e971096794f04f325f2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4798167943954468, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5201832056045532, + "restore_error": 1.1920928955078125e-07, + "score": 0.5201832056045532, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6896738409996033, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.568132221698761, + 0.5681324601173401, + 0.5687638521194458, + 0.5686765909194946 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 2.384185791015625e-07, + 0.0006316304206848145, + 0.0005443692207336426 + ], + "candidate_oracle_branch_scores": [ + 0.568132221698761, + 0.5681324601173401, + 0.5687638521194458, + 0.5686765909194946 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0013073682785034, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 24 + ], + "candidate_oracle_potentials": [ + -0.9924230575561523, + -0.9987865686416626, + -1.0013073682785034, + -1.0018893480300903 + ], + "candidate_oracle_progress": 0.5687638521194458, + "candidate_oracle_regret": 1.4312361478805542, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5687638521194458, + "candidate_oracle_score_gain_over_selected": 0.0006316304206848145, + "candidate_oracle_selected_branch_progress": 0.568132221698761, + "candidate_oracle_selected_branch_score": 0.568132221698761, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-41c5500153912a1743de;ms-c5d026dffb39f2f1d38a;ms-2a67eea0b1293de9bcf9;ms-2b3e081263ed25d45dc8;ms-c70be4072fb4e49ac106;ms-c1ac63fb3644e3a2ae06", + "expert_regret": 1.4318666458129883, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-60c7d1d3b5701e7f4e48", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4318666458129883, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5681333541870117, + "restore_error": 1.1920928955078125e-07, + "score": 0.5681333541870117, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6186626553535461, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.13892817497253418, + 0.13828684389591217, + 0.13748851418495178, + 0.13017965853214264 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0006413310766220093, + -0.0014396607875823975, + -0.00874851644039154 + ], + "candidate_oracle_branch_scores": [ + 0.13892817497253418, + 0.13828684389591217, + 0.13748851418495178, + 0.13017965853214264 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.857506513595581, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -1.857506513595581, + -1.862161636352539, + -1.8674339056015015, + -2.0229196548461914 + ], + "candidate_oracle_progress": 0.13892817497253418, + "candidate_oracle_regret": 1.8610718250274658, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.13892817497253418, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.13892817497253418, + "candidate_oracle_selected_branch_score": 0.13892817497253418, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a1d69e0b112064914357;ms-f682952c6ecb2b833c35;ms-5415e349e8f9f2bce641;ms-732d0515ed28df031b8e;ms-1f8e2d5d25706493821d;ms-cd340bca589f0cebd7da", + "expert_regret": 1.8610717952251434, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3aaa0d68ca26b1fe6626", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8610717952251434, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.13892820477485657, + "restore_error": 1.1920928955078125e-07, + "score": 0.13892820477485657, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3745352327823639, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5193284153938293, + 0.5212099552154541, + 0.4828333854675293, + 0.5144019722938538 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0018815398216247559, + -0.03649502992630005, + -0.004926443099975586 + ], + "candidate_oracle_branch_scores": [ + 0.5193284153938293, + 0.5212099552154541, + 0.4828333854675293, + 0.5144019722938538 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.612758159637451, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 35, + 24 + ], + "candidate_oracle_potentials": [ + -2.5977253913879395, + -2.612758159637451, + -2.640350341796875, + -2.6453511714935303 + ], + "candidate_oracle_progress": 0.5212099552154541, + "candidate_oracle_regret": 1.478790044784546, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5212099552154541, + "candidate_oracle_score_gain_over_selected": 0.0018815398216247559, + "candidate_oracle_selected_branch_progress": 0.5193284153938293, + "candidate_oracle_selected_branch_score": 0.5193284153938293, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fef1cf4879be83a77574;ms-a1846ef1f00eb54e2d60;ms-03ed7e57992354e27896;ms-81729abe5d83a1ca280d;ms-cea745484a24f376d7e8;ms-fa62bbb3e8416561ed69", + "expert_regret": 1.4806715846061707, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3b0639bfe64ecfd35594", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4806715846061707, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5193284153938293, + "restore_error": 1.1920928955078125e-07, + "score": 0.5193284153938293, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3042740821838379, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.1745224893093109, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 19, + 35 + ], + "candidate_oracle_potentials": [ + 0.1745224893093109, + 0.17102277278900146, + 0.17059457302093506, + 0.16756078600883484 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2cc8c1975139989940f0;ms-28b1f1e4380d434605de;ms-4177936dc3e043366181;ms-bcc70292f404cd1c7f75;ms-e793d78eaff3fb28deb6;ms-48d490ed21088bb5ba85", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8a00723a184a6ca740b2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6438865065574646, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5718568563461304, + 0.5721473097801208, + 0.5714327692985535, + 0.570301353931427 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0002904534339904785, + -0.0004240870475769043, + -0.0015555024147033691 + ], + "candidate_oracle_branch_scores": [ + 0.5718568563461304, + 0.5721473097801208, + 0.5714327692985535, + 0.570301353931427 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.4514208436012268, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 4 + ], + "candidate_oracle_potentials": [ + 0.4539339542388916, + 0.4514208436012268, + 0.4446895718574524, + 0.13442786037921906 + ], + "candidate_oracle_progress": 0.5721473097801208, + "candidate_oracle_regret": 1.4278526902198792, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5721473097801208, + "candidate_oracle_score_gain_over_selected": 0.0002904534339904785, + "candidate_oracle_selected_branch_progress": 0.5718568563461304, + "candidate_oracle_selected_branch_score": 0.5718568563461304, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-48d490ed21088bb5ba85;ms-28b1f1e4380d434605de;ms-d73a2a984d5829e884f9;ms-e45b5de01eafae73e492;ms-36e8cb2e7f34f8dceb05;ms-4177936dc3e043366181", + "expert_regret": 1.4281426072120667, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b671fa9fcef84dbf2a13", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4281426072120667, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5718573927879333, + "restore_error": 1.1920928955078125e-07, + "score": 0.5718573927879333, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48149847984313965, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.2852284014225006, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.2852284014225006, + -0.2971629798412323, + -0.33447930216789246, + -0.33529409766197205 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-71452ba714a10880870b;ms-766b6fe7c08a3525ce94;ms-7241a1c25af41f4c0b5a;ms-6133ea5e61638487dd46;ms-5a7891a58bac94796178;ms-b570fe64df70560c8ab6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b35643e98e1b846e27cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2765255570411682, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5328874588012695, + 0.5313360095024109, + 0.5310820937156677, + 0.5328736901283264 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0015514492988586426, + -0.0018053650856018066, + -1.3768672943115234e-05 + ], + "candidate_oracle_branch_scores": [ + 0.5328874588012695, + 0.5313360095024109, + 0.5310820937156677, + 0.5328736901283264 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5409253835678101, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -0.5409253835678101, + -0.5505818128585815, + -0.6384548544883728, + -0.6419105529785156 + ], + "candidate_oracle_progress": 0.5328874588012695, + "candidate_oracle_regret": 1.4671125411987305, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5328874588012695, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5328874588012695, + "candidate_oracle_selected_branch_score": 0.5328874588012695, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-28b1f1e4380d434605de;ms-2cc8c1975139989940f0;ms-36e8cb2e7f34f8dceb05;ms-e45b5de01eafae73e492;ms-9e1f3c14116ebca6164d;ms-4177936dc3e043366181", + "expert_regret": 1.467295527458191, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cd25efec908bd600e45e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.467295527458191, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5327044725418091, + "restore_error": 1.1920928955078125e-07, + "score": 0.5327044725418091, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.678695559501648, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.32660165429115295, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 33, + 17 + ], + "candidate_oracle_potentials": [ + 0.32660165429115295, + 0.3141644597053528, + 0.24361062049865723, + 0.24084872007369995 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2f846e9f31e2b8c4965f;ms-867fd9318b2445dcefb5;ms-6029bab18ae94b126d79;ms-f77305a344da6a4ccc84;ms-c3a1cf0e424a4f065459;ms-95320371ce6b820c85f6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f32035837f7df88396a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3516652584075928, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5527934432029724, + 0.5583800673484802, + 0.5517654418945312, + 0.5583634376525879 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0055866241455078125, + -0.0010280013084411621, + 0.0055699944496154785 + ], + "candidate_oracle_branch_scores": [ + 0.5527934432029724, + 0.5583800673484802, + 0.5517654418945312, + 0.5583634376525879 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.05039644241333, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 0, + 17, + 4 + ], + "candidate_oracle_potentials": [ + -1.049901008605957, + -1.05039644241333, + -1.0544168949127197, + -1.0548436641693115 + ], + "candidate_oracle_progress": 0.5583800673484802, + "candidate_oracle_regret": 1.4416199326515198, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5583800673484802, + "candidate_oracle_score_gain_over_selected": 0.0055866241455078125, + "candidate_oracle_selected_branch_progress": 0.5527934432029724, + "candidate_oracle_selected_branch_score": 0.5527934432029724, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0a48fbd111be17b50be5;ms-1735d1abca4a91293d78;ms-bcfeba2af1e844c22aed;ms-f3f6a1b34fdf35290a6c;ms-97140da7cf409922f6ce;ms-d6305829d7ca1c68a3ce", + "expert_regret": 1.4472056031227112, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c684df0b998b593db723", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4472056031227112, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5527943968772888, + "restore_error": 1.1920928955078125e-07, + "score": 0.5527943968772888, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6907225251197815, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5561926960945129, + 0.5576269626617432, + 0.5564894676208496, + 0.5552541017532349 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0014342665672302246, + 0.0002967715263366699, + -0.0009385943412780762 + ], + "candidate_oracle_branch_scores": [ + 0.5561926960945129, + 0.5576269626617432, + 0.5564894676208496, + 0.5552541017532349 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9409570693969727, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 36, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.9365463852882385, + -0.9409570693969727, + -1.0314747095108032, + -1.0350408554077148 + ], + "candidate_oracle_progress": 0.5576269626617432, + "candidate_oracle_regret": 1.4423730373382568, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5576269626617432, + "candidate_oracle_score_gain_over_selected": 0.0014342665672302246, + "candidate_oracle_selected_branch_progress": 0.5561926960945129, + "candidate_oracle_selected_branch_score": 0.5561926960945129, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cea745484a24f376d7e8;ms-a1846ef1f00eb54e2d60;ms-4f190184d3920a0add8b;ms-ddb8f148dff1db91851f;ms-fa62bbb3e8416561ed69;ms-03ed7e57992354e27896", + "expert_regret": 1.4438074827194214, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-46f10a29b484c9461204", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4438074827194214, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5561925172805786, + "restore_error": 1.1920928955078125e-07, + "score": 0.5561925172805786, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.16754581034183502, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.053865090012550354, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.053865090012550354, + -0.08248062431812286, + -0.12082977592945099, + -0.12207750976085663 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-867fd9318b2445dcefb5;ms-bb60defa0d234da9e0bc;ms-dc2a8fa76e1ceb0d8925;ms-a10d8368c33b56390f77;ms-66cc354bbf4e8bdd1051;ms-a202dd8923327af132da", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29afe3c91faef25f1343", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.17928971350193024, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5641605257987976, + 0.5646976828575134, + 0.5636206865310669, + 0.5597612261772156 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0005371570587158203, + -0.0005398392677307129, + -0.004399299621582031 + ], + "candidate_oracle_branch_scores": [ + 0.5641605257987976, + 0.5646976828575134, + 0.5636206865310669, + 0.5597612261772156 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.10553513467311859, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 17, + 33, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.10513502359390259, + -0.10553513467311859, + -0.10573559999465942, + -0.14877396821975708 + ], + "candidate_oracle_progress": 0.5646976828575134, + "candidate_oracle_regret": 1.4353023171424866, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5646976828575134, + "candidate_oracle_score_gain_over_selected": 0.0005371570587158203, + "candidate_oracle_selected_branch_progress": 0.5641605257987976, + "candidate_oracle_selected_branch_score": 0.5641605257987976, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-81085eba1dd49b17ec9c;ms-87b44e6219279322a723;ms-09de52dad7e40970c938;ms-625b5d55ca76cc565049;ms-a145b708d79b243da21f;ms-6133ea5e61638487dd46", + "expert_regret": 1.4358392357826233, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4fe7fdaf946c97803c82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4358392357826233, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5641607642173767, + "restore_error": 1.1920928955078125e-07, + "score": 0.5641607642173767, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5142709016799927, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.7199152112007141, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 4 + ], + "candidate_oracle_potentials": [ + 0.7199152112007141, + 0.7048218250274658, + 0.6803841590881348, + 0.5446856617927551 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a13ee9983c139d34fca8;ms-ed7b02bc8f37b8524a56;ms-5d430ebe6f7933dc6c8c;ms-1abf5e6d483e2788b086;ms-570c074dbf28b5faae58;ms-3d095a49ed03de972849", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-128c7c43e30023e6b1a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6972155570983887, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.10338310152292252, + 0.1033945307135582, + 0.10336339473724365, + 0.103389672935009 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.1429190635681152e-05, + -1.9706785678863525e-05, + 6.571412086486816e-06 + ], + "candidate_oracle_branch_scores": [ + 0.10338310152292252, + 0.1033945307135582, + 0.10336339473724365, + 0.103389672935009 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.6442614793777466, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 20, + 0, + 36 + ], + "candidate_oracle_potentials": [ + -1.6278423070907593, + -1.6442614793777466, + -1.6444793939590454, + -1.6837369203567505 + ], + "candidate_oracle_progress": 0.1033945307135582, + "candidate_oracle_regret": 1.8966054692864418, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.1033945307135582, + "candidate_oracle_score_gain_over_selected": 1.1429190635681152e-05, + "candidate_oracle_selected_branch_progress": 0.10338310152292252, + "candidate_oracle_selected_branch_score": 0.10338310152292252, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13557287cd450bc12c6f;ms-d988976b029886d18476;ms-cc0b33f92229d32bd84f;ms-18fb80871b8e11d1ae9a;ms-739a89fb4521bc481a9f;ms-6558f35ae2a2871a4bfd", + "expert_regret": 1.8966162875294685, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-81f48d29d0404300ea93", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8966162875294685, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10338371247053146, + "restore_error": 1.1920928955078125e-07, + "score": 0.10338371247053146, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6612429022789001, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.10278327763080597, + 0.10685694217681885, + 0.10154037922620773, + 0.102758027613163 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.004073664546012878, + -0.001242898404598236, + -2.5250017642974854e-05 + ], + "candidate_oracle_branch_scores": [ + 0.10278327763080597, + 0.10685694217681885, + 0.10154037922620773, + 0.102758027613163 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.5643244981765747, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -1.5267473459243774, + -1.5643244981765747, + -1.5796606540679932, + -1.6096969842910767 + ], + "candidate_oracle_progress": 0.10685694217681885, + "candidate_oracle_regret": 1.8931430578231812, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.10685694217681885, + "candidate_oracle_score_gain_over_selected": 0.004073664546012878, + "candidate_oracle_selected_branch_progress": 0.10278327763080597, + "candidate_oracle_selected_branch_score": 0.10278327763080597, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-732d0515ed28df031b8e;ms-cea745484a24f376d7e8;ms-4f190184d3920a0add8b;ms-f682952c6ecb2b833c35;ms-4b970be37419ce0be0ae;ms-a1846ef1f00eb54e2d60", + "expert_regret": 1.8971985578536987, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0377c81a67d9819ab96b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8971985578536987, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10280144214630127, + "restore_error": 1.1920928955078125e-07, + "score": 0.10280144214630127, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.35947558283805847, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.2612015902996063, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 35, + 19 + ], + "candidate_oracle_potentials": [ + 0.2612015902996063, + 0.25934088230133057, + 0.18051208555698395, + 0.11266803741455078 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f8c4e700a751537ebb16;ms-d0e4bdc60ab8ea52a320;ms-41c5500153912a1743de;ms-6be8614a1bd50b974b95;ms-2592e5fa970f1b474388;ms-2b3e081263ed25d45dc8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5085e45e6ca37192d2e5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4484340250492096, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7951932549476624, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -0.7951932549476624, + -0.8197326064109802, + -0.9609981775283813, + -0.973440945148468 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5daa8575a80e98a83170;ms-8b73e5dfa1f2a01e6017;ms-570c074dbf28b5faae58;ms-935ff204de9424ec00a2;ms-023e021f079a8774c741;ms-68ab6033433b360464f8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eaf612349e2da547ee98", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28281739354133606, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5365395545959473, + 0.535906970500946, + 0.536622941493988, + 0.5367055535316467 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0006325840950012207, + 8.338689804077148e-05, + 0.0001659989356994629 + ], + "candidate_oracle_branch_scores": [ + 0.5365395545959473, + 0.535906970500946, + 0.536622941493988, + 0.5367055535316467 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.5146968364715576, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 0, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.5086912512779236, + -0.5087472200393677, + -0.5115338563919067, + -0.5146968364715576 + ], + "candidate_oracle_progress": 0.5367055535316467, + "candidate_oracle_regret": 1.4632944464683533, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5367055535316467, + "candidate_oracle_score_gain_over_selected": 0.0001659989356994629, + "candidate_oracle_selected_branch_progress": 0.5365395545959473, + "candidate_oracle_selected_branch_score": 0.5365395545959473, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cafa65eeb953aff47f30;ms-87b44e6219279322a723;ms-d6b2d805dc063382ade2;ms-81085eba1dd49b17ec9c;ms-625b5d55ca76cc565049;ms-1309e1770b6ca6e71c7e", + "expert_regret": 1.4634609818458557, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-635a384c88604ad7ba4f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4634609818458557, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5365390181541443, + "restore_error": 1.1920928955078125e-07, + "score": 0.5365390181541443, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + } + ], + "seed": 1, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 333, + "retrieval_residual_residual_near_miss": 91, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 105, + "retrieval_residual_residual_no_op": 135, + "retrieval_residual_residual_wrong_gripper": 136 + }, + "selected_residual_scale_counts": { + "0.35": 508, + "0.4": 71, + "0.45": 221 + }, + "selection_margin": 0.0, + "selection_mode": "retrieval_residual", + "split": "train_groups" +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/oracle_selector_calibration_train800_k4_score_r0025_t0025.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/oracle_selector_calibration_train800_k4_score_r0025_t0025.json new file mode 100644 index 0000000000000000000000000000000000000000..42ea59f4abbd059213b0f13601b56628b4f6b35e --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/oracle_selector_calibration_train800_k4_score_r0025_t0025.json @@ -0,0 +1,150 @@ +{ + "source_rollouts": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_trainsplit800_oraclek4.json" + ], + "calibration_source": "candidate_oracle_rollout", + "objective": "score", + "max_rank": 4, + "rank_scale": 0.025, + "type_scale": 0.025, + "min_count": 20, + "max_abs_rank_bias": 0.02, + "max_abs_type_bonus": 0.02, + "rows_seen": 800, + "rows_used": 800, + "skipped_branches": 0, + "field_rank_biases_by_task": { + "LiftPegUpright-v1": [ + 0.0, + -0.003453058641551449, + -0.003891304952304553, + -0.004735351386157299 + ], + "PickCube-v1": [ + 0.0, + 0.0002930988519272593, + -0.0003952176499002952, + -0.0011597840859339514 + ], + "*": [ + 0.0, + -0.001598710682279489, + -0.002160741737614444, + -0.0029654455725467432 + ] + }, + "rank_utility_means_by_task": { + "LiftPegUpright-v1": [ + 0.9105083107726999, + 0.772385965110642, + 0.7548561126805178, + 0.7210942553264079 + ], + "PickCube-v1": [ + 0.9293054933453948, + 0.9410294474224852, + 0.913496787349383, + 0.8829141299080367 + ], + "*": [ + 0.9198129161461839, + 0.8558644888550043, + 0.8333832466416061, + 0.8011950932443141 + ] + }, + "rank_counts_by_task": { + "LiftPegUpright-v1": [ + 404, + 404, + 404, + 404 + ], + "PickCube-v1": [ + 396, + 396, + 396, + 396 + ], + "*": [ + 800, + 800, + 800, + 800 + ] + }, + "candidate_type_bonuses_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.001547820503936137, + "retrieval_residual_residual_near_miss": 0.011067861103724187, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.00866285191262577, + "retrieval_residual_residual_no_op": -0.01245356749277821, + "retrieval_residual_residual_wrong_gripper": -0.0032232220381461455 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": -0.007904878302647694, + "retrieval_residual_residual_near_miss": -0.0012889953680894574, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.002747342228250441, + "retrieval_residual_residual_no_op": 0.01272803967240622, + "retrieval_residual_residual_wrong_gripper": -0.004241131817918484 + }, + "*": { + "retrieval_residual_policy_residual": -0.002294115217092335, + "retrieval_residual_residual_near_miss": 0.003715968438399406, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.00525758797428881, + "retrieval_residual_residual_no_op": 0.00237051952376624, + "retrieval_residual_residual_wrong_gripper": -0.003975416088988735 + } + }, + "type_utility_means_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.8516239811300124, + "retrieval_residual_residual_near_miss": 1.2324256051215343, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.1362252374775976, + "retrieval_residual_residual_no_op": 0.29156846126143854, + "retrieval_residual_residual_wrong_gripper": 0.6607822794467211 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 0.6004913324004172, + "retrieval_residual_residual_near_miss": 0.8651266497827467, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.0265801536363426, + "retrieval_residual_residual_no_op": 1.4258080514025737, + "retrieval_residual_residual_wrong_gripper": 0.7470411917895856 + }, + "*": { + "retrieval_residual_policy_residual": 0.7607993275380837, + "retrieval_residual_residual_near_miss": 1.0012026737577533, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.0628674551933295, + "retrieval_residual_residual_no_op": 0.9473847171724267, + "retrieval_residual_residual_wrong_gripper": 0.6935472926622277 + } + }, + "type_counts_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 323, + "retrieval_residual_residual_near_miss": 256, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 139, + "retrieval_residual_residual_no_op": 178, + "retrieval_residual_residual_wrong_gripper": 720 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 183, + "retrieval_residual_residual_near_miss": 435, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 281, + "retrieval_residual_residual_no_op": 244, + "retrieval_residual_residual_wrong_gripper": 441 + }, + "*": { + "retrieval_residual_policy_residual": 506, + "retrieval_residual_residual_near_miss": 691, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 420, + "retrieval_residual_residual_no_op": 422, + "retrieval_residual_residual_wrong_gripper": 1161 + } + }, + "type_baselines_by_task": { + "LiftPegUpright-v1": 0.7897111609725669, + "PickCube-v1": 0.916686464506325, + "*": 0.8525639362217771 + } +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/oracle_selector_calibration_train800_k4_score_r005_t005_clip002.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/oracle_selector_calibration_train800_k4_score_r005_t005_clip002.json new file mode 100644 index 0000000000000000000000000000000000000000..e2d025c219b691b6fea7f0d3f3e0b9eec777af3f --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/oracle_selector_calibration_train800_k4_score_r005_t005_clip002.json @@ -0,0 +1,150 @@ +{ + "source_rollouts": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_trainsplit800_oraclek4.json" + ], + "calibration_source": "candidate_oracle_rollout", + "objective": "score", + "max_rank": 4, + "rank_scale": 0.05, + "type_scale": 0.05, + "min_count": 20, + "max_abs_rank_bias": 0.02, + "max_abs_type_bonus": 0.02, + "rows_seen": 800, + "rows_used": 800, + "skipped_branches": 0, + "field_rank_biases_by_task": { + "LiftPegUpright-v1": [ + 0.0, + -0.006906117283102898, + -0.007782609904609106, + -0.009470702772314599 + ], + "PickCube-v1": [ + 0.0, + 0.0005861977038545186, + -0.0007904352998005904, + -0.002319568171867903 + ], + "*": [ + 0.0, + -0.003197421364558978, + -0.004321483475228888, + -0.0059308911450934865 + ] + }, + "rank_utility_means_by_task": { + "LiftPegUpright-v1": [ + 0.9105083107726999, + 0.772385965110642, + 0.7548561126805178, + 0.7210942553264079 + ], + "PickCube-v1": [ + 0.9293054933453948, + 0.9410294474224852, + 0.913496787349383, + 0.8829141299080367 + ], + "*": [ + 0.9198129161461839, + 0.8558644888550043, + 0.8333832466416061, + 0.8011950932443141 + ] + }, + "rank_counts_by_task": { + "LiftPegUpright-v1": [ + 404, + 404, + 404, + 404 + ], + "PickCube-v1": [ + 396, + 396, + 396, + 396 + ], + "*": [ + 800, + 800, + 800, + 800 + ] + }, + "candidate_type_bonuses_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.003095641007872274, + "retrieval_residual_residual_near_miss": 0.02, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.01732570382525154, + "retrieval_residual_residual_no_op": -0.02, + "retrieval_residual_residual_wrong_gripper": -0.006446444076292291 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": -0.015809756605295388, + "retrieval_residual_residual_near_miss": -0.0025779907361789148, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.005494684456500882, + "retrieval_residual_residual_no_op": 0.02, + "retrieval_residual_residual_wrong_gripper": -0.008482263635836968 + }, + "*": { + "retrieval_residual_policy_residual": -0.00458823043418467, + "retrieval_residual_residual_near_miss": 0.007431936876798812, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.01051517594857762, + "retrieval_residual_residual_no_op": 0.00474103904753248, + "retrieval_residual_residual_wrong_gripper": -0.00795083217797747 + } + }, + "type_utility_means_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.8516239811300124, + "retrieval_residual_residual_near_miss": 1.2324256051215343, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.1362252374775976, + "retrieval_residual_residual_no_op": 0.29156846126143854, + "retrieval_residual_residual_wrong_gripper": 0.6607822794467211 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 0.6004913324004172, + "retrieval_residual_residual_near_miss": 0.8651266497827467, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.0265801536363426, + "retrieval_residual_residual_no_op": 1.4258080514025737, + "retrieval_residual_residual_wrong_gripper": 0.7470411917895856 + }, + "*": { + "retrieval_residual_policy_residual": 0.7607993275380837, + "retrieval_residual_residual_near_miss": 1.0012026737577533, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.0628674551933295, + "retrieval_residual_residual_no_op": 0.9473847171724267, + "retrieval_residual_residual_wrong_gripper": 0.6935472926622277 + } + }, + "type_counts_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 323, + "retrieval_residual_residual_near_miss": 256, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 139, + "retrieval_residual_residual_no_op": 178, + "retrieval_residual_residual_wrong_gripper": 720 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 183, + "retrieval_residual_residual_near_miss": 435, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 281, + "retrieval_residual_residual_no_op": 244, + "retrieval_residual_residual_wrong_gripper": 441 + }, + "*": { + "retrieval_residual_policy_residual": 506, + "retrieval_residual_residual_near_miss": 691, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 420, + "retrieval_residual_residual_no_op": 422, + "retrieval_residual_residual_wrong_gripper": 1161 + } + }, + "type_baselines_by_task": { + "LiftPegUpright-v1": 0.7897111609725669, + "PickCube-v1": 0.916686464506325, + "*": 0.8525639362217771 + } +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/oracle_selector_calibration_train800_k4_score_rank005.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/oracle_selector_calibration_train800_k4_score_rank005.json new file mode 100644 index 0000000000000000000000000000000000000000..441f3b7933f91e19f0bb3b8c641010865e9dbb10 --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/oracle_selector_calibration_train800_k4_score_rank005.json @@ -0,0 +1,150 @@ +{ + "source_rollouts": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_trainsplit800_oraclek4.json" + ], + "calibration_source": "candidate_oracle_rollout", + "objective": "score", + "max_rank": 4, + "rank_scale": 0.05, + "type_scale": 0.0, + "min_count": 20, + "max_abs_rank_bias": 0.02, + "max_abs_type_bonus": null, + "rows_seen": 800, + "rows_used": 800, + "skipped_branches": 0, + "field_rank_biases_by_task": { + "LiftPegUpright-v1": [ + 0.0, + -0.006906117283102898, + -0.007782609904609106, + -0.009470702772314599 + ], + "PickCube-v1": [ + 0.0, + 0.0005861977038545186, + -0.0007904352998005904, + -0.002319568171867903 + ], + "*": [ + 0.0, + -0.003197421364558978, + -0.004321483475228888, + -0.0059308911450934865 + ] + }, + "rank_utility_means_by_task": { + "LiftPegUpright-v1": [ + 0.9105083107726999, + 0.772385965110642, + 0.7548561126805178, + 0.7210942553264079 + ], + "PickCube-v1": [ + 0.9293054933453948, + 0.9410294474224852, + 0.913496787349383, + 0.8829141299080367 + ], + "*": [ + 0.9198129161461839, + 0.8558644888550043, + 0.8333832466416061, + 0.8011950932443141 + ] + }, + "rank_counts_by_task": { + "LiftPegUpright-v1": [ + 404, + 404, + 404, + 404 + ], + "PickCube-v1": [ + 396, + 396, + 396, + 396 + ], + "*": [ + 800, + 800, + 800, + 800 + ] + }, + "candidate_type_bonuses_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.0, + "retrieval_residual_residual_near_miss": 0.0, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.0, + "retrieval_residual_residual_no_op": -0.0, + "retrieval_residual_residual_wrong_gripper": -0.0 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": -0.0, + "retrieval_residual_residual_near_miss": -0.0, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.0, + "retrieval_residual_residual_no_op": 0.0, + "retrieval_residual_residual_wrong_gripper": -0.0 + }, + "*": { + "retrieval_residual_policy_residual": -0.0, + "retrieval_residual_residual_near_miss": 0.0, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.0, + "retrieval_residual_residual_no_op": 0.0, + "retrieval_residual_residual_wrong_gripper": -0.0 + } + }, + "type_utility_means_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.8516239811300124, + "retrieval_residual_residual_near_miss": 1.2324256051215343, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.1362252374775976, + "retrieval_residual_residual_no_op": 0.29156846126143854, + "retrieval_residual_residual_wrong_gripper": 0.6607822794467211 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 0.6004913324004172, + "retrieval_residual_residual_near_miss": 0.8651266497827467, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.0265801536363426, + "retrieval_residual_residual_no_op": 1.4258080514025737, + "retrieval_residual_residual_wrong_gripper": 0.7470411917895856 + }, + "*": { + "retrieval_residual_policy_residual": 0.7607993275380837, + "retrieval_residual_residual_near_miss": 1.0012026737577533, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.0628674551933295, + "retrieval_residual_residual_no_op": 0.9473847171724267, + "retrieval_residual_residual_wrong_gripper": 0.6935472926622277 + } + }, + "type_counts_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 323, + "retrieval_residual_residual_near_miss": 256, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 139, + "retrieval_residual_residual_no_op": 178, + "retrieval_residual_residual_wrong_gripper": 720 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 183, + "retrieval_residual_residual_near_miss": 435, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 281, + "retrieval_residual_residual_no_op": 244, + "retrieval_residual_residual_wrong_gripper": 441 + }, + "*": { + "retrieval_residual_policy_residual": 506, + "retrieval_residual_residual_near_miss": 691, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 420, + "retrieval_residual_residual_no_op": 422, + "retrieval_residual_residual_wrong_gripper": 1161 + } + }, + "type_baselines_by_task": { + "LiftPegUpright-v1": 0.7897111609725669, + "PickCube-v1": 0.916686464506325, + "*": 0.8525639362217771 + } +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/oracle_selector_calibration_train800_k4_score_type005.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/oracle_selector_calibration_train800_k4_score_type005.json new file mode 100644 index 0000000000000000000000000000000000000000..c19a675f168f15f4ae2353e398a182f418cea4d5 --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/oracle_selector_calibration_train800_k4_score_type005.json @@ -0,0 +1,150 @@ +{ + "source_rollouts": [ + "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_trainsplit800_oraclek4.json" + ], + "calibration_source": "candidate_oracle_rollout", + "objective": "score", + "max_rank": 4, + "rank_scale": 0.0, + "type_scale": 0.05, + "min_count": 20, + "max_abs_rank_bias": null, + "max_abs_type_bonus": 0.02, + "rows_seen": 800, + "rows_used": 800, + "skipped_branches": 0, + "field_rank_biases_by_task": { + "LiftPegUpright-v1": [ + 0.0, + -0.0, + -0.0, + -0.0 + ], + "PickCube-v1": [ + 0.0, + 0.0, + -0.0, + -0.0 + ], + "*": [ + 0.0, + -0.0, + -0.0, + -0.0 + ] + }, + "rank_utility_means_by_task": { + "LiftPegUpright-v1": [ + 0.9105083107726999, + 0.772385965110642, + 0.7548561126805178, + 0.7210942553264079 + ], + "PickCube-v1": [ + 0.9293054933453948, + 0.9410294474224852, + 0.913496787349383, + 0.8829141299080367 + ], + "*": [ + 0.9198129161461839, + 0.8558644888550043, + 0.8333832466416061, + 0.8011950932443141 + ] + }, + "rank_counts_by_task": { + "LiftPegUpright-v1": [ + 404, + 404, + 404, + 404 + ], + "PickCube-v1": [ + 396, + 396, + 396, + 396 + ], + "*": [ + 800, + 800, + 800, + 800 + ] + }, + "candidate_type_bonuses_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.003095641007872274, + "retrieval_residual_residual_near_miss": 0.02, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.01732570382525154, + "retrieval_residual_residual_no_op": -0.02, + "retrieval_residual_residual_wrong_gripper": -0.006446444076292291 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": -0.015809756605295388, + "retrieval_residual_residual_near_miss": -0.0025779907361789148, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.005494684456500882, + "retrieval_residual_residual_no_op": 0.02, + "retrieval_residual_residual_wrong_gripper": -0.008482263635836968 + }, + "*": { + "retrieval_residual_policy_residual": -0.00458823043418467, + "retrieval_residual_residual_near_miss": 0.007431936876798812, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.01051517594857762, + "retrieval_residual_residual_no_op": 0.00474103904753248, + "retrieval_residual_residual_wrong_gripper": -0.00795083217797747 + } + }, + "type_utility_means_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.8516239811300124, + "retrieval_residual_residual_near_miss": 1.2324256051215343, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.1362252374775976, + "retrieval_residual_residual_no_op": 0.29156846126143854, + "retrieval_residual_residual_wrong_gripper": 0.6607822794467211 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 0.6004913324004172, + "retrieval_residual_residual_near_miss": 0.8651266497827467, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.0265801536363426, + "retrieval_residual_residual_no_op": 1.4258080514025737, + "retrieval_residual_residual_wrong_gripper": 0.7470411917895856 + }, + "*": { + "retrieval_residual_policy_residual": 0.7607993275380837, + "retrieval_residual_residual_near_miss": 1.0012026737577533, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 1.0628674551933295, + "retrieval_residual_residual_no_op": 0.9473847171724267, + "retrieval_residual_residual_wrong_gripper": 0.6935472926622277 + } + }, + "type_counts_by_task": { + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 323, + "retrieval_residual_residual_near_miss": 256, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 139, + "retrieval_residual_residual_no_op": 178, + "retrieval_residual_residual_wrong_gripper": 720 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": 183, + "retrieval_residual_residual_near_miss": 435, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 281, + "retrieval_residual_residual_no_op": 244, + "retrieval_residual_residual_wrong_gripper": 441 + }, + "*": { + "retrieval_residual_policy_residual": 506, + "retrieval_residual_residual_near_miss": 691, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 420, + "retrieval_residual_residual_no_op": 422, + "retrieval_residual_residual_wrong_gripper": 1161 + } + }, + "type_baselines_by_task": { + "LiftPegUpright-v1": 0.7897111609725669, + "PickCube-v1": 0.916686464506325, + "*": 0.8525639362217771 + } +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_r0025_t0025.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_r0025_t0025.json new file mode 100644 index 0000000000000000000000000000000000000000..ec77182306c165349cfcc1b2e6fb3083a25c5935 --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_r0025_t0025.json @@ -0,0 +1,12263 @@ +{ + "action_mse_to_best": 0.5256557758784165, + "backbone_model": null, + "backbone_type": "native", + "candidate_oracle_rollouts": 0, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_sigma": 0.0, + "candidate_type_bonus_components": false, + "candidate_type_bonuses": {}, + "candidate_type_bonuses_by_task": { + "*": { + "retrieval_residual_policy_residual": -0.002294115217092335, + "retrieval_residual_residual_near_miss": 0.003715968438399406, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.00525758797428881, + "retrieval_residual_residual_no_op": 0.00237051952376624, + "retrieval_residual_residual_wrong_gripper": -0.003975416088988735 + }, + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.001547820503936137, + "retrieval_residual_residual_near_miss": 0.011067861103724187, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.00866285191262577, + "retrieval_residual_residual_no_op": -0.01245356749277821, + "retrieval_residual_residual_wrong_gripper": -0.0032232220381461455 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": -0.007904878302647694, + "retrieval_residual_residual_near_miss": -0.0012889953680894574, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.002747342228250441, + "retrieval_residual_residual_no_op": 0.01272803967240622, + "retrieval_residual_residual_wrong_gripper": -0.004241131817918484 + } + }, + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/best_transport.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "expert_success_rate": 0.7704347826086957, + "field_optim_l2_penalty": 0.0, + "field_optim_step_size": 0.0, + "field_optim_steps": 0, + "field_optim_trust_radius": 0.0, + "field_rank_biases_by_task": { + "*": [ + 0.0, + -0.001598710682279489, + -0.002160741737614444, + -0.0029654455725467432 + ], + "LiftPegUpright-v1": [ + 0.0, + -0.003453058641551449, + -0.003891304952304553, + -0.004735351386157299 + ], + "PickCube-v1": [ + 0.0, + 0.0002930988519272593, + -0.0003952176499002952, + -0.0011597840859339514 + ] + }, + "group_batch_size": 8, + "lattice_exclude_type_tasks": {}, + "lattice_exclude_types": [ + "residual_random_negative", + "residual_wrong_direction", + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper" + ], + "num_candidates": 48, + "num_groups": 575, + "objective": "lattice_field", + "observation_mode": "state", + "oracle_success_rate": 0.8765217391304347, + "per_task": { + "LiftPegUpright-v1": { + "action_mse_to_best": 0.45042866991328384, + "expert_success_rate": 0.8229166666666666, + "num_groups": 96, + "oracle_success_rate": 0.9270833333333334, + "policy_expert_regret": 0.8175432652545472, + "policy_oracle_regret": 0.9105787607841194, + "policy_rollout_progress": 0.6584464291421076, + "policy_rollout_success_rate": 0.3645833333333333, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "action_mse_to_best": 0.4584501004505037, + "expert_success_rate": 0.9444444444444444, + "num_groups": 198, + "oracle_success_rate": 0.9595959595959596, + "policy_expert_regret": 0.9609687269919298, + "policy_oracle_regret": 0.9680521775206382, + "policy_rollout_progress": 0.63828590065429, + "policy_rollout_success_rate": 0.3484848484848485, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "action_mse_to_best": 0.6710384032792516, + "expert_success_rate": 0.24444444444444444, + "num_groups": 90, + "oracle_success_rate": 0.4666666666666667, + "policy_expert_regret": 0.30672253066052996, + "policy_oracle_regret": 0.4516191322563423, + "policy_rollout_progress": 0.37575145092689327, + "policy_rollout_success_rate": 0.26666666666666666, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "action_mse_to_best": 0.5121625486281839, + "expert_success_rate": 0.8514851485148515, + "num_groups": 101, + "oracle_success_rate": 1.0, + "policy_expert_regret": 0.2486148280377435, + "policy_oracle_regret": 0.28494056705201026, + "policy_rollout_progress": 0.8635742844331382, + "policy_rollout_success_rate": 0.8514851485148515, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "action_mse_to_best": 0.623510280251503, + "expert_success_rate": 0.7666666666666667, + "num_groups": 90, + "oracle_success_rate": 0.9111111111111111, + "policy_expert_regret": 1.0514432423644595, + "policy_oracle_regret": 1.1879484314057562, + "policy_rollout_progress": 0.4890150081780222, + "policy_rollout_success_rate": 0.2222222222222222, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "policy_expert_regret": 0.7236538758485214, + "policy_oracle_regret": 0.7920521220629629, + "policy_rollout_progress": 0.616767738390228, + "policy_rollout_success_rate": 0.40695652173913044, + "prepend_policy_candidate": false, + "proposal_lattice_types": [], + "proposal_types": [], + "restore_max_error": 2.384185791015625e-07, + "retrieval_metric": "raw", + "retrieval_neighbors": 6, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_anchor": "expert", + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_type_tasks": {}, + "retrieval_residual_challenger_types": [], + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_by_task": { + "*": 0.0, + "PickCube-v1": 0.01, + "StackCube-v1": 0.05 + }, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "rows": [ + { + "action_mse_to_best": 0.3290633261203766, + "candidate_source_group_id": "ms-59474486dd5cb4e5bfd5;ms-7aeb0835d3396e6666b6;ms-6e2b02ee71a4a44bc325;ms-61c099575bcff2de95e3;ms-d3377ca0da444ae9b40a;ms-7a0330e9e3189ff035d3", + "expert_regret": 1.302467167377472, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-debd7e5668e2acdf6bb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.302467167377472, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6975328326225281, + "restore_error": 1.1920928955078125e-07, + "score": 0.6975328326225281, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4052039086818695, + "candidate_source_group_id": "ms-4dc9ab19fbe571f09699;ms-4906f3adfda6dace862d;ms-502c195c0e4810814bac;ms-3661d65df223386f1be9;ms-8bc7aa419d17368d81b5;ms-ef8de99d917753ec603c", + "expert_regret": 0.0, + "expert_score": 0.7194880843162537, + "expert_success": false, + "group_id": "ms-ff3256da4e1731651937", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.7194880843162537, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4016408324241638, + "candidate_source_group_id": "ms-a74a87e26362d09598fe;ms-57dc9349b8f2c9c49105;ms-40eb8d19498413d4e730;ms-c090bce47703a4c4bb0b;ms-effca6c13ef9ccfd21a0;ms-9f844e24c570295e0497", + "expert_regret": 1.7972026467323303, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69785feff08dbf9a50be", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7972026467323303, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20279735326766968, + "restore_error": 1.1920928955078125e-07, + "score": 0.20279735326766968, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5760840177536011, + "candidate_source_group_id": "ms-22d006041320a4487c21;ms-1a2d298bf9972ddc1a7e;ms-6f03b16858c35025503e;ms-6ceb341dfa656e485a13;ms-851d25e7a1dde4242f33;ms-0a57aa04002f1b843856", + "expert_regret": 1.431125521659851, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d2febdb2a469fbbac4f2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.431125521659851, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5688744783401489, + "restore_error": 1.1920928955078125e-07, + "score": 0.5688744783401489, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4137933552265167, + "candidate_source_group_id": "ms-4906f3adfda6dace862d;ms-3661d65df223386f1be9;ms-c871c1157a16e19e6150;ms-caeb4c3d358f256799a8;ms-9f993a6e9bb26846d4f4;ms-131a98e2d4a78a9645f8", + "expert_regret": 1.2771730422973633, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c638b9bb924547f69cb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2771730422973633, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7228269577026367, + "restore_error": 1.1920928955078125e-07, + "score": 0.7228269577026367, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39851874113082886, + "candidate_source_group_id": "ms-dbad4f4d0df3c19c7bbb;ms-5b4f2522663bec742b02;ms-62b88f5cbc4f137e3bba;ms-f5ebbab81506fa27fc6d;ms-737e72810112f3246b05;ms-8864796e31bbe93d7c5d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a323215fb409ab3e9287", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5583524703979492, + "candidate_source_group_id": "ms-6ceb341dfa656e485a13;ms-d5241a32e5c9de09f2e4;ms-6f03b16858c35025503e;ms-093472a082b3b61e73d6;ms-87fa87e06dc88c28a44f;ms-1a2d298bf9972ddc1a7e", + "expert_regret": 1.2747490406036377, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-27251a7c7f13bf165e21", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2747490406036377, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7252509593963623, + "restore_error": 1.1920928955078125e-07, + "score": 0.7252509593963623, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5843793153762817, + "candidate_source_group_id": "ms-605dbfbe6bef2b15b58c;ms-3d862f2a32d3404926c3;ms-5cc5e6359fc006559eae;ms-f2c8835e8a162283a646;ms-cc5f2a24e2571cb23050;ms-7a0330e9e3189ff035d3", + "expert_regret": 1.283086359500885, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-59bff662e0ecb913ed81", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.283086359500885, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.716913640499115, + "restore_error": 1.1920928955078125e-07, + "score": 0.716913640499115, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3172013759613037, + "candidate_source_group_id": "ms-a4420cda0b159dda82a2;ms-aedc3dee6e275342eb8f;ms-c7c812bb98308442d95b;ms-97c28a7584b35207bf84;ms-062addb9da32a0c2ea97;ms-780ea60ea0255941e6c8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-684a66885f21739d826b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42845267057418823, + "candidate_source_group_id": "ms-a4420cda0b159dda82a2;ms-aedc3dee6e275342eb8f;ms-97c28a7584b35207bf84;ms-062addb9da32a0c2ea97;ms-1e41619ab39cf51b7822;ms-c7c812bb98308442d95b", + "expert_regret": 1.310312271118164, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc29afbe2bbf00638d25", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.310312271118164, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6896877288818359, + "restore_error": 1.1920928955078125e-07, + "score": 0.6896877288818359, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3442959785461426, + "candidate_source_group_id": "ms-22aaa483f5e7d381b63d;ms-3a09e411ee6c882ef7df;ms-d26dc2146eb8ae9a5434;ms-2b59042e27453aff03a7;ms-e4090b0b0c1739070201;ms-c3818c2c4474a784fc6b", + "expert_regret": 1.285163164138794, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ef5d3238b33bdebae4d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.285163164138794, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.714836835861206, + "restore_error": 1.1920928955078125e-07, + "score": 0.714836835861206, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3303062617778778, + "candidate_source_group_id": "ms-97c28a7584b35207bf84;ms-c7c812bb98308442d95b;ms-062addb9da32a0c2ea97;ms-a4420cda0b159dda82a2;ms-6c7f34ae8218aa0952c8;ms-74c9fc741b846b5019af", + "expert_regret": 1.5789548456668854, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-35babd5f83dcf1561f9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5789548456668854, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4210451543331146, + "restore_error": 1.1920928955078125e-07, + "score": 0.4210451543331146, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.25173220038414, + "candidate_source_group_id": "ms-31fe1d98bc7adcd515db;ms-0a6bff8326e7e32702f3;ms-bbefdf03d0471be60f8f;ms-ea164b21572d39ffed58;ms-06cb0796d1097e6ca111;ms-bc56601ca069f65cd08f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f6f0d14ef7c24b9e4621", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.21077457070350647, + "candidate_source_group_id": "ms-e3526036a5bf85cac0bf;ms-e0952f3218e0bf6fe027;ms-3aa33c0fda88e08e75fa;ms-d3a7e3f163b142a3e56b;ms-3efca8ee8623914a4faf;ms-a242f1d12ebfcd82de05", + "expert_regret": 1.6894308924674988, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-760c73ea34418ce7a006", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6894308924674988, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3105691075325012, + "restore_error": 1.1920928955078125e-07, + "score": 0.3105691075325012, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2584921717643738, + "candidate_source_group_id": "ms-908213fef55ccf1dfda6;ms-472376eba1a5e1c706bf;ms-785fb44f1371895f7721;ms-067e0fe46e4e9483e2a1;ms-76b0b0463fdb323b6233;ms-e3f38594991aafbffc23", + "expert_regret": 0.0, + "expert_score": 0.6740819811820984, + "expert_success": false, + "group_id": "ms-dfc38c43e9a87f99ef7f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.1462364196777344, + "candidate_source_group_id": "ms-30e2d8b7825053276e0c;ms-e12808f670338ca180c6;ms-8c8cf210aa675c5db1fe;ms-715db95b13ebc6c977c8;ms-c0ed69f549e56aa55f3d;ms-320d99264926ea029f95", + "expert_regret": 1.78958398103714, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-251c1dfd1010906f559f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.78958398103714, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2104160189628601, + "restore_error": 1.1920928955078125e-07, + "score": 0.2104160189628601, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.47235536575317383, + "candidate_source_group_id": "ms-aee5716b3e4fc47e46ba;ms-b933fbfb7c8fa68a445f;ms-8b18ea4e0982a1352696;ms-7272e1e33d4ecc07470c;ms-145f60d5fff285e7d05b;ms-062a265cedee2107eb17", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cc0b4a1deec28e53722a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7273083925247192, + "candidate_source_group_id": "ms-639913ac0e6b3997faae;ms-f97bd60d5430c32f9494;ms-f1eb6805ec9b483bba41;ms-cf7bdf0776c928ee2342;ms-bbaa576369a59660ecdd;ms-dd0fad10ce064047d62e", + "expert_regret": 1.7744708210229874, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b00933d2f628bc51d80a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7744708210229874, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22552917897701263, + "restore_error": 1.1920928955078125e-07, + "score": 0.22552917897701263, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.400958389043808, + "candidate_source_group_id": "ms-50b9f93dd246400d20c8;ms-85fcc6b4797417c3473f;ms-17a5e9b7bd8c1f255307;ms-40eb8d19498413d4e730;ms-ce7b349699ed248bb67c;ms-effca6c13ef9ccfd21a0", + "expert_regret": 0.3992581069469452, + "expert_score": 0.7258185148239136, + "expert_success": false, + "group_id": "ms-a829d650eb9914fb2983", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.3992581069469452, + "oracle_score": 0.7258185148239136, + "oracle_success": false, + "progress": 0.3265604078769684, + "restore_error": 1.1920928955078125e-07, + "score": 0.3265604078769684, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.06125998497009277, + "candidate_source_group_id": "ms-4b3a296acc66a14476c3;ms-662379c2c351807b9cdf;ms-80d8d8fc4a3308139975;ms-a40abdebe8a9c17de878;ms-ef2d84500e27679d22d9;ms-ed30f8fbb80b2cf46fbc", + "expert_regret": 0.0, + "expert_score": 0.695741593837738, + "expert_success": false, + "group_id": "ms-5799584ed40e211c50a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.570219099521637, + "candidate_source_group_id": "ms-fe790caba27d92511f71;ms-36f204d04ec4c4af3169;ms-34f60c9a263bd0a5641f;ms-faeff0379a053e9ea351;ms-76b0b0463fdb323b6233;ms-2f1164357c9732e059d4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-caa0a38b7df789550f8a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2293926179409027, + "candidate_source_group_id": "ms-080e034927abe2f30d60;ms-7dfc3684b46df95070e2;ms-1145e0f6add300eee9bd;ms-13aa39b96923ad8c913a;ms-bdb04ada069c35d51e2e;ms-3e0dbff4309ecbd35d36", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a4ade4de51ca437ac432", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41061142086982727, + "candidate_source_group_id": "ms-97c28a7584b35207bf84;ms-a4420cda0b159dda82a2;ms-c7c812bb98308442d95b;ms-32943eea3e70cd02f313;ms-062addb9da32a0c2ea97;ms-73e3079ce5eb7cd14ec8", + "expert_regret": 1.285853385925293, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-076246c4c5d1ca8ccd9d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.285853385925293, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.714146614074707, + "restore_error": 1.1920928955078125e-07, + "score": 0.714146614074707, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.47833913564682007, + "candidate_source_group_id": "ms-6ceb341dfa656e485a13;ms-6f03b16858c35025503e;ms-1a2d298bf9972ddc1a7e;ms-093472a082b3b61e73d6;ms-b60078e9e6ea9c26dedc;ms-d5241a32e5c9de09f2e4", + "expert_regret": 1.6249901056289673, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2d1a5e132eaeb353782", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6249901056289673, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3750098943710327, + "restore_error": 1.1920928955078125e-07, + "score": 0.3750098943710327, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4365829825401306, + "candidate_source_group_id": "ms-67b6e4d62036c13cc466;ms-f97bd60d5430c32f9494;ms-639913ac0e6b3997faae;ms-87fa87e06dc88c28a44f;ms-093472a082b3b61e73d6;ms-f63a0e43f0923369edc3", + "expert_regret": 1.2859704494476318, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ace117030ae44c474db1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2859704494476318, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7140295505523682, + "restore_error": 1.1920928955078125e-07, + "score": 0.7140295505523682, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.06271909922361374, + "candidate_source_group_id": "ms-ec2e4afb34b439731136;ms-e1b6bcb41532a800d3cb;ms-33a0bdb4bcee42c79a2b;ms-c2b904f450b45e2a8c9a;ms-29a11d7bdcf49c86bd7a;ms-320d99264926ea029f95", + "expert_regret": 0.0039064884185791016, + "expert_score": 0.7265902757644653, + "expert_success": false, + "group_id": "ms-13d8bae55d3c3710138f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2773162126541138, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7226837873458862, + "restore_error": 1.1920928955078125e-07, + "score": 0.7226837873458862, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.568795382976532, + "candidate_source_group_id": "ms-ef2d84500e27679d22d9;ms-957002faf092f769aa8e;ms-ea41340182245326a218;ms-a96ff9a1d5571ec4a6f2;ms-80d8d8fc4a3308139975;ms-4b3a296acc66a14476c3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d8295b43b30ceea30907", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48750588297843933, + "candidate_source_group_id": "ms-f1eb6805ec9b483bba41;ms-f97bd60d5430c32f9494;ms-dd0fad10ce064047d62e;ms-1d5ca9681600acdaba39;ms-02663903d88aa84c9c10;ms-9756d07ed207e9ab1d53", + "expert_regret": 1.6342549920082092, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-40a961867249ddccb68f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6342549920082092, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.36574500799179077, + "restore_error": 1.1920928955078125e-07, + "score": 0.36574500799179077, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37122634053230286, + "candidate_source_group_id": "ms-043a17d678e610264bb8;ms-88f748134c3fd27fcf72;ms-062addb9da32a0c2ea97;ms-c1f3359c70d068a36081;ms-a4420cda0b159dda82a2;ms-dd94921779f12b249579", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6a03497f97765ffd444e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3893188536167145, + "candidate_source_group_id": "ms-c7c812bb98308442d95b;ms-97c28a7584b35207bf84;ms-062addb9da32a0c2ea97;ms-a4420cda0b159dda82a2;ms-6c7f34ae8218aa0952c8;ms-74c9fc741b846b5019af", + "expert_regret": 1.4691587686538696, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5a56eefeb2de0abe600", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4691587686538696, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5308412313461304, + "restore_error": 1.1920928955078125e-07, + "score": 0.5308412313461304, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3576919436454773, + "candidate_source_group_id": "ms-3661d65df223386f1be9;ms-4906f3adfda6dace862d;ms-502c195c0e4810814bac;ms-4dc9ab19fbe571f09699;ms-9f993a6e9bb26846d4f4;ms-c871c1157a16e19e6150", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1b8e9b173562648021f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31439557671546936, + "candidate_source_group_id": "ms-988537a36edfece3d073;ms-3e0dbff4309ecbd35d36;ms-cdbfe4d3b05f4ed12db3;ms-3db845076f92a16d1840;ms-25195d526c9adb43ac79;ms-9f993a6e9bb26846d4f4", + "expert_regret": 1.306308627128601, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9c33d4837de7d23232d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.306308627128601, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6936913728713989, + "restore_error": 1.1920928955078125e-07, + "score": 0.6936913728713989, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3532887101173401, + "candidate_source_group_id": "ms-4dc9ab19fbe571f09699;ms-502c195c0e4810814bac;ms-ef8de99d917753ec603c;ms-3661d65df223386f1be9;ms-9f993a6e9bb26846d4f4;ms-caeb4c3d358f256799a8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7cd314f076bfe5c32088", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.955777406692505e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30966275930404663, + "candidate_source_group_id": "ms-bdb04ada069c35d51e2e;ms-3e0dbff4309ecbd35d36;ms-3661d65df223386f1be9;ms-13aa39b96923ad8c913a;ms-7dfc3684b46df95070e2;ms-080e034927abe2f30d60", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5bbc4c4b1b51e2a088db", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.955777406692505e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.01300532091408968, + "candidate_source_group_id": "ms-3efca8ee8623914a4faf;ms-3a09e411ee6c882ef7df;ms-e3526036a5bf85cac0bf;ms-22aaa483f5e7d381b63d;ms-2b59042e27453aff03a7;ms-9fd14cc61816c2d4360e", + "expert_regret": 0.0, + "expert_score": 0.7146890163421631, + "expert_success": false, + "group_id": "ms-b483cac145e16ccdf42a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.271771788597107, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7282282114028931, + "restore_error": 1.955777406692505e-07, + "score": 0.7282282114028931, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.506008505821228, + "candidate_source_group_id": "ms-a40abdebe8a9c17de878;ms-662379c2c351807b9cdf;ms-ecb5cc61f0b736e3f06f;ms-ed30f8fbb80b2cf46fbc;ms-80d8d8fc4a3308139975;ms-89feb4366865cfaf2273", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-96e1562aaca7ef49db28", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.955777406692505e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5021568536758423, + "candidate_source_group_id": "ms-40392e5aeef63551f9ac;ms-e2f90eb6c79dfd9ce6fd;ms-c0142e4a5d15dd8d647a;ms-67b6e4d62036c13cc466;ms-cf2603516869355b8b13;ms-524ae7618ed9b6a272ae", + "expert_regret": 1.321753740310669, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-49c99f285560483a85ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.321753740310669, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.678246259689331, + "restore_error": 1.955777406692505e-07, + "score": 0.678246259689331, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.4717899560928345, + "candidate_source_group_id": "ms-e7573c5d29c3a1a3f228;ms-30e2d8b7825053276e0c;ms-320d99264926ea029f95;ms-8c8cf210aa675c5db1fe;ms-c910a469460f71880556;ms-1bbd61ce613ae75c8bb0", + "expert_regret": 1.780499592423439, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-af91167a0cf15457c6ba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.780499592423439, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21950040757656097, + "restore_error": 1.955777406692505e-07, + "score": 0.21950040757656097, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2846800982952118, + "candidate_source_group_id": "ms-e12808f670338ca180c6;ms-30e2d8b7825053276e0c;ms-1bbd61ce613ae75c8bb0;ms-715db95b13ebc6c977c8;ms-320d99264926ea029f95;ms-648250f7c25953eab081", + "expert_regret": 0.5122059732675552, + "expert_score": 0.7225138545036316, + "expert_success": false, + "group_id": "ms-4b4cd12d70c0615e0930", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7896921187639236, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21030788123607635, + "restore_error": 1.955777406692505e-07, + "score": 0.21030788123607635, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34828656911849976, + "candidate_source_group_id": "ms-c7677b8f230103dd3c51;ms-e705fef3e4caa4c49718;ms-0fe90299788e1f71f98a;ms-865f9d670f806778ae61;ms-0251a326271aa1cab82b;ms-619d3d285d2cae3abbb9", + "expert_regret": 1.56066232919693, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5dcf9054c3c1c4e1d50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.56066232919693, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.43933767080307007, + "restore_error": 1.955777406692505e-07, + "score": 0.43933767080307007, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5218817591667175, + "candidate_source_group_id": "ms-8e23d2d44e709420e46d;ms-83019373a06eb384c886;ms-cbd6cc8b2708d5e3e4a9;ms-91710558482886874dd7;ms-5b4f2522663bec742b02;ms-f5ebbab81506fa27fc6d", + "expert_regret": 1.3410197496414185, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5fb06efe2b4bea27cc89", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.3410197496414185, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6589802503585815, + "restore_error": 1.1920928955078125e-07, + "score": 0.6589802503585815, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16975267231464386, + "candidate_source_group_id": "ms-3f56672eac1c00e9c2b0;ms-059d7962a5f998edf668;ms-faeff0379a053e9ea351;ms-9156a9a9c1b829b742ad;ms-e3f38594991aafbffc23;ms-908213fef55ccf1dfda6", + "expert_regret": 0.0, + "expert_score": 0.7031490206718445, + "expert_success": false, + "group_id": "ms-e2950dcb50ed2b955be6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.7267410159111023, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48562636971473694, + "candidate_source_group_id": "ms-4c72a9ad08cbf51799fb;ms-8c4a08985213114fffb7;ms-d602b7370c5b90f8a439;ms-894cd0e5dafb2d38831d;ms-3996b923bb25440c29e3;ms-7b1a03be4a61ba27261c", + "expert_regret": 1.277206540107727, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-55e89d326b6531345902", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.277206540107727, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.722793459892273, + "restore_error": 1.1920928955078125e-07, + "score": 0.722793459892273, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.502928614616394, + "candidate_source_group_id": "ms-67b6e4d62036c13cc466;ms-f63a0e43f0923369edc3;ms-02663903d88aa84c9c10;ms-093472a082b3b61e73d6;ms-f97bd60d5430c32f9494;ms-f1eb6805ec9b483bba41", + "expert_regret": 1.7896972596645355, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2c6000014d31fc0bb21c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7896972596645355, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21030274033546448, + "restore_error": 1.1920928955078125e-07, + "score": 0.21030274033546448, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42057356238365173, + "candidate_source_group_id": "ms-c7c812bb98308442d95b;ms-d229ac64c91c9bb6ce88;ms-a4420cda0b159dda82a2;ms-88f748134c3fd27fcf72;ms-780ea60ea0255941e6c8;ms-97c28a7584b35207bf84", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08ab006a923f5fdae198", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.27672091126441956, + "candidate_source_group_id": "ms-af25c332ad54eee6e1c3;ms-de68dbb7daad3e3a71fe;ms-fdf18cd6260d82226927;ms-074b26fed4c4a9dd3449;ms-4a845dab9503bc4eba04;ms-c146ea1c89beb683b6fd", + "expert_regret": 1.543524980545044, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a6cf775fbba580161c4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.543524980545044, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.45647501945495605, + "restore_error": 1.1920928955078125e-07, + "score": 0.45647501945495605, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.062252726405858994, + "candidate_source_group_id": "ms-145f60d5fff285e7d05b;ms-7272e1e33d4ecc07470c;ms-6e268d1e2915740816a1;ms-d3377ca0da444ae9b40a;ms-8b18ea4e0982a1352696;ms-aee5716b3e4fc47e46ba", + "expert_regret": 0.062387049198150635, + "expert_score": 0.724672257900238, + "expert_success": false, + "group_id": "ms-9ced92cccacfe4d157b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3377147912979126, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6622852087020874, + "restore_error": 1.1920928955078125e-07, + "score": 0.6622852087020874, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6100326180458069, + "candidate_source_group_id": "ms-8e23d2d44e709420e46d;ms-91710558482886874dd7;ms-83019373a06eb384c886;ms-62b88f5cbc4f137e3bba;ms-5b4f2522663bec742b02;ms-f5ebbab81506fa27fc6d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-490e2c471adbabec6304", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6862500309944153, + "candidate_source_group_id": "ms-ea41340182245326a218;ms-957002faf092f769aa8e;ms-ef2d84500e27679d22d9;ms-a96ff9a1d5571ec4a6f2;ms-4b3a296acc66a14476c3;ms-fa077183f74add357112", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-88fb2bebd038dc786c01", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.21861067414283752, + "candidate_source_group_id": "ms-118ba8926eda06ffc61e;ms-c76aba3db8d4ce0062bc;ms-b933fbfb7c8fa68a445f;ms-ec4accef21246e0c9213;ms-a1a99e83fb2868164e40;ms-aa46bb6dc8e6274963b6", + "expert_regret": 1.3550251722335815, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9a72e47e2204fa794718", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3550251722335815, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6449748277664185, + "restore_error": 1.1920928955078125e-07, + "score": 0.6449748277664185, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.9083303213119507, + "candidate_source_group_id": "ms-35c12c467fb8a54f89f0;ms-f3211ecde366ca9f6ac7;ms-ba9541c7192498a1d8bd;ms-3af721139694f7f3ec04;ms-a43b35c03282fe0c8464;ms-3c550bf52d7bf91f4ca2", + "expert_regret": 0.5228349715471268, + "expert_score": 0.7269833087921143, + "expert_success": false, + "group_id": "ms-de8d6051e6ee74b62fec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5228349715471268, + "oracle_score": 0.7269833087921143, + "oracle_success": false, + "progress": 0.2041483372449875, + "restore_error": 1.1920928955078125e-07, + "score": 0.2041483372449875, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35652971267700195, + "candidate_source_group_id": "ms-02cacb03f445c8a460e8;ms-8bc7aa419d17368d81b5;ms-7334e620435d1f3545fd;ms-136f1ebebd0b697c3310;ms-a6e4ac1995198def96a8;ms-510cafd84de611de3909", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f24ad2e217963943c12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36151936650276184, + "candidate_source_group_id": "ms-3c1e7b47135487435fc1;ms-e89a3ba400f81d2795f3;ms-31fe1d98bc7adcd515db;ms-074cb86179cdd7f52737;ms-8bab784ae53525967763;ms-131a98e2d4a78a9645f8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-675833805d1139c2f2a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.331878662109375, + "candidate_source_group_id": "ms-340913cb08bfca09a4e3;ms-e536e40f6902c6ba0927;ms-f0d2ffde521e268efc83;ms-457db124a2f46a06175b;ms-b4281a37b8b48a0b4c54;ms-01ab68aa5051226638ee", + "expert_regret": 1.6553326845169067, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fdb2637276b27c46c757", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6553326845169067, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.34466731548309326, + "restore_error": 1.1920928955078125e-07, + "score": 0.34466731548309326, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5676584839820862, + "candidate_source_group_id": "ms-a5bd3a36c6fe41cd0b35;ms-c9e0182d4090ddaa991c;ms-cf44ae14778c60c36af0;ms-0a57aa04002f1b843856;ms-6f03b16858c35025503e;ms-1a2d298bf9972ddc1a7e", + "expert_regret": 1.6448251008987427, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9f4b47c80d59166302ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6448251008987427, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3551748991012573, + "restore_error": 1.1920928955078125e-07, + "score": 0.3551748991012573, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4225463271141052, + "candidate_source_group_id": "ms-ff012c1c8597c8db3cc7;ms-b55ca348be8b64323714;ms-d8f42ed6b0b686d819ab;ms-a195f05e99bccc48907e;ms-2f2b16367db3db120235;ms-84264ef080ec4f3631df", + "expert_regret": 1.6120499968528748, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-80e3d8a34c3cb94cad65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6120499968528748, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.38795000314712524, + "restore_error": 1.1920928955078125e-07, + "score": 0.38795000314712524, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.28298020362854004, + "candidate_source_group_id": "ms-6e2b02ee71a4a44bc325;ms-a6e4ac1995198def96a8;ms-e89a3ba400f81d2795f3;ms-136f1ebebd0b697c3310;ms-59474486dd5cb4e5bfd5;ms-118ba8926eda06ffc61e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bb567fcac946f012535a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4176461398601532, + "candidate_source_group_id": "ms-a4420cda0b159dda82a2;ms-aedc3dee6e275342eb8f;ms-97c28a7584b35207bf84;ms-73e3079ce5eb7cd14ec8;ms-062addb9da32a0c2ea97;ms-32943eea3e70cd02f313", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-507199452c6d42562a38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3114907145500183, + "candidate_source_group_id": "ms-7a0330e9e3189ff035d3;ms-8b18ea4e0982a1352696;ms-d3377ca0da444ae9b40a;ms-54b1042de0891da7c07e;ms-cc5f2a24e2571cb23050;ms-7aeb0835d3396e6666b6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ac6e78b1c56d020d0c09", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5282514691352844, + "candidate_source_group_id": "ms-c2b904f450b45e2a8c9a;ms-29a11d7bdcf49c86bd7a;ms-ec2e4afb34b439731136;ms-715db95b13ebc6c977c8;ms-e1b6bcb41532a800d3cb;ms-320d99264926ea029f95", + "expert_regret": 1.7805708646774292, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9852b3671856321cecc8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7805708646774292, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2194291353225708, + "restore_error": 1.1920928955078125e-07, + "score": 0.2194291353225708, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5794914960861206, + "candidate_source_group_id": "ms-f1eb6805ec9b483bba41;ms-f97bd60d5430c32f9494;ms-1d5ca9681600acdaba39;ms-87fa87e06dc88c28a44f;ms-639913ac0e6b3997faae;ms-dd0fad10ce064047d62e", + "expert_regret": 1.3991202116012573, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a99d874a81bc60301007", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3991202116012573, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6008797883987427, + "restore_error": 1.1920928955078125e-07, + "score": 0.6008797883987427, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.29921403527259827, + "candidate_source_group_id": "ms-fc9b4c94b51f8b2a521b;ms-22d1b2dcc954dcdff384;ms-3176a570b75767d1d729;ms-fc3c8a3572fd96442723;ms-52ea0261959dfacdbcac;ms-3a97ee208c6be9ed8b74", + "expert_regret": 1.6278697848320007, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b025d8068f740557d630", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6278697848320007, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.37213021516799927, + "restore_error": 1.1920928955078125e-07, + "score": 0.37213021516799927, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.024824464693665504, + "candidate_source_group_id": "ms-261f6f6b578cee63be20;ms-8054283375aeefc8f2c1;ms-e91b824c3841686ed053;ms-48db1178206eee52434a;ms-35d84da6eb1afcf8a811;ms-7a3daad6772d2384ea66", + "expert_regret": 0.03360700607299805, + "expert_score": 0.7271000146865845, + "expert_success": false, + "group_id": "ms-fb131b52f94500da894b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3065069913864136, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6934930086135864, + "restore_error": 1.1920928955078125e-07, + "score": 0.6934930086135864, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.15223349630832672, + "candidate_source_group_id": "ms-1cb9edbe8bd7ed4106c1;ms-832f0e966173abd16c34;ms-bbefdf03d0471be60f8f;ms-0f02ff35b7fa1234c52e;ms-06cb0796d1097e6ca111;ms-becd2ffef1c49174810a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-73259d17883355f7fa88", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.708191990852356, + "candidate_source_group_id": "ms-059d7962a5f998edf668;ms-3f56672eac1c00e9c2b0;ms-e3f38594991aafbffc23;ms-908213fef55ccf1dfda6;ms-faeff0379a053e9ea351;ms-472376eba1a5e1c706bf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-26322bd4de52dbd5743c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5003231763839722, + "candidate_source_group_id": "ms-a40abdebe8a9c17de878;ms-662379c2c351807b9cdf;ms-ecb5cc61f0b736e3f06f;ms-80d8d8fc4a3308139975;ms-ed30f8fbb80b2cf46fbc;ms-d1cc32a5c52e78aa5e39", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a1b60ea1461eb460bed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3806215822696686, + "candidate_source_group_id": "ms-b55ca348be8b64323714;ms-a195f05e99bccc48907e;ms-84264ef080ec4f3631df;ms-d8f42ed6b0b686d819ab;ms-e825996818ee6f2f7d26;ms-2f2b16367db3db120235", + "expert_regret": 1.5744295120239258, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6a9c4c704edd84c21cda", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5744295120239258, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4255704879760742, + "restore_error": 1.1920928955078125e-07, + "score": 0.4255704879760742, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.9886152148246765, + "candidate_source_group_id": "ms-8f3d4e1d07bb5dcc7c57;ms-a103dfbc0567d05ade6e;ms-95264bfdaa3892cf66ac;ms-33a0bdb4bcee42c79a2b;ms-0e48a13af39db4a58bbc;ms-c910a469460f71880556", + "expert_regret": 1.7652293741703033, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dfc111660c0d1c7b7e04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7652293741703033, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23477062582969666, + "restore_error": 1.1920928955078125e-07, + "score": 0.23477062582969666, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.5441019535064697, + "candidate_source_group_id": "ms-288ce929957d627c569c;ms-89520c3ac8779d9e81e7;ms-0e48a13af39db4a58bbc;ms-c910a469460f71880556;ms-30e2d8b7825053276e0c;ms-e7573c5d29c3a1a3f228", + "expert_regret": 1.7856831103563309, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-efb5a07185a3a1b33226", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7856831103563309, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21431688964366913, + "restore_error": 1.1920928955078125e-07, + "score": 0.21431688964366913, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1430424600839615, + "candidate_source_group_id": "ms-99f263cb3f383b1f6243;ms-aa46bb6dc8e6274963b6;ms-28c139f34a954b692962;ms-ec4accef21246e0c9213;ms-c76aba3db8d4ce0062bc;ms-b0302a41f75a827cd4e4", + "expert_regret": 1.746495544910431, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-575bd87a5da90963019d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.746495544910431, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2535044550895691, + "restore_error": 1.1920928955078125e-07, + "score": 0.2535044550895691, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.555015504360199, + "candidate_source_group_id": "ms-4b3a296acc66a14476c3;ms-ef2d84500e27679d22d9;ms-662379c2c351807b9cdf;ms-80d8d8fc4a3308139975;ms-ed30f8fbb80b2cf46fbc;ms-a40abdebe8a9c17de878", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b383acd9844466b19579", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5629571080207825, + "candidate_source_group_id": "ms-87fa87e06dc88c28a44f;ms-1d5ca9681600acdaba39;ms-6ceb341dfa656e485a13;ms-093472a082b3b61e73d6;ms-d5241a32e5c9de09f2e4;ms-6f03b16858c35025503e", + "expert_regret": 1.5844866633415222, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-741e906eafd57d115b5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5844866633415222, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4155133366584778, + "restore_error": 1.1920928955078125e-07, + "score": 0.4155133366584778, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32941243052482605, + "candidate_source_group_id": "ms-865f9d670f806778ae61;ms-619d3d285d2cae3abbb9;ms-c7677b8f230103dd3c51;ms-88f7199271947fc4c7e8;ms-c090bce47703a4c4bb0b;ms-e705fef3e4caa4c49718", + "expert_regret": 0.5238056480884552, + "expert_score": 0.7231871485710144, + "expert_success": false, + "group_id": "ms-64a755437c34f39cda2a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5238056480884552, + "oracle_score": 0.7231871485710144, + "oracle_success": false, + "progress": 0.1993815004825592, + "restore_error": 1.1920928955078125e-07, + "score": 0.1993815004825592, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5389226675033569, + "candidate_source_group_id": "ms-aee5716b3e4fc47e46ba;ms-59474486dd5cb4e5bfd5;ms-d3377ca0da444ae9b40a;ms-7aeb0835d3396e6666b6;ms-6e2b02ee71a4a44bc325;ms-7a0330e9e3189ff035d3", + "expert_regret": 0.011125326156616211, + "expert_score": 0.7251858115196228, + "expert_success": false, + "group_id": "ms-92070f417bd9d14d6fc7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.011125326156616211, + "oracle_score": 0.7251858115196228, + "oracle_success": false, + "progress": 0.7140604853630066, + "restore_error": 1.1920928955078125e-07, + "score": 0.7140604853630066, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4585074782371521, + "candidate_source_group_id": "ms-7a3daad6772d2384ea66;ms-2f2b16367db3db120235;ms-84264ef080ec4f3631df;ms-1d728ae415a4d3cb782e;ms-01a86e5f5731af7002ab;ms-e91b824c3841686ed053", + "expert_regret": 1.4172101616859436, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e56b37f0e3881a70ef54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4172101616859436, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5827898383140564, + "restore_error": 1.1920928955078125e-07, + "score": 0.5827898383140564, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.579157829284668, + "candidate_source_group_id": "ms-9156a9a9c1b829b742ad;ms-059d7962a5f998edf668;ms-e3f38594991aafbffc23;ms-908213fef55ccf1dfda6;ms-3f56672eac1c00e9c2b0;ms-472376eba1a5e1c706bf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb329ccd569163c53415", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.3383508920669556, + "candidate_source_group_id": "ms-1955408aeb8a8a4d0847;ms-8b15f77ad3436ac282ba;ms-50b9f93dd246400d20c8;ms-9b687dc2de14c6813d44;ms-524ae7618ed9b6a272ae;ms-8a9e7d69f7ade362fe40", + "expert_regret": 1.7739738821983337, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-917b0f051489227842f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7739738821983337, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22602611780166626, + "restore_error": 1.1920928955078125e-07, + "score": 0.22602611780166626, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.650115966796875, + "candidate_source_group_id": "ms-715db95b13ebc6c977c8;ms-ec2e4afb34b439731136;ms-29a11d7bdcf49c86bd7a;ms-648250f7c25953eab081;ms-68d9596217cc37c949c4;ms-36d1128e3bd512cffe18", + "expert_regret": 1.8035843968391418, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28835618507e7bc71227", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8035843968391418, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19641560316085815, + "restore_error": 1.1920928955078125e-07, + "score": 0.19641560316085815, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1924881786108017, + "candidate_source_group_id": "ms-3d862f2a32d3404926c3;ms-605dbfbe6bef2b15b58c;ms-f2c8835e8a162283a646;ms-5cc5e6359fc006559eae;ms-6abc3749b5df33ea621e;ms-8b18ea4e0982a1352696", + "expert_regret": 0.004888713359832764, + "expert_score": 0.7208024859428406, + "expert_success": false, + "group_id": "ms-502dba1003c09ec60ba0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2840862274169922, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7159137725830078, + "restore_error": 1.1920928955078125e-07, + "score": 0.7159137725830078, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3068009316921234, + "candidate_source_group_id": "ms-28fe4b5a2888189c28d9;ms-9257b89b9b635a0fb174;ms-3176a570b75767d1d729;ms-9554f100dd5be3a4fa47;ms-d799435b5f6b8fae2ffb;ms-a905b84bd3ab703c025f", + "expert_regret": 1.798503816127777, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf8c5d9c874edc9f000d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.798503816127777, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2014961838722229, + "restore_error": 1.1920928955078125e-07, + "score": 0.2014961838722229, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6295377612113953, + "candidate_source_group_id": "ms-fae3c6a2f1b575ddc3f7;ms-4b3a296acc66a14476c3;ms-a96ff9a1d5571ec4a6f2;ms-ed4f6388ae96f9da76fa;ms-ef2d84500e27679d22d9;ms-80d8d8fc4a3308139975", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d2839c13649000454a65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4947667717933655, + "candidate_source_group_id": "ms-5fc588b9c9d52034f4c4;ms-30e4ae59842091fe16b2;ms-125287f805d320b2eff7;ms-f4060cdbe6d39b9215ac;ms-14a2c3eb293175cb76f3;ms-a905b84bd3ab703c025f", + "expert_regret": 1.7869701087474823, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01bef10a5ccfd38294fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7869701087474823, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2130298912525177, + "restore_error": 1.1920928955078125e-07, + "score": 0.2130298912525177, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42320579290390015, + "candidate_source_group_id": "ms-18ab33df290e3919a468;ms-f539c5c30da21c875657;ms-dd0fad10ce064047d62e;ms-df961fe24a43e56d1716;ms-6959fa589edc996753d7;ms-484ea653bbca2de3a4a2", + "expert_regret": 1.6253606379032135, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6d6456c45f9f3ae74b50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6253606379032135, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3746393620967865, + "restore_error": 1.1920928955078125e-07, + "score": 0.3746393620967865, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42993026971817017, + "candidate_source_group_id": "ms-4906f3adfda6dace862d;ms-131a98e2d4a78a9645f8;ms-31fe1d98bc7adcd515db;ms-295dab0e1d105e758827;ms-3661d65df223386f1be9;ms-c871c1157a16e19e6150", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29027a8e3742362fd477", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.0785186290740967, + "candidate_source_group_id": "ms-c910a469460f71880556;ms-0a8109ce7ab2ddc1bb1e;ms-e12808f670338ca180c6;ms-f3211ecde366ca9f6ac7;ms-8c8cf210aa675c5db1fe;ms-44a607bf50304347ead8", + "expert_regret": 1.7863537222146988, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83c0299c23fa800452c7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7863537222146988, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2136462777853012, + "restore_error": 1.1920928955078125e-07, + "score": 0.2136462777853012, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30791282653808594, + "candidate_source_group_id": "ms-89520c3ac8779d9e81e7;ms-44a607bf50304347ead8;ms-f3211ecde366ca9f6ac7;ms-288ce929957d627c569c;ms-8c8cf210aa675c5db1fe;ms-ba9541c7192498a1d8bd", + "expert_regret": 0.5077747106552124, + "expert_score": 0.7214354276657104, + "expert_success": false, + "group_id": "ms-e2a037eadb166228b1dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5115827322006226, + "oracle_score": 0.7252434492111206, + "oracle_success": false, + "progress": 0.21366071701049805, + "restore_error": 1.1920928955078125e-07, + "score": 0.21366071701049805, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3353612720966339, + "candidate_source_group_id": "ms-14dabc3ac1e1a339ebe4;ms-472376eba1a5e1c706bf;ms-908213fef55ccf1dfda6;ms-067e0fe46e4e9483e2a1;ms-785fb44f1371895f7721;ms-938b53ef53e669518a56", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-487d0fe2a13fb699dd7a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4117530882358551, + "candidate_source_group_id": "ms-df961fe24a43e56d1716;ms-6939f3ecafd5e0a4bfee;ms-484ea653bbca2de3a4a2;ms-3f6e7085c865144a7408;ms-f539c5c30da21c875657;ms-7b1a03be4a61ba27261c", + "expert_regret": 1.7978478223085403, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65e9da4468e522823587", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7978478223085403, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20215217769145966, + "restore_error": 1.1920928955078125e-07, + "score": 0.20215217769145966, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3465295135974884, + "candidate_source_group_id": "ms-efc33064e2a2f7e86dbe;ms-3661d65df223386f1be9;ms-9f993a6e9bb26846d4f4;ms-131a98e2d4a78a9645f8;ms-295dab0e1d105e758827;ms-cdbfe4d3b05f4ed12db3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b3d9d9570bf9b64c18fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5829631090164185, + "candidate_source_group_id": "ms-6ceb341dfa656e485a13;ms-6f03b16858c35025503e;ms-1a2d298bf9972ddc1a7e;ms-d5241a32e5c9de09f2e4;ms-c9e0182d4090ddaa991c;ms-093472a082b3b61e73d6", + "expert_regret": 1.3228377103805542, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0d80d6d87a27a53951fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3228377103805542, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6771622896194458, + "restore_error": 1.1920928955078125e-07, + "score": 0.6771622896194458, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.13507354259490967, + "candidate_source_group_id": "ms-785fb44f1371895f7721;ms-76b0b0463fdb323b6233;ms-34f60c9a263bd0a5641f;ms-472376eba1a5e1c706bf;ms-908213fef55ccf1dfda6;ms-3f56672eac1c00e9c2b0", + "expert_regret": 0.0, + "expert_score": 0.7244810461997986, + "expert_success": false, + "group_id": "ms-2436538e05fdcf8e44fc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42387357354164124, + "candidate_source_group_id": "ms-18ab33df290e3919a468;ms-6959fa589edc996753d7;ms-f539c5c30da21c875657;ms-dd0fad10ce064047d62e;ms-df961fe24a43e56d1716;ms-98c8fcf4c9f098cebe8d", + "expert_regret": 1.6157010197639465, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7ce799eb9d3b741e8960", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6157010197639465, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.38429898023605347, + "restore_error": 1.1920928955078125e-07, + "score": 0.38429898023605347, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4629737436771393, + "candidate_source_group_id": "ms-6818a4edf6ef35dacfb0;ms-c663f7e73e7e8376a05c;ms-b37738e210bf33a45a1d;ms-057132b6fc7922013391;ms-3c3fb1d170c1a7965ac4;ms-777412474251e64d7e24", + "expert_regret": 1.28501296043396, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0bc111c5ce4e0052716b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.28501296043396, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.71498703956604, + "restore_error": 1.1920928955078125e-07, + "score": 0.71498703956604, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4643208682537079, + "candidate_source_group_id": "ms-4906f3adfda6dace862d;ms-131a98e2d4a78a9645f8;ms-3661d65df223386f1be9;ms-510cafd84de611de3909;ms-31fe1d98bc7adcd515db;ms-a6e4ac1995198def96a8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-03495469257613a802b4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32523420453071594, + "candidate_source_group_id": "ms-136f1ebebd0b697c3310;ms-a6e4ac1995198def96a8;ms-510cafd84de611de3909;ms-e89a3ba400f81d2795f3;ms-31fe1d98bc7adcd515db;ms-4906f3adfda6dace862d", + "expert_regret": 1.3398639559745789, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a40dee47c502e73949af", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3398639559745789, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6601360440254211, + "restore_error": 1.1920928955078125e-07, + "score": 0.6601360440254211, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.03126028925180435, + "candidate_source_group_id": "ms-9fd14cc61816c2d4360e;ms-d9ed0a9faf86ca5f5caa;ms-3a09e411ee6c882ef7df;ms-93b076203c0c65fb22be;ms-2b59042e27453aff03a7;ms-e4090b0b0c1739070201", + "expert_regret": 0.0034009814262390137, + "expert_score": 0.7224933505058289, + "expert_success": false, + "group_id": "ms-baa36ee75ec2de550b9b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2809076309204102, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7190923690795898, + "restore_error": 1.1920928955078125e-07, + "score": 0.7190923690795898, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31800419092178345, + "candidate_source_group_id": "ms-a699ee643e76a610b444;ms-ddb4e5a1f88dfd017319;ms-6f12a291dd9c3bce4b44;ms-7571c367fe683b0f1cf9;ms-e0b2e69a5ea0d0ad4fb5;ms-a509a572b3871e591d26", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-af22292595eebbd60e48", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1094897985458374, + "candidate_source_group_id": "ms-ee19bfbcb2f4fbf5a44d;ms-8315ae30e2cf041c8674;ms-d807915e233a0c74b809;ms-b4af4c8b9dcd6976546c;ms-c3a1cf0e424a4f065459;ms-4e86b87d6e5f6ab914fe", + "expert_regret": 1.4600076079368591, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d4bde31fd7e7cee76b09", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4600076079368591, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5399923920631409, + "restore_error": 1.1920928955078125e-07, + "score": 0.5399923920631409, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5013295412063599, + "candidate_source_group_id": "ms-a5775906ce2fb6556103;ms-5071d49489e1900dfa91;ms-578e24198ed828a74485;ms-10a5b6cc3ec06dfdc5c5;ms-bc53e550cb202b5fcdf3;ms-54f34c73458181a65e9a", + "expert_regret": 1.4513219594955444, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b15f9c696a2661346cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4513219594955444, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5486780405044556, + "restore_error": 1.1920928955078125e-07, + "score": 0.5486780405044556, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5465834736824036, + "candidate_source_group_id": "ms-9e87481ce12fa45b2554;ms-9a2d8f0085e6740cf5b0;ms-e793d78eaff3fb28deb6;ms-1d36e5be82aee5a8e3b8;ms-f07607bc0ce1c4e202b0;ms-9b4483fb034248fe882d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-02acbd591a961c0dbd46", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.11978138983249664, + "candidate_source_group_id": "ms-6af227c07aaf7c0f0aea;ms-a1846ef1f00eb54e2d60;ms-3b0ad4f07f1813ecf670;ms-3e971096794f04f325f2;ms-4f190184d3920a0add8b;ms-bdd1924b44de2db5b07a", + "expert_regret": 0.020448148250579834, + "expert_score": 0.14857541024684906, + "expert_success": false, + "group_id": "ms-0843bef6b0c13c3ede69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.030796274542808533, + "oracle_score": 0.15892353653907776, + "oracle_success": false, + "progress": 0.12812726199626923, + "restore_error": 1.1920928955078125e-07, + "score": 0.12812726199626923, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4537111818790436, + "candidate_source_group_id": "ms-99b15d50660b77fe2fcb;ms-4705657703da9d791fb9;ms-67f602a0e4efc9984d72;ms-16d5b122db1824caf92b;ms-10af171aa279a879207d;ms-7be1c6c8ef67031b1f90", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-813cac6d08ed5af48b12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.05630256608128548, + "candidate_source_group_id": "ms-b606af28580a38cea636;ms-ffef7730418c831245b3;ms-6a6a41baedceb27ad888;ms-7785d335d4a95e21a84d;ms-c151229bc1dd03ed2feb;ms-47a55ae1d3a858eed51c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ca10d8b9d03f4d59806c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.26169589161872864, + "candidate_source_group_id": "ms-3c458f671129e1ebe7b4;ms-732d0515ed28df031b8e;ms-28817fe297f38fd9550a;ms-87fd37bcc6b666e220ef;ms-f682952c6ecb2b833c35;ms-0377c81a67d9819ab96b", + "expert_regret": 1.4597296714782715, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f458832fc85f00873cc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4597296714782715, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5402703285217285, + "restore_error": 1.1920928955078125e-07, + "score": 0.5402703285217285, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3745163381099701, + "candidate_source_group_id": "ms-22325628db75967cf779;ms-236601c5e076b4ee5d75;ms-f7c9f440fec3a22cd6d4;ms-5df54a8baaceb8c73c8a;ms-d6e14cec49894dd329f0;ms-c425c810f7865e9564ee", + "expert_regret": 1.4608142375946045, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c76158673d20b18c2622", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4608142375946045, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5391857624053955, + "restore_error": 1.1920928955078125e-07, + "score": 0.5391857624053955, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.05087048560380936, + "candidate_source_group_id": "ms-d965f63e091a5d6dd6d7;ms-a22fbce4503f088acb1f;ms-11bb3387454624de8143;ms-4742d169606f3ec2b474;ms-766b6fe7c08a3525ce94;ms-38507741c3b5d91a7b33", + "expert_regret": 1.4416561126708984, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5fb668380b64d4f1e74", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4416561126708984, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5583438873291016, + "restore_error": 1.1920928955078125e-07, + "score": 0.5583438873291016, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.08607659488916397, + "candidate_source_group_id": "ms-5e1e38c86ef8f564ec77;ms-5e6d18ccfcf923f52f8e;ms-f39e1d7a2d636e39a02f;ms-2f57eadf546710065684;ms-a7179e4e4e2a0d5335b3;ms-3417f5f2f1470c61d0a8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ed419c64a6693cb8998b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3252336084842682, + "candidate_source_group_id": "ms-3ea30989082ec714e12d;ms-d849d754f346b826e052;ms-b7ed399f40d2d554b16d;ms-288532d255e4828bb15b;ms-1abd8c7cc1c683f88d3d;ms-fb228a036fe5973bcad1", + "expert_regret": 1.4679107069969177, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a8e6435948250f5e163d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4679107069969177, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5320892930030823, + "restore_error": 1.1920928955078125e-07, + "score": 0.5320892930030823, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19222275912761688, + "candidate_source_group_id": "ms-0b7f8ba789c00b37caa0;ms-91d86cba2602d1fa780d;ms-a509a572b3871e591d26;ms-d67409d8ecfd5d97336d;ms-6558f35ae2a2871a4bfd;ms-ee7463f3d937dbc16f89", + "expert_regret": 1.467070758342743, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-54a7c3d32b6a267d81a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.467070758342743, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5329292416572571, + "restore_error": 1.1920928955078125e-07, + "score": 0.5329292416572571, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5508180856704712, + "candidate_source_group_id": "ms-7982e5af0d533320432f;ms-4895312f7ef7a8e0109c;ms-17a04b4ac2d938261bff;ms-8c0b600aef5393f929cd;ms-3e7befcb3d8fc7884e8f;ms-c7f427f37d47501932e8", + "expert_regret": 0.5713350176811218, + "expert_score": 0.5877946019172668, + "expert_success": false, + "group_id": "ms-4c7138016830a563fb1b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5713350176811218, + "oracle_score": 0.5877946019172668, + "oracle_success": false, + "progress": 0.01645958423614502, + "restore_error": 1.1920928955078125e-07, + "score": 0.01645958423614502, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18581008911132812, + "candidate_source_group_id": "ms-2be3bf4f348678c0cc6c;ms-5be34d2caaa3a2d07b81;ms-4746e04d636d13cfbe6c;ms-193063285cdb9faff39b;ms-912718b1f2ef92066799;ms-12050326f623a94ae9e0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5aa7ce332ee9702812a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29436397552490234, + "candidate_source_group_id": "ms-4f405775dcbb88f7d8b0;ms-5c8b50523e0de37d80b8;ms-7e94769c30229d5cc7b8;ms-3737178a1f85502652ea;ms-d305a11348461ae1622c;ms-28817fe297f38fd9550a", + "expert_regret": 1.4407914876937866, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c3cdd70e2bc10bba1930", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4407914876937866, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5592085123062134, + "restore_error": 1.1920928955078125e-07, + "score": 0.5592085123062134, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5331000685691833, + "candidate_source_group_id": "ms-a45ed89f5b95d1e7ab07;ms-50d83ce148904504ec50;ms-32435d71bb817daf01d9;ms-25839c690d85a4f5b986;ms-5ac153f97fd3c2f689c5;ms-d26a60e383a2e822615a", + "expert_regret": 1.4674625992774963, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ca25b016439a98198434", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4674625992774963, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5325374007225037, + "restore_error": 2.384185791015625e-07, + "score": 0.5325374007225037, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42451098561286926, + "candidate_source_group_id": "ms-29eab654e4adf7ca9c4b;ms-4f938bd3599c372c8bff;ms-cdfe8f580576f4c577b0;ms-9ffeb1600c04f08bdfcb;ms-55c2bba961a327aa5260;ms-f6db4e8bed63ed868487", + "expert_regret": 1.4546353220939636, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fd1c44c6d5d8f7f11451", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4546353220939636, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5453646779060364, + "restore_error": 2.384185791015625e-07, + "score": 0.5453646779060364, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.656699001789093, + "candidate_source_group_id": "ms-8d9b2a5ccd43461f827e;ms-a01f0549a18d924d31c0;ms-fbcca760f5e16aa5c776;ms-a43a663a3c4b15ec3ac2;ms-f653a3ac16eba9fba5dd;ms-14c40aa19f7b9307511d", + "expert_regret": 1.4418796300888062, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e4af96af7d344ec47a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4418796300888062, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5581203699111938, + "restore_error": 2.384185791015625e-07, + "score": 0.5581203699111938, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.934087336063385, + "candidate_source_group_id": "ms-362ba7cebb2bab1421e8;ms-12a997dde50b7a7f35cb;ms-87f65c35c9d8b3ced6fc;ms-de709118c78966c5aff7;ms-59020093d2eeaf58aa84;ms-d67409d8ecfd5d97336d", + "expert_regret": 1.4412808418273926, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-60a28a9b282e7586d4d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4412808418273926, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5587191581726074, + "restore_error": 2.384185791015625e-07, + "score": 0.5587191581726074, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 1.0012789964675903, + "candidate_source_group_id": "ms-edcdf99767068f94bcb4;ms-86b302005e0461f28c43;ms-417cab1470cf46273b02;ms-eac0d7dd54b1e797fdbd;ms-c774aeee2c4066edd668;ms-5e85dc3760eef8a53a67", + "expert_regret": 0.0, + "expert_score": 0.5850434899330139, + "expert_success": false, + "group_id": "ms-a9ac13384fe5afc835f1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6097205877304077, + "candidate_source_group_id": "ms-8315ae30e2cf041c8674;ms-d807915e233a0c74b809;ms-c3a1cf0e424a4f065459;ms-b4af4c8b9dcd6976546c;ms-16d5b122db1824caf92b;ms-b40ee5a75332685d5cec", + "expert_regret": 1.4401201009750366, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6029bab18ae94b126d79", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4401201009750366, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5598798990249634, + "restore_error": 2.384185791015625e-07, + "score": 0.5598798990249634, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.49996042251586914, + "candidate_source_group_id": "ms-b606af28580a38cea636;ms-045f5adce6d38ea2794f;ms-ffef7730418c831245b3;ms-6a6a41baedceb27ad888;ms-dc965b3a72976440156c;ms-d3cebfccbbe54d22c561", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2b64c720290c6dad7e35", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7536073923110962, + "candidate_source_group_id": "ms-1df0775c4ef08d0cf1bf;ms-73e36360221b6732c688;ms-d69b907e65875420bab7;ms-023e021f079a8774c741;ms-2dc8e489908f72903319;ms-21155188bc35f0f021d3", + "expert_regret": 1.4733810424804688, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3d095a49ed03de972849", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4733810424804688, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5266189575195312, + "restore_error": 2.384185791015625e-07, + "score": 0.5266189575195312, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.05375160649418831, + "candidate_source_group_id": "ms-910364d2d86091c5e0cf;ms-30998855587c076a2a77;ms-d0e4bdc60ab8ea52a320;ms-869a04e41dc5cc90916b;ms-6be8614a1bd50b974b95;ms-4082ce1f04dbacd6a5b9", + "expert_regret": 1.4361915588378906, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5d81a7c740394b68c3f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4361915588378906, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5638084411621094, + "restore_error": 1.1920928955078125e-07, + "score": 0.5638084411621094, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.10712426155805588, + "candidate_source_group_id": "ms-f4b95f2b569e3f1bf086;ms-46987cd8daa3091c8a85;ms-3950f823020f08f8e8cd;ms-a10d8368c33b56390f77;ms-45d4b692eda9ecacaa55;ms-10621e1108a69d0b633e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-16a7ccf3c442984c2feb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15082213282585144, + "candidate_source_group_id": "ms-3b4b0b8c60ad41bb16b0;ms-cca07eb504a242633931;ms-239a07967247700a8ed1;ms-5fc884c238818acdde08;ms-f39bbaa063044719a98d;ms-1781d9c562b4425df7c8", + "expert_regret": 1.4557369351387024, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a3d0c460532de2d801ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4557369351387024, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5442630648612976, + "restore_error": 1.1920928955078125e-07, + "score": 0.5442630648612976, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20015934109687805, + "candidate_source_group_id": "ms-fd99b14bf152ebc0ef8e;ms-74868f62709b91077e27;ms-59cc3cdf6918248d7f78;ms-5922c28e4a71a88c6d21;ms-fa62bbb3e8416561ed69;ms-3e971096794f04f325f2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-227fe0347d2ea57a66a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29311588406562805, + "candidate_source_group_id": "ms-82e28eb350e21d43d3eb;ms-aed881d8d61a756aa297;ms-7cab119c7b8019254ba4;ms-b40ee5a75332685d5cec;ms-d807915e233a0c74b809;ms-8315ae30e2cf041c8674", + "expert_regret": 1.4945808053016663, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a497e44e8c2ff0d46e47", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4945808053016663, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5054191946983337, + "restore_error": 1.1920928955078125e-07, + "score": 0.5054191946983337, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8481022715568542, + "candidate_source_group_id": "ms-578537600f7a649c2dd5;ms-9c7e6b057c74f3014fd5;ms-86b0447349029dfaa6ab;ms-c86956f3f1333e136186;ms-ac79bc3a841958ce127f;ms-cd340bca589f0cebd7da", + "expert_regret": 1.4337644577026367, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f9c00ba41392adec3fd1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4337644577026367, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5662355422973633, + "restore_error": 1.1920928955078125e-07, + "score": 0.5662355422973633, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3450329005718231, + "candidate_source_group_id": "ms-b606af28580a38cea636;ms-4d43fb19477b7ab848bc;ms-ffef7730418c831245b3;ms-7785d335d4a95e21a84d;ms-045f5adce6d38ea2794f;ms-6a6a41baedceb27ad888", + "expert_regret": 1.4462494850158691, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-50f62a61a82a96061d9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4462494850158691, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5537505149841309, + "restore_error": 1.1920928955078125e-07, + "score": 0.5537505149841309, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2876572608947754, + "candidate_source_group_id": "ms-b36673c3905a123cbd50;ms-5922c28e4a71a88c6d21;ms-59020093d2eeaf58aa84;ms-fd9f10f7df6a11ec2cef;ms-311a52ec4b0ca8d71889;ms-59cc3cdf6918248d7f78", + "expert_regret": 1.4564212560653687, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dea17c1c383f54d05636", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4564212560653687, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5435787439346313, + "restore_error": 1.1920928955078125e-07, + "score": 0.5435787439346313, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12555167078971863, + "candidate_source_group_id": "ms-9e1f3c14116ebca6164d;ms-1cea800b74c1ea2f6338;ms-0ca11ec8f7fbf0c1d66e;ms-d824135bf97b907f7cc2;ms-17e8d6ba42404c7b7d07;ms-23f9cca8edfca421a4a6", + "expert_regret": 1.445971965789795, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c78721d9c4196a9e8ec5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.445971965789795, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5540280342102051, + "restore_error": 1.1920928955078125e-07, + "score": 0.5540280342102051, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43157094717025757, + "candidate_source_group_id": "ms-bcd9be34f050d97499bd;ms-782893a3eb2e3dcfd15e;ms-e20f5d43f319248c5001;ms-add4b7d277e1fc171144;ms-71ef8f2cdc11d83250fa;ms-bc53e550cb202b5fcdf3", + "expert_regret": 1.4550440907478333, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e058c0dba52df04b8642", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4550440907478333, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5449559092521667, + "restore_error": 1.1920928955078125e-07, + "score": 0.5449559092521667, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14907561242580414, + "candidate_source_group_id": "ms-f71c7cf8ca320b8eb7a4;ms-a73f46824bdbdfb96238;ms-08858c7ba8d4a3357e05;ms-7d962acc9cfbc27c599c;ms-70381721e736d44afeaf;ms-478f754a15221314d15e", + "expert_regret": 1.4790117144584656, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-71452ba714a10880870b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4790117144584656, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5209882855415344, + "restore_error": 1.1920928955078125e-07, + "score": 0.5209882855415344, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7491084337234497, + "candidate_source_group_id": "ms-eac0d7dd54b1e797fdbd;ms-9cdebdcdad56bd8d87cc;ms-edcdf99767068f94bcb4;ms-c774aeee2c4066edd668;ms-86b302005e0461f28c43;ms-417cab1470cf46273b02", + "expert_regret": 0.0, + "expert_score": 0.5829448699951172, + "expert_success": false, + "group_id": "ms-4ca84594a789c9abd5d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.5829448699951172, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5121486783027649, + "candidate_source_group_id": "ms-17330235d51598ebcb4e;ms-351844f358ea7564d27d;ms-cafa65eeb953aff47f30;ms-ed7b02bc8f37b8524a56;ms-4ec67456479f53e605e1;ms-dc5a883a3e28b90ebf1a", + "expert_regret": 1.4792837500572205, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b5b5e5f9237c41e0fe9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4792837500572205, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5207162499427795, + "restore_error": 1.1920928955078125e-07, + "score": 0.5207162499427795, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6281210780143738, + "candidate_source_group_id": "ms-70342af6b601660d7c69;ms-64ab703e7a82799a47dd;ms-dbb32d9fd6999e09f589;ms-10af171aa279a879207d;ms-67f602a0e4efc9984d72;ms-0e275939f12a9dcee0a0", + "expert_regret": 1.4526816606521606, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d88107eff1e361cdcc4c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4526816606521606, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5473183393478394, + "restore_error": 1.1920928955078125e-07, + "score": 0.5473183393478394, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.498522013425827, + "candidate_source_group_id": "ms-fe54b45b549a55d45c0e;ms-b90d7926b23eabbbed04;ms-dbcc3da47d96ceeaf9f0;ms-b0aa24be399d843c9d50;ms-beb3567748ba228bdfce;ms-32435d71bb817daf01d9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-683b1d258a1cafbf87b9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29422813653945923, + "candidate_source_group_id": "ms-fef1cf4879be83a77574;ms-8adf1cf09ddabdc5fe5f;ms-fcbac5ac63b87452c719;ms-8fa24da5c97dc1dad5c1;ms-a509a572b3871e591d26;ms-0b7f8ba789c00b37caa0", + "expert_regret": 1.4223199486732483, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7361bfba9d2ab4f1913e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4223199486732483, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5776800513267517, + "restore_error": 1.1920928955078125e-07, + "score": 0.5776800513267517, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4393734931945801, + "candidate_source_group_id": "ms-48d490ed21088bb5ba85;ms-b671fa9fcef84dbf2a13;ms-d73a2a984d5829e884f9;ms-8420ccaff5986c85063f;ms-e45b5de01eafae73e492;ms-c7041c6f758f8e4a3698", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2ae57bab6d2ea11f6638", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3275270164012909, + "candidate_source_group_id": "ms-4b970be37419ce0be0ae;ms-8e4755f1627d85c12bd8;ms-80fbba5636cb4f9c64a3;ms-4cd1ceea2dda2732110a;ms-351c397795d9af204ec6;ms-28817fe297f38fd9550a", + "expert_regret": 1.4249294996261597, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-12ac4329c5bca5f2bb62", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4249294996261597, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5750705003738403, + "restore_error": 1.1920928955078125e-07, + "score": 0.5750705003738403, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47384434938430786, + "candidate_source_group_id": "ms-2d995e39f2b95fed1a67;ms-14c40aa19f7b9307511d;ms-10cb98b0a1ca5429dd28;ms-f653a3ac16eba9fba5dd;ms-8bb2d8cb7c0d33fa0c1d;ms-5d169f059bde8e429786", + "expert_regret": 1.4886125922203064, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7e6493bb6b1ff650d6de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4886125922203064, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5113874077796936, + "restore_error": 1.1920928955078125e-07, + "score": 0.5113874077796936, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46906593441963196, + "candidate_source_group_id": "ms-8edf3c4f13fa7a151824;ms-b863927293ce6530bb3b;ms-ba156a5cdaf40cc85cc4;ms-3a65e7b378a87a7eeb11;ms-bc53e550cb202b5fcdf3;ms-add4b7d277e1fc171144", + "expert_regret": 1.9782416578382254, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-38ceda08bad38fbebc1c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9782416578382254, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.021758342161774635, + "restore_error": 1.1920928955078125e-07, + "score": 0.021758342161774635, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5346171855926514, + "candidate_source_group_id": "ms-0c9c39c462522b25ef2b;ms-88bdd8987f890af7e9ea;ms-30fe784e67f732ef9a3d;ms-ffba357213945be5f9f7;ms-c70be4072fb4e49ac106;ms-99ecd2226d7187416316", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ee32e6bb3c0bb45702b9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28423526883125305, + "candidate_source_group_id": "ms-28817fe297f38fd9550a;ms-4f405775dcbb88f7d8b0;ms-f682952c6ecb2b833c35;ms-7e94769c30229d5cc7b8;ms-0377c81a67d9819ab96b;ms-3c458f671129e1ebe7b4", + "expert_regret": 1.4401622414588928, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4fad1f976cc64cc06826", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4401622414588928, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5598377585411072, + "restore_error": 1.1920928955078125e-07, + "score": 0.5598377585411072, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.32855483889579773, + "candidate_source_group_id": "ms-0b4ac5b183639ac19191;ms-d75a00b1388f50bf8919;ms-85eef30b36b044b33f60;ms-912718b1f2ef92066799;ms-4746e04d636d13cfbe6c;ms-d44f5bd2488ea182132b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4d6099258a3a6e037aff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4465859532356262, + "candidate_source_group_id": "ms-07e0726dedce0a0e4419;ms-87b44e6219279322a723;ms-ee055e1282f6302ad9e8;ms-1abf5e6d483e2788b086;ms-81085eba1dd49b17ec9c;ms-09de52dad7e40970c938", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb92a1e6b67121783fff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9671252965927124, + "candidate_source_group_id": "ms-547f4204888aee978bf0;ms-3fae81854f4c927f1f8d;ms-8ccc51fb09484026ebbb;ms-b0d54c14a65fb73f08ca;ms-b23839ace2fb08438144;ms-a76ae18568c88af1da6b", + "expert_regret": 1.9072430729866028, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d9e3a187dcadb9ad26b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9072430729866028, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09275692701339722, + "restore_error": 1.1920928955078125e-07, + "score": 0.09275692701339722, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.999265730381012, + "candidate_source_group_id": "ms-edcdf99767068f94bcb4;ms-86b302005e0461f28c43;ms-417cab1470cf46273b02;ms-eac0d7dd54b1e797fdbd;ms-c774aeee2c4066edd668;ms-5e85dc3760eef8a53a67", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69962cd1c448094e4fb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5431287288665771, + "candidate_source_group_id": "ms-0cc80a2933abf1b4853f;ms-12a997dde50b7a7f35cb;ms-de709118c78966c5aff7;ms-723a1f2e22afe15b6981;ms-362ba7cebb2bab1421e8;ms-91ad1a5f945470b4346e", + "expert_regret": 1.491007685661316, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-859d0ea38fb5e8aa6b98", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.491007685661316, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5089923143386841, + "restore_error": 1.1920928955078125e-07, + "score": 0.5089923143386841, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24475108087062836, + "candidate_source_group_id": "ms-81729abe5d83a1ca280d;ms-2073841ae01f224365a1;ms-8d94c7c692c91a962f25;ms-5922c28e4a71a88c6d21;ms-59cc3cdf6918248d7f78;ms-fd9f10f7df6a11ec2cef", + "expert_regret": 1.4598247408866882, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97598e118c5cc8c254a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4598247408866882, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5401752591133118, + "restore_error": 1.1920928955078125e-07, + "score": 0.5401752591133118, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6136251091957092, + "candidate_source_group_id": "ms-aaf1c4931e054f52623c;ms-d1dd16f03551d840a922;ms-a43a663a3c4b15ec3ac2;ms-3e7befcb3d8fc7884e8f;ms-b666f24369c548cd56ab;ms-49641ecf3e1326621609", + "expert_regret": 1.9254220500588417, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-19e6e6e341aebb7ec693", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9254220500588417, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0745779499411583, + "restore_error": 1.1920928955078125e-07, + "score": 0.0745779499411583, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15812137722969055, + "candidate_source_group_id": "ms-45d4b692eda9ecacaa55;ms-f80ae137a8d9981f8c98;ms-dc2a8fa76e1ceb0d8925;ms-f4d6da245d340cd16d30;ms-25839c690d85a4f5b986;ms-10621e1108a69d0b633e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68970d9d9bf975e25eb5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6850227117538452, + "candidate_source_group_id": "ms-50f29e19c798fee5422f;ms-c3a1cf0e424a4f065459;ms-b4af4c8b9dcd6976546c;ms-1451f536f2ac0df844f6;ms-7c5059db4c14a74b64a3;ms-f88a44616a0985aac518", + "expert_regret": 1.4656415581703186, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7de8743758ec505a3294", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4656415581703186, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5343584418296814, + "restore_error": 1.1920928955078125e-07, + "score": 0.5343584418296814, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18145036697387695, + "candidate_source_group_id": "ms-1bfca22d4af29f0e14b1;ms-81085eba1dd49b17ec9c;ms-61068da67676a95e5065;ms-e093f85b121d443b61e2;ms-87b44e6219279322a723;ms-07e0726dedce0a0e4419", + "expert_regret": 1.4324032068252563, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4fe7fdaf946c97803c82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4324032068252563, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5675967931747437, + "restore_error": 1.1920928955078125e-07, + "score": 0.5675967931747437, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.16793107986450195, + "candidate_source_group_id": "ms-76b9f40367a1ee020744;ms-d6b2d805dc063382ade2;ms-d7a32da3ed5d010654a0;ms-635a384c88604ad7ba4f;ms-0f219ce35aff264455e2;ms-486ff31b7a04a7e9e8f9", + "expert_regret": 1.4701767563819885, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d5d7c690819019cb7869", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4701767563819885, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5298232436180115, + "restore_error": 1.1920928955078125e-07, + "score": 0.5298232436180115, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.34401893615722656, + "candidate_source_group_id": "ms-1b83fc0981e283975488;ms-cd71a93dcab09ba15592;ms-ebb616f9b291184677b3;ms-b5deb1971bf3b3484282;ms-ac79bc3a841958ce127f;ms-2cf1227610d4602f88ed", + "expert_regret": 1.493221640586853, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b98e8aa8ecee10bea27", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.493221640586853, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.506778359413147, + "restore_error": 1.1920928955078125e-07, + "score": 0.506778359413147, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8405627012252808, + "candidate_source_group_id": "ms-ea72196e20393870bcbb;ms-bb60defa0d234da9e0bc;ms-08c75f74bf7813b1c257;ms-4021797e9499e6aaab7a;ms-486b916e7b4ad1566788;ms-3a64af2410ea932a6267", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-af16712eadcaebf175ff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7142432332038879, + "candidate_source_group_id": "ms-d8b4090565126a66d13e;ms-999a8c1454dd4597a834;ms-b0d54c14a65fb73f08ca;ms-b23839ace2fb08438144;ms-3b7c5c91ae441f282006;ms-630663751ab841a96d5a", + "expert_regret": 1.8773896470665932, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b481531ab787e3d6fb1e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8773896470665932, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.12261035293340683, + "restore_error": 1.1920928955078125e-07, + "score": 0.12261035293340683, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5665645003318787, + "candidate_source_group_id": "ms-98427ae2d94c1f85811a;ms-0ca1c25fddb7da05d80a;ms-40cb974de9da58dcd32b;ms-706943f06888dd5bbb3a;ms-9233eae706910c204b79;ms-6fc6a26da9fbe53dd616", + "expert_regret": 1.451539397239685, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5bae191ebad7c9f2687", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.451539397239685, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5484606027603149, + "restore_error": 1.1920928955078125e-07, + "score": 0.5484606027603149, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.38686591386795044, + "candidate_source_group_id": "ms-307f9067d5b66f55b3a6;ms-2dc4f12ea7e8567e3a6e;ms-44694e99af9263ad3c45;ms-d305a11348461ae1622c;ms-52cdfff790d71133c5a0;ms-5847c6d196024fce1770", + "expert_regret": 1.4450801014900208, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-90a03366976eaa1ad013", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4450801014900208, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5549198985099792, + "restore_error": 1.1920928955078125e-07, + "score": 0.5549198985099792, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3516087234020233, + "candidate_source_group_id": "ms-45d4b692eda9ecacaa55;ms-f4b95f2b569e3f1bf086;ms-f4d6da245d340cd16d30;ms-25839c690d85a4f5b986;ms-f80ae137a8d9981f8c98;ms-dc2a8fa76e1ceb0d8925", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-81d1d8def1fbeb3b1cc5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6214953660964966, + "candidate_source_group_id": "ms-8f0e2c9caad14bd37ecf;ms-023e021f079a8774c741;ms-eb16021deb5d03f15c9d;ms-fd6deac5a281d169bc75;ms-753929cfdc4aaa652b32;ms-d91cbe61314c18955b6b", + "expert_regret": 1.4323381185531616, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-561f4f913d7b4991d81a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4323381185531616, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5676618814468384, + "restore_error": 1.1920928955078125e-07, + "score": 0.5676618814468384, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42923668026924133, + "candidate_source_group_id": "ms-f80ae137a8d9981f8c98;ms-dc2a8fa76e1ceb0d8925;ms-25839c690d85a4f5b986;ms-45d4b692eda9ecacaa55;ms-f4d6da245d340cd16d30;ms-32435d71bb817daf01d9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f6d30c2ade00e451dc2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5099431872367859, + "candidate_source_group_id": "ms-3e7befcb3d8fc7884e8f;ms-aaf1c4931e054f52623c;ms-b666f24369c548cd56ab;ms-a43a663a3c4b15ec3ac2;ms-d1dd16f03551d840a922;ms-7982e5af0d533320432f", + "expert_regret": 1.949408434331417, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c9f657875cf334b1f17", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.949408434331417, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.050591565668582916, + "restore_error": 1.1920928955078125e-07, + "score": 0.050591565668582916, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6873399019241333, + "candidate_source_group_id": "ms-45ed57caa698d87a99cf;ms-5f5bf12b5ebb67eeb361;ms-4385e9c56007fdaa94b5;ms-ffba357213945be5f9f7;ms-c70be4072fb4e49ac106;ms-23f9cca8edfca421a4a6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e55645c0c701caac48a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8216077089309692, + "candidate_source_group_id": "ms-486572c62484eb4d73db;ms-6c39b520dca0a325535f;ms-763c73c94818a090d358;ms-b0aa24be399d843c9d50;ms-4fe47d946641f0096a85;ms-dd4f37e032d56b692a0e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a44a2c9eee8baea5d29e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.27158311009407043, + "candidate_source_group_id": "ms-a1d69e0b112064914357;ms-2e5c2f75d3f6311e0a1c;ms-1c0e2bb3a811fac6d567;ms-5c8b50523e0de37d80b8;ms-62b597990a3d637e5a8a;ms-9b213fea5cdf7a7c91c4", + "expert_regret": 1.4578503370285034, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8af2224cc82636ef1dd7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4578503370285034, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5421496629714966, + "restore_error": 1.1920928955078125e-07, + "score": 0.5421496629714966, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4842032790184021, + "candidate_source_group_id": "ms-630663751ab841a96d5a;ms-aea09fb002af52e12bd8;ms-319a6c0cef0ac1a872d5;ms-a01e21b91a5b37a16afe;ms-b9e46b7345a63ded4397;ms-e218d19c595e580c3e32", + "expert_regret": 1.9437690004706383, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe650308e25459ee64c6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9437690004706383, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.056230999529361725, + "restore_error": 1.1920928955078125e-07, + "score": 0.056230999529361725, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5769554972648621, + "candidate_source_group_id": "ms-f4860c7945db15b54d2e;ms-0a4c4442237909d5f7b7;ms-bfda95ffffd5d1a2683a;ms-9a1de6130828dc946a51;ms-10a5b6cc3ec06dfdc5c5;ms-91ad1a5f945470b4346e", + "expert_regret": 1.4533597826957703, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b1c9975d1a007dd03dc4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4533597826957703, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5466402173042297, + "restore_error": 1.1920928955078125e-07, + "score": 0.5466402173042297, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.37601742148399353, + "candidate_source_group_id": "ms-a3c53708416dbfb9fbc5;ms-88e10d1be12a407b3926;ms-79d500110f3723b57da8;ms-d3cebfccbbe54d22c561;ms-e2ddf4681b47f39e15da;ms-2d4547df5dccc4c4ca24", + "expert_regret": 1.517016977071762, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9e31a19a776a861f9d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.517016977071762, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4829830229282379, + "restore_error": 1.1920928955078125e-07, + "score": 0.4829830229282379, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.38358429074287415, + "candidate_source_group_id": "ms-78da3efba7a739dcad14;ms-7571c367fe683b0f1cf9;ms-ddb4e5a1f88dfd017319;ms-950df0830b2e57010248;ms-a509a572b3871e591d26;ms-fd99b14bf152ebc0ef8e", + "expert_regret": 1.9464599005877972, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01067b8ff16f74652382", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9464599005877972, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.053540099412202835, + "restore_error": 1.1920928955078125e-07, + "score": 0.053540099412202835, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.27236413955688477, + "candidate_source_group_id": "ms-88bdd8987f890af7e9ea;ms-99ecd2226d7187416316;ms-9783ccaf76f1b20c766e;ms-c70be4072fb4e49ac106;ms-30fe784e67f732ef9a3d;ms-0c9c39c462522b25ef2b", + "expert_regret": 1.4385539889335632, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c5d026dffb39f2f1d38a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4385539889335632, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5614460110664368, + "restore_error": 1.1920928955078125e-07, + "score": 0.5614460110664368, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5989216566085815, + "candidate_source_group_id": "ms-cdcdb32d7c02c49869ef;ms-9de5ccc7f31ca1c2154b;ms-fcfb7dd60d966e20b98d;ms-16cd0a94ad2cb78b1ada;ms-10dbf8bb0c239a44ec0f;ms-72cf68c15631675b063f", + "expert_regret": 1.9449644796550274, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-15c083989d8277fd07ec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9449644796550274, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05503552034497261, + "restore_error": 1.1920928955078125e-07, + "score": 0.05503552034497261, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6897839307785034, + "candidate_source_group_id": "ms-3aa864ead19c9cb9fb49;ms-79c7332b2b329eaa6a13;ms-bb60defa0d234da9e0bc;ms-1158e6997b2f1281b105;ms-708baf01c22c75cafd22;ms-61b1188974f35233b883", + "expert_regret": 1.4315165281295776, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-95320371ce6b820c85f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4315165281295776, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5684834718704224, + "restore_error": 1.1920928955078125e-07, + "score": 0.5684834718704224, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2617696523666382, + "candidate_source_group_id": "ms-4f938bd3599c372c8bff;ms-cdfe8f580576f4c577b0;ms-9b213fea5cdf7a7c91c4;ms-29eab654e4adf7ca9c4b;ms-ebb616f9b291184677b3;ms-9ffeb1600c04f08bdfcb", + "expert_regret": 1.4725446701049805, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de0abc7a53a48164f82d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4725446701049805, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5274553298950195, + "restore_error": 1.1920928955078125e-07, + "score": 0.5274553298950195, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6201459765434265, + "candidate_source_group_id": "ms-045f5adce6d38ea2794f;ms-dc965b3a72976440156c;ms-b606af28580a38cea636;ms-ffef7730418c831245b3;ms-e2ddf4681b47f39e15da;ms-64ab703e7a82799a47dd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cba2f44df79669ff934b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12714287638664246, + "candidate_source_group_id": "ms-bcfeba2af1e844c22aed;ms-1735d1abca4a91293d78;ms-9044026b69850d12d05b;ms-3352e05afd9065cd09bf;ms-326a7b583623d136470e;ms-97140da7cf409922f6ce", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eb206a3dda0ac16e1643", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2503371834754944, + "candidate_source_group_id": "ms-10dbf8bb0c239a44ec0f;ms-16cd0a94ad2cb78b1ada;ms-793a98188fd57ed5291f;ms-0541a144afe57b5a7ae6;ms-c2e07545267c612a022c;ms-fcfb7dd60d966e20b98d", + "expert_regret": 1.4961593747138977, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3abfb4c309360a304d54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4961593747138977, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5038406252861023, + "restore_error": 1.1920928955078125e-07, + "score": 0.5038406252861023, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48269394040107727, + "candidate_source_group_id": "ms-076d67ac4d2de4e0c627;ms-c7156b26670838d40934;ms-8330999c6669ec42122a;ms-0ac53e56b4852c85ca2e;ms-b786173f210fcaa65a6e;ms-a68740208f81c5d6c97b", + "expert_regret": 1.9276846125721931, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5dfad80e83d210946447", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9276846125721931, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07231538742780685, + "restore_error": 1.1920928955078125e-07, + "score": 0.07231538742780685, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19484136998653412, + "candidate_source_group_id": "ms-bd6b2dc41ba42b44462a;ms-4082ce1f04dbacd6a5b9;ms-21155188bc35f0f021d3;ms-87f8bbc8d9e7f4dcaacf;ms-31782020143c24b4271b;ms-fbcc714230de2c097d0d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-93e3d9968204474eff49", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2045658677816391, + "candidate_source_group_id": "ms-6a7e80154a9a4e5e9c08;ms-0d1db6695acdf1ec3eaf;ms-c7041c6f758f8e4a3698;ms-00b9ad6a8fe73fccc6fc;ms-8fcc78fba7b3bec0fab6;ms-da855323619ebf257b19", + "expert_regret": 1.4465671181678772, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d4aab6f9b6717dd5712e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4465671181678772, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5534328818321228, + "restore_error": 1.1920928955078125e-07, + "score": 0.5534328818321228, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46273502707481384, + "candidate_source_group_id": "ms-b0d54c14a65fb73f08ca;ms-999a8c1454dd4597a834;ms-3fae81854f4c927f1f8d;ms-a76ae18568c88af1da6b;ms-547f4204888aee978bf0;ms-ed9addab41f3298db7bc", + "expert_regret": 1.9550312273204327, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7670f25745871759e69e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9550312273204327, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04496877267956734, + "restore_error": 1.1920928955078125e-07, + "score": 0.04496877267956734, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2243867814540863, + "candidate_source_group_id": "ms-4f405775dcbb88f7d8b0;ms-28817fe297f38fd9550a;ms-7e94769c30229d5cc7b8;ms-f682952c6ecb2b833c35;ms-0377c81a67d9819ab96b;ms-3c458f671129e1ebe7b4", + "expert_regret": 1.489164650440216, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe9347448b7f810d1353", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.489164650440216, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5108353495597839, + "restore_error": 1.1920928955078125e-07, + "score": 0.5108353495597839, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9006804823875427, + "candidate_source_group_id": "ms-c3a1cf0e424a4f065459;ms-b4af4c8b9dcd6976546c;ms-8315ae30e2cf041c8674;ms-16d5b122db1824caf92b;ms-10af171aa279a879207d;ms-3a64af2410ea932a6267", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-99a5ffff5b73cf604b3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19958002865314484, + "candidate_source_group_id": "ms-1781d9c562b4425df7c8;ms-3b4b0b8c60ad41bb16b0;ms-f39bbaa063044719a98d;ms-bcc70292f404cd1c7f75;ms-9b4483fb034248fe882d;ms-cca07eb504a242633931", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b68d8b4d22e6ff0451d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47547611594200134, + "candidate_source_group_id": "ms-2d4547df5dccc4c4ca24;ms-fe1a5f1bc3c4ec7669f2;ms-a3c53708416dbfb9fbc5;ms-e2ddf4681b47f39e15da;ms-0bb8964d3e6f9dd302f4;ms-88e10d1be12a407b3926", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8a74cf665984273be00d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7066043615341187, + "candidate_source_group_id": "ms-aea09fb002af52e12bd8;ms-3b7c5c91ae441f282006;ms-e218d19c595e580c3e32;ms-a01e21b91a5b37a16afe;ms-706943f06888dd5bbb3a;ms-319a6c0cef0ac1a872d5", + "expert_regret": 1.8454006016254425, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4acbf69acd30d96e46a7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8454006016254425, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1545993983745575, + "restore_error": 1.1920928955078125e-07, + "score": 0.1545993983745575, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22538287937641144, + "candidate_source_group_id": "ms-87fd37bcc6b666e220ef;ms-e0b2e69a5ea0d0ad4fb5;ms-2458fcfffb3f96c6ca1a;ms-3c458f671129e1ebe7b4;ms-3b0ad4f07f1813ecf670;ms-732d0515ed28df031b8e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2259a78b2187e22f9f37", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.534131646156311, + "candidate_source_group_id": "ms-10a5b6cc3ec06dfdc5c5;ms-06935a084a7af6d7596c;ms-7fe236a99d555408d474;ms-c86956f3f1333e136186;ms-4cd1ceea2dda2732110a;ms-f4860c7945db15b54d2e", + "expert_regret": 1.9088848307728767, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-503d0b1d27ed78b6130f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9088848307728767, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09111516922712326, + "restore_error": 1.1920928955078125e-07, + "score": 0.09111516922712326, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8348591923713684, + "candidate_source_group_id": "ms-c2e07545267c612a022c;ms-0541a144afe57b5a7ae6;ms-2470946f31fee328ad6c;ms-3eeaca32feb66f450a0b;ms-41561ecd4d68cf77c933;ms-793a98188fd57ed5291f", + "expert_regret": 1.4804835319519043, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5e23219a8e2aadd039c7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4804835319519043, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5195164680480957, + "restore_error": 1.1920928955078125e-07, + "score": 0.5195164680480957, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5991522669792175, + "candidate_source_group_id": "ms-076d67ac4d2de4e0c627;ms-8330999c6669ec42122a;ms-c7156b26670838d40934;ms-0ac53e56b4852c85ca2e;ms-a68740208f81c5d6c97b;ms-b786173f210fcaa65a6e", + "expert_regret": 1.5006667077541351, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e318e13f77e75e7cd802", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5006667077541351, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49933329224586487, + "restore_error": 1.1920928955078125e-07, + "score": 0.49933329224586487, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.36086639761924744, + "candidate_source_group_id": "ms-ee19bfbcb2f4fbf5a44d;ms-0e12a6083750bfecca87;ms-61b1188974f35233b883;ms-79c7332b2b329eaa6a13;ms-f71c7cf8ca320b8eb7a4;ms-3aa864ead19c9cb9fb49", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-842e179244eddac303a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2214268147945404, + "candidate_source_group_id": "ms-351818a836474e594d3c;ms-dbb32d9fd6999e09f589;ms-ce992c1fa0bcc38512b7;ms-a5a651f9e28ea52016fe;ms-2af09f91e05d19f7f181;ms-c6d4f51c1adffc449778", + "expert_regret": 1.440782368183136, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c2515d4a10082514714", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.440782368183136, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.559217631816864, + "restore_error": 1.1920928955078125e-07, + "score": 0.559217631816864, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39133220911026, + "candidate_source_group_id": "ms-f682952c6ecb2b833c35;ms-4f405775dcbb88f7d8b0;ms-28817fe297f38fd9550a;ms-7e94769c30229d5cc7b8;ms-351c397795d9af204ec6;ms-1f8e2d5d25706493821d", + "expert_regret": 1.4496687650680542, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-20e5ffa93544d6d8b313", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4496687650680542, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5503312349319458, + "restore_error": 1.1920928955078125e-07, + "score": 0.5503312349319458, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6247621774673462, + "candidate_source_group_id": "ms-d26a60e383a2e822615a;ms-4a7b774ee02339c4ca19;ms-6053d8ef243250b88f96;ms-dd4f37e032d56b692a0e;ms-5e85dc3760eef8a53a67;ms-a576ca39e26c4e1ab240", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f4967102c7b10057ab9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.292365700006485, + "candidate_source_group_id": "ms-08c39d9cc9eb7578e6e9;ms-66ec6692758e9a7f2e01;ms-f947dbf28ad85666e2f1;ms-10f2865bef6da7b66423;ms-a323150b5305fc2a329d;ms-a699ee643e76a610b444", + "expert_regret": 1.9751946926116943, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbda7bc51ca269d1cda4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9751946926116943, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.024805307388305664, + "restore_error": 1.1920928955078125e-07, + "score": 0.024805307388305664, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24593736231327057, + "candidate_source_group_id": "ms-1c0e2bb3a811fac6d567;ms-2e5c2f75d3f6311e0a1c;ms-307f9067d5b66f55b3a6;ms-a1d69e0b112064914357;ms-5c8b50523e0de37d80b8;ms-d305a11348461ae1622c", + "expert_regret": 1.5011721551418304, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5415e349e8f9f2bce641", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5011721551418304, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49882784485816956, + "restore_error": 1.1920928955078125e-07, + "score": 0.49882784485816956, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5057913064956665, + "candidate_source_group_id": "ms-5daa8575a80e98a83170;ms-f1fb6cdb836269adb2cc;ms-dd7f9cc9585878b84824;ms-a949424c5fa615565d72;ms-8522a9364bf70311450d;ms-f101cf5cc8575be3c201", + "expert_regret": 1.4423831105232239, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b73e5dfa1f2a01e6017", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4423831105232239, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5576168894767761, + "restore_error": 1.1920928955078125e-07, + "score": 0.5576168894767761, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6833339333534241, + "candidate_source_group_id": "ms-29dd2cdbb66fe13ab877;ms-f897cc2141a0a303fc6a;ms-fbb609a3f2a334986245;ms-bd6b2dc41ba42b44462a;ms-054a02413d31389d1b7f;ms-c0995730ba36614c249a", + "expert_regret": 1.4481063485145569, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-23d6e5835aa90a62b6ef", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4481063485145569, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5518936514854431, + "restore_error": 1.1920928955078125e-07, + "score": 0.5518936514854431, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5001571774482727, + "candidate_source_group_id": "ms-0b4ac5b183639ac19191;ms-d75a00b1388f50bf8919;ms-4746e04d636d13cfbe6c;ms-193063285cdb9faff39b;ms-85eef30b36b044b33f60;ms-912718b1f2ef92066799", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d686ae387b1a0ce2f2f3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7494997978210449, + "candidate_source_group_id": "ms-1df0775c4ef08d0cf1bf;ms-4cd9eae753bf9e48f520;ms-2dc8e489908f72903319;ms-81951a4920488e6c62e9;ms-3731f1c5af3c4a133633;ms-5367a8bae4304851384e", + "expert_regret": 1.5045024752616882, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8fbdbddd9200f5091d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5045024752616882, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49549752473831177, + "restore_error": 1.1920928955078125e-07, + "score": 0.49549752473831177, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5455873608589172, + "candidate_source_group_id": "ms-ee05717b29d39d7cddff;ms-4082ce1f04dbacd6a5b9;ms-090e18187bb6ae4a9120;ms-ff23e4fce42c637ed617;ms-054a02413d31389d1b7f;ms-30998855587c076a2a77", + "expert_regret": 1.4384557604789734, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-76194d089c97018ce427", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4384557604789734, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5615442395210266, + "restore_error": 1.1920928955078125e-07, + "score": 0.5615442395210266, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5383086800575256, + "candidate_source_group_id": "ms-bd6b2dc41ba42b44462a;ms-31782020143c24b4271b;ms-4082ce1f04dbacd6a5b9;ms-1518756d5da0b8d3c190;ms-642670f4bb658d32970b;ms-054a02413d31389d1b7f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ae33e3afb57e61026d72", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3639485538005829, + "candidate_source_group_id": "ms-16cd0a94ad2cb78b1ada;ms-10dbf8bb0c239a44ec0f;ms-793a98188fd57ed5291f;ms-fcfb7dd60d966e20b98d;ms-0541a144afe57b5a7ae6;ms-c2e07545267c612a022c", + "expert_regret": 1.925457403063774, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c8198e44eea32f98ca7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.925457403063774, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07454259693622589, + "restore_error": 2.384185791015625e-07, + "score": 0.07454259693622589, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2769887447357178, + "candidate_source_group_id": "ms-ebb616f9b291184677b3;ms-1b83fc0981e283975488;ms-b5deb1971bf3b3484282;ms-cd71a93dcab09ba15592;ms-2cf1227610d4602f88ed;ms-ac79bc3a841958ce127f", + "expert_regret": 1.5035418570041656, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-adfe268e473c03b72c65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5035418570041656, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49645814299583435, + "restore_error": 2.384185791015625e-07, + "score": 0.49645814299583435, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.660578191280365, + "candidate_source_group_id": "ms-9c8a90334c3b933c8976;ms-e1972ebf2c5587a6fdf9;ms-1781d9c562b4425df7c8;ms-bcc70292f404cd1c7f75;ms-9b4483fb034248fe882d;ms-9e87481ce12fa45b2554", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97aebe1dd42939e3b340", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9886021018028259, + "candidate_source_group_id": "ms-0adce283894b0a2b7b94;ms-9bcf8a1e5e7b0f7ff6f5;ms-bc30ca6b7675f4de5041;ms-ffba357213945be5f9f7;ms-4385e9c56007fdaa94b5;ms-45ed57caa698d87a99cf", + "expert_regret": 0.014737844467163086, + "expert_score": 0.5644459128379822, + "expert_success": false, + "group_id": "ms-28d5618562729c763eb6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.014737844467163086, + "oracle_score": 0.5644459128379822, + "oracle_success": false, + "progress": 0.5497080683708191, + "restore_error": 2.384185791015625e-07, + "score": 0.5497080683708191, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6317652463912964, + "candidate_source_group_id": "ms-4681331b496c8a9cf14d;ms-ad5ad5314850df7b0853;ms-dbcc3da47d96ceeaf9f0;ms-b90d7926b23eabbbed04;ms-c3f7b780f604922f4f67;ms-fe54b45b549a55d45c0e", + "expert_regret": 1.5325371623039246, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b7800060cd4a8c3cb6b9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5325371623039246, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.46746283769607544, + "restore_error": 2.384185791015625e-07, + "score": 0.46746283769607544, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46075937151908875, + "candidate_source_group_id": "ms-6a7e80154a9a4e5e9c08;ms-c7041c6f758f8e4a3698;ms-8fcc78fba7b3bec0fab6;ms-da46296bd4e9032570df;ms-0d1db6695acdf1ec3eaf;ms-b671fa9fcef84dbf2a13", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1a4ecfbe9c97214d5c78", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42136114835739136, + "candidate_source_group_id": "ms-dd1311efb8ab2a0a2d23;ms-39450dbba738dbd8a764;ms-87f8bbc8d9e7f4dcaacf;ms-4ec67456479f53e605e1;ms-486ff31b7a04a7e9e8f9;ms-31782020143c24b4271b", + "expert_regret": 1.4360958933830261, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-564c02492863ae749ea9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4360958933830261, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5639041066169739, + "restore_error": 2.384185791015625e-07, + "score": 0.5639041066169739, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46848392486572266, + "candidate_source_group_id": "ms-a576ca39e26c4e1ab240;ms-0de368e8d16fd01f4e67;ms-4a7b774ee02339c4ca19;ms-7d81f3e8b6a42695871d;ms-dd4f37e032d56b692a0e;ms-f4d6da245d340cd16d30", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7020fdb7cba871e8b3e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.30690762400627136, + "candidate_source_group_id": "ms-288532d255e4828bb15b;ms-b7ed399f40d2d554b16d;ms-1abd8c7cc1c683f88d3d;ms-fb228a036fe5973bcad1;ms-8af87d14945da6a910e4;ms-b82cc8ce5d9d348ba6b4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-26e09c86be9068a34acf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4691881239414215, + "candidate_source_group_id": "ms-9783ccaf76f1b20c766e;ms-88bdd8987f890af7e9ea;ms-c70be4072fb4e49ac106;ms-30fe784e67f732ef9a3d;ms-99ecd2226d7187416316;ms-0c9c39c462522b25ef2b", + "expert_regret": 1.4414274096488953, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3aa5793c449b59c77b6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4414274096488953, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5585725903511047, + "restore_error": 1.1920928955078125e-07, + "score": 0.5585725903511047, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7668940424919128, + "candidate_source_group_id": "ms-bb60defa0d234da9e0bc;ms-3aa864ead19c9cb9fb49;ms-79c7332b2b329eaa6a13;ms-478f754a15221314d15e;ms-61b1188974f35233b883;ms-708baf01c22c75cafd22", + "expert_regret": 0.0, + "expert_score": 0.5963302850723267, + "expert_success": false, + "group_id": "ms-66cc354bbf4e8bdd1051", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.5963302850723267, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.23709546029567719, + "candidate_source_group_id": "ms-97a18aeeea0b34f7c606;ms-f28fbb82a51d4de7811b;ms-f4fd59b4d1bce2d6b6a4;ms-6edb3f8fe977a81f8979;ms-fffe378a3bad31bbed52;ms-0a48fbd111be17b50be5", + "expert_regret": 1.4858971238136292, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f3f6a1b34fdf35290a6c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4858971238136292, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5141028761863708, + "restore_error": 1.1920928955078125e-07, + "score": 0.5141028761863708, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.636202335357666, + "candidate_source_group_id": "ms-b36673c3905a123cbd50;ms-59020093d2eeaf58aa84;ms-fd9f10f7df6a11ec2cef;ms-87f65c35c9d8b3ced6fc;ms-03ed7e57992354e27896;ms-59cc3cdf6918248d7f78", + "expert_regret": 1.9151953235268593, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-382000b79932b7c68326", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9151953235268593, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08480467647314072, + "restore_error": 1.1920928955078125e-07, + "score": 0.08480467647314072, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4182770848274231, + "candidate_source_group_id": "ms-155ec4624d261f6ca16e;ms-7a1ce0a81e4f34902622;ms-ccc0326ed73cd2ea6bf6;ms-751daa0137578c486f3d;ms-3352e05afd9065cd09bf;ms-4b94e0333251263012ec", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b33f1d4ddb6a531d2a71", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.31994321942329407, + "candidate_source_group_id": "ms-4f405775dcbb88f7d8b0;ms-5c8b50523e0de37d80b8;ms-7e94769c30229d5cc7b8;ms-44694e99af9263ad3c45;ms-d305a11348461ae1622c;ms-5847c6d196024fce1770", + "expert_regret": 1.4438931941986084, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ddc0b3adf8506c30f503", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4438931941986084, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5561068058013916, + "restore_error": 1.1920928955078125e-07, + "score": 0.5561068058013916, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.583455502986908, + "candidate_source_group_id": "ms-8f5255815f8b70b48734;ms-4d43fb19477b7ab848bc;ms-13b3c492538e5b3c7bdd;ms-7e0ef0b7f94396bf0029;ms-d3cebfccbbe54d22c561;ms-b606af28580a38cea636", + "expert_regret": 1.5216103494167328, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f3ddc66fde2d59666e07", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5216103494167328, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4783896505832672, + "restore_error": 1.1920928955078125e-07, + "score": 0.4783896505832672, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5690264701843262, + "candidate_source_group_id": "ms-c0995730ba36614c249a;ms-fe2964cc8940ee7c24aa;ms-f897cc2141a0a303fc6a;ms-c2107b650136a20fc4a3;ms-3c6ec8ef5145ff6274e7;ms-fbb609a3f2a334986245", + "expert_regret": 1.4187771081924438, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-348af0b70d3e679f40a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4187771081924438, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5812228918075562, + "restore_error": 1.1920928955078125e-07, + "score": 0.5812228918075562, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5898619294166565, + "candidate_source_group_id": "ms-6a7e80154a9a4e5e9c08;ms-8fcc78fba7b3bec0fab6;ms-00b9ad6a8fe73fccc6fc;ms-c7041c6f758f8e4a3698;ms-da855323619ebf257b19;ms-0d1db6695acdf1ec3eaf", + "expert_regret": 1.4351617693901062, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-41b0258c4e329a734da7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4351617693901062, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5648382306098938, + "restore_error": 1.1920928955078125e-07, + "score": 0.5648382306098938, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5457525849342346, + "candidate_source_group_id": "ms-4742d169606f3ec2b474;ms-a6273302894af3505ca8;ms-766b6fe7c08a3525ce94;ms-225fbe08f2933f91d603;ms-38507741c3b5d91a7b33;ms-386220c339b7de7f222b", + "expert_regret": 1.4359933733940125, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13192a27f5fcf4fd24d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4359933733940125, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5640066266059875, + "restore_error": 1.1920928955078125e-07, + "score": 0.5640066266059875, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.06431896239519119, + "candidate_source_group_id": "ms-23f9cca8edfca421a4a6;ms-9bcf8a1e5e7b0f7ff6f5;ms-0adce283894b0a2b7b94;ms-d824135bf97b907f7cc2;ms-ffba357213945be5f9f7;ms-bc30ca6b7675f4de5041", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-daaac2887015a6e4f3e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44902950525283813, + "candidate_source_group_id": "ms-29f1abb869ff206a4d52;ms-f3e40db5e157647d463d;ms-fe2964cc8940ee7c24aa;ms-fbb609a3f2a334986245;ms-6f1db8895d5164cc5ae5;ms-87f8bbc8d9e7f4dcaacf", + "expert_regret": 0.02416318655014038, + "expert_score": 0.5545835494995117, + "expert_success": false, + "group_id": "ms-3c4ff3dae26217f22a8b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.02416318655014038, + "oracle_score": 0.5545835494995117, + "oracle_success": false, + "progress": 0.5304203629493713, + "restore_error": 1.1920928955078125e-07, + "score": 0.5304203629493713, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12190721929073334, + "candidate_source_group_id": "ms-d05d9bbb98f24da55981;ms-d0e4bdc60ab8ea52a320;ms-25a8e32c071be83d913b;ms-774e954ffdc5da041261;ms-4d9cef437c77474dc62d;ms-55ea22014575410563a4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5085e45e6ca37192d2e5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48315495252609253, + "candidate_source_group_id": "ms-22412b51e61621b6025b;ms-55ea22014575410563a4;ms-30998855587c076a2a77;ms-869a04e41dc5cc90916b;ms-ce992c1fa0bcc38512b7;ms-054a02413d31389d1b7f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c0bfce3c9dd10f9d3231", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39642757177352905, + "candidate_source_group_id": "ms-1cea800b74c1ea2f6338;ms-45ed57caa698d87a99cf;ms-4385e9c56007fdaa94b5;ms-9af03b651b5e36ac2ae3;ms-9eb40f856528204bbcfd;ms-c1ac63fb3644e3a2ae06", + "expert_regret": 1.5097167789936066, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-caeb59971565b08f2513", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5097167789936066, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49028322100639343, + "restore_error": 2.0116567611694336e-07, + "score": 0.49028322100639343, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4748038649559021, + "candidate_source_group_id": "ms-d807915e233a0c74b809;ms-8315ae30e2cf041c8674;ms-70d994c15153752d0dce;ms-b40ee5a75332685d5cec;ms-4e86b87d6e5f6ab914fe;ms-c3a1cf0e424a4f065459", + "expert_regret": 1.4506006836891174, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7b932868f83725def2ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4506006836891174, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5493993163108826, + "restore_error": 2.0116567611694336e-07, + "score": 0.5493993163108826, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6637886166572571, + "candidate_source_group_id": "ms-f1fb6cdb836269adb2cc;ms-5daa8575a80e98a83170;ms-dd7f9cc9585878b84824;ms-f101cf5cc8575be3c201;ms-06715386190189185900;ms-d73a2a984d5829e884f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bca6fa102f94cb145cd2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.0116567611694336e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6498159766197205, + "candidate_source_group_id": "ms-b671fa9fcef84dbf2a13;ms-48d490ed21088bb5ba85;ms-8fcc78fba7b3bec0fab6;ms-da46296bd4e9032570df;ms-a927d1bd67068f1d9302;ms-e45b5de01eafae73e492", + "expert_regret": 1.435814082622528, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-910d27b58a0585327a27", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.435814082622528, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5641859173774719, + "restore_error": 2.0116567611694336e-07, + "score": 0.5641859173774719, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.692463755607605, + "candidate_source_group_id": "ms-44252df6095f31d8b26e;ms-d91cbe61314c18955b6b;ms-d0e4bdc60ab8ea52a320;ms-fe2964cc8940ee7c24aa;ms-f3e40db5e157647d463d;ms-910364d2d86091c5e0cf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bb0d941f78d3d9c5a886", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.0116567611694336e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3479180335998535, + "candidate_source_group_id": "ms-a43a663a3c4b15ec3ac2;ms-b666f24369c548cd56ab;ms-d1dd16f03551d840a922;ms-7982e5af0d533320432f;ms-aaf1c4931e054f52623c;ms-8c0b600aef5393f929cd", + "expert_regret": 1.9567282311618328, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-99df75798ec5da5ec7f3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9567282311618328, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04327176883816719, + "restore_error": 2.0116567611694336e-07, + "score": 0.04327176883816719, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45781898498535156, + "candidate_source_group_id": "ms-08858c7ba8d4a3357e05;ms-8f241450069e74460a40;ms-f71c7cf8ca320b8eb7a4;ms-d965f63e091a5d6dd6d7;ms-766b6fe7c08a3525ce94;ms-38507741c3b5d91a7b33", + "expert_regret": 1.4612364768981934, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b35643e98e1b846e27cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4612364768981934, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5387635231018066, + "restore_error": 2.0116567611694336e-07, + "score": 0.5387635231018066, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2671211063861847, + "candidate_source_group_id": "ms-0b7f8ba789c00b37caa0;ms-91d86cba2602d1fa780d;ms-59020093d2eeaf58aa84;ms-b36673c3905a123cbd50;ms-d67409d8ecfd5d97336d;ms-de709118c78966c5aff7", + "expert_regret": 1.4700625538825989, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-56ad75c28031e049a3dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4700625538825989, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5299374461174011, + "restore_error": 2.0116567611694336e-07, + "score": 0.5299374461174011, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19933192431926727, + "candidate_source_group_id": "ms-7cab119c7b8019254ba4;ms-6b750c1bef91c5d15526;ms-8315ae30e2cf041c8674;ms-d807915e233a0c74b809;ms-ee19bfbcb2f4fbf5a44d;ms-82e28eb350e21d43d3eb", + "expert_regret": 1.474578082561493, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2ee00a97b477ba241dba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.474578082561493, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5254219174385071, + "restore_error": 1.1920928955078125e-07, + "score": 0.5254219174385071, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42564496397972107, + "candidate_source_group_id": "ms-2d995e39f2b95fed1a67;ms-ff3e5d72f3adf548d0a1;ms-14c40aa19f7b9307511d;ms-7020f1cda882b79bffa3;ms-10cb98b0a1ca5429dd28;ms-8bb2d8cb7c0d33fa0c1d", + "expert_regret": 1.9767358545213938, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d18f6f16879d2933bcd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9767358545213938, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.023264145478606224, + "restore_error": 1.1920928955078125e-07, + "score": 0.023264145478606224, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8551456332206726, + "candidate_source_group_id": "ms-5df54a8baaceb8c73c8a;ms-42edbdb8ff281fc33a99;ms-22325628db75967cf779;ms-1fb2f4c1e17e99767558;ms-de066fc4200163ebd06b;ms-236601c5e076b4ee5d75", + "expert_regret": 1.8906919360160828, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-81f48d29d0404300ea93", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8906919360160828, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10930806398391724, + "restore_error": 1.1920928955078125e-07, + "score": 0.10930806398391724, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3060010075569153, + "candidate_source_group_id": "ms-dfc737e32df79e1fc429;ms-d1aac7be45644e12a976;ms-b01677be2df71c474d1f;ms-d5bfdabc97e56c680680;ms-f1fb6cdb836269adb2cc;ms-935ff204de9424ec00a2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b59a7ccfb736df4c4c68", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33283430337905884, + "candidate_source_group_id": "ms-7d962acc9cfbc27c599c;ms-72b7d76602371f044fe3;ms-766b6fe7c08a3525ce94;ms-a6273302894af3505ca8;ms-11bb3387454624de8143;ms-a22fbce4503f088acb1f", + "expert_regret": 1.4538215398788452, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7241a1c25af41f4c0b5a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4538215398788452, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5461784601211548, + "restore_error": 1.1920928955078125e-07, + "score": 0.5461784601211548, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4047999382019043, + "candidate_source_group_id": "ms-0e12a6083750bfecca87;ms-f88a44616a0985aac518;ms-5a7891a58bac94796178;ms-3aa864ead19c9cb9fb49;ms-41279eb586ca5e587474;ms-8d9b2a5ccd43461f827e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a17ceb004979b99a586", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6042762994766235, + "candidate_source_group_id": "ms-d26a60e383a2e822615a;ms-4a7b774ee02339c4ca19;ms-6053d8ef243250b88f96;ms-dd4f37e032d56b692a0e;ms-5e85dc3760eef8a53a67;ms-a45ed89f5b95d1e7ab07", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a3cb33ed1e34d229773c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7445307970046997, + "candidate_source_group_id": "ms-67f602a0e4efc9984d72;ms-90464666adfd66056785;ms-30ad687dc1bc8318fa45;ms-84b677a48d338212ceb7;ms-4b1561bd0029228fdbbe;ms-4705657703da9d791fb9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-32b9c353a4890631f1bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3404419422149658, + "candidate_source_group_id": "ms-b01677be2df71c474d1f;ms-d44f5bd2488ea182132b;ms-61ac2be70a9798adeda0;ms-5fc884c238818acdde08;ms-11a2794efa24f4d93d83;ms-c4cb99b887c88c707ba9", + "expert_regret": 1.4383206367492676, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c83412fa0aa5180ad89", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4383206367492676, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5616793632507324, + "restore_error": 2.384185791015625e-07, + "score": 0.5616793632507324, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7354899644851685, + "candidate_source_group_id": "ms-9044026b69850d12d05b;ms-bcfeba2af1e844c22aed;ms-3352e05afd9065cd09bf;ms-fffe378a3bad31bbed52;ms-97140da7cf409922f6ce;ms-478b7b8b729f9212a522", + "expert_regret": 1.450435221195221, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc615957d9bf177dfe26", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.450435221195221, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.549564778804779, + "restore_error": 2.384185791015625e-07, + "score": 0.549564778804779, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.17109797894954681, + "candidate_source_group_id": "ms-81c855f8645b35f0856d;ms-2df0b9d5fa91156e430a;ms-d6305829d7ca1c68a3ce;ms-e07f80b44faf328c5e58;ms-326a7b583623d136470e;ms-ae5421846020d2765f82", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b0fd98bae1ed5d543f35", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2905842363834381, + "candidate_source_group_id": "ms-48d490ed21088bb5ba85;ms-d73a2a984d5829e884f9;ms-b671fa9fcef84dbf2a13;ms-8420ccaff5986c85063f;ms-0d1db6695acdf1ec3eaf;ms-935ff204de9424ec00a2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-57ac136bd68be6387c6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40788236260414124, + "candidate_source_group_id": "ms-23f9cca8edfca421a4a6;ms-9bcf8a1e5e7b0f7ff6f5;ms-0adce283894b0a2b7b94;ms-d824135bf97b907f7cc2;ms-ffba357213945be5f9f7;ms-bc30ca6b7675f4de5041", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a460f3c1b67817c19de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.251613974571228, + "candidate_source_group_id": "ms-a73f46824bdbdfb96238;ms-6edb3f8fe977a81f8979;ms-d19573dc65181befd83d;ms-8f241450069e74460a40;ms-478f754a15221314d15e;ms-fffe378a3bad31bbed52", + "expert_regret": 1.4668212532997131, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9ff81e54049443a0f3d3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4668212532997131, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5331787467002869, + "restore_error": 2.384185791015625e-07, + "score": 0.5331787467002869, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2551186978816986, + "candidate_source_group_id": "ms-a5775906ce2fb6556103;ms-fbea3b8005a30431cb52;ms-91ad1a5f945470b4346e;ms-578e24198ed828a74485;ms-5316151a88a3282436ca;ms-432ca73236be93cb76df", + "expert_regret": 1.445145308971405, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-80d5c509e83845ab1bc7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.445145308971405, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.554854691028595, + "restore_error": 2.384185791015625e-07, + "score": 0.554854691028595, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.422982782125473, + "candidate_source_group_id": "ms-70d994c15153752d0dce;ms-4e86b87d6e5f6ab914fe;ms-c3a1cf0e424a4f065459;ms-b4af4c8b9dcd6976546c;ms-16d5b122db1824caf92b;ms-ce2924d08bdd6c379777", + "expert_regret": 1.5022430717945099, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-746436cac05100783ad7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5022430717945099, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4977569282054901, + "restore_error": 2.384185791015625e-07, + "score": 0.4977569282054901, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 1.0080621242523193, + "candidate_source_group_id": "ms-1add4cf84fdadf5703d6;ms-b6fd2931116c15db0f0a;ms-cb16b458af723bf7cd0a;ms-0a48fbd111be17b50be5;ms-326a7b583623d136470e;ms-97a18aeeea0b34f7c606", + "expert_regret": 1.4437907934188843, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1d1969094d91fe52667d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4437907934188843, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5562092065811157, + "restore_error": 1.1920928955078125e-07, + "score": 0.5562092065811157, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5917970538139343, + "candidate_source_group_id": "ms-de709118c78966c5aff7;ms-91ad1a5f945470b4346e;ms-bfda95ffffd5d1a2683a;ms-982922e263d07c54c136;ms-0a4c4442237909d5f7b7;ms-578e24198ed828a74485", + "expert_regret": 1.4494471549987793, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e110d8ef3eb852a0f564", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4494471549987793, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5505528450012207, + "restore_error": 1.1920928955078125e-07, + "score": 0.5505528450012207, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4204464256763458, + "candidate_source_group_id": "ms-55ea22014575410563a4;ms-42895361db5578b75c0e;ms-22412b51e61621b6025b;ms-ce992c1fa0bcc38512b7;ms-4705657703da9d791fb9;ms-7be1c6c8ef67031b1f90", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11230e3aaabb1feec834", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2431471049785614, + "candidate_source_group_id": "ms-59cc3cdf6918248d7f78;ms-fa62bbb3e8416561ed69;ms-5922c28e4a71a88c6d21;ms-ddb8f148dff1db91851f;ms-96da3b7a3c2a2411fa66;ms-b36673c3905a123cbd50", + "expert_regret": 1.4426361918449402, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c0ef0ef8b493232246c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4426361918449402, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5573638081550598, + "restore_error": 1.1920928955078125e-07, + "score": 0.5573638081550598, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24976468086242676, + "candidate_source_group_id": "ms-b5deb1971bf3b3484282;ms-ebb616f9b291184677b3;ms-a1d69e0b112064914357;ms-2e5c2f75d3f6311e0a1c;ms-2cf1227610d4602f88ed;ms-1c0e2bb3a811fac6d567", + "expert_regret": 0.06330913305282593, + "expert_score": 0.6078249216079712, + "expert_success": false, + "group_id": "ms-4015c296239564108da2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4554842114448547, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5445157885551453, + "restore_error": 1.1920928955078125e-07, + "score": 0.5445157885551453, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6340851187705994, + "candidate_source_group_id": "ms-5df54a8baaceb8c73c8a;ms-de066fc4200163ebd06b;ms-1fb2f4c1e17e99767558;ms-22325628db75967cf779;ms-c425c810f7865e9564ee;ms-42edbdb8ff281fc33a99", + "expert_regret": 1.9723880533128977, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13557287cd450bc12c6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9723880533128977, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.027611946687102318, + "restore_error": 1.1920928955078125e-07, + "score": 0.027611946687102318, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.34203681349754333, + "candidate_source_group_id": "ms-ccc0326ed73cd2ea6bf6;ms-b333c5aec11dd41d37d2;ms-64e28ad134f73fdce800;ms-3352e05afd9065cd09bf;ms-910fe3f3a4cbc2d8e6f5;ms-4b94e0333251263012ec", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8beca0622be320b282c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22244642674922943, + "candidate_source_group_id": "ms-bcc70292f404cd1c7f75;ms-e1972ebf2c5587a6fdf9;ms-f39bbaa063044719a98d;ms-759ba8b7be233ca47c30;ms-ee0986397bc7267882d8;ms-9c8a90334c3b933c8976", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-166b7f66bf9f4eec432b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46339040994644165, + "candidate_source_group_id": "ms-da46296bd4e9032570df;ms-36e8cb2e7f34f8dceb05;ms-0d1db6695acdf1ec3eaf;ms-e45b5de01eafae73e492;ms-a927d1bd67068f1d9302;ms-802e63c9d42228a69c22", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e589f7d40c12eff1712e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33810344338417053, + "candidate_source_group_id": "ms-08c39d9cc9eb7578e6e9;ms-f947dbf28ad85666e2f1;ms-739a89fb4521bc481a9f;ms-6558f35ae2a2871a4bfd;ms-1cdd36810a138190ce3c;ms-10f2865bef6da7b66423", + "expert_regret": 1.9695770386606455, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f69d6aec4ddb12d88c5b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9695770386606455, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.030422961339354515, + "restore_error": 1.1920928955078125e-07, + "score": 0.030422961339354515, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3993537127971649, + "candidate_source_group_id": "ms-7d32f6b32c14e33b1eb1;ms-c679fdafdd776a14b66f;ms-4f833710c2706ee077af;ms-7cbbc5e7dc896a803efa;ms-618c9e3c06f4879ba788;ms-6fc6a26da9fbe53dd616", + "expert_regret": 1.973481249064207, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-22675530f3a401b3fd6d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.973481249064207, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.026518750935792923, + "restore_error": 1.1920928955078125e-07, + "score": 0.026518750935792923, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5659692883491516, + "candidate_source_group_id": "ms-6133ea5e61638487dd46;ms-e441e4042cb7d77a4986;ms-d965f63e091a5d6dd6d7;ms-a145b708d79b243da21f;ms-eb48573b3e330e44504d;ms-d19c9e3ab1d7daf06344", + "expert_regret": 1.4574572443962097, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3e51a1bdc3a2cc4eb06d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4574572443962097, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5425427556037903, + "restore_error": 1.1920928955078125e-07, + "score": 0.5425427556037903, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7138901948928833, + "candidate_source_group_id": "ms-486b916e7b4ad1566788;ms-b809a8756abec7015aac;ms-4021797e9499e6aaab7a;ms-08c75f74bf7813b1c257;ms-ae6d60345612be32478c;ms-82e28eb350e21d43d3eb", + "expert_regret": 1.4369839429855347, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-867fd9318b2445dcefb5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4369839429855347, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5630160570144653, + "restore_error": 1.1920928955078125e-07, + "score": 0.5630160570144653, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5073359608650208, + "candidate_source_group_id": "ms-ad058e704a159164d7c4;ms-362ba7cebb2bab1421e8;ms-12a997dde50b7a7f35cb;ms-b786173f210fcaa65a6e;ms-c7156b26670838d40934;ms-8ccc51fb09484026ebbb", + "expert_regret": 0.020129799842834473, + "expert_score": 0.5876509547233582, + "expert_success": false, + "group_id": "ms-51873059990aa55691a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.020129799842834473, + "oracle_score": 0.5876509547233582, + "oracle_success": false, + "progress": 0.5675211548805237, + "restore_error": 1.1920928955078125e-07, + "score": 0.5675211548805237, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.801609218120575, + "candidate_source_group_id": "ms-1add4cf84fdadf5703d6;ms-b6fd2931116c15db0f0a;ms-0a48fbd111be17b50be5;ms-cb16b458af723bf7cd0a;ms-326a7b583623d136470e;ms-3352e05afd9065cd09bf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c684df0b998b593db723", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7925829291343689, + "candidate_source_group_id": "ms-2649df827a3c1017ccd8;ms-a202dd8923327af132da;ms-89c0c15f7bb38eaf59e4;ms-f4fd59b4d1bce2d6b6a4;ms-b6827e38768a63212d73;ms-61b1188974f35233b883", + "expert_regret": 1.4844990372657776, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9184c93267b4bbfa4cae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4844990372657776, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5155009627342224, + "restore_error": 1.1920928955078125e-07, + "score": 0.5155009627342224, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4113105237483978, + "candidate_source_group_id": "ms-10621e1108a69d0b633e;ms-08c75f74bf7813b1c257;ms-b809a8756abec7015aac;ms-ae6d60345612be32478c;ms-4021797e9499e6aaab7a;ms-ea72196e20393870bcbb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29afe3c91faef25f1343", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2502500116825104, + "candidate_source_group_id": "ms-a509a572b3871e591d26;ms-a699ee643e76a610b444;ms-ddb4e5a1f88dfd017319;ms-78da3efba7a739dcad14;ms-ddb8f148dff1db91851f;ms-fa62bbb3e8416561ed69", + "expert_regret": 1.441695749759674, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4bc023d8d1f7748b0e12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.441695749759674, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5583042502403259, + "restore_error": 1.1920928955078125e-07, + "score": 0.5583042502403259, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4499436020851135, + "candidate_source_group_id": "ms-a76ae18568c88af1da6b;ms-8ccc51fb09484026ebbb;ms-0ec98183be760ea25a45;ms-3fae81854f4c927f1f8d;ms-547f4204888aee978bf0;ms-197fee321caebfd320f5", + "expert_regret": 0.5840626712888479, + "expert_score": 0.6015409231185913, + "expert_success": false, + "group_id": "ms-f5483f0819e0e8bc352e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5840626712888479, + "oracle_score": 0.6015409231185913, + "oracle_success": false, + "progress": 0.017478251829743385, + "restore_error": 1.1920928955078125e-07, + "score": 0.017478251829743385, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40497276186943054, + "candidate_source_group_id": "ms-912718b1f2ef92066799;ms-85eef30b36b044b33f60;ms-61781d30cb05657c5f5d;ms-8c6e41e7542bc6924a1f;ms-0b4ac5b183639ac19191;ms-2be3bf4f348678c0cc6c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3cfb09df08ad7279ef02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6932269930839539, + "candidate_source_group_id": "ms-bbad1e7f073de07fafbd;ms-0c7dab7ee052231f3f57;ms-dc965b3a72976440156c;ms-f32035837f7df88396a3;ms-045f5adce6d38ea2794f;ms-88b1a0f8f758f7956c0f", + "expert_regret": 1.4445855617523193, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1fa37879a24f0e84c275", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4445855617523193, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5554144382476807, + "restore_error": 1.1920928955078125e-07, + "score": 0.5554144382476807, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3601514995098114, + "candidate_source_group_id": "ms-a3c53708416dbfb9fbc5;ms-88e10d1be12a407b3926;ms-13b3c492538e5b3c7bdd;ms-79d500110f3723b57da8;ms-7e0ef0b7f94396bf0029;ms-fb98254adaa23dc128df", + "expert_regret": 1.4478097558021545, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7af1e453acf970f40546", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4478097558021545, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5521902441978455, + "restore_error": 1.1920928955078125e-07, + "score": 0.5521902441978455, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.616047739982605, + "candidate_source_group_id": "ms-3c458f671129e1ebe7b4;ms-732d0515ed28df031b8e;ms-28817fe297f38fd9550a;ms-87fd37bcc6b666e220ef;ms-0377c81a67d9819ab96b;ms-f682952c6ecb2b833c35", + "expert_regret": 1.893520638346672, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-17a17b212837b7f1309f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.893520638346672, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10647936165332794, + "restore_error": 1.1920928955078125e-07, + "score": 0.10647936165332794, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5796743035316467, + "candidate_source_group_id": "ms-0cfef0ba35d4e6097003;ms-8522a9364bf70311450d;ms-a949424c5fa615565d72;ms-fd225482b96686f51dc8;ms-8420ccaff5986c85063f;ms-00b9ad6a8fe73fccc6fc", + "expert_regret": 1.4429927468299866, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eff5f21c51f26a85f07c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4429927468299866, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5570072531700134, + "restore_error": 1.1920928955078125e-07, + "score": 0.5570072531700134, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5251359939575195, + "candidate_source_group_id": "ms-fd99b14bf152ebc0ef8e;ms-74868f62709b91077e27;ms-311a52ec4b0ca8d71889;ms-fa62bbb3e8416561ed69;ms-ddb8f148dff1db91851f;ms-03ed7e57992354e27896", + "expert_regret": 1.425118327140808, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a2c5c9fd35d9fda5ce9e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.425118327140808, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5748816728591919, + "restore_error": 1.1920928955078125e-07, + "score": 0.5748816728591919, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5169607400894165, + "candidate_source_group_id": "ms-5367a8bae4304851384e;ms-a13ee9983c139d34fca8;ms-a47818abd17d958ad6ca;ms-17330235d51598ebcb4e;ms-2dc8e489908f72903319;ms-2bf2f3a2444b64f8230a", + "expert_regret": 1.4407377243041992, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-128c7c43e30023e6b1a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4407377243041992, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5592622756958008, + "restore_error": 1.1920928955078125e-07, + "score": 0.5592622756958008, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4233744740486145, + "candidate_source_group_id": "ms-802e63c9d42228a69c22;ms-b671fa9fcef84dbf2a13;ms-d33444117889b5aa9cfb;ms-a927d1bd67068f1d9302;ms-da46296bd4e9032570df;ms-36e8cb2e7f34f8dceb05", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28b1f1e4380d434605de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7234172224998474, + "candidate_source_group_id": "ms-045f5adce6d38ea2794f;ms-dc965b3a72976440156c;ms-b40ee5a75332685d5cec;ms-f32035837f7df88396a3;ms-82e28eb350e21d43d3eb;ms-8315ae30e2cf041c8674", + "expert_regret": 1.432457685470581, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2f846e9f31e2b8c4965f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.432457685470581, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.567542314529419, + "restore_error": 1.1920928955078125e-07, + "score": 0.567542314529419, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5306833386421204, + "candidate_source_group_id": "ms-339ae3ec9482aa259eec;ms-a10d8368c33b56390f77;ms-fe54b45b549a55d45c0e;ms-32435d71bb817daf01d9;ms-88b1a0f8f758f7956c0f;ms-4681331b496c8a9cf14d", + "expert_regret": 1.5293186008930206, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-53cfcc878e30fc078bba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5293186008930206, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.47068139910697937, + "restore_error": 1.1920928955078125e-07, + "score": 0.47068139910697937, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.35632064938545227, + "candidate_source_group_id": "ms-6558f35ae2a2871a4bfd;ms-a509a572b3871e591d26;ms-0b7f8ba789c00b37caa0;ms-91d86cba2602d1fa780d;ms-a699ee643e76a610b444;ms-3deb9fa600781abb51c1", + "expert_regret": 1.9232720360159874, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-175375383979526d80b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9232720360159874, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0767279639840126, + "restore_error": 1.1920928955078125e-07, + "score": 0.0767279639840126, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.278912752866745, + "candidate_source_group_id": "ms-0c9c39c462522b25ef2b;ms-88bdd8987f890af7e9ea;ms-a166a9b750ec3446beea;ms-60c7d1d3b5701e7f4e48;ms-c70be4072fb4e49ac106;ms-30fe784e67f732ef9a3d", + "expert_regret": 1.4630261063575745, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b8276cb9b6cb9a9b302f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4630261063575745, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5369738936424255, + "restore_error": 1.1920928955078125e-07, + "score": 0.5369738936424255, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8007393479347229, + "candidate_source_group_id": "ms-de709118c78966c5aff7;ms-59020093d2eeaf58aa84;ms-bfda95ffffd5d1a2683a;ms-87f65c35c9d8b3ced6fc;ms-91d86cba2602d1fa780d;ms-0b7f8ba789c00b37caa0", + "expert_regret": 1.4842354655265808, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de0321d0ece4c58bc224", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4842354655265808, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5157645344734192, + "restore_error": 1.1920928955078125e-07, + "score": 0.5157645344734192, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42218270897865295, + "candidate_source_group_id": "ms-88e10d1be12a407b3926;ms-fb98254adaa23dc128df;ms-a3c53708416dbfb9fbc5;ms-53fdabb5d8ef20778214;ms-2b3e081263ed25d45dc8;ms-2a67eea0b1293de9bcf9", + "expert_regret": 1.4539957642555237, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8fdde5008d12abb7ae6a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4539957642555237, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5460042357444763, + "restore_error": 1.1920928955078125e-07, + "score": 0.5460042357444763, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6089717745780945, + "candidate_source_group_id": "ms-3737178a1f85502652ea;ms-7c76bb3c93411136f11a;ms-cf274fbe4c657d04d7c4;ms-62b597990a3d637e5a8a;ms-5c8b50523e0de37d80b8;ms-a1d69e0b112064914357", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3aaa0d68ca26b1fe6626", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7569202184677124, + "candidate_source_group_id": "ms-d3cebfccbbe54d22c561;ms-b606af28580a38cea636;ms-772768ec2f9792127251;ms-2dc828d2d76b389db4f8;ms-9783ccaf76f1b20c766e;ms-c70be4072fb4e49ac106", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-479aa7d4248a0ebd94e1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.334579735994339, + "candidate_source_group_id": "ms-17e8d6ba42404c7b7d07;ms-802e63c9d42228a69c22;ms-da46296bd4e9032570df;ms-d33444117889b5aa9cfb;ms-a927d1bd67068f1d9302;ms-9e1f3c14116ebca6164d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ece7b8c91d9d82f244b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20671069622039795, + "candidate_source_group_id": "ms-6af227c07aaf7c0f0aea;ms-3e971096794f04f325f2;ms-a1846ef1f00eb54e2d60;ms-3b0ad4f07f1813ecf670;ms-950df0830b2e57010248;ms-46f10a29b484c9461204", + "expert_regret": 1.467664122581482, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cea745484a24f376d7e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.467664122581482, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5323358774185181, + "restore_error": 1.1920928955078125e-07, + "score": 0.5323358774185181, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5315713286399841, + "candidate_source_group_id": "ms-b4af4c8b9dcd6976546c;ms-c3a1cf0e424a4f065459;ms-50f29e19c798fee5422f;ms-1451f536f2ac0df844f6;ms-67f602a0e4efc9984d72;ms-c81880a77c4d978a0b7a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-49219cb8ed7dad70c897", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43296295404434204, + "candidate_source_group_id": "ms-55ea22014575410563a4;ms-25a8e32c071be83d913b;ms-22412b51e61621b6025b;ms-d05d9bbb98f24da55981;ms-42895361db5578b75c0e;ms-869a04e41dc5cc90916b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f8c4e700a751537ebb16", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4575501084327698, + "candidate_source_group_id": "ms-b01677be2df71c474d1f;ms-d1aac7be45644e12a976;ms-54a04864cb68a4c3caac;ms-dfc737e32df79e1fc429;ms-f1fb6cdb836269adb2cc;ms-570c074dbf28b5faae58", + "expert_regret": 1.4398059248924255, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c6beb139304a0ea6f7ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4398059248924255, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5601940751075745, + "restore_error": 1.1920928955078125e-07, + "score": 0.5601940751075745, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14884543418884277, + "candidate_source_group_id": "ms-13af3f2f8e0b8444fe68;ms-f39e1d7a2d636e39a02f;ms-61d4dd4acc03b8d30f19;ms-c9c1649478107785e9d2;ms-5e6d18ccfcf923f52f8e;ms-8c6e41e7542bc6924a1f", + "expert_regret": 0.0, + "expert_score": 0.5946909785270691, + "expert_success": false, + "group_id": "ms-309d2258d275ae304857", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33243894577026367, + "candidate_source_group_id": "ms-3c12da28c8edab3fa554;ms-759ba8b7be233ca47c30;ms-48d490ed21088bb5ba85;ms-2c68b2b895bdbedbaa08;ms-47662cfa5e75ac8250e7;ms-e1972ebf2c5587a6fdf9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4a0ae3deadb8560fd315", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45941299200057983, + "candidate_source_group_id": "ms-cd340bca589f0cebd7da;ms-86b0447349029dfaa6ab;ms-c86956f3f1333e136186;ms-578537600f7a649c2dd5;ms-1f8e2d5d25706493821d;ms-4cd1ceea2dda2732110a", + "expert_regret": 1.4616252779960632, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7651a7f31eae24958ef0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4616252779960632, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5383747220039368, + "restore_error": 1.1920928955078125e-07, + "score": 0.5383747220039368, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.64251309633255, + "candidate_source_group_id": "ms-478b7b8b729f9212a522;ms-bcfeba2af1e844c22aed;ms-97140da7cf409922f6ce;ms-3352e05afd9065cd09bf;ms-a26c2ffdac089c72ade5;ms-10621e1108a69d0b633e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cb99eeafec52800f3b77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7505017518997192, + "candidate_source_group_id": "ms-dbcc3da47d96ceeaf9f0;ms-c3f7b780f604922f4f67;ms-4681331b496c8a9cf14d;ms-ad5ad5314850df7b0853;ms-b0aa24be399d843c9d50;ms-b90d7926b23eabbbed04", + "expert_regret": 1.4586541652679443, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-732819b0c220a4c06870", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4586541652679443, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5413458347320557, + "restore_error": 1.1920928955078125e-07, + "score": 0.5413458347320557, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.672531008720398, + "candidate_source_group_id": "ms-663aa9934c0f923cc125;ms-704fee4c9fb9941a26e7;ms-7ea16036a1dd971fc4e0;ms-c3f7b780f604922f4f67;ms-a6b029a958e91306966a;ms-b0aa24be399d843c9d50", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-350b797a531f87ad2c0f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5263814330101013, + "candidate_source_group_id": "ms-b92ca6f216624d6305c2;ms-ebacae0135af2832dfbb;ms-7dedf60ad41ea2d92ee5;ms-d73fd5fce55fb58ef8e9;ms-29ae8ff2b706fed904df;ms-36ce7b44f44c615347ab", + "expert_regret": 0.10322775691747665, + "expert_score": 0.18145142495632172, + "expert_success": false, + "group_id": "ms-003a2225c0892dcda683", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.921776331961155, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07822366803884506, + "restore_error": 1.1920928955078125e-07, + "score": 0.07822366803884506, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.9194717407226562, + "candidate_source_group_id": "ms-9acbb20bd73584f0e215;ms-6d5f6a187b61ea26c2e2;ms-652ad552ba98d2736620;ms-be0f2598cc527ad9040a;ms-12c741253e1802aad9ec;ms-f2b2b2a1aa2863c3676f", + "expert_regret": 0.19753699004650116, + "expert_score": 0.2730255424976349, + "expert_success": false, + "group_id": "ms-e6a58c859c498bb0f4d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.19753699004650116, + "oracle_score": 0.2730255424976349, + "oracle_success": false, + "progress": 0.07548855245113373, + "restore_error": 1.1920928955078125e-07, + "score": 0.07548855245113373, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8849044442176819, + "candidate_source_group_id": "ms-8551c2634431d2ade8a8;ms-e8afd0ad85d7e219a1ec;ms-eab38ab23e5fd0218632;ms-57e91ed3c8bd0299534f;ms-9fbd54f73e56e3231631;ms-4d400b68d540cebcc9e0", + "expert_regret": 0.17570988088846207, + "expert_score": 0.21716713905334473, + "expert_success": false, + "group_id": "ms-26c3a975205dfd16f076", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.17570988088846207, + "oracle_score": 0.21716713905334473, + "oracle_success": false, + "progress": 0.04145725816488266, + "restore_error": 1.1920928955078125e-07, + "score": 0.04145725816488266, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.23352491855621338, + "candidate_source_group_id": "ms-dab8307a45ebe8220c83;ms-88012aab0303554a1736;ms-e4e21b9ec2546537fff0;ms-5b513b00260d517c02d9;ms-2dc5138251afd26a040d;ms-bccd7bbe1b1b98254147", + "expert_regret": 0.0, + "expert_score": 0.12086304277181625, + "expert_success": false, + "group_id": "ms-456cdaaa617fc54fd766", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.308398574590683, + "candidate_source_group_id": "ms-cb8cbd90038493c30888;ms-d271e7de6bc331371e9c;ms-372f2ecb6685d8cae8d5;ms-02fd0338e80ef19ceec1;ms-25ab20bb3da8ba34be95;ms-7a044cb6c7bb03f3ea10", + "expert_regret": 0.0, + "expert_score": 0.07767709344625473, + "expert_success": false, + "group_id": "ms-f3f1d07cfd59b823da47", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.17124073207378387, + "oracle_success": false, + "progress": 0.1916952133178711, + "restore_error": 1.1920928955078125e-07, + "score": 0.1916952133178711, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5420222282409668, + "candidate_source_group_id": "ms-c8fa3c12dd48ffd82fcf;ms-3a4e2d080c9c4b279895;ms-e6b654653119682cf01e;ms-a96bca1ef0b74f686018;ms-dc5563c9b0dcd84e393b;ms-85f911fca087fed2caff", + "expert_regret": 1.8098716884851456, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6f425f086690b71d778", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8098716884851456, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19012831151485443, + "restore_error": 1.1920928955078125e-07, + "score": 0.19012831151485443, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6854647397994995, + "candidate_source_group_id": "ms-e9ed5d488afdfd6449d1;ms-bd90866faa10e62fce2c;ms-29f47a1dc1d9c3ec3365;ms-b8fc1568ce66c45c8d8b;ms-6388b5d2356c556c3e55;ms-3f2aed5964eed6c4936a", + "expert_regret": 0.0, + "expert_score": 0.21594193577766418, + "expert_success": false, + "group_id": "ms-ac94b48febe523da15a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2973631024360657, + "candidate_source_group_id": "ms-70549468e433100cfaa6;ms-db2c4015a0690cc80d24;ms-e3e9c08ff116ef32db75;ms-7b90f35aa521ef45ea27;ms-50e54f9608e1420ba11a;ms-7e88428497a6b13936c4", + "expert_regret": 0.0, + "expert_score": 0.13041290640830994, + "expert_success": false, + "group_id": "ms-a1b57fcae964d7b531da", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.15699544548988342, + "oracle_success": false, + "progress": 0.19149520993232727, + "restore_error": 1.1920928955078125e-07, + "score": 0.19149520993232727, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 2.0809378623962402, + "candidate_source_group_id": "ms-cebdee3fec248354033e;ms-1d3f30fae746c0b9cefc;ms-61c3c0e99a653d2a7fe2;ms-c09bd18e1017cc532aee;ms-ff129e39095c2861b522;ms-20e1efbb745fd02abc95", + "expert_regret": 0.0, + "expert_score": 0.12437069416046143, + "expert_success": false, + "group_id": "ms-84388e63928e1a30ffc4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4832541048526764, + "candidate_source_group_id": "ms-088ad33a4461de5ce0cb;ms-633308d7f0e52c013505;ms-3c223e8c7f870c807541;ms-3ed611d029d2ae0b12d8;ms-778efc20fc2ee8a3dd02;ms-2e40499cb146da6f89e7", + "expert_regret": 0.0, + "expert_score": 0.0981486439704895, + "expert_success": false, + "group_id": "ms-c5d53da10b561f402ee7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.20912069082260132, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.920226514339447, + "candidate_source_group_id": "ms-744702a88bec9222a30a;ms-4f0a59b7bc897c0d5e5e;ms-088ad33a4461de5ce0cb;ms-633308d7f0e52c013505;ms-778efc20fc2ee8a3dd02;ms-2e40499cb146da6f89e7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-53b435e197011e0d48b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6693049669265747, + "candidate_source_group_id": "ms-1cba84e4c11e030aeb3e;ms-b49043f15f4846de5b13;ms-1a4d443c5b80e0dac794;ms-b784fe769f0fb1d315e5;ms-a6a6de64c39abad45f86;ms-babaeb20129c46551281", + "expert_regret": 0.0, + "expert_score": 0.23240530490875244, + "expert_success": false, + "group_id": "ms-36f0ff5c96ebdd4644c2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4530714452266693, + "candidate_source_group_id": "ms-b7d7021b782f73816083;ms-6754ed0131c952830729;ms-9681d9cb43cc26adb0fe;ms-e87c704dfdbf7ee7f51f;ms-0dee962a5901fb8b5bbb;ms-b8c3ec3ea915c5d35b3e", + "expert_regret": 0.0, + "expert_score": 0.08866866677999496, + "expert_success": false, + "group_id": "ms-4bda8533405961380322", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13122013211250305, + "oracle_score": 0.31490015983581543, + "oracle_success": false, + "progress": 0.18368002772331238, + "restore_error": 1.1920928955078125e-07, + "score": 0.18368002772331238, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5396822094917297, + "candidate_source_group_id": "ms-f59e0d91a187e6a48299;ms-d92cec7cfd1915a30824;ms-ee30ebaf98622759d888;ms-109ea940d18ab80efabc;ms-b794f77d280289ce22a4;ms-ebacae0135af2832dfbb", + "expert_regret": 0.0857737809419632, + "expert_score": 0.17002534866333008, + "expert_success": false, + "group_id": "ms-7923b8196b397863cf4f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9157484322786331, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08425156772136688, + "restore_error": 1.1920928955078125e-07, + "score": 0.08425156772136688, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5660525560379028, + "candidate_source_group_id": "ms-6754ed0131c952830729;ms-9229ce141dd41a11fac1;ms-e87c704dfdbf7ee7f51f;ms-9681d9cb43cc26adb0fe;ms-1c2768099019b86daca7;ms-b7d7021b782f73816083", + "expert_regret": 0.03562392666935921, + "expert_score": 0.05257302522659302, + "expert_success": false, + "group_id": "ms-728b865677134d3788e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.20963937416672707, + "oracle_score": 0.22658847272396088, + "oracle_success": false, + "progress": 0.01694909855723381, + "restore_error": 1.1920928955078125e-07, + "score": 0.01694909855723381, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.697235643863678, + "candidate_source_group_id": "ms-76f27d9a935b25e15c38;ms-638d2ba1917eff4d09e0;ms-c0e3ab57fcf0d12ea4d8;ms-a8731059713697ce5e2a;ms-d535b38d768633f6d922;ms-9757fc494e79b5543bb6", + "expert_regret": 0.010791480541229248, + "expert_score": 0.2168768048286438, + "expert_success": false, + "group_id": "ms-4f7161e1beab1ab777d8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.04413801431655884, + "oracle_score": 0.2502233386039734, + "oracle_success": false, + "progress": 0.20608532428741455, + "restore_error": 1.1920928955078125e-07, + "score": 0.20608532428741455, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6201148629188538, + "candidate_source_group_id": "ms-638d2ba1917eff4d09e0;ms-c0e3ab57fcf0d12ea4d8;ms-482c5c8d208b5907a2c2;ms-a8731059713697ce5e2a;ms-1c2768099019b86daca7;ms-0fdb89ea83047c63b9b0", + "expert_regret": 0.0, + "expert_score": 0.23002704977989197, + "expert_success": false, + "group_id": "ms-4920f51977e482b3a66c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.23002704977989197, + "oracle_success": false, + "progress": 0.24234744906425476, + "restore_error": 1.1920928955078125e-07, + "score": 0.24234744906425476, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.33144256472587585, + "candidate_source_group_id": "ms-aefa917c6b1659d6edd2;ms-bce8c4ec2bf882ca0b2e;ms-3f2aed5964eed6c4936a;ms-b8fc1568ce66c45c8d8b;ms-5ecde7b64c80d2abbe1f;ms-29f47a1dc1d9c3ec3365", + "expert_regret": 0.0, + "expert_score": 0.19225573539733887, + "expert_success": false, + "group_id": "ms-267832544376e3727efb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.050395429134368896, + "oracle_score": 0.28689613938331604, + "oracle_success": false, + "progress": 0.23650071024894714, + "restore_error": 1.1920928955078125e-07, + "score": 0.23650071024894714, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.27371224761009216, + "candidate_source_group_id": "ms-ebfb82df795e73599373;ms-81f4e8858b2ba90aea2e;ms-49b9e0f9ceaf91314919;ms-a2518826fa0a816cc46f;ms-35940a55db9e3f7e6ad0;ms-e6b654653119682cf01e", + "expert_regret": 0.047328315675258636, + "expert_score": 0.12482444941997528, + "expert_success": false, + "group_id": "ms-f4a2d61f02d4224bad4f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.1754956617951393, + "oracle_score": 0.25299179553985596, + "oracle_success": false, + "progress": 0.07749613374471664, + "restore_error": 1.1920928955078125e-07, + "score": 0.07749613374471664, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.3201656341552734, + "candidate_source_group_id": "ms-dce346f7f90e29664890;ms-4143ca4fca04091084e4;ms-7eaea428dfdef7255a66;ms-57be9ae181c077e7821f;ms-067cac2e4dbeddb12239;ms-16661b2fd2c85f57a66c", + "expert_regret": 1.846969872713089, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-070184c0f6831eb39bc1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.846969872713089, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.153030127286911, + "restore_error": 1.1920928955078125e-07, + "score": 0.153030127286911, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8463976979255676, + "candidate_source_group_id": "ms-088ad33a4461de5ce0cb;ms-633308d7f0e52c013505;ms-3c223e8c7f870c807541;ms-4f0a59b7bc897c0d5e5e;ms-744702a88bec9222a30a;ms-778efc20fc2ee8a3dd02", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d915ee5030ef1ea1b0d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.616149365901947, + "candidate_source_group_id": "ms-554727d05aa9a2b32904;ms-02d160e1d5db6e544363;ms-972c5be72d0b24be7cd5;ms-340e4b5de99447fbcd5e;ms-7eaea428dfdef7255a66;ms-fa8b4ba41ecac8030271", + "expert_regret": 0.0, + "expert_score": 0.2159806191921234, + "expert_success": false, + "group_id": "ms-e84163d9ef2e7014daca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5755575299263, + "candidate_source_group_id": "ms-c31b98b3d3702c6f9c8c;ms-c2398cb80b194084dbfc;ms-bccd7bbe1b1b98254147;ms-cb5dc99d8c3b4c0c3616;ms-5ab7f487c7006dec473a;ms-394edcd961226f337ce1", + "expert_regret": 0.0032410025596618652, + "expert_score": 0.16375553607940674, + "expert_success": false, + "group_id": "ms-c8a0f64b433a541481eb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0368461012840271, + "oracle_score": 0.19736063480377197, + "oracle_success": false, + "progress": 0.16051453351974487, + "restore_error": 1.1920928955078125e-07, + "score": 0.16051453351974487, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6922501921653748, + "candidate_source_group_id": "ms-f9740a08a98cb251b761;ms-9a50730a0ff65eb93ea5;ms-45131c0aa974fa9602ad;ms-89c4edc5d083202b2443;ms-3d31ef4f467b204b8477;ms-4d400b68d540cebcc9e0", + "expert_regret": 1.9671452417969704, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ec2eec3ab528878445cd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.9671452417969704, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03285475820302963, + "restore_error": 1.1920928955078125e-07, + "score": 0.03285475820302963, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6511778235435486, + "candidate_source_group_id": "ms-dab8307a45ebe8220c83;ms-2dc5138251afd26a040d;ms-88012aab0303554a1736;ms-e4e21b9ec2546537fff0;ms-5ab7f487c7006dec473a;ms-5b513b00260d517c02d9", + "expert_regret": 0.0, + "expert_score": 0.09775444120168686, + "expert_success": false, + "group_id": "ms-284545b8610706250f3c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1140122041106224, + "oracle_success": false, + "progress": 0.1481233537197113, + "restore_error": 2.384185791015625e-07, + "score": 0.1481233537197113, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.303334355354309, + "candidate_source_group_id": "ms-714913716f5f0a287401;ms-5ecde7b64c80d2abbe1f;ms-29f47a1dc1d9c3ec3365;ms-bd90866faa10e62fce2c;ms-b8fc1568ce66c45c8d8b;ms-3f2aed5964eed6c4936a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-615d4a98352149e15ff1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.25215885043144226, + "candidate_source_group_id": "ms-57be9ae181c077e7821f;ms-62f8c18a15c566ec4b00;ms-91ad1e8602f14dada73c;ms-1f19fd22562f87bdb776;ms-dce346f7f90e29664890;ms-4143ca4fca04091084e4", + "expert_regret": 0.015604227781295776, + "expert_score": 0.2889223098754883, + "expert_success": false, + "group_id": "ms-dc26b448cce4164a23e6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7266819179058075, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2733180820941925, + "restore_error": 2.384185791015625e-07, + "score": 0.2733180820941925, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.28870540857315063, + "candidate_source_group_id": "ms-fe5a961ee9b8b8a91b44;ms-e4e21b9ec2546537fff0;ms-b8c3ec3ea915c5d35b3e;ms-9681d9cb43cc26adb0fe;ms-3f8284543efb724e8845;ms-2dc5138251afd26a040d", + "expert_regret": 0.0, + "expert_score": 0.19429567456245422, + "expert_success": false, + "group_id": "ms-8c07fff2c7a5131a141b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6683898568153381, + "candidate_source_group_id": "ms-554727d05aa9a2b32904;ms-02d160e1d5db6e544363;ms-972c5be72d0b24be7cd5;ms-340e4b5de99447fbcd5e;ms-7eaea428dfdef7255a66;ms-fa8b4ba41ecac8030271", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7b2cb5c6abcc36a362d1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3142785429954529, + "candidate_source_group_id": "ms-5ecde7b64c80d2abbe1f;ms-714913716f5f0a287401;ms-b8fc1568ce66c45c8d8b;ms-3f2aed5964eed6c4936a;ms-29f47a1dc1d9c3ec3365;ms-bd90866faa10e62fce2c", + "expert_regret": 0.0, + "expert_score": 0.16634780168533325, + "expert_success": false, + "group_id": "ms-e2f8f0ef073900703441", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5444856882095337, + "candidate_source_group_id": "ms-1c2768099019b86daca7;ms-0228f3312b428eaf7e9d;ms-d8e18d4d22b4cc73b803;ms-6a43c1f6dd61d4df80ec;ms-3d090ac2459c4b891dd1;ms-ea8382de946b98af3bf8", + "expert_regret": 0.0, + "expert_score": 0.07999710738658905, + "expert_success": false, + "group_id": "ms-ba11d52e628b2efe32ea", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0748717188835144, + "oracle_score": 0.2388150691986084, + "oracle_success": false, + "progress": 0.163943350315094, + "restore_error": 2.384185791015625e-07, + "score": 0.163943350315094, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.44861334562301636, + "candidate_source_group_id": "ms-26b69e1e596d2e3163da;ms-f40162c64827e8c44a1a;ms-e50ef9df7287938b501c;ms-3bfe7e8a312d53f966d0;ms-088ad33a4461de5ce0cb;ms-f497cc22967badd9f8b0", + "expert_regret": 0.0, + "expert_score": 0.005320350639522076, + "expert_success": false, + "group_id": "ms-b2287fbbcd2b5d8372bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.1117854118347168, + "oracle_score": 0.21861237287521362, + "oracle_success": false, + "progress": 0.10682696104049683, + "restore_error": 2.384185791015625e-07, + "score": 0.10682696104049683, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.45301222801208496, + "candidate_source_group_id": "ms-cd84deb86ca0c1f1c020;ms-575c7eef4563e02ec689;ms-b6b7052345036de1448d;ms-6388b5d2356c556c3e55;ms-b94dfc54c3bf844d5146;ms-0e1ff8d16372796dac97", + "expert_regret": 0.0, + "expert_score": 0.1568639576435089, + "expert_success": false, + "group_id": "ms-d0158d7b3df11d64095c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.21547327935695648, + "oracle_success": false, + "progress": 0.2214585840702057, + "restore_error": 1.1920928955078125e-07, + "score": 0.2214585840702057, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.26088792085647583, + "candidate_source_group_id": "ms-f5dd1c43ebc4c0cfc3f1;ms-45672e1bf3b083eb3fc3;ms-02fd0338e80ef19ceec1;ms-cb8cbd90038493c30888;ms-0dee962a5901fb8b5bbb;ms-9681d9cb43cc26adb0fe", + "expert_regret": 0.0, + "expert_score": 0.15089315176010132, + "expert_success": false, + "group_id": "ms-d81e3048f5ae278c708f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.07352279126644135, + "oracle_score": 0.23822252452373505, + "oracle_success": false, + "progress": 0.1646997332572937, + "restore_error": 1.1920928955078125e-07, + "score": 0.1646997332572937, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3255547881126404, + "candidate_source_group_id": "ms-88012aab0303554a1736;ms-dab8307a45ebe8220c83;ms-2dc5138251afd26a040d;ms-5b513b00260d517c02d9;ms-fe5a961ee9b8b8a91b44;ms-e4e21b9ec2546537fff0", + "expert_regret": 0.0, + "expert_score": 0.1233738511800766, + "expert_success": false, + "group_id": "ms-fbd73493bcf73542f735", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.25541552901268005, + "candidate_source_group_id": "ms-e8afd0ad85d7e219a1ec;ms-4d400b68d540cebcc9e0;ms-8551c2634431d2ade8a8;ms-57e91ed3c8bd0299534f;ms-eab38ab23e5fd0218632;ms-62db3d4ffad1f0e82dd8", + "expert_regret": 0.0, + "expert_score": 0.23221425712108612, + "expert_success": false, + "group_id": "ms-abf8880f672677acc931", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5864173173904419, + "candidate_source_group_id": "ms-2eabcf580547d2c133ce;ms-f4f9dd2ff38f992d4fb9;ms-6f26118aa94bacd82250;ms-4aed2a49597da545e551;ms-d402ca600d53b2db9dbe;ms-d6cc29ec9fbbc53d0f68", + "expert_regret": 0.0, + "expert_score": 0.0808674544095993, + "expert_success": false, + "group_id": "ms-c832439976a37f52d094", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.07536900043487549, + "oracle_score": 0.2594742774963379, + "oracle_success": false, + "progress": 0.1841052770614624, + "restore_error": 1.1920928955078125e-07, + "score": 0.1841052770614624, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3463180363178253, + "candidate_source_group_id": "ms-fdc8588aee7d089fca84;ms-b8c3ec3ea915c5d35b3e;ms-e4e21b9ec2546537fff0;ms-fe5a961ee9b8b8a91b44;ms-3f8284543efb724e8845;ms-9681d9cb43cc26adb0fe", + "expert_regret": 0.0, + "expert_score": 0.1861332654953003, + "expert_success": false, + "group_id": "ms-277531f5e24eeb525899", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8578768968582153, + "candidate_source_group_id": "ms-778efc20fc2ee8a3dd02;ms-2e40499cb146da6f89e7;ms-4f0a59b7bc897c0d5e5e;ms-12c741253e1802aad9ec;ms-744702a88bec9222a30a;ms-633308d7f0e52c013505", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c62736c7767014960e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6148220896720886, + "candidate_source_group_id": "ms-aab59ee607a5ba7e3bfa;ms-4db7b82d22bfbf9258b5;ms-60f0d45b604940db0058;ms-1e30e297540582d59926;ms-8a72b73ac452bc190aeb;ms-9dbf65115872ab5360e4", + "expert_regret": 0.0, + "expert_score": 0.018661757931113243, + "expert_success": false, + "group_id": "ms-3798cbeab8a36b08c295", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.24742551520466805, + "oracle_score": 0.2663142681121826, + "oracle_success": false, + "progress": 0.018888752907514572, + "restore_error": 1.1920928955078125e-07, + "score": 0.018888752907514572, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.9158782362937927, + "candidate_source_group_id": "ms-cb5dc99d8c3b4c0c3616;ms-b8c3ec3ea915c5d35b3e;ms-c2398cb80b194084dbfc;ms-5ab7f487c7006dec473a;ms-b7d7021b782f73816083;ms-e4e21b9ec2546537fff0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-62bd92bfcbc50801e008", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 2.185817241668701, + "candidate_source_group_id": "ms-f126e1cf5b3ee52a8476;ms-6661b157c41ad4d6ab85;ms-19cb10d10516bd0216a6;ms-ee4ddb148e138fce841c;ms-c083dba0e5dcc8ca1004;ms-6ad14a70593958c00a63", + "expert_regret": 0.0, + "expert_score": 0.14424000680446625, + "expert_success": false, + "group_id": "ms-344d81289be624d70b0e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.002375990152359009, + "oracle_score": 0.1725815236568451, + "oracle_success": false, + "progress": 0.17020553350448608, + "restore_error": 1.1920928955078125e-07, + "score": 0.17020553350448608, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5876073837280273, + "candidate_source_group_id": "ms-b334dd4c101f3bd0476b;ms-9229ce141dd41a11fac1;ms-7df455efd413d77e6ce3;ms-f087710511e9f9336ad6;ms-2b7ca4255af28e33db96;ms-4f0a41c8fb3caaeb9540", + "expert_regret": 0.005846301093697548, + "expert_score": 0.01563560962677002, + "expert_success": false, + "group_id": "ms-d45766ebe3a1d7f8876c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13297010399401188, + "oracle_score": 0.14275941252708435, + "oracle_success": false, + "progress": 0.009789308533072472, + "restore_error": 1.1920928955078125e-07, + "score": 0.009789308533072472, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0134583711624146, + "candidate_source_group_id": "ms-12c741253e1802aad9ec;ms-778efc20fc2ee8a3dd02;ms-2e40499cb146da6f89e7;ms-4f0a59b7bc897c0d5e5e;ms-744702a88bec9222a30a;ms-be0f2598cc527ad9040a", + "expert_regret": 1.814615085721016, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-271889c9e921f7716135", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.814615085721016, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18538491427898407, + "restore_error": 1.1920928955078125e-07, + "score": 0.18538491427898407, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5180688500404358, + "candidate_source_group_id": "ms-1cba84e4c11e030aeb3e;ms-a6a6de64c39abad45f86;ms-b0c64b4a1c04972e47a1;ms-1a4d443c5b80e0dac794;ms-babaeb20129c46551281;ms-b784fe769f0fb1d315e5", + "expert_regret": 0.0, + "expert_score": 0.17393752932548523, + "expert_success": false, + "group_id": "ms-151566379dfd7af6fe63", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.18055260181427002, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.40205833315849304, + "candidate_source_group_id": "ms-dab8307a45ebe8220c83;ms-88012aab0303554a1736;ms-2dc5138251afd26a040d;ms-fe5a961ee9b8b8a91b44;ms-e4e21b9ec2546537fff0;ms-5b513b00260d517c02d9", + "expert_regret": 0.0, + "expert_score": 0.18806186318397522, + "expert_success": false, + "group_id": "ms-06babf453b22ba8f2407", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4507524073123932, + "candidate_source_group_id": "ms-6661b157c41ad4d6ab85;ms-e7c50fae013f9728539a;ms-45fbd749d5ed3fe37c13;ms-8b603da9f857de028798;ms-082cb0ac119a83c42c2d;ms-e0c576a5a78374889088", + "expert_regret": 0.0, + "expert_score": 0.1521211564540863, + "expert_success": false, + "group_id": "ms-cc07f96f3454a4643b9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.191031813621521, + "oracle_success": false, + "progress": 0.2221594750881195, + "restore_error": 1.1920928955078125e-07, + "score": 0.2221594750881195, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.468104749917984, + "candidate_source_group_id": "ms-6661b157c41ad4d6ab85;ms-c31b98b3d3702c6f9c8c;ms-bccd7bbe1b1b98254147;ms-394edcd961226f337ce1;ms-fc87ea5245c2743bdb2d;ms-c2398cb80b194084dbfc", + "expert_regret": 0.0, + "expert_score": 0.08069789409637451, + "expert_success": false, + "group_id": "ms-223b0a8319beb051a1ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1593424528837204, + "oracle_success": false, + "progress": 0.1899843066930771, + "restore_error": 1.1920928955078125e-07, + "score": 0.1899843066930771, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.48402532935142517, + "candidate_source_group_id": "ms-7a044cb6c7bb03f3ea10;ms-0dee962a5901fb8b5bbb;ms-e87c704dfdbf7ee7f51f;ms-45672e1bf3b083eb3fc3;ms-372f2ecb6685d8cae8d5;ms-6ddecc7f074b9e267409", + "expert_regret": 0.0, + "expert_score": 0.21284407377243042, + "expert_success": false, + "group_id": "ms-45309d0bdc5e3babc17b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.015265971422195435, + "oracle_score": 0.22903120517730713, + "oracle_success": false, + "progress": 0.2137652337551117, + "restore_error": 2.3096799850463867e-07, + "score": 0.2137652337551117, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4393661320209503, + "candidate_source_group_id": "ms-7ea98b8f4d2220347ee0;ms-48178f52a96de3d1ead0;ms-89538d844f6299774906;ms-674fad0e7c042d23629e;ms-45fbd749d5ed3fe37c13;ms-9826b7a6fdcc0fd3eb69", + "expert_regret": 0.0, + "expert_score": 0.05304628610610962, + "expert_success": false, + "group_id": "ms-126eb8b36769f9ba4671", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1985912322998047, + "oracle_success": false, + "progress": 0.20704786479473114, + "restore_error": 2.3096799850463867e-07, + "score": 0.20704786479473114, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4588485062122345, + "candidate_source_group_id": "ms-554727d05aa9a2b32904;ms-02d160e1d5db6e544363;ms-340e4b5de99447fbcd5e;ms-972c5be72d0b24be7cd5;ms-7eaea428dfdef7255a66;ms-fa8b4ba41ecac8030271", + "expert_regret": 0.014544114470481873, + "expert_score": 0.16841016709804535, + "expert_success": false, + "group_id": "ms-26751f54c657b24b4da2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.10128402709960938, + "oracle_score": 0.25515007972717285, + "oracle_success": false, + "progress": 0.15386605262756348, + "restore_error": 2.3096799850463867e-07, + "score": 0.15386605262756348, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.49257877469062805, + "candidate_source_group_id": "ms-45131c0aa974fa9602ad;ms-9a50730a0ff65eb93ea5;ms-89c4edc5d083202b2443;ms-f9740a08a98cb251b761;ms-3d31ef4f467b204b8477;ms-e8afd0ad85d7e219a1ec", + "expert_regret": 1.9588582888245583, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a04e804d3aad7b40f1ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9588582888245583, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04114171117544174, + "restore_error": 2.3096799850463867e-07, + "score": 0.04114171117544174, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3331431746482849, + "candidate_source_group_id": "ms-d8e18d4d22b4cc73b803;ms-5dbfefbfb832855ef80a;ms-0fdb89ea83047c63b9b0;ms-ea8382de946b98af3bf8;ms-482c5c8d208b5907a2c2;ms-6a43c1f6dd61d4df80ec", + "expert_regret": 0.048048511147499084, + "expert_score": 0.18874704837799072, + "expert_success": false, + "group_id": "ms-1a4979e969aa331fb126", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.13043652474880219, + "oracle_score": 0.2711350619792938, + "oracle_success": false, + "progress": 0.14069853723049164, + "restore_error": 2.3096799850463867e-07, + "score": 0.14069853723049164, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5630654096603394, + "candidate_source_group_id": "ms-ccc79c981e3a67ebeaf2;ms-d6cc29ec9fbbc53d0f68;ms-0093b06390890d181104;ms-2eabcf580547d2c133ce;ms-d402ca600d53b2db9dbe;ms-ccb8bd419b9cd771d12f", + "expert_regret": 0.04571201652288437, + "expert_score": 0.07016094774007797, + "expert_success": false, + "group_id": "ms-34726202b475d29cdf38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.22897177934646606, + "oracle_score": 0.25342071056365967, + "oracle_success": false, + "progress": 0.024448931217193604, + "restore_error": 2.3096799850463867e-07, + "score": 0.024448931217193604, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5145731568336487, + "candidate_source_group_id": "ms-48178f52a96de3d1ead0;ms-7df455efd413d77e6ce3;ms-7ea98b8f4d2220347ee0;ms-e0c576a5a78374889088;ms-38f7298184a2c5005e94;ms-2b7ca4255af28e33db96", + "expert_regret": 0.0, + "expert_score": 0.13672415912151337, + "expert_success": false, + "group_id": "ms-75da653dc43676d593ce", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.2194269299507141, + "oracle_success": false, + "progress": 0.2713845372200012, + "restore_error": 2.3096799850463867e-07, + "score": 0.2713845372200012, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5884336829185486, + "candidate_source_group_id": "ms-68b43d83b97196e0d27f;ms-465d531b9cec5bc77ed7;ms-cad6645f8175e38ad155;ms-29f47a1dc1d9c3ec3365;ms-3f2aed5964eed6c4936a;ms-b8fc1568ce66c45c8d8b", + "expert_regret": 0.0, + "expert_score": 0.16178712248802185, + "expert_success": false, + "group_id": "ms-4cc40587ec490257b1d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.9958545565605164, + "candidate_source_group_id": "ms-61c3c0e99a653d2a7fe2;ms-59d4cdcd401477b5adfc;ms-f2b2b2a1aa2863c3676f;ms-f7a54f4783da1d4129a8;ms-1d3f30fae746c0b9cefc;ms-02311c7783bc67e188b4", + "expert_regret": 1.764320433139801, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0f5ffa7a4448b22b7951", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.764320433139801, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23567956686019897, + "restore_error": 1.1920928955078125e-07, + "score": 0.23567956686019897, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6452683210372925, + "candidate_source_group_id": "ms-6661b157c41ad4d6ab85;ms-bccd7bbe1b1b98254147;ms-c31b98b3d3702c6f9c8c;ms-ee4ddb148e138fce841c;ms-394edcd961226f337ce1;ms-f126e1cf5b3ee52a8476", + "expert_regret": 0.0, + "expert_score": 0.10120099782943726, + "expert_success": false, + "group_id": "ms-1faf779e909ec0415be0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0027366429567337036, + "oracle_score": 0.15691404044628143, + "oracle_success": false, + "progress": 0.15417739748954773, + "restore_error": 1.1920928955078125e-07, + "score": 0.15417739748954773, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4478422701358795, + "candidate_source_group_id": "ms-7ea98b8f4d2220347ee0;ms-89538d844f6299774906;ms-45fbd749d5ed3fe37c13;ms-9826b7a6fdcc0fd3eb69;ms-674fad0e7c042d23629e;ms-dd7527ab9ed49f79d2ba", + "expert_regret": 0.0004937052726745605, + "expert_score": 0.1594313085079193, + "expert_success": false, + "group_id": "ms-98eb81debb5186ebbe38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.08079788088798523, + "oracle_score": 0.23973548412322998, + "oracle_success": false, + "progress": 0.15893760323524475, + "restore_error": 1.1920928955078125e-07, + "score": 0.15893760323524475, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.564146876335144, + "candidate_source_group_id": "ms-35a50d2822c2c3cc4516;ms-d81f9c2974c2d599f151;ms-dc5563c9b0dcd84e393b;ms-206099bab6bfe7c84fce;ms-9fd23a06ae1659cef27b;ms-bce8c4ec2bf882ca0b2e", + "expert_regret": 0.0, + "expert_score": 0.164321169257164, + "expert_success": false, + "group_id": "ms-8e56b0eaa2604db6749e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0404258668422699, + "oracle_score": 0.2857772707939148, + "oracle_success": false, + "progress": 0.2453514039516449, + "restore_error": 1.1920928955078125e-07, + "score": 0.2453514039516449, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.34547683596611023, + "candidate_source_group_id": "ms-482c5c8d208b5907a2c2;ms-a8731059713697ce5e2a;ms-1c2768099019b86daca7;ms-638d2ba1917eff4d09e0;ms-9919d2d2a89c5d491093;ms-c0e3ab57fcf0d12ea4d8", + "expert_regret": 0.018681704998016357, + "expert_score": 0.19676916301250458, + "expert_success": false, + "group_id": "ms-6939bfeb878a54849131", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.05263848602771759, + "oracle_score": 0.2307259440422058, + "oracle_success": false, + "progress": 0.17808745801448822, + "restore_error": 1.1920928955078125e-07, + "score": 0.17808745801448822, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5757417678833008, + "candidate_source_group_id": "ms-372f2ecb6685d8cae8d5;ms-cb8cbd90038493c30888;ms-7a044cb6c7bb03f3ea10;ms-d271e7de6bc331371e9c;ms-6ddecc7f074b9e267409;ms-45672e1bf3b083eb3fc3", + "expert_regret": 0.0, + "expert_score": 0.07837198674678802, + "expert_success": false, + "group_id": "ms-6b789356d65b3312fbae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.22781728208065033, + "oracle_success": false, + "progress": 0.29715704917907715, + "restore_error": 1.1920928955078125e-07, + "score": 0.29715704917907715, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.889521598815918, + "candidate_source_group_id": "ms-3ed611d029d2ae0b12d8;ms-3c223e8c7f870c807541;ms-633308d7f0e52c013505;ms-088ad33a4461de5ce0cb;ms-b0c64b4a1c04972e47a1;ms-a6a6de64c39abad45f86", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-620cd9e02d46b021f112", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7275859117507935, + "candidate_source_group_id": "ms-97832747def371d6de99;ms-6388b5d2356c556c3e55;ms-b6b7052345036de1448d;ms-c09bd18e1017cc532aee;ms-575c7eef4563e02ec689;ms-b6dae6677869af5f7f52", + "expert_regret": 0.0610787570476532, + "expert_score": 0.2651830017566681, + "expert_success": false, + "group_id": "ms-ac4fb33f3ab4db853995", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.795895755290985, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2041042447090149, + "restore_error": 1.1920928955078125e-07, + "score": 0.2041042447090149, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7891191244125366, + "candidate_source_group_id": "ms-dd7527ab9ed49f79d2ba;ms-9826b7a6fdcc0fd3eb69;ms-1e30e297540582d59926;ms-89538d844f6299774906;ms-7ea98b8f4d2220347ee0;ms-8a72b73ac452bc190aeb", + "expert_regret": 0.0, + "expert_score": 0.18361739814281464, + "expert_success": false, + "group_id": "ms-c79a79c1cbd7a472da65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.18361739814281464, + "oracle_success": false, + "progress": 0.190775066614151, + "restore_error": 1.1920928955078125e-07, + "score": 0.190775066614151, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.8494288921356201, + "candidate_source_group_id": "ms-ea8382de946b98af3bf8;ms-6758deb06644a14aa722;ms-3089724d0eba0f7b5d91;ms-ee30ebaf98622759d888;ms-109ea940d18ab80efabc;ms-be219977a9db8dbb1e58", + "expert_regret": 1.8622429370880127, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fd4b2d974e51fed9536e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8622429370880127, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1377570629119873, + "restore_error": 1.1920928955078125e-07, + "score": 0.1377570629119873, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5704624056816101, + "candidate_source_group_id": "ms-4d400b68d540cebcc9e0;ms-0b63f107b0ced8009668;ms-0285f5815c210ac00bec;ms-e9d7fc13264ff1c06637;ms-9fbd54f73e56e3231631;ms-eab38ab23e5fd0218632", + "expert_regret": 1.7827239036560059, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fad04ef94fd664ff89ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7827239036560059, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21727609634399414, + "restore_error": 1.1920928955078125e-07, + "score": 0.21727609634399414, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.7522162199020386, + "candidate_source_group_id": "ms-ed375122594187ef997e;ms-d024c00b780e0df06b55;ms-d73fd5fce55fb58ef8e9;ms-7dedf60ad41ea2d92ee5;ms-8b1ed7e9f28f7a3f924d;ms-b92ca6f216624d6305c2", + "expert_regret": 1.9520369954407215, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-22638e64d6a54980bc02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9520369954407215, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04796300455927849, + "restore_error": 1.1920928955078125e-07, + "score": 0.04796300455927849, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8642854690551758, + "candidate_source_group_id": "ms-6d5f6a187b61ea26c2e2;ms-652ad552ba98d2736620;ms-9acbb20bd73584f0e215;ms-aa45731e1b9734a493fd;ms-07215d42deb9f67c65fd;ms-be0f2598cc527ad9040a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a9747843e0fddd993263", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6202000379562378, + "candidate_source_group_id": "ms-340e4b5de99447fbcd5e;ms-7eaea428dfdef7255a66;ms-02d160e1d5db6e544363;ms-dce346f7f90e29664890;ms-554727d05aa9a2b32904;ms-972c5be72d0b24be7cd5", + "expert_regret": 1.7173007726669312, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-906dbd4dc79cb6be1e2c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7173007726669312, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.28269922733306885, + "restore_error": 1.1920928955078125e-07, + "score": 0.28269922733306885, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.4145680665969849, + "candidate_source_group_id": "ms-c083dba0e5dcc8ca1004;ms-6ad14a70593958c00a63;ms-6661b157c41ad4d6ab85;ms-f126e1cf5b3ee52a8476;ms-e2fe413566da0516273d;ms-19cb10d10516bd0216a6", + "expert_regret": 0.13455285131931305, + "expert_score": 0.26739317178726196, + "expert_success": false, + "group_id": "ms-53344c3bc69a3b0fe303", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13455285131931305, + "oracle_score": 0.26739317178726196, + "oracle_success": false, + "progress": 0.1328403204679489, + "restore_error": 1.1920928955078125e-07, + "score": 0.1328403204679489, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0260263681411743, + "candidate_source_group_id": "ms-9df6734b8268172ea7e5;ms-f2b2b2a1aa2863c3676f;ms-59d4cdcd401477b5adfc;ms-02311c7783bc67e188b4;ms-61c3c0e99a653d2a7fe2;ms-b784fe769f0fb1d315e5", + "expert_regret": 1.7653429210186005, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ccd3b342e4da3980c688", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7653429210186005, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23465707898139954, + "restore_error": 1.1920928955078125e-07, + "score": 0.23465707898139954, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4751153886318207, + "candidate_source_group_id": "ms-9c6eae5aaafcbc2e7b1d;ms-4dc6f09c1beeb5314d11;ms-6f26118aa94bacd82250;ms-0093b06390890d181104;ms-ccc79c981e3a67ebeaf2;ms-f4f9dd2ff38f992d4fb9", + "expert_regret": 0.0, + "expert_score": 0.010581731796264648, + "expert_success": false, + "group_id": "ms-ec013396e4aff6170ee1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.1300228238105774, + "oracle_score": 0.24502670764923096, + "oracle_success": false, + "progress": 0.11500388383865356, + "restore_error": 1.1920928955078125e-07, + "score": 0.11500388383865356, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3841593563556671, + "candidate_source_group_id": "ms-c96b415f083f60857334;ms-50e54f9608e1420ba11a;ms-1ca019318ddec8ce5e8a;ms-a2518826fa0a816cc46f;ms-52b4f33b924e82688187;ms-db2c4015a0690cc80d24", + "expert_regret": 0.03337840363383293, + "expert_score": 0.05565448850393295, + "expert_success": false, + "group_id": "ms-d6da14bffe59c0265db7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.09865641966462135, + "oracle_score": 0.12093250453472137, + "oracle_success": false, + "progress": 0.02227608487010002, + "restore_error": 1.1920928955078125e-07, + "score": 0.02227608487010002, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7079547643661499, + "candidate_source_group_id": "ms-8a58b518ca9ac275d8d5;ms-109ea940d18ab80efabc;ms-5e422b9487b4a1efd7af;ms-d92cec7cfd1915a30824;ms-80801b0de8334bd2bcc8;ms-be219977a9db8dbb1e58", + "expert_regret": 1.9559103026986122, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-423347f93e1045f6bdd0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9559103026986122, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04408969730138779, + "restore_error": 1.1920928955078125e-07, + "score": 0.04408969730138779, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7514201402664185, + "candidate_source_group_id": "ms-0b63f107b0ced8009668;ms-80801b0de8334bd2bcc8;ms-3d090ac2459c4b891dd1;ms-0285f5815c210ac00bec;ms-1150c257eb77fdf40f55;ms-d92cec7cfd1915a30824", + "expert_regret": 1.954742431640625, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a54d67e82a4dc1380e7b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.954742431640625, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.045257568359375, + "restore_error": 1.1920928955078125e-07, + "score": 0.045257568359375, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.529532253742218, + "candidate_source_group_id": "ms-088ad33a4461de5ce0cb;ms-3c223e8c7f870c807541;ms-633308d7f0e52c013505;ms-3ed611d029d2ae0b12d8;ms-b0c64b4a1c04972e47a1;ms-a6a6de64c39abad45f86", + "expert_regret": 0.0, + "expert_score": 0.14673510193824768, + "expert_success": false, + "group_id": "ms-6a3add21affa4796f9be", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.10000097751617432, + "oracle_score": 0.25397229194641113, + "oracle_success": false, + "progress": 0.15397131443023682, + "restore_error": 1.1920928955078125e-07, + "score": 0.15397131443023682, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2928546965122223, + "candidate_source_group_id": "ms-fdc8588aee7d089fca84;ms-b8c3ec3ea915c5d35b3e;ms-e4e21b9ec2546537fff0;ms-9681d9cb43cc26adb0fe;ms-fe5a961ee9b8b8a91b44;ms-b7d7021b782f73816083", + "expert_regret": 0.029119372367858887, + "expert_score": 0.19101719558238983, + "expert_success": false, + "group_id": "ms-d21367899e99e3048dbe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.04234689474105835, + "oracle_score": 0.2042447179555893, + "oracle_success": false, + "progress": 0.16189782321453094, + "restore_error": 1.1920928955078125e-07, + "score": 0.16189782321453094, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6529350280761719, + "candidate_source_group_id": "ms-f7a54f4783da1d4129a8;ms-61c3c0e99a653d2a7fe2;ms-59d4cdcd401477b5adfc;ms-f2b2b2a1aa2863c3676f;ms-652ad552ba98d2736620;ms-9acbb20bd73584f0e215", + "expert_regret": 0.0, + "expert_score": 0.2637917995452881, + "expert_success": false, + "group_id": "ms-8577816da2917a2bb63d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5349454283714294, + "candidate_source_group_id": "ms-7df455efd413d77e6ce3;ms-e0c576a5a78374889088;ms-48178f52a96de3d1ead0;ms-2b7ca4255af28e33db96;ms-9229ce141dd41a11fac1;ms-38f7298184a2c5005e94", + "expert_regret": 0.0, + "expert_score": 0.05953723192214966, + "expert_success": false, + "group_id": "ms-397e502908d16b7804b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0148545503616333, + "oracle_score": 0.13980631530284882, + "oracle_success": false, + "progress": 0.12495176494121552, + "restore_error": 1.1920928955078125e-07, + "score": 0.12495176494121552, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.6014474630355835, + "candidate_source_group_id": "ms-554727d05aa9a2b32904;ms-02d160e1d5db6e544363;ms-972c5be72d0b24be7cd5;ms-340e4b5de99447fbcd5e;ms-7eaea428dfdef7255a66;ms-fa8b4ba41ecac8030271", + "expert_regret": 0.16828763857483864, + "expert_score": 0.21256206929683685, + "expert_success": false, + "group_id": "ms-f85a653af630821f2572", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9557255692780018, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.044274430721998215, + "restore_error": 1.1920928955078125e-07, + "score": 0.044274430721998215, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.24424995481967926, + "candidate_source_group_id": "ms-883bd3738bfe11cfc192;ms-9757fc494e79b5543bb6;ms-0e1ff8d16372796dac97;ms-b94dfc54c3bf844d5146;ms-5ecde7b64c80d2abbe1f;ms-bd90866faa10e62fce2c", + "expert_regret": 0.0, + "expert_score": 0.1662796437740326, + "expert_success": false, + "group_id": "ms-1577a0922a9e53528571", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.045422136783599854, + "oracle_score": 0.2255966067314148, + "oracle_success": false, + "progress": 0.18017446994781494, + "restore_error": 1.1920928955078125e-07, + "score": 0.18017446994781494, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.13803918659687042, + "candidate_source_group_id": "ms-f4f9dd2ff38f992d4fb9;ms-2eabcf580547d2c133ce;ms-4aed2a49597da545e551;ms-d402ca600d53b2db9dbe;ms-d6cc29ec9fbbc53d0f68;ms-76f27d9a935b25e15c38", + "expert_regret": 0.0, + "expert_score": 0.04269101470708847, + "expert_success": false, + "group_id": "ms-cad33aa1136af34af6ec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.10183591395616531, + "oracle_score": 0.1830441653728485, + "oracle_success": false, + "progress": 0.0812082514166832, + "restore_error": 1.1920928955078125e-07, + "score": 0.0812082514166832, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.13111528754234314, + "candidate_source_group_id": "ms-d402ca600d53b2db9dbe;ms-2eabcf580547d2c133ce;ms-4aed2a49597da545e551;ms-76f27d9a935b25e15c38;ms-d6cc29ec9fbbc53d0f68;ms-d535b38d768633f6d922", + "expert_regret": 0.0, + "expert_score": 0.12557005882263184, + "expert_success": false, + "group_id": "ms-e30fd80adc089e9f697a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.18920521438121796, + "oracle_success": false, + "progress": 0.23618459701538086, + "restore_error": 1.1920928955078125e-07, + "score": 0.23618459701538086, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.733149528503418, + "candidate_source_group_id": "ms-9229ce141dd41a11fac1;ms-2b7ca4255af28e33db96;ms-7df455efd413d77e6ce3;ms-38f7298184a2c5005e94;ms-387e6771a55be98f1a59;ms-e0c576a5a78374889088", + "expert_regret": 0.12937398999929428, + "expert_score": 0.24371962249279022, + "expert_success": false, + "group_id": "ms-757b3e9ecfc21efc80a7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.12937398999929428, + "oracle_score": 0.24371962249279022, + "oracle_success": false, + "progress": 0.11434563249349594, + "restore_error": 1.1920928955078125e-07, + "score": 0.11434563249349594, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.33515360951423645, + "candidate_source_group_id": "ms-68b43d83b97196e0d27f;ms-e9ed5d488afdfd6449d1;ms-29f47a1dc1d9c3ec3365;ms-97832747def371d6de99;ms-6388b5d2356c556c3e55;ms-465d531b9cec5bc77ed7", + "expert_regret": 0.0, + "expert_score": 0.22809019684791565, + "expert_success": false, + "group_id": "ms-37384bede4d1c03f3b80", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.442611813545227, + "candidate_source_group_id": "ms-6d5f6a187b61ea26c2e2;ms-652ad552ba98d2736620;ms-9acbb20bd73584f0e215;ms-aa45731e1b9734a493fd;ms-be0f2598cc527ad9040a;ms-07215d42deb9f67c65fd", + "expert_regret": 1.8990296497941017, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f7f4e41613e39d53b7c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8990296497941017, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10097035020589828, + "restore_error": 1.1920928955078125e-07, + "score": 0.10097035020589828, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.23926942050457, + "candidate_source_group_id": "ms-02fd0338e80ef19ceec1;ms-cb8cbd90038493c30888;ms-25ab20bb3da8ba34be95;ms-0dee962a5901fb8b5bbb;ms-372f2ecb6685d8cae8d5;ms-7a044cb6c7bb03f3ea10", + "expert_regret": 0.0, + "expert_score": 0.03588511794805527, + "expert_success": false, + "group_id": "ms-c9f45175ee5fcafa38ec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0900292694568634, + "oracle_score": 0.21779823303222656, + "oracle_success": false, + "progress": 0.12776896357536316, + "restore_error": 1.1920928955078125e-07, + "score": 0.12776896357536316, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6911419630050659, + "candidate_source_group_id": "ms-1f19fd22562f87bdb776;ms-62f8c18a15c566ec4b00;ms-91ad1e8602f14dada73c;ms-57be9ae181c077e7821f;ms-bd90866faa10e62fce2c;ms-5ecde7b64c80d2abbe1f", + "expert_regret": 0.1899625062942505, + "expert_score": 0.2741829752922058, + "expert_success": false, + "group_id": "ms-52f9c8427a88de8dfa6b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.1899625062942505, + "oracle_score": 0.2741829752922058, + "oracle_success": false, + "progress": 0.08422046899795532, + "restore_error": 2.3096799850463867e-07, + "score": 0.08422046899795532, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7603012919425964, + "candidate_source_group_id": "ms-d6cc29ec9fbbc53d0f68;ms-d402ca600d53b2db9dbe;ms-9dbf65115872ab5360e4;ms-ccb8bd419b9cd771d12f;ms-ccc79c981e3a67ebeaf2;ms-2eabcf580547d2c133ce", + "expert_regret": 0.0, + "expert_score": 0.03382353112101555, + "expert_success": false, + "group_id": "ms-20b11e3e581c2a865096", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8098657429218292, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19013425707817078, + "restore_error": 2.3096799850463867e-07, + "score": 0.19013425707817078, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.013184666633606, + "candidate_source_group_id": "ms-31372cdadd8d9da23b8d;ms-44a69da62321224c1df9;ms-f14cda80db7270dd0f86;ms-cbdf12e174c323015f38;ms-c257731ddcf5cf149393;ms-c9a00cd02aa3ea31af1c", + "expert_regret": 0.0, + "expert_score": 0.0, + "expert_success": false, + "group_id": "ms-54fdd49dc2c46e162fc6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.36830583214759827, + "candidate_source_group_id": "ms-abb9a0e2ba0163714374;ms-40bddbc4f8ee1ed19575;ms-7a5970ba19b465cd86c3;ms-97939101c75832eb62cd;ms-bb8ddc9a1e197eb7cee1;ms-2db29812d012d503054a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2377ed2b717d22203e99", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.14227892458438873, + "candidate_source_group_id": "ms-b0d0004818ae853d5bc5;ms-ae5eaf676ba740f3dc07;ms-864a932d1281c7e316af;ms-ecf6837325ac3bc3b66d;ms-2baa5b5b99121cff72c2;ms-40c0e775426e28c3afd9", + "expert_regret": 0.0, + "expert_score": 3.814697265625e-06, + "expert_success": false, + "group_id": "ms-6825a9112cb71ea137c9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5608710646629333, + "candidate_source_group_id": "ms-783ceec205863d92ef8a;ms-e7fcbe2b61632a79fe6a;ms-c57abcef044f324c2f1d;ms-3f6cd47af5e9e6781b73;ms-44e2ba085128234ef9eb;ms-90a840c7cbbfe35e8a67", + "expert_regret": 1.9384861439466476, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-269731d0630cffc1a216", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9384861439466476, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.061513856053352356, + "restore_error": 1.1920928955078125e-07, + "score": 0.061513856053352356, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5009163618087769, + "candidate_source_group_id": "ms-109d9131cce2e94f40c1;ms-147e4106b5d337cefcb2;ms-670a696bd472769ac513;ms-b5ca4a8c438aadab9ec5;ms-4c9ed894520169849bc6;ms-93cbf45c02a304a2f6dc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7fac99962876b33e8d0b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5497530102729797, + "candidate_source_group_id": "ms-0942bb0cc1143a2058f9;ms-64f98d163b6bff29332b;ms-9d943a2732771576e41d;ms-9fad82fd288e4296e354;ms-1fe4b5c84ee5c0e6fcdb;ms-966895e247be1f41daee", + "expert_regret": 1.837142437696457, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-72da580865509f75d6eb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.837142437696457, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1628575623035431, + "restore_error": 1.1920928955078125e-07, + "score": 0.1628575623035431, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.21842847764492035, + "candidate_source_group_id": "ms-ea6878cc654f7f255811;ms-8682e5b9068871041b74;ms-e4656ad3c67bd430c1a6;ms-130f96b49e1bdb7c0e7c;ms-d867fd6ed17aeaa97c2b;ms-79d2ebbe5913e3a72313", + "expert_regret": 0.0, + "expert_score": 0.01401551067829132, + "expert_success": false, + "group_id": "ms-6ffe441e29681c8f116e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6752247214317322, + "candidate_source_group_id": "ms-949bca60825f84d7b5b9;ms-608a539637578968beb3;ms-183174ef761d19fb85d9;ms-2e368b0323bc5ae1cfed;ms-e411015630dcff33d0f7;ms-8278abbc47a6efcb5b68", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-33885f2999b6dbe71f42", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3303948938846588, + "candidate_source_group_id": "ms-8293ae7689b30820278f;ms-a0863466a999b4680737;ms-3b99101d58e538cfbd6d;ms-081952a63087fc8f83cd;ms-f7db0d0ad0967af1d0c5;ms-34ea26afcb2c6fe1a1fe", + "expert_regret": 0.007241234183311462, + "expert_score": 0.12348532676696777, + "expert_success": false, + "group_id": "ms-ad5107846b45eae5a0ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8837559074163437, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11624409258365631, + "restore_error": 1.1920928955078125e-07, + "score": 0.11624409258365631, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7319757342338562, + "candidate_source_group_id": "ms-0e132f1526b2090e440e;ms-25942684dfc6d81c449a;ms-47d33f56890889e86355;ms-98d738638749a1c0999d;ms-5d646fb3dbdcd5443729;ms-2a7f05987ae1fd0fa33d", + "expert_regret": 1.958494320511818, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f6006a647438280a273", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.958494320511818, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04150567948818207, + "restore_error": 1.1920928955078125e-07, + "score": 0.04150567948818207, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4950188100337982, + "candidate_source_group_id": "ms-edeb8cb36d3d06244421;ms-d7cbc8db5f1b69fcd9f9;ms-167bd325bc0845dcaba3;ms-97ccdc4668a995776663;ms-2b27b1ecc0284ec3a993;ms-e2a1bc3e5cd509eb08c2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5c7ab237037e9344a2ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6192970275878906, + "candidate_source_group_id": "ms-de96f1dcca4527c03814;ms-170a9228df2273649f1c;ms-82a5b63ed41420747fb9;ms-0a001f1bda12891b219f;ms-b8f5ebd4732c0274945b;ms-88c39906a4e9c32ec286", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7aaa46eaa657a3179a70", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6107285618782043, + "candidate_source_group_id": "ms-edb1d483ba0ada6fa703;ms-f7db0d0ad0967af1d0c5;ms-be8665e211c9b1cc13b4;ms-940cce8479900a244d54;ms-130188b25b236b6c13fc;ms-918efaf9527826841090", + "expert_regret": 1.9560008496046066, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29fbdaedca6b1e7d233d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9560008496046066, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04399915039539337, + "restore_error": 1.1920928955078125e-07, + "score": 0.04399915039539337, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6985872983932495, + "candidate_source_group_id": "ms-3333e935277a2e1f4e05;ms-733b04f5bd4720d79e99;ms-bc4bf52af94d1469eaee;ms-64b6e9f72ae5e2999f56;ms-14265f08eea0055edff3;ms-ec5819de002710aa5d97", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c333dcd8ec59f2ae8a3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6553367972373962, + "candidate_source_group_id": "ms-949bca60825f84d7b5b9;ms-8278abbc47a6efcb5b68;ms-551020d425c370126f59;ms-2e368b0323bc5ae1cfed;ms-608a539637578968beb3;ms-1fe4b5c84ee5c0e6fcdb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-686b6de62b641e0dba0d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6658691763877869, + "candidate_source_group_id": "ms-048c14d42c3f3b352f53;ms-8293ae7689b30820278f;ms-f7db0d0ad0967af1d0c5;ms-a0863466a999b4680737;ms-081952a63087fc8f83cd;ms-940cce8479900a244d54", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-653181f057aeaeeadfe2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6821543574333191, + "candidate_source_group_id": "ms-316e11b816e8a3495dd9;ms-90a840c7cbbfe35e8a67;ms-33e036c8224f052e6279;ms-44e2ba085128234ef9eb;ms-db2cfd3c0ce8ece8a112;ms-783ceec205863d92ef8a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e333fb7b8697ebeb474e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3525257706642151, + "candidate_source_group_id": "ms-234ce02cf98f85bda72c;ms-fd66d311a01f9c4fc825;ms-6f6c2f554a8e1c33ab32;ms-06c528eb38baee4e31b8;ms-1f195ac1f3ae4b397c71;ms-66d3cc0e17bcbfb5f36e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a699e157f311f764b46", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3183343708515167, + "candidate_source_group_id": "ms-298fc552bfc93c2b32bf;ms-c3191d9c08e5756e90e7;ms-5dab866561f657e9aa8d;ms-f492405ef825467ddcba;ms-f52fe666ef7c9b997778;ms-10a1077a32c1abd486f7", + "expert_regret": 0.0, + "expert_score": 0.19285303354263306, + "expert_success": false, + "group_id": "ms-3c9527725515347ba7de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.31426629424095154, + "candidate_source_group_id": "ms-da66340af8ac9f3852c4;ms-0350672b45f92c437c22;ms-3589c30bbad90d19f2c4;ms-167bd325bc0845dcaba3;ms-edeb8cb36d3d06244421;ms-bb6a2f2ae3014b135b40", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2b4b951e47485c8be41", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.44710010290145874, + "candidate_source_group_id": "ms-147e4106b5d337cefcb2;ms-93cbf45c02a304a2f6dc;ms-670a696bd472769ac513;ms-2b309050ebafdd5a3482;ms-ccccd221a821803e36c5;ms-109d9131cce2e94f40c1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-998ac1af1755510c9229", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4310223460197449, + "candidate_source_group_id": "ms-4f291cdf6a62b9af9e5d;ms-cdca8a6fff0640ab7f16;ms-64b6e9f72ae5e2999f56;ms-d99360c1e4bb4bed6d50;ms-111355c28fcb5ef51167;ms-f49fbce5bf7a0a169f1e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe5a68745bbc6b4256cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.36498337984085083, + "candidate_source_group_id": "ms-7208ab12aba7b4a0da1e;ms-b2c71dc14945b7bd8a60;ms-ee72e3f1115cfb8294ee;ms-2288d0eb01482bc757e5;ms-2ca0290759891500c6bd;ms-16619fc9e4f3627b8dd1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-973f50778408dcecccdd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8584597706794739, + "candidate_source_group_id": "ms-f40f6fe1910a94971980;ms-27c9f70e97b8850cc3ab;ms-23a02f5f0c3f979684ff;ms-2423891634e7b469eed8;ms-281b1eae3c1ac42cb40c;ms-1003d1fe41aba4c8af84", + "expert_regret": 1.962943822145462, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2d9efcce135f0c9d2203", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.962943822145462, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.037056177854537964, + "restore_error": 1.1920928955078125e-07, + "score": 0.037056177854537964, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.49972453713417053, + "candidate_source_group_id": "ms-eccd5c34e1762a33f643;ms-2ba02dcefa15a9371706;ms-a012d1677923703d5a0c;ms-05f34a90fa7355262b8e;ms-864a932d1281c7e316af;ms-8a38529670b19d605663", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-25119a8a2d03c8e71300", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.24254463613033295, + "candidate_source_group_id": "ms-82a203dfa8631639ba7e;ms-f813ff3f9ae188b0259c;ms-5d4b83a1d21ee90ef69f;ms-cf8cc7e3c4481783d5f5;ms-c8593eabfdb5a6bca7bb;ms-5a0da896925f50a1d2ee", + "expert_regret": 0.0, + "expert_score": 0.2145896553993225, + "expert_success": false, + "group_id": "ms-1044e227d00afb01a5dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5704150795936584, + "candidate_source_group_id": "ms-3579b51b91daa627d195;ms-74704688fb63757619e1;ms-54346a8f79bd9dca1dfe;ms-17723f5f0806414eda67;ms-49b9fd364e000bc7d579;ms-933425ede670e8efc04e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f1b05f75f6ad032a0cd1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.439624547958374, + "candidate_source_group_id": "ms-84404222b954c48c48d8;ms-f97fbc8f36f0af9ce18c;ms-698e09998c5dbfa6b7e3;ms-e9bb31726937713db23a;ms-8efd9238ae8d6ca1cd1a;ms-a18cc16207970cd8f84d", + "expert_regret": 1.9402020871639252, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d0005f84908a87243dd6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9402020871639252, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05979791283607483, + "restore_error": 1.1920928955078125e-07, + "score": 0.05979791283607483, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7196608781814575, + "candidate_source_group_id": "ms-5884cb0ce8ef0e034fec;ms-70e24231e9bb560abb3e;ms-fbfbee34b928dbb775da;ms-c109289291b46fd832b3;ms-b4293fc495a608f8063c;ms-17723f5f0806414eda67", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fa637544793129258022", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.29846319556236267, + "candidate_source_group_id": "ms-634dce5b0ce43bfaa04e;ms-4aa2c82355bdbbb93f9d;ms-b929d6015e41aa9a9de8;ms-167bd325bc0845dcaba3;ms-97ccdc4668a995776663;ms-2b309050ebafdd5a3482", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5b5ed3d64cc0c00bac17", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6090079545974731, + "candidate_source_group_id": "ms-1f9a8bf8a8c0882b4039;ms-9d190663aa55bb434720;ms-4c8a03e5d6e3b7a13c29;ms-ce6cbc6d7664766f1285;ms-83b649656afa71ab6bde;ms-fbfbee34b928dbb775da", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ba0d059f1c55c5737e17", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.15599575638771057, + "candidate_source_group_id": "ms-17b435e93391674c7fdd;ms-67f2977ab7d070052b61;ms-b25b49e16e98af4a554c;ms-acfecece1f8160045f0a;ms-65d0541a2ba23a8478fa;ms-a5885ec43a0aa166a0e7", + "expert_regret": 0.0, + "expert_score": 0.06626647710800171, + "expert_success": false, + "group_id": "ms-7cb73c21b0db06dff162", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5596002340316772, + "candidate_source_group_id": "ms-9d1d3a7b2dcafeda3bf3;ms-3a5eaa0095953c9d6241;ms-9d82d1927529dc675bc5;ms-f261341a4a394ae06c69;ms-4dbdc6ed61dccebbfe92;ms-3cb727b6501f5c1a5a16", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69b8e0564f16c652d900", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.48306766152381897, + "candidate_source_group_id": "ms-28a10bea0cf3f917e067;ms-2867deaca7e98582620b;ms-ff08c0b84d984d3d8620;ms-cbdc087c47e35d3d93d9;ms-771e632c1b0f3181ff36;ms-f492405ef825467ddcba", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9fd5ccb16c4e5d0c4579", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7465410232543945, + "candidate_source_group_id": "ms-9915a1632fdf65172a02;ms-3d208c1e04bb84341859;ms-88de0a1035cb8f8ef16a;ms-e2058192b3065ce7dc60;ms-db2cfd3c0ce8ece8a112;ms-d593c823d7fa1cd02635", + "expert_regret": 1.9453376084566116, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a39c5eb6453fab13bb3f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9453376084566116, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05466239154338837, + "restore_error": 1.1920928955078125e-07, + "score": 0.05466239154338837, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.767401397228241, + "candidate_source_group_id": "ms-eb0a75800f4ab451b92e;ms-29788f80c9da2d2d8b4e;ms-3b99101d58e538cfbd6d;ms-889dd046ec7b0fc0a7a4;ms-048c14d42c3f3b352f53;ms-081952a63087fc8f83cd", + "expert_regret": 1.9152712970972061, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65b3fb1b7924487ebe2b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9152712970972061, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08472870290279388, + "restore_error": 1.1920928955078125e-07, + "score": 0.08472870290279388, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5749297738075256, + "candidate_source_group_id": "ms-e8a0577b3fc6f75776b3;ms-81eff749adbf328a93e1;ms-cbdf12e174c323015f38;ms-1aea30e99a4945020cc1;ms-1be8db140ae74d18596f;ms-7f0fb9edfc18e6b83b41", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68dcba1af854c06fc0e6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5700198411941528, + "candidate_source_group_id": "ms-9345a7952bca93b2be95;ms-4c74a17f4d3e6237c0e5;ms-22f6ac0312682d5358b5;ms-a6fbec34b57a97204a37;ms-c16b5cbd61b51f0b66e7;ms-7f0fb9edfc18e6b83b41", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dc6ca032f5df915c7945", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5757805705070496, + "candidate_source_group_id": "ms-7208ab12aba7b4a0da1e;ms-b2c71dc14945b7bd8a60;ms-ee72e3f1115cfb8294ee;ms-2ca0290759891500c6bd;ms-2288d0eb01482bc757e5;ms-eec1c80f2bdd990118d8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-04020456c994946d9a76", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.585867702960968, + "candidate_source_group_id": "ms-0942bb0cc1143a2058f9;ms-64f98d163b6bff29332b;ms-9d943a2732771576e41d;ms-9fad82fd288e4296e354;ms-1fe4b5c84ee5c0e6fcdb;ms-966895e247be1f41daee", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c1f8e861c7c4485c361a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.9851576089859009, + "candidate_source_group_id": "ms-be8665e211c9b1cc13b4;ms-edb1d483ba0ada6fa703;ms-1003d1fe41aba4c8af84;ms-918efaf9527826841090;ms-2423891634e7b469eed8;ms-f7db0d0ad0967af1d0c5", + "expert_regret": 1.9495478421449661, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a75d1290f292d92ca67", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9495478421449661, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.050452157855033875, + "restore_error": 2.384185791015625e-07, + "score": 0.050452157855033875, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.21768435835838318, + "candidate_source_group_id": "ms-fa20766f8a3e706a8ea1;ms-eccd5c34e1762a33f643;ms-2ba02dcefa15a9371706;ms-05f34a90fa7355262b8e;ms-a012d1677923703d5a0c;ms-864a932d1281c7e316af", + "expert_regret": 1.8660841882228851, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fa27eb61283e52488bdb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8660841882228851, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.13391581177711487, + "restore_error": 2.384185791015625e-07, + "score": 0.13391581177711487, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8163213729858398, + "candidate_source_group_id": "ms-0e132f1526b2090e440e;ms-f3b9739bcb72c30a5535;ms-98d738638749a1c0999d;ms-25942684dfc6d81c449a;ms-889dd046ec7b0fc0a7a4;ms-3b99101d58e538cfbd6d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5f722aaecb894444ac4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5248411297798157, + "candidate_source_group_id": "ms-733b04f5bd4720d79e99;ms-3333e935277a2e1f4e05;ms-64b6e9f72ae5e2999f56;ms-3ee8f778784665ea6ee0;ms-cfed5c82c6f4d1c1c3f0;ms-14265f08eea0055edff3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-33dcfa4725ad078cc898", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.818609893321991, + "candidate_source_group_id": "ms-081952a63087fc8f83cd;ms-29788f80c9da2d2d8b4e;ms-34ea26afcb2c6fe1a1fe;ms-8293ae7689b30820278f;ms-3b99101d58e538cfbd6d;ms-048c14d42c3f3b352f53", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-beb40d1c9533f7508aa5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.34244483709335327, + "candidate_source_group_id": "ms-79e8bd81bad486786dc3;ms-2b309050ebafdd5a3482;ms-634dce5b0ce43bfaa04e;ms-670a696bd472769ac513;ms-147e4106b5d337cefcb2;ms-93cbf45c02a304a2f6dc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-272972565b3a686fc999", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7124417424201965, + "candidate_source_group_id": "ms-4401ec9ab8c89fb39f58;ms-d65e80424e917743d9a4;ms-fb23602361466c57dd2d;ms-e825bdad55212cb330da;ms-933425ede670e8efc04e;ms-86909e2391a6a77883b3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-031c526a8690cad1677c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4642127454280853, + "candidate_source_group_id": "ms-940cce8479900a244d54;ms-130188b25b236b6c13fc;ms-f7db0d0ad0967af1d0c5;ms-8293ae7689b30820278f;ms-048c14d42c3f3b352f53;ms-be8665e211c9b1cc13b4", + "expert_regret": 1.90437251329422, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f6174dd8dd65bd736685", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.90437251329422, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09562748670578003, + "restore_error": 2.384185791015625e-07, + "score": 0.09562748670578003, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.729139506816864, + "candidate_source_group_id": "ms-605cecc07e3298489320;ms-44a69da62321224c1df9;ms-ca9a06f00b861bf34c4d;ms-c257731ddcf5cf149393;ms-c9a00cd02aa3ea31af1c;ms-7f22550a9f6707a45cd4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1dd7b6c07218e5e69494", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.49009111523628235, + "candidate_source_group_id": "ms-e6b0ee06238145e2a517;ms-6f6c2f554a8e1c33ab32;ms-4ed913628b5f121bbf34;ms-06c528eb38baee4e31b8;ms-fd66d311a01f9c4fc825;ms-cefef59d2909a69dd709", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d5d38df1f2dbae367af0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5235866904258728, + "candidate_source_group_id": "ms-9d190663aa55bb434720;ms-4c8a03e5d6e3b7a13c29;ms-ce6cbc6d7664766f1285;ms-83b649656afa71ab6bde;ms-1f9a8bf8a8c0882b4039;ms-fbfbee34b928dbb775da", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-238b0d92a2c0a61289b7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7029919624328613, + "candidate_source_group_id": "ms-64b6e9f72ae5e2999f56;ms-4f291cdf6a62b9af9e5d;ms-14265f08eea0055edff3;ms-cdca8a6fff0640ab7f16;ms-bc4bf52af94d1469eaee;ms-d99360c1e4bb4bed6d50", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1e15448c374f47bee884", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7034451365470886, + "candidate_source_group_id": "ms-1f9a8bf8a8c0882b4039;ms-4c8a03e5d6e3b7a13c29;ms-83b649656afa71ab6bde;ms-9d190663aa55bb434720;ms-fbfbee34b928dbb775da;ms-49731d5e69272f3bd959", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f39cb13a5942ca3317d0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5340426564216614, + "candidate_source_group_id": "ms-048c14d42c3f3b352f53;ms-a0863466a999b4680737;ms-940cce8479900a244d54;ms-f7db0d0ad0967af1d0c5;ms-8293ae7689b30820278f;ms-3b99101d58e538cfbd6d", + "expert_regret": 1.9407232105731964, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4d96769e78d7391e43f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9407232105731964, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05927678942680359, + "restore_error": 1.1920928955078125e-07, + "score": 0.05927678942680359, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8171297311782837, + "candidate_source_group_id": "ms-8293ae7689b30820278f;ms-048c14d42c3f3b352f53;ms-3b99101d58e538cfbd6d;ms-a0863466a999b4680737;ms-081952a63087fc8f83cd;ms-29788f80c9da2d2d8b4e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2f6b95c91f5d672d3a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5001031756401062, + "candidate_source_group_id": "ms-42f077d286655b676709;ms-9574e0bf814256a11f3e;ms-86909e2391a6a77883b3;ms-b8f5ebd4732c0274945b;ms-30caf93619a0e2f94eae;ms-170a9228df2273649f1c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a631a8d6314b7547f71f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.26511549949645996, + "candidate_source_group_id": "ms-234ce02cf98f85bda72c;ms-1f195ac1f3ae4b397c71;ms-fd66d311a01f9c4fc825;ms-66d3cc0e17bcbfb5f36e;ms-351f07141fc0a8885759;ms-5816c255ea56bc8a63c3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-60a0de44d30044ef60ff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5317700505256653, + "candidate_source_group_id": "ms-847200a83b8ce5835fd9;ms-ccccd221a821803e36c5;ms-06c528eb38baee4e31b8;ms-5383e9b606cc63b724ab;ms-cefef59d2909a69dd709;ms-234ce02cf98f85bda72c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0818eb8cc217c9b3040a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6017632484436035, + "candidate_source_group_id": "ms-4c8a03e5d6e3b7a13c29;ms-83b649656afa71ab6bde;ms-1f9a8bf8a8c0882b4039;ms-fbfbee34b928dbb775da;ms-9d190663aa55bb434720;ms-49731d5e69272f3bd959", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-70dd7025d2b038824c72", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.18110279738903046, + "candidate_source_group_id": "ms-916b66e56329dbd05b29;ms-351f07141fc0a8885759;ms-39f133217cde17cf4465;ms-f83aacaa71f0151421c7;ms-66d3cc0e17bcbfb5f36e;ms-1f195ac1f3ae4b397c71", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bb9f2f5b67bbb7e0f516", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7342977523803711, + "candidate_source_group_id": "ms-9915a1632fdf65172a02;ms-cece69f5a160c40d613a;ms-db41eac14b49855e7e58;ms-a83154b77975bca93e5e;ms-d593c823d7fa1cd02635;ms-dab80e1bb7987577e33d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e31553038464afab4ec1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4468461573123932, + "candidate_source_group_id": "ms-702a28f36df5dbbbe010;ms-7a50dd49897a83a22282;ms-4711dffcd73048a3656c;ms-c3191d9c08e5756e90e7;ms-f52fe666ef7c9b997778;ms-ad4cbad05e1be65b72ad", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ffdca676bf6a4ccaf640", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5229363441467285, + "candidate_source_group_id": "ms-4dbdc6ed61dccebbfe92;ms-9d1d3a7b2dcafeda3bf3;ms-3cb727b6501f5c1a5a16;ms-d5f6186b51268063515e;ms-9d82d1927529dc675bc5;ms-09bceb938cc530125601", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-98d8d5d728ee4cff6776", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.11117972433567047, + "candidate_source_group_id": "ms-abb9a0e2ba0163714374;ms-f044b20b0f2bb0983f5a;ms-4711dffcd73048a3656c;ms-97939101c75832eb62cd;ms-84bc79aab8423997e8c4;ms-ea694828fcd81abbbc7a", + "expert_regret": 0.0, + "expert_score": 0.18189409375190735, + "expert_success": false, + "group_id": "ms-7530a944fb0979ba91e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.15758708119392395, + "candidate_source_group_id": "ms-5a0da896925f50a1d2ee;ms-f813ff3f9ae188b0259c;ms-82a203dfa8631639ba7e;ms-c8593eabfdb5a6bca7bb;ms-cf8cc7e3c4481783d5f5;ms-5d4b83a1d21ee90ef69f", + "expert_regret": 0.0, + "expert_score": 0.07371273636817932, + "expert_success": false, + "group_id": "ms-bad55a54ecb4349a5323", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6243085265159607, + "candidate_source_group_id": "ms-2db29812d012d503054a;ms-f044b20b0f2bb0983f5a;ms-ce6cbc6d7664766f1285;ms-9d190663aa55bb434720;ms-bb8ddc9a1e197eb7cee1;ms-abb9a0e2ba0163714374", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-157e8e3ee1b0de1840d3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.26468053460121155, + "candidate_source_group_id": "ms-e8a0577b3fc6f75776b3;ms-81eff749adbf328a93e1;ms-cbdf12e174c323015f38;ms-1be8db140ae74d18596f;ms-44a69da62321224c1df9;ms-b187043687d88d509fc7", + "expert_regret": 0.0, + "expert_score": 0.0793772041797638, + "expert_success": false, + "group_id": "ms-b8bfdd3e6c31bd98082d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5644981265068054, + "candidate_source_group_id": "ms-17723f5f0806414eda67;ms-a40d644441c878ac5292;ms-ce6cbc6d7664766f1285;ms-70e24231e9bb560abb3e;ms-9d190663aa55bb434720;ms-fbfbee34b928dbb775da", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2a4611f1099507f9babf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6579678654670715, + "candidate_source_group_id": "ms-5884cb0ce8ef0e034fec;ms-c109289291b46fd832b3;ms-b4293fc495a608f8063c;ms-7c72cdc319220ea76854;ms-70e24231e9bb560abb3e;ms-fbfbee34b928dbb775da", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7dd90f1575d9612c456c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.32486656308174133, + "candidate_source_group_id": "ms-ff08c0b84d984d3d8620;ms-cbdc087c47e35d3d93d9;ms-31880fb2dfed92c021ef;ms-b5f45644a5e3ed45c86d;ms-fc8084d5cd7da937fc02;ms-85a4fc6e131dacc9d839", + "expert_regret": 0.0, + "expert_score": 0.11025479435920715, + "expert_success": false, + "group_id": "ms-ec5ac79449116b0a30c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7073019742965698, + "candidate_source_group_id": "ms-cbdf12e174c323015f38;ms-e8a0577b3fc6f75776b3;ms-44a69da62321224c1df9;ms-60c02d02de5f1e91124f;ms-f14cda80db7270dd0f86;ms-87f2f63d694d8ccca7f8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01fe80a36517a246929d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4691568911075592, + "candidate_source_group_id": "ms-4f291cdf6a62b9af9e5d;ms-cdca8a6fff0640ab7f16;ms-111355c28fcb5ef51167;ms-64b6e9f72ae5e2999f56;ms-f49fbce5bf7a0a169f1e;ms-d99360c1e4bb4bed6d50", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b5dee7bdaf34270e6515", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.9018881916999817, + "candidate_source_group_id": "ms-29788f80c9da2d2d8b4e;ms-a83154b77975bca93e5e;ms-34ea26afcb2c6fe1a1fe;ms-b559638a0a726e441847;ms-db41eac14b49855e7e58;ms-cece69f5a160c40d613a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1371e0e5fe7f126bbea2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1219305768609047, + "candidate_source_group_id": "ms-ea694828fcd81abbbc7a;ms-84bc79aab8423997e8c4;ms-e63468cc3772da77cc67;ms-c84dbd2afb3321e2f43c;ms-40bddbc4f8ee1ed19575;ms-86508eb5d360c56023e1", + "expert_regret": 0.0, + "expert_score": 0.14765234291553497, + "expert_success": false, + "group_id": "ms-f985a8cb6c13af7df7ba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6779971718788147, + "candidate_source_group_id": "ms-98d738638749a1c0999d;ms-b559638a0a726e441847;ms-25942684dfc6d81c449a;ms-33e036c8224f052e6279;ms-2a7f05987ae1fd0fa33d;ms-0b13513f98f2d3def73a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e4a99e5ef340bcc181c9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.27988916635513306, + "candidate_source_group_id": "ms-fc2e1272ed035d0b9066;ms-663c7e7fdaea6a945a2b;ms-4096e2d9cf2e9d4943c7;ms-a2766876467c8fbd5379;ms-2a738f03ee216527dfa6;ms-fc8084d5cd7da937fc02", + "expert_regret": 0.046813711524009705, + "expert_score": 0.20761503279209137, + "expert_success": false, + "group_id": "ms-22cfd6a9a619133478b6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8391986787319183, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16080132126808167, + "restore_error": 1.1920928955078125e-07, + "score": 0.16080132126808167, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5117210149765015, + "candidate_source_group_id": "ms-2e237a4b84b582828c37;ms-b25b49e16e98af4a554c;ms-a5885ec43a0aa166a0e7;ms-130f96b49e1bdb7c0e7c;ms-65d0541a2ba23a8478fa;ms-e4656ad3c67bd430c1a6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b813b6035f0425892bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.33728671073913574, + "candidate_source_group_id": "ms-74f12c8d99a319a9d020;ms-9ac0a7f45996f7326682;ms-c9568dec28405d273943;ms-adf081811af7bca643a1;ms-16619fc9e4f3627b8dd1;ms-c4a78f303c7f2b1a437b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cffdaeae3b980aaeb8f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.45661047101020813, + "candidate_source_group_id": "ms-0942bb0cc1143a2058f9;ms-64f98d163b6bff29332b;ms-9d943a2732771576e41d;ms-1fe4b5c84ee5c0e6fcdb;ms-551020d425c370126f59;ms-9fad82fd288e4296e354", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d4ee30bf4815d04c391", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.436821311712265, + "candidate_source_group_id": "ms-847200a83b8ce5835fd9;ms-ccccd221a821803e36c5;ms-634dce5b0ce43bfaa04e;ms-93cbf45c02a304a2f6dc;ms-2b309050ebafdd5a3482;ms-b5ca4a8c438aadab9ec5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3e17d03f9d640185853b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5504411458969116, + "candidate_source_group_id": "ms-411a6db8809ff09857ff;ms-847200a83b8ce5835fd9;ms-39f133217cde17cf4465;ms-ccccd221a821803e36c5;ms-d97538effd225a910367;ms-234ce02cf98f85bda72c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-579eb7a700037d011e3f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.22328822314739227, + "candidate_source_group_id": "ms-f12b50fed09bbbf6c039;ms-f8a4e83bdb9d628ac483;ms-365d8c6de6de16f66744;ms-86508eb5d360c56023e1;ms-dae29d741eb65a2fc4b3;ms-0be67b60c98e4f3e692f", + "expert_regret": 0.0, + "expert_score": 0.18926367163658142, + "expert_success": false, + "group_id": "ms-07aa7d1f9c01e93d04bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.657413899898529, + "candidate_source_group_id": "ms-1f9a8bf8a8c0882b4039;ms-7a5970ba19b465cd86c3;ms-b187043687d88d509fc7;ms-ce6cbc6d7664766f1285;ms-9d190663aa55bb434720;ms-bb8ddc9a1e197eb7cee1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ab5681ebeef5851f5ceb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8006273508071899, + "candidate_source_group_id": "ms-081952a63087fc8f83cd;ms-29788f80c9da2d2d8b4e;ms-cece69f5a160c40d613a;ms-b559638a0a726e441847;ms-0b13513f98f2d3def73a;ms-34ea26afcb2c6fe1a1fe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f2f594b2492898e947f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2921546399593353, + "candidate_source_group_id": "ms-79e8bd81bad486786dc3;ms-68054c6c805197b033a7;ms-2b309050ebafdd5a3482;ms-4a4de470c6c7cb5a3c34;ms-5df972e5e36afb67a009;ms-634dce5b0ce43bfaa04e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b6189cefdca2110b96a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5971854329109192, + "candidate_source_group_id": "ms-0942bb0cc1143a2058f9;ms-64f98d163b6bff29332b;ms-1fe4b5c84ee5c0e6fcdb;ms-551020d425c370126f59;ms-8278abbc47a6efcb5b68;ms-2e368b0323bc5ae1cfed", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-027592312fc833e8768d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1076722964644432, + "candidate_source_group_id": "ms-234ce02cf98f85bda72c;ms-66d3cc0e17bcbfb5f36e;ms-351f07141fc0a8885759;ms-1f195ac1f3ae4b397c71;ms-39f133217cde17cf4465;ms-916b66e56329dbd05b29", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6d48ff55845b6759a8c4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.24472643435001373, + "candidate_source_group_id": "ms-b0d0004818ae853d5bc5;ms-40c0e775426e28c3afd9;ms-c16b5cbd61b51f0b66e7;ms-ecf6837325ac3bc3b66d;ms-2baa5b5b99121cff72c2;ms-ae5eaf676ba740f3dc07", + "expert_regret": 0.0, + "expert_score": 2.60770320892334e-06, + "expert_success": false, + "group_id": "ms-22f153f0d4fa656018e6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.41700097918510437, + "candidate_source_group_id": "ms-93cbf45c02a304a2f6dc;ms-147e4106b5d337cefcb2;ms-2b309050ebafdd5a3482;ms-ccccd221a821803e36c5;ms-670a696bd472769ac513;ms-109d9131cce2e94f40c1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-20bc116cad15b072a2ea", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6515932083129883, + "candidate_source_group_id": "ms-383c0d1f90c5a0b55e07;ms-c10cf873dd3f68d97755;ms-e411015630dcff33d0f7;ms-9f33c55b8e06fcb5e21e;ms-183174ef761d19fb85d9;ms-3028df2c22f4c029b533", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7f5fe657331466b2e262", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7604418992996216, + "candidate_source_group_id": "ms-29788f80c9da2d2d8b4e;ms-b559638a0a726e441847;ms-a83154b77975bca93e5e;ms-cece69f5a160c40d613a;ms-34ea26afcb2c6fe1a1fe;ms-33e036c8224f052e6279", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1188a1b8e0ac31187b3b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5113476514816284, + "candidate_source_group_id": "ms-f7db0d0ad0967af1d0c5;ms-130188b25b236b6c13fc;ms-940cce8479900a244d54;ms-3b99101d58e538cfbd6d;ms-048c14d42c3f3b352f53;ms-a0863466a999b4680737", + "expert_regret": 1.9414363652467728, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f09be6d8353d3d53a44e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9414363652467728, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.058563634753227234, + "restore_error": 1.1920928955078125e-07, + "score": 0.058563634753227234, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.39068958163261414, + "candidate_source_group_id": "ms-adf081811af7bca643a1;ms-c4a78f303c7f2b1a437b;ms-674d9e270ff9ba879886;ms-9d943a2732771576e41d;ms-fb7c4ead34050a60dbdd;ms-07321628f307d0c91b44", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e95a64701812302bd039", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2838391363620758, + "candidate_source_group_id": "ms-f97fbc8f36f0af9ce18c;ms-e9bb31726937713db23a;ms-84404222b954c48c48d8;ms-a18cc16207970cd8f84d;ms-698e09998c5dbfa6b7e3;ms-8efd9238ae8d6ca1cd1a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d23082fdeffba7cba51", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5758516192436218, + "candidate_source_group_id": "ms-5816c255ea56bc8a63c3;ms-fd66d311a01f9c4fc825;ms-6f6c2f554a8e1c33ab32;ms-79c57793f8c7523b59fc;ms-06c528eb38baee4e31b8;ms-80269804728c7aaaf9a7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c8ffa7d45ed61e2b94d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.49823763966560364, + "candidate_source_group_id": "ms-c3191d9c08e5756e90e7;ms-4711dffcd73048a3656c;ms-10a1077a32c1abd486f7;ms-9b50c72d20e7510258b8;ms-5dab866561f657e9aa8d;ms-f52fe666ef7c9b997778", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5ae7b4d324285dfe6e80", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7389379143714905, + "candidate_source_group_id": "ms-847200a83b8ce5835fd9;ms-5383e9b606cc63b724ab;ms-ccccd221a821803e36c5;ms-2b309050ebafdd5a3482;ms-634dce5b0ce43bfaa04e;ms-5df972e5e36afb67a009", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a102c1d0334bab9656e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2721920311450958, + "candidate_source_group_id": "ms-7fc804389bb1de250c84;ms-8efd9238ae8d6ca1cd1a;ms-680b80c5d2872be1e66a;ms-a18cc16207970cd8f84d;ms-f97fbc8f36f0af9ce18c;ms-84404222b954c48c48d8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c8902580575f6effb241", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6624695658683777, + "candidate_source_group_id": "ms-74704688fb63757619e1;ms-3579b51b91daa627d195;ms-49b9fd364e000bc7d579;ms-17723f5f0806414eda67;ms-54346a8f79bd9dca1dfe;ms-f044b20b0f2bb0983f5a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-79636173ebff4c91da03", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4283698499202728, + "candidate_source_group_id": "ms-aec40fad850827331244;ms-eea4df1b36e8a31b40a3;ms-ecf6837325ac3bc3b66d;ms-b0d0004818ae853d5bc5;ms-09bceb938cc530125601;ms-fae97eb60014b2866413", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ba0ee0c9c181cdc7de9d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.28850695490837097, + "candidate_source_group_id": "ms-2ca0290759891500c6bd;ms-fc8084d5cd7da937fc02;ms-346494921f998d7a48ab;ms-4410b778c34b05366011;ms-ee72e3f1115cfb8294ee;ms-7838ea128d16b455b2f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a649d9cf4fba45822ad9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.17898061871528625, + "candidate_source_group_id": "ms-1a9e9bcd6cbae272a459;ms-d7254aa722729aa1a031;ms-96ebb8e6e71464ac9172;ms-e2f303a0d1e6017e1fc4;ms-0a4d4909900fb0bc4a9a;ms-a50b6ab3c59b1c953197", + "expert_regret": 1.1419830322265625, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-511bcece89a5ea3b849e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1419830322265625, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8580169677734375, + "restore_error": 1.1920928955078125e-07, + "score": 0.8580169677734375, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7558917999267578, + "candidate_source_group_id": "ms-bdc0e2b6d589c1d90d69;ms-546f8817db5b76b563f0;ms-edf898278a0dd01a5b37;ms-80a997bc4867e103fe34;ms-578fc3b8cbdbe6b0542f;ms-c9c7a51e43dd2c33de08", + "expert_regret": 1.1863604187965393, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5c52a7bf5a1abb1a1517", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1863604187965393, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8136395812034607, + "restore_error": 1.1920928955078125e-07, + "score": 0.8136395812034607, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.19889672100543976, + "candidate_source_group_id": "ms-7d484dd14e9d001a07b1;ms-df6a1fb4b1ccbb410b4c;ms-4dd3c4d0161d01abb6d4;ms-804705b564058a7ac34c;ms-728ce6cbfd4c82607908;ms-e95a846b4e77792e3e6f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-62601bc1741cf8792326", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.34492406249046326, + "candidate_source_group_id": "ms-0b1dd0e538b8df15a6e4;ms-dc4738f9c7a8af86722d;ms-d50a82b8770f333f1947;ms-ecb37ebbab21a506d8ca;ms-e3bbabc7ac3950eb91a2;ms-c9804ff90a86259f7149", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ba1dca497a16134eeed8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7565348744392395, + "candidate_source_group_id": "ms-f2a349cfaa6f7422237b;ms-a50b6ab3c59b1c953197;ms-e2f303a0d1e6017e1fc4;ms-9dd1ff4c297a81b13071;ms-0a4d4909900fb0bc4a9a;ms-71e32140ee4d77f3b275", + "expert_regret": 0.7611556351184845, + "expert_score": 0.78147292137146, + "expert_success": false, + "group_id": "ms-dd9b840c99c305ac1977", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.7611556351184845, + "oracle_score": 0.78147292137146, + "oracle_success": false, + "progress": 0.020317286252975464, + "restore_error": 1.1920928955078125e-07, + "score": 0.020317286252975464, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7798417210578918, + "candidate_source_group_id": "ms-95950ddf57046910494b;ms-783f5e7f8c889bef010e;ms-82b267d663e8400d19ca;ms-036f329c4a881ff59e5f;ms-3ec29a5b20bd65943255;ms-12ea343fddf9f6e6b9e8", + "expert_regret": 1.4000032544136047, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-207e9a9f9123d6c3eeb6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4000032544136047, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5999967455863953, + "restore_error": 1.1920928955078125e-07, + "score": 0.5999967455863953, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.19503512978553772, + "candidate_source_group_id": "ms-38ed02dacc133a888d3a;ms-ecc526493f8048cf4c56;ms-0c490961b934978e5b1c;ms-b6ce87522fcc35b563c7;ms-02aa62c077c9d4f86e61;ms-2c6ff8d807763f665bac", + "expert_regret": 0.6858774125576019, + "expert_score": 0.8573464751243591, + "expert_success": false, + "group_id": "ms-146ff6c3f22b3a49af3a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8285309374332428, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1714690625667572, + "restore_error": 1.1920928955078125e-07, + "score": 0.1714690625667572, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6142809987068176, + "candidate_source_group_id": "ms-77c4a01dcf26dcd8f0f3;ms-c9c7a51e43dd2c33de08;ms-edf898278a0dd01a5b37;ms-fb0e4c4b9775d8121124;ms-6bd5870eb5ff0dd76919;ms-546f8817db5b76b563f0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bf2b9cc05ccb6bce0d30", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.11001671850681305, + "candidate_source_group_id": "ms-4c788310cab7df5251e1;ms-96ebb8e6e71464ac9172;ms-dc26a7037003b94b9f93;ms-a2ee6034df65b51c4d97;ms-141aab4472db1ecc0ea2;ms-0e7f710fb5e661e71fd3", + "expert_regret": 1.186584234237671, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-499d2429a00f3cc35add", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.186584234237671, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8134157657623291, + "restore_error": 1.1920928955078125e-07, + "score": 0.8134157657623291, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5004614591598511, + "candidate_source_group_id": "ms-b75d7924ddc6f1056f17;ms-97343fa03fd05700c270;ms-1e17eb687986f7c5bc22;ms-141aab4472db1ecc0ea2;ms-e7959111ef1429bcf699;ms-a2ee6034df65b51c4d97", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d5da9bf431cb1294c82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2486201822757721, + "candidate_source_group_id": "ms-9ad3b276d9ccaf668d30;ms-f2259eac5ed12ee61c19;ms-0ea6d57781e366b578c1;ms-94b9114b294d56e3f88a;ms-9c7464444eaec0fa07c0;ms-9ae5c6c4132218ecf49e", + "expert_regret": 0.6486964225769043, + "expert_score": 0.8447976112365723, + "expert_success": false, + "group_id": "ms-1cb54e3347c49dcdf28e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.661098301410675, + "oracle_score": 0.857199490070343, + "oracle_success": false, + "progress": 0.19610118865966797, + "restore_error": 1.1920928955078125e-07, + "score": 0.19610118865966797, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6537766456604004, + "candidate_source_group_id": "ms-77c4a01dcf26dcd8f0f3;ms-733f43f6aaed1e84c020;ms-06e6e1db86d9e82e56cf;ms-6c8d06bace98a28a8e4e;ms-68067370d3b20b9bd4e2;ms-5bddb39f792f20e5e6d4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-39cea5dde6dc1718d478", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6892543435096741, + "candidate_source_group_id": "ms-02aa62c077c9d4f86e61;ms-060d5756eac8f17652ee;ms-0c490961b934978e5b1c;ms-0fce9fe598d9ed1471b1;ms-4bbd30ae37fda61aa3c2;ms-ffaf8ddbbe21af6dea95", + "expert_regret": 1.8559570610523224, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-89782a37ecf6a44d23dc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8559570610523224, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1440429389476776, + "restore_error": 1.1920928955078125e-07, + "score": 0.1440429389476776, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8554337620735168, + "candidate_source_group_id": "ms-6ab6c8a66fc509e2113e;ms-8f84a0371a7ac44c1b1a;ms-12ea343fddf9f6e6b9e8;ms-76774eb92b50132c54b6;ms-5a32c809ed679663dcb1;ms-f3f100caf89a2487faaf", + "expert_regret": 0.0, + "expert_score": 0.19744239747524261, + "expert_success": false, + "group_id": "ms-eaccbf417256e38345aa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.19744239747524261, + "oracle_success": false, + "progress": 0.5779617428779602, + "restore_error": 1.1920928955078125e-07, + "score": 0.5779617428779602, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.554486870765686, + "candidate_source_group_id": "ms-dab618f516ccc10f176e;ms-54f7cae3bd3cb84062d3;ms-b1b98e21cd4886f70563;ms-a2a546ebe0d1283df0f0;ms-3afd8959363e917591d4;ms-bb70aa617f82f530d42e", + "expert_regret": 1.2152548432350159, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cba80792e163a5084a92", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.2152548432350159, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7847451567649841, + "restore_error": 1.1920928955078125e-07, + "score": 0.7847451567649841, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4085889458656311, + "candidate_source_group_id": "ms-20976520a892ae80760a;ms-0949097d19e597fc7f63;ms-0cdb564903c69734321f;ms-58e6bcca0d74ea38d3dc;ms-76774eb92b50132c54b6;ms-01f463a409e2ec0c6c3e", + "expert_regret": 1.1645216941833496, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2e683dfff18ef7e90d7d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1645216941833496, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8354783058166504, + "restore_error": 1.1920928955078125e-07, + "score": 0.8354783058166504, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8121731877326965, + "candidate_source_group_id": "ms-4734f618e638d42bae46;ms-7ab0027224139e5332d5;ms-741c227f6249d1c8c9f1;ms-15fc8cc6f74cf589056f;ms-8d02415bb9af319f215a;ms-ee2fcbc94d41385713d0", + "expert_regret": 1.8404345512390137, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4cab45c9b21452c1b523", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8404345512390137, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.15956544876098633, + "restore_error": 1.1920928955078125e-07, + "score": 0.15956544876098633, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.14879107475280762, + "candidate_source_group_id": "ms-554f2960f25ff627b596;ms-77536801924a2a78688e;ms-4b6cf86fc2450321163a;ms-a5eb6b813b57d14f6573;ms-88070bf04696eceac1e9;ms-63f384579c130870fde3", + "expert_regret": 0.0, + "expert_score": 0.8376391530036926, + "expert_success": false, + "group_id": "ms-49e1584a68d8f465e8e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.299485206604004, + "candidate_source_group_id": "ms-7fc5696cb3dc7b9bb9f7;ms-86b55250e01b9b6fba7e;ms-0f2cd78c21a012784e1b;ms-350716d0809bd7ef12df;ms-573ab0ef1d4166be9b54;ms-97cdb4c400ad4ae36518", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0b6ba12f99b3554c0e88", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2377147376537323, + "candidate_source_group_id": "ms-1e25b12c832314a0b015;ms-cb752f1a3b24f95b34a2;ms-fe22e55457c78877c2d9;ms-f774646335321f6c5980;ms-54b553c42a8d825beb38;ms-4c6a9b0840052fd62261", + "expert_regret": 1.803249642252922, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b3a1c65d7357ca4300b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.803249642252922, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19675035774707794, + "restore_error": 1.1920928955078125e-07, + "score": 0.19675035774707794, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9221860766410828, + "candidate_source_group_id": "ms-b651d43182be35524aad;ms-5e19aac5dcd26c992bfd;ms-0c2f2dc98424b6704c79;ms-b2b93411a16dbb5d4202;ms-9e96728c711ffe98fe69;ms-97cdb4c400ad4ae36518", + "expert_regret": 1.421859323978424, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7c300541f4986f403b47", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.421859323978424, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5781406760215759, + "restore_error": 1.1920928955078125e-07, + "score": 0.5781406760215759, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.17549775540828705, + "candidate_source_group_id": "ms-7ee2d50e0788ccf0cdec;ms-12ea343fddf9f6e6b9e8;ms-3ec29a5b20bd65943255;ms-c9edb3f445256b0d5341;ms-f9148dff7961fa66a8a1;ms-f50f1c1b673d0c96d4ce", + "expert_regret": 0.0, + "expert_score": 0.8328490257263184, + "expert_success": false, + "group_id": "ms-ed6314fb8f69f956daf6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.8351536393165588, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6547784805297852, + "candidate_source_group_id": "ms-185c13ec401a35f393b7;ms-20ab0b7fffdbb23e6d53;ms-3278c343e1bdece2f252;ms-b8492a3a812095651d75;ms-180d0e0a6315a06a7021;ms-4dc0defd156f4c30aaf8", + "expert_regret": 1.8318179249763489, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fffe17005e577cb2ac1c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8318179249763489, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16818207502365112, + "restore_error": 1.1920928955078125e-07, + "score": 0.16818207502365112, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.07438642531633377, + "candidate_source_group_id": "ms-6b2df24ea06ce2cdfb5e;ms-bb742574fc7cfaea26d0;ms-5c8151ea6809f3c331e5;ms-fc9523f9953b1b5bfbcd;ms-0f7cd7813265e3795e0a;ms-a3df9ead5a29798665a5", + "expert_regret": 0.04319024085998535, + "expert_score": 0.8572937250137329, + "expert_success": false, + "group_id": "ms-d368732bc01f4100cf07", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.1858965158462524, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8141034841537476, + "restore_error": 1.1920928955078125e-07, + "score": 0.8141034841537476, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7913123965263367, + "candidate_source_group_id": "ms-97e2c618a3045e0a759e;ms-f2259eac5ed12ee61c19;ms-0ea6d57781e366b578c1;ms-269815a0f9c1a1ba5a6b;ms-8c67f938fb3d0264393c;ms-d4c5d7eea19d94314e2e", + "expert_regret": 1.392128348350525, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e0e2a425cce52e820a7e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.392128348350525, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6078716516494751, + "restore_error": 1.1920928955078125e-07, + "score": 0.6078716516494751, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6226480603218079, + "candidate_source_group_id": "ms-4dd3c4d0161d01abb6d4;ms-e95a846b4e77792e3e6f;ms-7bdf9cab1f7071533bbc;ms-aa7cc7e3e5eb86e58ee9;ms-a9eb9fab62fb296d2cf3;ms-bc96a8973358d1c20ed3", + "expert_regret": 1.9459345042705536, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-797db95b24deab760f10", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9459345042705536, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05406549572944641, + "restore_error": 1.1920928955078125e-07, + "score": 0.05406549572944641, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9369173049926758, + "candidate_source_group_id": "ms-da2f79e022bb63a2af11;ms-741c227f6249d1c8c9f1;ms-15fc8cc6f74cf589056f;ms-0ccc81e9a63663c50096;ms-a7760c53ebe20579190e;ms-8d02415bb9af319f215a", + "expert_regret": 1.81567744910717, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65a8786e4fb1527342f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.81567744910717, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1843225508928299, + "restore_error": 1.1920928955078125e-07, + "score": 0.1843225508928299, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2548729181289673, + "candidate_source_group_id": "ms-9dd1ff4c297a81b13071;ms-7fba35a6c125e88b8f54;ms-cc52efdf7f7b9efb1f9e;ms-ce827a7939377a151af9;ms-71e32140ee4d77f3b275;ms-500ed73f6d891e237b30", + "expert_regret": 0.7210763692855835, + "expert_score": 0.8358147144317627, + "expert_success": false, + "group_id": "ms-07b479748a91a9c92b20", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8852616548538208, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1147383451461792, + "restore_error": 1.1920928955078125e-07, + "score": 0.1147383451461792, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8183842301368713, + "candidate_source_group_id": "ms-88d7cbdbd7c9636e456f;ms-efdc07c985935d871adf;ms-37d6b220ad58fb776f7b;ms-be0ca7fa48a7ea391aa8;ms-88070bf04696eceac1e9;ms-a5eb6b813b57d14f6573", + "expert_regret": 1.796819195151329, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-00ce5c82d2af61a7d7e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.796819195151329, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20318080484867096, + "restore_error": 1.1920928955078125e-07, + "score": 0.20318080484867096, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.42736250162124634, + "candidate_source_group_id": "ms-dc26a7037003b94b9f93;ms-df6a1fb4b1ccbb410b4c;ms-b1ea4f7f813ac0c87079;ms-c72d626356a30cbef93b;ms-4c788310cab7df5251e1;ms-141aab4472db1ecc0ea2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-921a0cd2d5ef7e70229a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0522003173828125, + "candidate_source_group_id": "ms-625f1a55bfa2bcd57e24;ms-0949097d19e597fc7f63;ms-caa5773983c25018c3f8;ms-0cdb564903c69734321f;ms-571d878853654c42a521;ms-4048f8f6e047422e3c79", + "expert_regret": 1.8166356086730957, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1cba14e90a2d067bc198", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8166356086730957, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1833643913269043, + "restore_error": 1.1920928955078125e-07, + "score": 0.1833643913269043, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.41911599040031433, + "candidate_source_group_id": "ms-bb742574fc7cfaea26d0;ms-0f7cd7813265e3795e0a;ms-6b2df24ea06ce2cdfb5e;ms-5c8151ea6809f3c331e5;ms-fc9523f9953b1b5bfbcd;ms-a3df9ead5a29798665a5", + "expert_regret": 1.8152623176574707, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f6bfe2d3d8f8956091a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8152623176574707, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1847376823425293, + "restore_error": 1.1920928955078125e-07, + "score": 0.1847376823425293, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0133451223373413, + "candidate_source_group_id": "ms-4d687a60b9ce1f0f1ddd;ms-01094af881b751ef29aa;ms-bfb169ce850eae1c3995;ms-da5f2c1dbafa907d725b;ms-a50b6ab3c59b1c953197;ms-3cdc09425d5b71524854", + "expert_regret": 0.6479790359735489, + "expert_score": 0.8434419631958008, + "expert_success": false, + "group_id": "ms-44940e96c327541acf19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.6479790359735489, + "oracle_score": 0.8434419631958008, + "oracle_success": false, + "progress": 0.1954629272222519, + "restore_error": 1.1920928955078125e-07, + "score": 0.1954629272222519, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.3021562099456787, + "candidate_source_group_id": "ms-fc9523f9953b1b5bfbcd;ms-e2a5f29a9c0d835f3cd8;ms-f0fdcc26c648ce089746;ms-5c8151ea6809f3c331e5;ms-6b2df24ea06ce2cdfb5e;ms-0f7cd7813265e3795e0a", + "expert_regret": 1.4506758451461792, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc99c1baec671e7f85a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4506758451461792, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5493241548538208, + "restore_error": 1.1920928955078125e-07, + "score": 0.5493241548538208, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0044939517974854, + "candidate_source_group_id": "ms-fe22e55457c78877c2d9;ms-4c6a9b0840052fd62261;ms-d4c5d7eea19d94314e2e;ms-269815a0f9c1a1ba5a6b;ms-7bdf9cab1f7071533bbc;ms-1e25b12c832314a0b015", + "expert_regret": 1.789390116930008, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-787b74c3c67428d63b72", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.789390116930008, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21060988306999207, + "restore_error": 1.1920928955078125e-07, + "score": 0.21060988306999207, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.163624882698059, + "candidate_source_group_id": "ms-c9804ff90a86259f7149;ms-fd2387aeed9bfc9a0d08;ms-dc4738f9c7a8af86722d;ms-a4e3e9c634e92a46fc15;ms-652234a929b7ed4d3b23;ms-a40882954ff51b61c49c", + "expert_regret": 1.8215138912200928, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-983f35821c4f83c6e4bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8215138912200928, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17848610877990723, + "restore_error": 1.1920928955078125e-07, + "score": 0.17848610877990723, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1892651468515396, + "candidate_source_group_id": "ms-68067370d3b20b9bd4e2;ms-63f384579c130870fde3;ms-554f2960f25ff627b596;ms-a5eb6b813b57d14f6573;ms-88070bf04696eceac1e9;ms-d1960368ef76bbb10669", + "expert_regret": 0.6704991012811661, + "expert_score": 0.8355538845062256, + "expert_success": false, + "group_id": "ms-3c87c16acc91c68c522f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.6706283837556839, + "oracle_score": 0.8356831669807434, + "oracle_success": false, + "progress": 0.1650547832250595, + "restore_error": 1.1920928955078125e-07, + "score": 0.1650547832250595, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9919771552085876, + "candidate_source_group_id": "ms-15248c64e70b0dafcb33;ms-87efe56140dec7d3ffb8;ms-2360ac84ff893ee51c5f;ms-daff16c01452c735345f;ms-05ab68d4cd79b74a45ee;ms-ce9505086ea115f86649", + "expert_regret": 1.4038568139076233, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fee86da43c17dbf07059", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4038568139076233, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5961431860923767, + "restore_error": 1.1920928955078125e-07, + "score": 0.5961431860923767, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4429907202720642, + "candidate_source_group_id": "ms-b6ce87522fcc35b563c7;ms-b5f0f2ae74766beae291;ms-aa1da4bf5f94c6a74839;ms-ecc526493f8048cf4c56;ms-673f96236583a1925836;ms-38ed02dacc133a888d3a", + "expert_regret": 1.9169142991304398, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-03beb7dddeba28c64afa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9169142991304398, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08308570086956024, + "restore_error": 1.1920928955078125e-07, + "score": 0.08308570086956024, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.71662437915802, + "candidate_source_group_id": "ms-b86c44375ba5328a1608;ms-c80e71e55d51d8595499;ms-a4d692315fd15700e75b;ms-c72d626356a30cbef93b;ms-eb7189a4f2b0f0a5d4bd;ms-ff4c9c58b742da7135da", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-119db4f7ab55afe5b9f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6914180517196655, + "candidate_source_group_id": "ms-2fef2f43af8009bb88f1;ms-500ed73f6d891e237b30;ms-7fba35a6c125e88b8f54;ms-ce827a7939377a151af9;ms-79b745efd36e00515fa7;ms-ebf15fd96b4a62e0b393", + "expert_regret": 1.8166660368442535, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f79778f4c5ec302bbfb4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8166660368442535, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18333396315574646, + "restore_error": 1.1920928955078125e-07, + "score": 0.18333396315574646, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9015490412712097, + "candidate_source_group_id": "ms-0f2cd78c21a012784e1b;ms-7fc5696cb3dc7b9bb9f7;ms-86b55250e01b9b6fba7e;ms-97cdb4c400ad4ae36518;ms-350716d0809bd7ef12df;ms-573ab0ef1d4166be9b54", + "expert_regret": 1.8179517686367035, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c7b2b62ba170ac8133e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8179517686367035, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1820482313632965, + "restore_error": 1.1920928955078125e-07, + "score": 0.1820482313632965, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7202329635620117, + "candidate_source_group_id": "ms-d9e7096b437e7ce7cda8;ms-a13e71cca2a60d77aed4;ms-2503df67073b4c59e640;ms-0547201761e8e1873482;ms-6989f2ad4ed53dc07e1f;ms-caa5773983c25018c3f8", + "expert_regret": 0.14239105582237244, + "expert_score": 0.2056313455104828, + "expert_success": false, + "group_id": "ms-df346e952d6eaab76d40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.14239105582237244, + "oracle_score": 0.2056313455104828, + "oracle_success": false, + "progress": 0.06324028968811035, + "restore_error": 1.1920928955078125e-07, + "score": 0.06324028968811035, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7775713205337524, + "candidate_source_group_id": "ms-95950ddf57046910494b;ms-036f329c4a881ff59e5f;ms-82b267d663e8400d19ca;ms-783f5e7f8c889bef010e;ms-748baf7aee43c63797e1;ms-27d723ae87abc93a95f0", + "expert_regret": 1.4049429297447205, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-14064e79c1a1abcf10e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4049429297447205, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5950570702552795, + "restore_error": 1.1920928955078125e-07, + "score": 0.5950570702552795, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6272069215774536, + "candidate_source_group_id": "ms-f50f1c1b673d0c96d4ce;ms-1a37fdd82d982ae6dbd8;ms-801727be95e46ae5da07;ms-e297545a438d902a680e;ms-3efaacea10b7eb4adb57;ms-f9148dff7961fa66a8a1", + "expert_regret": 1.8210345804691315, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dc2e360a4876f6edce82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8210345804691315, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17896541953086853, + "restore_error": 1.1920928955078125e-07, + "score": 0.17896541953086853, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.567775309085846, + "candidate_source_group_id": "ms-0d8e00d0e73f9a7b4ce8;ms-d46da887312a51a9f2a0;ms-2da5f229550b61852483;ms-5ac1bf2d7d319955d45d;ms-48ddae21c360b2a12b8d;ms-0fb946120bcbd8ed0632", + "expert_regret": 1.4074776768684387, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0841a07e9aeb84cff70f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4074776768684387, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5925223231315613, + "restore_error": 1.1920928955078125e-07, + "score": 0.5925223231315613, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3814394772052765, + "candidate_source_group_id": "ms-5ac1bf2d7d319955d45d;ms-d6ed8683183759789495;ms-d46da887312a51a9f2a0;ms-2da5f229550b61852483;ms-0d8e00d0e73f9a7b4ce8;ms-1d7505b80dff9c229a99", + "expert_regret": 0.6538815945386887, + "expert_score": 0.8253189325332642, + "expert_success": false, + "group_id": "ms-22c36189b47df8987e8e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.6538815945386887, + "oracle_score": 0.8253189325332642, + "oracle_success": false, + "progress": 0.1714373379945755, + "restore_error": 1.1920928955078125e-07, + "score": 0.1714373379945755, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.3815767765045166, + "candidate_source_group_id": "ms-dab618f516ccc10f176e;ms-54f7cae3bd3cb84062d3;ms-720c704eeac615b41763;ms-76c9576538106cb9d5db;ms-bb70aa617f82f530d42e;ms-b1b98e21cd4886f70563", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0982ec8847911627c519", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.355217307806015, + "candidate_source_group_id": "ms-230391b47c390f51bc07;ms-0ee3134ab4e9435f2c2c;ms-cdd9ca03b64c4145587b;ms-fc68c8b1bef631b6cae9;ms-0fb946120bcbd8ed0632;ms-fe763444e70a58ff8b1e", + "expert_regret": 1.8173350542783737, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-151e5f61c8e3c2ece4e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8173350542783737, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18266494572162628, + "restore_error": 1.1920928955078125e-07, + "score": 0.18266494572162628, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.673974335193634, + "candidate_source_group_id": "ms-d8cc5ba8ab1cd4a46519;ms-a50b6ab3c59b1c953197;ms-96ebb8e6e71464ac9172;ms-829c9968f0750cd9aed6;ms-f2a349cfaa6f7422237b;ms-e2f303a0d1e6017e1fc4", + "expert_regret": 1.1472102999687195, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-54f4d544f76358c09ee9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1472102999687195, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8527897000312805, + "restore_error": 1.1920928955078125e-07, + "score": 0.8527897000312805, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.06016109138727188, + "candidate_source_group_id": "ms-4734f618e638d42bae46;ms-ee2fcbc94d41385713d0;ms-7ab0027224139e5332d5;ms-741c227f6249d1c8c9f1;ms-15fc8cc6f74cf589056f;ms-8d02415bb9af319f215a", + "expert_regret": 0.0, + "expert_score": 0.17888590693473816, + "expert_success": false, + "group_id": "ms-95028134c6e3670b89d5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8210734575986862, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17892654240131378, + "restore_error": 1.1920928955078125e-07, + "score": 0.17892654240131378, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.8229209184646606, + "candidate_source_group_id": "ms-fe22e55457c78877c2d9;ms-bc02d87b2ed5769ee484;ms-7dca31b0d7d6fab018f3;ms-54b553c42a8d825beb38;ms-4d687a60b9ce1f0f1ddd;ms-f774646335321f6c5980", + "expert_regret": 1.9543491154909134, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ffc732b968c030ba1d0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9543491154909134, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04565088450908661, + "restore_error": 1.1920928955078125e-07, + "score": 0.04565088450908661, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5601376891136169, + "candidate_source_group_id": "ms-f020e53a077d4e6bf383;ms-ab72e600d0bfb162ea80;ms-9b89af1761e33e733a56;ms-cb752f1a3b24f95b34a2;ms-fc68c8b1bef631b6cae9;ms-0ee3134ab4e9435f2c2c", + "expert_regret": 1.9311183840036392, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-00e356a462bdc3380f4f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9311183840036392, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06888161599636078, + "restore_error": 1.1920928955078125e-07, + "score": 0.06888161599636078, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8794110417366028, + "candidate_source_group_id": "ms-cdd9ca03b64c4145587b;ms-230391b47c390f51bc07;ms-fe763444e70a58ff8b1e;ms-0ee3134ab4e9435f2c2c;ms-0fb946120bcbd8ed0632;ms-2b6ab8760ea5d558797c", + "expert_regret": 1.8976535499095917, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-57ccc6bbce43f1c7c000", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8976535499095917, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10234645009040833, + "restore_error": 1.1920928955078125e-07, + "score": 0.10234645009040833, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8789531588554382, + "candidate_source_group_id": "ms-19b9e8a1108ac25f3476;ms-dd8ebc7d7211ece74e03;ms-68f53650da9a9354b58f;ms-01094af881b751ef29aa;ms-7dca31b0d7d6fab018f3;ms-aa1da4bf5f94c6a74839", + "expert_regret": 1.4109516143798828, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-325cd8b08e89bb498c82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4109516143798828, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5890483856201172, + "restore_error": 1.1920928955078125e-07, + "score": 0.5890483856201172, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.48185640573501587, + "candidate_source_group_id": "ms-ab72e600d0bfb162ea80;ms-230391b47c390f51bc07;ms-0ee3134ab4e9435f2c2c;ms-9b89af1761e33e733a56;ms-cb752f1a3b24f95b34a2;ms-cdd9ca03b64c4145587b", + "expert_regret": 1.9786370694637299, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de304cefeb20dcc17ede", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9786370694637299, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02136293053627014, + "restore_error": 1.1920928955078125e-07, + "score": 0.02136293053627014, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7630528211593628, + "candidate_source_group_id": "ms-546f8817db5b76b563f0;ms-c9c7a51e43dd2c33de08;ms-edf898278a0dd01a5b37;ms-578fc3b8cbdbe6b0542f;ms-bdc0e2b6d589c1d90d69;ms-1b50d8927c080cd97a79", + "expert_regret": 1.8003675788640976, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8e69308e5c86a307b08a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8003675788640976, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1996324211359024, + "restore_error": 1.1920928955078125e-07, + "score": 0.1996324211359024, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.461308091878891, + "candidate_source_group_id": "ms-e297545a438d902a680e;ms-571d878853654c42a521;ms-4b6cf86fc2450321163a;ms-6c8d06bace98a28a8e4e;ms-71dc14431350e581537c;ms-283f98eecc655a33d459", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f0696e3657ed996dec15", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6979286074638367, + "candidate_source_group_id": "ms-5973a2df030fcd05cd24;ms-626991ad29d003c808f8;ms-e1f9403543e48fbdde9d;ms-3afd8959363e917591d4;ms-76c9576538106cb9d5db;ms-54f7cae3bd3cb84062d3", + "expert_regret": 1.8436619937419891, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-49516a81fe99935ef15e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8436619937419891, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.15633800625801086, + "restore_error": 1.1920928955078125e-07, + "score": 0.15633800625801086, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9221586585044861, + "candidate_source_group_id": "ms-4cab292bc65fa59274ef;ms-626ac2ad9d0dd95f1a2e;ms-b04a4cfe76d719518dae;ms-edf898278a0dd01a5b37;ms-552acc881ce2bbff59f8;ms-52a2ef2f862cee509ce1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5cfbc3fb2094ad5bba6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2046297937631607, + "candidate_source_group_id": "ms-95950ddf57046910494b;ms-783f5e7f8c889bef010e;ms-12ea343fddf9f6e6b9e8;ms-3ec29a5b20bd65943255;ms-82b267d663e8400d19ca;ms-7ee2d50e0788ccf0cdec", + "expert_regret": 0.030433237552642822, + "expert_score": 0.8212419748306274, + "expert_success": false, + "group_id": "ms-61852da845126d62ff5b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.2091912627220154, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7908087372779846, + "restore_error": 1.1920928955078125e-07, + "score": 0.7908087372779846, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.08453164994716644, + "candidate_source_group_id": "ms-720c704eeac615b41763;ms-76c9576538106cb9d5db;ms-54f7cae3bd3cb84062d3;ms-fdf4af00031d452221d9;ms-b1b98e21cd4886f70563;ms-ceb81989361d018a9e67", + "expert_regret": 0.6920850574970245, + "expert_score": 0.8584641218185425, + "expert_success": false, + "group_id": "ms-03df3e12e1d61aa9ebbf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.833620935678482, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16637906432151794, + "restore_error": 1.1920928955078125e-07, + "score": 0.16637906432151794, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.17016355693340302, + "candidate_source_group_id": "ms-20976520a892ae80760a;ms-76774eb92b50132c54b6;ms-5909e93ba4f8ed21d193;ms-58e6bcca0d74ea38d3dc;ms-0949097d19e597fc7f63;ms-9228f8295b9891cf011c", + "expert_regret": 0.016042768955230713, + "expert_score": 0.8314920663833618, + "expert_success": false, + "group_id": "ms-72777024349c2aacd5e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.184550702571869, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8154492974281311, + "restore_error": 1.1920928955078125e-07, + "score": 0.8154492974281311, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.4024503231048584, + "candidate_source_group_id": "ms-f72b64534388e443b220;ms-ecc526493f8048cf4c56;ms-38ed02dacc133a888d3a;ms-b6ce87522fcc35b563c7;ms-673f96236583a1925836;ms-0c490961b934978e5b1c", + "expert_regret": 1.9355968236923218, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-716586cf73f853a45bfd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9355968236923218, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06440317630767822, + "restore_error": 1.1920928955078125e-07, + "score": 0.06440317630767822, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6835905909538269, + "candidate_source_group_id": "ms-56a0e8e80e2e1e5645d7;ms-4bbd30ae37fda61aa3c2;ms-666f00775d4c54be1282;ms-b5f0f2ae74766beae291;ms-38ed02dacc133a888d3a;ms-ecc526493f8048cf4c56", + "expert_regret": 1.9582540541887283, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-462c1284ee1a148a7e1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9582540541887283, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04174594581127167, + "restore_error": 2.2351741790771484e-07, + "score": 0.04174594581127167, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.117099642753601, + "candidate_source_group_id": "ms-554f2960f25ff627b596;ms-77536801924a2a78688e;ms-a5eb6b813b57d14f6573;ms-b4f96b4975ceb839c5e3;ms-3945306c3b05b122fa9b;ms-4b6cf86fc2450321163a", + "expert_regret": 1.4159716963768005, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e6e8b4cdcadec645d910", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4159716963768005, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5840283036231995, + "restore_error": 2.2351741790771484e-07, + "score": 0.5840283036231995, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.497732937335968, + "candidate_source_group_id": "ms-4cab292bc65fa59274ef;ms-52a2ef2f862cee509ce1;ms-5a456ddf97d294548cf1;ms-6bd5870eb5ff0dd76919;ms-552acc881ce2bbff59f8;ms-19a3669e096e98232ec8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f0033d0b5f4f2e160859", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.2351741790771484e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.36458152532577515, + "candidate_source_group_id": "ms-f4579acd00ff9f578098;ms-b1b98e21cd4886f70563;ms-e1bce061511b584c5381;ms-f0fdcc26c648ce089746;ms-dab618f516ccc10f176e;ms-c164dd3b3b89c546a184", + "expert_regret": 1.8068712055683136, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7bc1b098e6c696f6d4de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8068712055683136, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1931287944316864, + "restore_error": 2.2351741790771484e-07, + "score": 0.1931287944316864, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2568630278110504, + "candidate_source_group_id": "ms-f50f1c1b673d0c96d4ce;ms-3efaacea10b7eb4adb57;ms-1a37fdd82d982ae6dbd8;ms-20f3cfcf183c69853b1e;ms-f9148dff7961fa66a8a1;ms-e327fef230e956dab37c", + "expert_regret": 0.02275794744491577, + "expert_score": 0.8352580070495605, + "expert_success": false, + "group_id": "ms-04eec0abab5f55620e4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.1874999403953552, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8125000596046448, + "restore_error": 2.2351741790771484e-07, + "score": 0.8125000596046448, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7665690779685974, + "candidate_source_group_id": "ms-e887dbfa0133af46829d;ms-55e78c04643bd06fd5f8;ms-48b2c358243f84013a0c;ms-702c6c5000ad4d6424ea;ms-f3f100caf89a2487faaf;ms-6d7030c17759f787a361", + "expert_regret": 1.4147053360939026, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e71e880736efd3e42c02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4147053360939026, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5852946639060974, + "restore_error": 2.2351741790771484e-07, + "score": 0.5852946639060974, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.07042229175567627, + "candidate_source_group_id": "ms-e7959111ef1429bcf699;ms-aa7cc7e3e5eb86e58ee9;ms-7bdf9cab1f7071533bbc;ms-e95a846b4e77792e3e6f;ms-5a0e07161aefc71d4f33;ms-bc96a8973358d1c20ed3", + "expert_regret": 0.0, + "expert_score": 0.8417773246765137, + "expert_success": false, + "group_id": "ms-0b226017db7f07c5307e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.2351741790771484e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.090404748916626, + "candidate_source_group_id": "ms-cbc1fadecdd913c44ce5;ms-035231abc135f925e1cc;ms-3945306c3b05b122fa9b;ms-a2ee6034df65b51c4d97;ms-ff4c9c58b742da7135da;ms-141aab4472db1ecc0ea2", + "expert_regret": 1.1727250814437866, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eff3caf3c103c5232495", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1727250814437866, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8272749185562134, + "restore_error": 2.2351741790771484e-07, + "score": 0.8272749185562134, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6443785429000854, + "candidate_source_group_id": "ms-ba396eb71806ac992acd;ms-d4c5d7eea19d94314e2e;ms-269815a0f9c1a1ba5a6b;ms-741c227f6249d1c8c9f1;ms-da2f79e022bb63a2af11;ms-8d02415bb9af319f215a", + "expert_regret": 1.802648052573204, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-42b26451056c6dd2150e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.802648052573204, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19735194742679596, + "restore_error": 1.1920928955078125e-07, + "score": 0.19735194742679596, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6835700273513794, + "candidate_source_group_id": "ms-cdd9ca03b64c4145587b;ms-230391b47c390f51bc07;ms-0ee3134ab4e9435f2c2c;ms-65f4ea8ed88ed5301430;ms-0fb946120bcbd8ed0632;ms-2b6ab8760ea5d558797c", + "expert_regret": 1.8139354884624481, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8bbf7fcd90b4d11db2a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8139354884624481, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18606451153755188, + "restore_error": 1.1920928955078125e-07, + "score": 0.18606451153755188, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3961392045021057, + "candidate_source_group_id": "ms-020ab0b7cfa5045f3fc7;ms-daff16c01452c735345f;ms-a054eb19f228304d37aa;ms-ae1b8592cb57dbf2fe98;ms-97cdb4c400ad4ae36518;ms-15248c64e70b0dafcb33", + "expert_regret": 1.13912433385849, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a77b8d61c09ed6ea23a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.13912433385849, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.86087566614151, + "restore_error": 1.1920928955078125e-07, + "score": 0.86087566614151, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8418930768966675, + "candidate_source_group_id": "ms-20f3cfcf183c69853b1e;ms-e327fef230e956dab37c;ms-f50f1c1b673d0c96d4ce;ms-1a37fdd82d982ae6dbd8;ms-8b53e5dbab786b2e3b75;ms-d776afa14e6322cadedd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b30834b2c4e6b153624f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5571080446243286, + "candidate_source_group_id": "ms-5909e93ba4f8ed21d193;ms-4048f8f6e047422e3c79;ms-0949097d19e597fc7f63;ms-76774eb92b50132c54b6;ms-c9edb3f445256b0d5341;ms-8c83fb7e9f1a7a8ad58f", + "expert_regret": 1.8348049372434616, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-584d52e4f9515f695251", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8348049372434616, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1651950627565384, + "restore_error": 1.1920928955078125e-07, + "score": 0.1651950627565384, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.37842097878456116, + "candidate_source_group_id": "ms-daff16c01452c735345f;ms-60f5fff0649ceb50ab60;ms-5902e6c4037ecda77a5f;ms-97cdb4c400ad4ae36518;ms-0f2cd78c21a012784e1b;ms-87efe56140dec7d3ffb8", + "expert_regret": 1.415800392627716, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-64ff9614d692fd9dc48b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.415800392627716, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5841996073722839, + "restore_error": 1.1920928955078125e-07, + "score": 0.5841996073722839, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.07784940302371979, + "candidate_source_group_id": "ms-b6ce87522fcc35b563c7;ms-ecc526493f8048cf4c56;ms-38ed02dacc133a888d3a;ms-1cc18d88615939309d51;ms-f72b64534388e443b220;ms-2c6ff8d807763f665bac", + "expert_regret": 0.6183771193027496, + "expert_score": 0.8347060680389404, + "expert_success": false, + "group_id": "ms-016c5de39ed3c111889a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7836710512638092, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2163289487361908, + "restore_error": 1.1920928955078125e-07, + "score": 0.2163289487361908, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8489246368408203, + "candidate_source_group_id": "ms-daff16c01452c735345f;ms-15248c64e70b0dafcb33;ms-ae1b8592cb57dbf2fe98;ms-1c4ef17cdeed30bb2548;ms-020ab0b7cfa5045f3fc7;ms-13243cd92a78eba8c08b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8ccec039b839e612969b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3567885756492615, + "candidate_source_group_id": "ms-626991ad29d003c808f8;ms-3afd8959363e917591d4;ms-54f7cae3bd3cb84062d3;ms-dab618f516ccc10f176e;ms-76c9576538106cb9d5db;ms-bb70aa617f82f530d42e", + "expert_regret": 1.8300504684448242, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c52ffa349a79397da8c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8300504684448242, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16994953155517578, + "restore_error": 1.1920928955078125e-07, + "score": 0.16994953155517578, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8647618293762207, + "candidate_source_group_id": "ms-578fc3b8cbdbe6b0542f;ms-c9c7a51e43dd2c33de08;ms-edf898278a0dd01a5b37;ms-bdc0e2b6d589c1d90d69;ms-546f8817db5b76b563f0;ms-e9cb92d664266091b91d", + "expert_regret": 1.7629787474870682, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87d132d28bc30b07002b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7629787474870682, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23702125251293182, + "restore_error": 1.1920928955078125e-07, + "score": 0.23702125251293182, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9915837645530701, + "candidate_source_group_id": "ms-c9804ff90a86259f7149;ms-fd2387aeed9bfc9a0d08;ms-e3bbabc7ac3950eb91a2;ms-dc4738f9c7a8af86722d;ms-ecb37ebbab21a506d8ca;ms-d50a82b8770f333f1947", + "expert_regret": 1.8155767321586609, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-16850056120649fcc370", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8155767321586609, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1844232678413391, + "restore_error": 1.1920928955078125e-07, + "score": 0.1844232678413391, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3355259895324707, + "candidate_source_group_id": "ms-185c13ec401a35f393b7;ms-f5bc4935790fb8ef7b81;ms-ba396eb71806ac992acd;ms-c8706d0aa14a930236de;ms-269815a0f9c1a1ba5a6b;ms-61cb49c57a8600267d61", + "expert_regret": 1.8343620300292969, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ab5acce4dba71f19d5ad", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8343620300292969, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16563796997070312, + "restore_error": 1.1920928955078125e-07, + "score": 0.16563796997070312, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7249022722244263, + "candidate_source_group_id": "ms-500ed73f6d891e237b30;ms-2fef2f43af8009bb88f1;ms-7fba35a6c125e88b8f54;ms-79b745efd36e00515fa7;ms-ce827a7939377a151af9;ms-d6b0d6d7c66509eb4543", + "expert_regret": 1.835062712430954, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc1ca12b92e3561b95b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.835062712430954, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16493728756904602, + "restore_error": 1.1920928955078125e-07, + "score": 0.16493728756904602, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8368676900863647, + "candidate_source_group_id": "ms-95950ddf57046910494b;ms-783f5e7f8c889bef010e;ms-7ee2d50e0788ccf0cdec;ms-3ec29a5b20bd65943255;ms-12ea343fddf9f6e6b9e8;ms-98c0d73ae0085f97bab9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-578073df4f8fe9b936d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.19982753694057465, + "candidate_source_group_id": "ms-0cdb564903c69734321f;ms-f2509e6c3c468c4e30f0;ms-63a1574267ccbdaf6cc2;ms-4cab292bc65fa59274ef;ms-552acc881ce2bbff59f8;ms-52a2ef2f862cee509ce1", + "expert_regret": 0.0, + "expert_score": 0.8527635335922241, + "expert_success": false, + "group_id": "ms-875a4668671c02054a3c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8932272791862488, + "candidate_source_group_id": "ms-0180bfac51ce81b2b522;ms-a13e71cca2a60d77aed4;ms-ec0b095d57014b86f5e7;ms-1b50d8927c080cd97a79;ms-c9c7a51e43dd2c33de08;ms-d9e7096b437e7ce7cda8", + "expert_regret": 1.7931569665670395, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1e4219bffa35c646ebc9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7931569665670395, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2068430334329605, + "restore_error": 1.1920928955078125e-07, + "score": 0.2068430334329605, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2562890648841858, + "candidate_source_group_id": "ms-c8706d0aa14a930236de;ms-f5bc4935790fb8ef7b81;ms-da2f79e022bb63a2af11;ms-0ccc81e9a63663c50096;ms-ba396eb71806ac992acd;ms-185c13ec401a35f393b7", + "expert_regret": 0.6316317319869995, + "expert_score": 0.8165204524993896, + "expert_success": false, + "group_id": "ms-baba39ca95aa09893dc0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8151112794876099, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18488872051239014, + "restore_error": 1.1920928955078125e-07, + "score": 0.18488872051239014, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5956490635871887, + "candidate_source_group_id": "ms-b4f96b4975ceb839c5e3;ms-d1960368ef76bbb10669;ms-c4a4c6a275c817d8b03f;ms-554f2960f25ff627b596;ms-a5eb6b813b57d14f6573;ms-68067370d3b20b9bd4e2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6af11918833ace7c694", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + } + ], + "seed": 2, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 199, + "retrieval_residual_residual_near_miss": 78, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 80, + "retrieval_residual_residual_no_op": 76, + "retrieval_residual_residual_wrong_gripper": 142 + }, + "selected_residual_scale_counts": { + "0.35": 285, + "0.4": 124, + "0.45": 166 + }, + "selection_margin": 0.0, + "selection_mode": "retrieval_residual", + "split": "validation_groups" +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_r005_t005.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_r005_t005.json new file mode 100644 index 0000000000000000000000000000000000000000..df6406a8214cc4290ff4e03cc881a1935d1c8055 --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_r005_t005.json @@ -0,0 +1,12263 @@ +{ + "action_mse_to_best": 0.5257692634913584, + "backbone_model": null, + "backbone_type": "native", + "candidate_oracle_rollouts": 0, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_sigma": 0.0, + "candidate_type_bonus_components": false, + "candidate_type_bonuses": {}, + "candidate_type_bonuses_by_task": { + "*": { + "retrieval_residual_policy_residual": -0.00458823043418467, + "retrieval_residual_residual_near_miss": 0.007431936876798812, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.01051517594857762, + "retrieval_residual_residual_no_op": 0.00474103904753248, + "retrieval_residual_residual_wrong_gripper": -0.00795083217797747 + }, + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.003095641007872274, + "retrieval_residual_residual_near_miss": 0.02, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.01732570382525154, + "retrieval_residual_residual_no_op": -0.02, + "retrieval_residual_residual_wrong_gripper": -0.006446444076292291 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": -0.015809756605295388, + "retrieval_residual_residual_near_miss": -0.0025779907361789148, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.005494684456500882, + "retrieval_residual_residual_no_op": 0.02, + "retrieval_residual_residual_wrong_gripper": -0.008482263635836968 + } + }, + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/best_transport.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "expert_success_rate": 0.7704347826086957, + "field_optim_l2_penalty": 0.0, + "field_optim_step_size": 0.0, + "field_optim_steps": 0, + "field_optim_trust_radius": 0.0, + "field_rank_biases_by_task": { + "*": [ + 0.0, + -0.003197421364558978, + -0.004321483475228888, + -0.0059308911450934865 + ], + "LiftPegUpright-v1": [ + 0.0, + -0.006906117283102898, + -0.007782609904609106, + -0.009470702772314599 + ], + "PickCube-v1": [ + 0.0, + 0.0005861977038545186, + -0.0007904352998005904, + -0.002319568171867903 + ] + }, + "group_batch_size": 8, + "lattice_exclude_type_tasks": {}, + "lattice_exclude_types": [ + "residual_random_negative", + "residual_wrong_direction", + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper" + ], + "num_candidates": 48, + "num_groups": 575, + "objective": "lattice_field", + "observation_mode": "state", + "oracle_success_rate": 0.8765217391304347, + "per_task": { + "LiftPegUpright-v1": { + "action_mse_to_best": 0.45042866991328384, + "expert_success_rate": 0.8229166666666666, + "num_groups": 96, + "oracle_success_rate": 0.9270833333333334, + "policy_expert_regret": 0.8175432652545472, + "policy_oracle_regret": 0.9105787607841194, + "policy_rollout_progress": 0.6584464291421076, + "policy_rollout_success_rate": 0.3645833333333333, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "action_mse_to_best": 0.4548932581650789, + "expert_success_rate": 0.9444444444444444, + "num_groups": 198, + "oracle_success_rate": 0.9595959595959596, + "policy_expert_regret": 0.9681380781241589, + "policy_oracle_regret": 0.9752215286528673, + "policy_rollout_progress": 0.636167054572566, + "policy_rollout_success_rate": 0.3434343434343434, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "action_mse_to_best": 0.6710384032792516, + "expert_success_rate": 0.24444444444444444, + "num_groups": 90, + "oracle_success_rate": 0.4666666666666667, + "policy_expert_regret": 0.30672253066052996, + "policy_oracle_regret": 0.4516191322563423, + "policy_rollout_progress": 0.37575145092689327, + "policy_rollout_success_rate": 0.26666666666666666, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "action_mse_to_best": 0.5121625486281839, + "expert_success_rate": 0.8514851485148515, + "num_groups": 101, + "oracle_success_rate": 1.0, + "policy_expert_regret": 0.2486148280377435, + "policy_oracle_regret": 0.28494056705201026, + "policy_rollout_progress": 0.8635742844331382, + "policy_rollout_success_rate": 0.8514851485148515, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "action_mse_to_best": 0.6320603930287891, + "expert_success_rate": 0.7666666666666667, + "num_groups": 90, + "oracle_success_rate": 0.9111111111111111, + "policy_expert_regret": 1.0641816947195264, + "policy_oracle_regret": 1.200686883760823, + "policy_rollout_progress": 0.4873876669340663, + "policy_rollout_success_rate": 0.2111111111111111, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "policy_expert_regret": 0.7281164710418038, + "policy_oracle_regret": 0.7965147172562455, + "policy_rollout_progress": 0.6157834040665108, + "policy_rollout_success_rate": 0.40347826086956523, + "prepend_policy_candidate": false, + "proposal_lattice_types": [], + "proposal_types": [], + "restore_max_error": 2.384185791015625e-07, + "retrieval_metric": "raw", + "retrieval_neighbors": 6, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_anchor": "expert", + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_type_tasks": {}, + "retrieval_residual_challenger_types": [], + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_by_task": { + "*": 0.0, + "PickCube-v1": 0.01, + "StackCube-v1": 0.05 + }, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "rows": [ + { + "action_mse_to_best": 0.3290633261203766, + "candidate_source_group_id": "ms-59474486dd5cb4e5bfd5;ms-7aeb0835d3396e6666b6;ms-6e2b02ee71a4a44bc325;ms-61c099575bcff2de95e3;ms-d3377ca0da444ae9b40a;ms-7a0330e9e3189ff035d3", + "expert_regret": 1.302467167377472, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-debd7e5668e2acdf6bb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.302467167377472, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6975328326225281, + "restore_error": 1.1920928955078125e-07, + "score": 0.6975328326225281, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4052039086818695, + "candidate_source_group_id": "ms-4dc9ab19fbe571f09699;ms-4906f3adfda6dace862d;ms-502c195c0e4810814bac;ms-3661d65df223386f1be9;ms-8bc7aa419d17368d81b5;ms-ef8de99d917753ec603c", + "expert_regret": 0.0, + "expert_score": 0.7194880843162537, + "expert_success": false, + "group_id": "ms-ff3256da4e1731651937", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.7194880843162537, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4016408324241638, + "candidate_source_group_id": "ms-a74a87e26362d09598fe;ms-57dc9349b8f2c9c49105;ms-40eb8d19498413d4e730;ms-c090bce47703a4c4bb0b;ms-effca6c13ef9ccfd21a0;ms-9f844e24c570295e0497", + "expert_regret": 1.7972026467323303, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69785feff08dbf9a50be", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7972026467323303, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20279735326766968, + "restore_error": 1.1920928955078125e-07, + "score": 0.20279735326766968, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5760840177536011, + "candidate_source_group_id": "ms-22d006041320a4487c21;ms-1a2d298bf9972ddc1a7e;ms-6f03b16858c35025503e;ms-6ceb341dfa656e485a13;ms-851d25e7a1dde4242f33;ms-0a57aa04002f1b843856", + "expert_regret": 1.431125521659851, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d2febdb2a469fbbac4f2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.431125521659851, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5688744783401489, + "restore_error": 1.1920928955078125e-07, + "score": 0.5688744783401489, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4137933552265167, + "candidate_source_group_id": "ms-4906f3adfda6dace862d;ms-3661d65df223386f1be9;ms-c871c1157a16e19e6150;ms-caeb4c3d358f256799a8;ms-9f993a6e9bb26846d4f4;ms-131a98e2d4a78a9645f8", + "expert_regret": 1.2771730422973633, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c638b9bb924547f69cb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2771730422973633, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7228269577026367, + "restore_error": 1.1920928955078125e-07, + "score": 0.7228269577026367, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39851874113082886, + "candidate_source_group_id": "ms-dbad4f4d0df3c19c7bbb;ms-5b4f2522663bec742b02;ms-62b88f5cbc4f137e3bba;ms-f5ebbab81506fa27fc6d;ms-737e72810112f3246b05;ms-8864796e31bbe93d7c5d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a323215fb409ab3e9287", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5583524703979492, + "candidate_source_group_id": "ms-6ceb341dfa656e485a13;ms-d5241a32e5c9de09f2e4;ms-6f03b16858c35025503e;ms-093472a082b3b61e73d6;ms-87fa87e06dc88c28a44f;ms-1a2d298bf9972ddc1a7e", + "expert_regret": 1.2747490406036377, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-27251a7c7f13bf165e21", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2747490406036377, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7252509593963623, + "restore_error": 1.1920928955078125e-07, + "score": 0.7252509593963623, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5843793153762817, + "candidate_source_group_id": "ms-605dbfbe6bef2b15b58c;ms-3d862f2a32d3404926c3;ms-5cc5e6359fc006559eae;ms-f2c8835e8a162283a646;ms-cc5f2a24e2571cb23050;ms-7a0330e9e3189ff035d3", + "expert_regret": 1.283086359500885, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-59bff662e0ecb913ed81", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.283086359500885, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.716913640499115, + "restore_error": 1.1920928955078125e-07, + "score": 0.716913640499115, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3172013759613037, + "candidate_source_group_id": "ms-a4420cda0b159dda82a2;ms-aedc3dee6e275342eb8f;ms-c7c812bb98308442d95b;ms-97c28a7584b35207bf84;ms-062addb9da32a0c2ea97;ms-780ea60ea0255941e6c8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-684a66885f21739d826b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42845267057418823, + "candidate_source_group_id": "ms-a4420cda0b159dda82a2;ms-aedc3dee6e275342eb8f;ms-97c28a7584b35207bf84;ms-062addb9da32a0c2ea97;ms-1e41619ab39cf51b7822;ms-c7c812bb98308442d95b", + "expert_regret": 1.310312271118164, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc29afbe2bbf00638d25", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.310312271118164, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6896877288818359, + "restore_error": 1.1920928955078125e-07, + "score": 0.6896877288818359, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3442959785461426, + "candidate_source_group_id": "ms-22aaa483f5e7d381b63d;ms-3a09e411ee6c882ef7df;ms-d26dc2146eb8ae9a5434;ms-2b59042e27453aff03a7;ms-e4090b0b0c1739070201;ms-c3818c2c4474a784fc6b", + "expert_regret": 1.285163164138794, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ef5d3238b33bdebae4d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.285163164138794, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.714836835861206, + "restore_error": 1.1920928955078125e-07, + "score": 0.714836835861206, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3303062617778778, + "candidate_source_group_id": "ms-97c28a7584b35207bf84;ms-c7c812bb98308442d95b;ms-062addb9da32a0c2ea97;ms-a4420cda0b159dda82a2;ms-6c7f34ae8218aa0952c8;ms-74c9fc741b846b5019af", + "expert_regret": 1.5789548456668854, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-35babd5f83dcf1561f9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5789548456668854, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4210451543331146, + "restore_error": 1.1920928955078125e-07, + "score": 0.4210451543331146, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.25173220038414, + "candidate_source_group_id": "ms-31fe1d98bc7adcd515db;ms-0a6bff8326e7e32702f3;ms-bbefdf03d0471be60f8f;ms-ea164b21572d39ffed58;ms-06cb0796d1097e6ca111;ms-bc56601ca069f65cd08f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f6f0d14ef7c24b9e4621", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.21077457070350647, + "candidate_source_group_id": "ms-e3526036a5bf85cac0bf;ms-e0952f3218e0bf6fe027;ms-3aa33c0fda88e08e75fa;ms-d3a7e3f163b142a3e56b;ms-3efca8ee8623914a4faf;ms-a242f1d12ebfcd82de05", + "expert_regret": 1.6894308924674988, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-760c73ea34418ce7a006", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6894308924674988, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3105691075325012, + "restore_error": 1.1920928955078125e-07, + "score": 0.3105691075325012, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2584921717643738, + "candidate_source_group_id": "ms-908213fef55ccf1dfda6;ms-472376eba1a5e1c706bf;ms-785fb44f1371895f7721;ms-067e0fe46e4e9483e2a1;ms-76b0b0463fdb323b6233;ms-e3f38594991aafbffc23", + "expert_regret": 0.0, + "expert_score": 0.6740819811820984, + "expert_success": false, + "group_id": "ms-dfc38c43e9a87f99ef7f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.1462364196777344, + "candidate_source_group_id": "ms-30e2d8b7825053276e0c;ms-e12808f670338ca180c6;ms-8c8cf210aa675c5db1fe;ms-715db95b13ebc6c977c8;ms-c0ed69f549e56aa55f3d;ms-320d99264926ea029f95", + "expert_regret": 1.78958398103714, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-251c1dfd1010906f559f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.78958398103714, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2104160189628601, + "restore_error": 1.1920928955078125e-07, + "score": 0.2104160189628601, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.47235536575317383, + "candidate_source_group_id": "ms-aee5716b3e4fc47e46ba;ms-b933fbfb7c8fa68a445f;ms-8b18ea4e0982a1352696;ms-7272e1e33d4ecc07470c;ms-145f60d5fff285e7d05b;ms-062a265cedee2107eb17", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cc0b4a1deec28e53722a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7273083925247192, + "candidate_source_group_id": "ms-639913ac0e6b3997faae;ms-f97bd60d5430c32f9494;ms-f1eb6805ec9b483bba41;ms-cf7bdf0776c928ee2342;ms-bbaa576369a59660ecdd;ms-dd0fad10ce064047d62e", + "expert_regret": 1.7744708210229874, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b00933d2f628bc51d80a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7744708210229874, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22552917897701263, + "restore_error": 1.1920928955078125e-07, + "score": 0.22552917897701263, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.400958389043808, + "candidate_source_group_id": "ms-50b9f93dd246400d20c8;ms-85fcc6b4797417c3473f;ms-17a5e9b7bd8c1f255307;ms-40eb8d19498413d4e730;ms-ce7b349699ed248bb67c;ms-effca6c13ef9ccfd21a0", + "expert_regret": 0.3992581069469452, + "expert_score": 0.7258185148239136, + "expert_success": false, + "group_id": "ms-a829d650eb9914fb2983", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.3992581069469452, + "oracle_score": 0.7258185148239136, + "oracle_success": false, + "progress": 0.3265604078769684, + "restore_error": 1.1920928955078125e-07, + "score": 0.3265604078769684, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.06125998497009277, + "candidate_source_group_id": "ms-4b3a296acc66a14476c3;ms-662379c2c351807b9cdf;ms-80d8d8fc4a3308139975;ms-a40abdebe8a9c17de878;ms-ef2d84500e27679d22d9;ms-ed30f8fbb80b2cf46fbc", + "expert_regret": 0.0, + "expert_score": 0.695741593837738, + "expert_success": false, + "group_id": "ms-5799584ed40e211c50a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.570219099521637, + "candidate_source_group_id": "ms-fe790caba27d92511f71;ms-36f204d04ec4c4af3169;ms-34f60c9a263bd0a5641f;ms-faeff0379a053e9ea351;ms-76b0b0463fdb323b6233;ms-2f1164357c9732e059d4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-caa0a38b7df789550f8a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2293926179409027, + "candidate_source_group_id": "ms-080e034927abe2f30d60;ms-7dfc3684b46df95070e2;ms-1145e0f6add300eee9bd;ms-13aa39b96923ad8c913a;ms-bdb04ada069c35d51e2e;ms-3e0dbff4309ecbd35d36", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a4ade4de51ca437ac432", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41061142086982727, + "candidate_source_group_id": "ms-97c28a7584b35207bf84;ms-a4420cda0b159dda82a2;ms-c7c812bb98308442d95b;ms-32943eea3e70cd02f313;ms-062addb9da32a0c2ea97;ms-73e3079ce5eb7cd14ec8", + "expert_regret": 1.285853385925293, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-076246c4c5d1ca8ccd9d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.285853385925293, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.714146614074707, + "restore_error": 1.1920928955078125e-07, + "score": 0.714146614074707, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.47833913564682007, + "candidate_source_group_id": "ms-6ceb341dfa656e485a13;ms-6f03b16858c35025503e;ms-1a2d298bf9972ddc1a7e;ms-093472a082b3b61e73d6;ms-b60078e9e6ea9c26dedc;ms-d5241a32e5c9de09f2e4", + "expert_regret": 1.6249901056289673, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2d1a5e132eaeb353782", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6249901056289673, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3750098943710327, + "restore_error": 1.1920928955078125e-07, + "score": 0.3750098943710327, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4365829825401306, + "candidate_source_group_id": "ms-67b6e4d62036c13cc466;ms-f97bd60d5430c32f9494;ms-639913ac0e6b3997faae;ms-87fa87e06dc88c28a44f;ms-093472a082b3b61e73d6;ms-f63a0e43f0923369edc3", + "expert_regret": 1.2859704494476318, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ace117030ae44c474db1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2859704494476318, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7140295505523682, + "restore_error": 1.1920928955078125e-07, + "score": 0.7140295505523682, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.06271909922361374, + "candidate_source_group_id": "ms-ec2e4afb34b439731136;ms-e1b6bcb41532a800d3cb;ms-33a0bdb4bcee42c79a2b;ms-c2b904f450b45e2a8c9a;ms-29a11d7bdcf49c86bd7a;ms-320d99264926ea029f95", + "expert_regret": 0.0039064884185791016, + "expert_score": 0.7265902757644653, + "expert_success": false, + "group_id": "ms-13d8bae55d3c3710138f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2773162126541138, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7226837873458862, + "restore_error": 1.1920928955078125e-07, + "score": 0.7226837873458862, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.568795382976532, + "candidate_source_group_id": "ms-ef2d84500e27679d22d9;ms-957002faf092f769aa8e;ms-ea41340182245326a218;ms-a96ff9a1d5571ec4a6f2;ms-80d8d8fc4a3308139975;ms-4b3a296acc66a14476c3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d8295b43b30ceea30907", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48750588297843933, + "candidate_source_group_id": "ms-f1eb6805ec9b483bba41;ms-f97bd60d5430c32f9494;ms-dd0fad10ce064047d62e;ms-1d5ca9681600acdaba39;ms-02663903d88aa84c9c10;ms-9756d07ed207e9ab1d53", + "expert_regret": 1.6342549920082092, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-40a961867249ddccb68f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6342549920082092, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.36574500799179077, + "restore_error": 1.1920928955078125e-07, + "score": 0.36574500799179077, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37122634053230286, + "candidate_source_group_id": "ms-043a17d678e610264bb8;ms-88f748134c3fd27fcf72;ms-062addb9da32a0c2ea97;ms-c1f3359c70d068a36081;ms-a4420cda0b159dda82a2;ms-dd94921779f12b249579", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6a03497f97765ffd444e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3893188536167145, + "candidate_source_group_id": "ms-c7c812bb98308442d95b;ms-97c28a7584b35207bf84;ms-062addb9da32a0c2ea97;ms-a4420cda0b159dda82a2;ms-6c7f34ae8218aa0952c8;ms-74c9fc741b846b5019af", + "expert_regret": 1.4691587686538696, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5a56eefeb2de0abe600", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4691587686538696, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5308412313461304, + "restore_error": 1.1920928955078125e-07, + "score": 0.5308412313461304, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3576919436454773, + "candidate_source_group_id": "ms-3661d65df223386f1be9;ms-4906f3adfda6dace862d;ms-502c195c0e4810814bac;ms-4dc9ab19fbe571f09699;ms-9f993a6e9bb26846d4f4;ms-c871c1157a16e19e6150", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1b8e9b173562648021f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31439557671546936, + "candidate_source_group_id": "ms-988537a36edfece3d073;ms-3e0dbff4309ecbd35d36;ms-cdbfe4d3b05f4ed12db3;ms-3db845076f92a16d1840;ms-25195d526c9adb43ac79;ms-9f993a6e9bb26846d4f4", + "expert_regret": 1.306308627128601, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9c33d4837de7d23232d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.306308627128601, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6936913728713989, + "restore_error": 1.1920928955078125e-07, + "score": 0.6936913728713989, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3532887101173401, + "candidate_source_group_id": "ms-4dc9ab19fbe571f09699;ms-502c195c0e4810814bac;ms-ef8de99d917753ec603c;ms-3661d65df223386f1be9;ms-9f993a6e9bb26846d4f4;ms-caeb4c3d358f256799a8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7cd314f076bfe5c32088", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.955777406692505e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30966275930404663, + "candidate_source_group_id": "ms-bdb04ada069c35d51e2e;ms-3e0dbff4309ecbd35d36;ms-3661d65df223386f1be9;ms-13aa39b96923ad8c913a;ms-7dfc3684b46df95070e2;ms-080e034927abe2f30d60", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5bbc4c4b1b51e2a088db", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.955777406692505e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.01300532091408968, + "candidate_source_group_id": "ms-3efca8ee8623914a4faf;ms-3a09e411ee6c882ef7df;ms-e3526036a5bf85cac0bf;ms-22aaa483f5e7d381b63d;ms-2b59042e27453aff03a7;ms-9fd14cc61816c2d4360e", + "expert_regret": 0.0, + "expert_score": 0.7146890163421631, + "expert_success": false, + "group_id": "ms-b483cac145e16ccdf42a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.271771788597107, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7282282114028931, + "restore_error": 1.955777406692505e-07, + "score": 0.7282282114028931, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.506008505821228, + "candidate_source_group_id": "ms-a40abdebe8a9c17de878;ms-662379c2c351807b9cdf;ms-ecb5cc61f0b736e3f06f;ms-ed30f8fbb80b2cf46fbc;ms-80d8d8fc4a3308139975;ms-89feb4366865cfaf2273", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-96e1562aaca7ef49db28", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.955777406692505e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5021568536758423, + "candidate_source_group_id": "ms-40392e5aeef63551f9ac;ms-e2f90eb6c79dfd9ce6fd;ms-c0142e4a5d15dd8d647a;ms-67b6e4d62036c13cc466;ms-cf2603516869355b8b13;ms-524ae7618ed9b6a272ae", + "expert_regret": 1.321753740310669, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-49c99f285560483a85ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.321753740310669, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.678246259689331, + "restore_error": 1.955777406692505e-07, + "score": 0.678246259689331, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.4717899560928345, + "candidate_source_group_id": "ms-e7573c5d29c3a1a3f228;ms-30e2d8b7825053276e0c;ms-320d99264926ea029f95;ms-8c8cf210aa675c5db1fe;ms-c910a469460f71880556;ms-1bbd61ce613ae75c8bb0", + "expert_regret": 1.780499592423439, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-af91167a0cf15457c6ba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.780499592423439, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21950040757656097, + "restore_error": 1.955777406692505e-07, + "score": 0.21950040757656097, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2846800982952118, + "candidate_source_group_id": "ms-e12808f670338ca180c6;ms-30e2d8b7825053276e0c;ms-1bbd61ce613ae75c8bb0;ms-715db95b13ebc6c977c8;ms-320d99264926ea029f95;ms-648250f7c25953eab081", + "expert_regret": 0.5122059732675552, + "expert_score": 0.7225138545036316, + "expert_success": false, + "group_id": "ms-4b4cd12d70c0615e0930", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7896921187639236, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21030788123607635, + "restore_error": 1.955777406692505e-07, + "score": 0.21030788123607635, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34828656911849976, + "candidate_source_group_id": "ms-c7677b8f230103dd3c51;ms-e705fef3e4caa4c49718;ms-0fe90299788e1f71f98a;ms-865f9d670f806778ae61;ms-0251a326271aa1cab82b;ms-619d3d285d2cae3abbb9", + "expert_regret": 1.56066232919693, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5dcf9054c3c1c4e1d50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.56066232919693, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.43933767080307007, + "restore_error": 1.955777406692505e-07, + "score": 0.43933767080307007, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5218817591667175, + "candidate_source_group_id": "ms-8e23d2d44e709420e46d;ms-83019373a06eb384c886;ms-cbd6cc8b2708d5e3e4a9;ms-91710558482886874dd7;ms-5b4f2522663bec742b02;ms-f5ebbab81506fa27fc6d", + "expert_regret": 1.3410197496414185, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5fb06efe2b4bea27cc89", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.3410197496414185, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6589802503585815, + "restore_error": 1.1920928955078125e-07, + "score": 0.6589802503585815, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16975267231464386, + "candidate_source_group_id": "ms-3f56672eac1c00e9c2b0;ms-059d7962a5f998edf668;ms-faeff0379a053e9ea351;ms-9156a9a9c1b829b742ad;ms-e3f38594991aafbffc23;ms-908213fef55ccf1dfda6", + "expert_regret": 0.0, + "expert_score": 0.7031490206718445, + "expert_success": false, + "group_id": "ms-e2950dcb50ed2b955be6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.7267410159111023, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48562636971473694, + "candidate_source_group_id": "ms-4c72a9ad08cbf51799fb;ms-8c4a08985213114fffb7;ms-d602b7370c5b90f8a439;ms-894cd0e5dafb2d38831d;ms-3996b923bb25440c29e3;ms-7b1a03be4a61ba27261c", + "expert_regret": 1.277206540107727, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-55e89d326b6531345902", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.277206540107727, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.722793459892273, + "restore_error": 1.1920928955078125e-07, + "score": 0.722793459892273, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.502928614616394, + "candidate_source_group_id": "ms-67b6e4d62036c13cc466;ms-f63a0e43f0923369edc3;ms-02663903d88aa84c9c10;ms-093472a082b3b61e73d6;ms-f97bd60d5430c32f9494;ms-f1eb6805ec9b483bba41", + "expert_regret": 1.7896972596645355, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2c6000014d31fc0bb21c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7896972596645355, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21030274033546448, + "restore_error": 1.1920928955078125e-07, + "score": 0.21030274033546448, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42057356238365173, + "candidate_source_group_id": "ms-c7c812bb98308442d95b;ms-d229ac64c91c9bb6ce88;ms-a4420cda0b159dda82a2;ms-88f748134c3fd27fcf72;ms-780ea60ea0255941e6c8;ms-97c28a7584b35207bf84", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08ab006a923f5fdae198", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.27672091126441956, + "candidate_source_group_id": "ms-af25c332ad54eee6e1c3;ms-de68dbb7daad3e3a71fe;ms-fdf18cd6260d82226927;ms-074b26fed4c4a9dd3449;ms-4a845dab9503bc4eba04;ms-c146ea1c89beb683b6fd", + "expert_regret": 1.543524980545044, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a6cf775fbba580161c4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.543524980545044, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.45647501945495605, + "restore_error": 1.1920928955078125e-07, + "score": 0.45647501945495605, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.062252726405858994, + "candidate_source_group_id": "ms-145f60d5fff285e7d05b;ms-7272e1e33d4ecc07470c;ms-6e268d1e2915740816a1;ms-d3377ca0da444ae9b40a;ms-8b18ea4e0982a1352696;ms-aee5716b3e4fc47e46ba", + "expert_regret": 0.062387049198150635, + "expert_score": 0.724672257900238, + "expert_success": false, + "group_id": "ms-9ced92cccacfe4d157b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3377147912979126, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6622852087020874, + "restore_error": 1.1920928955078125e-07, + "score": 0.6622852087020874, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6100326180458069, + "candidate_source_group_id": "ms-8e23d2d44e709420e46d;ms-91710558482886874dd7;ms-83019373a06eb384c886;ms-62b88f5cbc4f137e3bba;ms-5b4f2522663bec742b02;ms-f5ebbab81506fa27fc6d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-490e2c471adbabec6304", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6862500309944153, + "candidate_source_group_id": "ms-ea41340182245326a218;ms-957002faf092f769aa8e;ms-ef2d84500e27679d22d9;ms-a96ff9a1d5571ec4a6f2;ms-4b3a296acc66a14476c3;ms-fa077183f74add357112", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-88fb2bebd038dc786c01", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.21861067414283752, + "candidate_source_group_id": "ms-118ba8926eda06ffc61e;ms-c76aba3db8d4ce0062bc;ms-b933fbfb7c8fa68a445f;ms-ec4accef21246e0c9213;ms-a1a99e83fb2868164e40;ms-aa46bb6dc8e6274963b6", + "expert_regret": 1.3550251722335815, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9a72e47e2204fa794718", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3550251722335815, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6449748277664185, + "restore_error": 1.1920928955078125e-07, + "score": 0.6449748277664185, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.9083303213119507, + "candidate_source_group_id": "ms-35c12c467fb8a54f89f0;ms-f3211ecde366ca9f6ac7;ms-ba9541c7192498a1d8bd;ms-3af721139694f7f3ec04;ms-a43b35c03282fe0c8464;ms-3c550bf52d7bf91f4ca2", + "expert_regret": 0.5228349715471268, + "expert_score": 0.7269833087921143, + "expert_success": false, + "group_id": "ms-de8d6051e6ee74b62fec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5228349715471268, + "oracle_score": 0.7269833087921143, + "oracle_success": false, + "progress": 0.2041483372449875, + "restore_error": 1.1920928955078125e-07, + "score": 0.2041483372449875, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35652971267700195, + "candidate_source_group_id": "ms-02cacb03f445c8a460e8;ms-8bc7aa419d17368d81b5;ms-7334e620435d1f3545fd;ms-136f1ebebd0b697c3310;ms-a6e4ac1995198def96a8;ms-510cafd84de611de3909", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f24ad2e217963943c12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36151936650276184, + "candidate_source_group_id": "ms-3c1e7b47135487435fc1;ms-e89a3ba400f81d2795f3;ms-31fe1d98bc7adcd515db;ms-074cb86179cdd7f52737;ms-8bab784ae53525967763;ms-131a98e2d4a78a9645f8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-675833805d1139c2f2a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.331878662109375, + "candidate_source_group_id": "ms-340913cb08bfca09a4e3;ms-e536e40f6902c6ba0927;ms-f0d2ffde521e268efc83;ms-457db124a2f46a06175b;ms-b4281a37b8b48a0b4c54;ms-01ab68aa5051226638ee", + "expert_regret": 1.6553326845169067, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fdb2637276b27c46c757", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6553326845169067, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.34466731548309326, + "restore_error": 1.1920928955078125e-07, + "score": 0.34466731548309326, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5676584839820862, + "candidate_source_group_id": "ms-a5bd3a36c6fe41cd0b35;ms-c9e0182d4090ddaa991c;ms-cf44ae14778c60c36af0;ms-0a57aa04002f1b843856;ms-6f03b16858c35025503e;ms-1a2d298bf9972ddc1a7e", + "expert_regret": 1.6448251008987427, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9f4b47c80d59166302ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6448251008987427, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3551748991012573, + "restore_error": 1.1920928955078125e-07, + "score": 0.3551748991012573, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4225463271141052, + "candidate_source_group_id": "ms-ff012c1c8597c8db3cc7;ms-b55ca348be8b64323714;ms-d8f42ed6b0b686d819ab;ms-a195f05e99bccc48907e;ms-2f2b16367db3db120235;ms-84264ef080ec4f3631df", + "expert_regret": 1.6120499968528748, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-80e3d8a34c3cb94cad65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6120499968528748, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.38795000314712524, + "restore_error": 1.1920928955078125e-07, + "score": 0.38795000314712524, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.28298020362854004, + "candidate_source_group_id": "ms-6e2b02ee71a4a44bc325;ms-a6e4ac1995198def96a8;ms-e89a3ba400f81d2795f3;ms-136f1ebebd0b697c3310;ms-59474486dd5cb4e5bfd5;ms-118ba8926eda06ffc61e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bb567fcac946f012535a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4176461398601532, + "candidate_source_group_id": "ms-a4420cda0b159dda82a2;ms-aedc3dee6e275342eb8f;ms-97c28a7584b35207bf84;ms-73e3079ce5eb7cd14ec8;ms-062addb9da32a0c2ea97;ms-32943eea3e70cd02f313", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-507199452c6d42562a38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3114907145500183, + "candidate_source_group_id": "ms-7a0330e9e3189ff035d3;ms-8b18ea4e0982a1352696;ms-d3377ca0da444ae9b40a;ms-54b1042de0891da7c07e;ms-cc5f2a24e2571cb23050;ms-7aeb0835d3396e6666b6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ac6e78b1c56d020d0c09", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5282514691352844, + "candidate_source_group_id": "ms-c2b904f450b45e2a8c9a;ms-29a11d7bdcf49c86bd7a;ms-ec2e4afb34b439731136;ms-715db95b13ebc6c977c8;ms-e1b6bcb41532a800d3cb;ms-320d99264926ea029f95", + "expert_regret": 1.7805708646774292, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9852b3671856321cecc8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7805708646774292, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2194291353225708, + "restore_error": 1.1920928955078125e-07, + "score": 0.2194291353225708, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5794914960861206, + "candidate_source_group_id": "ms-f1eb6805ec9b483bba41;ms-f97bd60d5430c32f9494;ms-1d5ca9681600acdaba39;ms-87fa87e06dc88c28a44f;ms-639913ac0e6b3997faae;ms-dd0fad10ce064047d62e", + "expert_regret": 1.3991202116012573, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a99d874a81bc60301007", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3991202116012573, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6008797883987427, + "restore_error": 1.1920928955078125e-07, + "score": 0.6008797883987427, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.29921403527259827, + "candidate_source_group_id": "ms-fc9b4c94b51f8b2a521b;ms-22d1b2dcc954dcdff384;ms-3176a570b75767d1d729;ms-fc3c8a3572fd96442723;ms-52ea0261959dfacdbcac;ms-3a97ee208c6be9ed8b74", + "expert_regret": 1.6278697848320007, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b025d8068f740557d630", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6278697848320007, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.37213021516799927, + "restore_error": 1.1920928955078125e-07, + "score": 0.37213021516799927, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.024824464693665504, + "candidate_source_group_id": "ms-261f6f6b578cee63be20;ms-8054283375aeefc8f2c1;ms-e91b824c3841686ed053;ms-48db1178206eee52434a;ms-35d84da6eb1afcf8a811;ms-7a3daad6772d2384ea66", + "expert_regret": 0.03360700607299805, + "expert_score": 0.7271000146865845, + "expert_success": false, + "group_id": "ms-fb131b52f94500da894b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3065069913864136, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6934930086135864, + "restore_error": 1.1920928955078125e-07, + "score": 0.6934930086135864, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.15223349630832672, + "candidate_source_group_id": "ms-1cb9edbe8bd7ed4106c1;ms-832f0e966173abd16c34;ms-bbefdf03d0471be60f8f;ms-0f02ff35b7fa1234c52e;ms-06cb0796d1097e6ca111;ms-becd2ffef1c49174810a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-73259d17883355f7fa88", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.708191990852356, + "candidate_source_group_id": "ms-059d7962a5f998edf668;ms-3f56672eac1c00e9c2b0;ms-e3f38594991aafbffc23;ms-908213fef55ccf1dfda6;ms-faeff0379a053e9ea351;ms-472376eba1a5e1c706bf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-26322bd4de52dbd5743c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5003231763839722, + "candidate_source_group_id": "ms-a40abdebe8a9c17de878;ms-662379c2c351807b9cdf;ms-ecb5cc61f0b736e3f06f;ms-80d8d8fc4a3308139975;ms-ed30f8fbb80b2cf46fbc;ms-d1cc32a5c52e78aa5e39", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a1b60ea1461eb460bed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3806215822696686, + "candidate_source_group_id": "ms-b55ca348be8b64323714;ms-a195f05e99bccc48907e;ms-84264ef080ec4f3631df;ms-d8f42ed6b0b686d819ab;ms-e825996818ee6f2f7d26;ms-2f2b16367db3db120235", + "expert_regret": 1.5744295120239258, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6a9c4c704edd84c21cda", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5744295120239258, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4255704879760742, + "restore_error": 1.1920928955078125e-07, + "score": 0.4255704879760742, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.9886152148246765, + "candidate_source_group_id": "ms-8f3d4e1d07bb5dcc7c57;ms-a103dfbc0567d05ade6e;ms-95264bfdaa3892cf66ac;ms-33a0bdb4bcee42c79a2b;ms-0e48a13af39db4a58bbc;ms-c910a469460f71880556", + "expert_regret": 1.7652293741703033, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dfc111660c0d1c7b7e04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7652293741703033, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23477062582969666, + "restore_error": 1.1920928955078125e-07, + "score": 0.23477062582969666, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.5441019535064697, + "candidate_source_group_id": "ms-288ce929957d627c569c;ms-89520c3ac8779d9e81e7;ms-0e48a13af39db4a58bbc;ms-c910a469460f71880556;ms-30e2d8b7825053276e0c;ms-e7573c5d29c3a1a3f228", + "expert_regret": 1.7856831103563309, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-efb5a07185a3a1b33226", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7856831103563309, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21431688964366913, + "restore_error": 1.1920928955078125e-07, + "score": 0.21431688964366913, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1430424600839615, + "candidate_source_group_id": "ms-99f263cb3f383b1f6243;ms-aa46bb6dc8e6274963b6;ms-28c139f34a954b692962;ms-ec4accef21246e0c9213;ms-c76aba3db8d4ce0062bc;ms-b0302a41f75a827cd4e4", + "expert_regret": 1.746495544910431, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-575bd87a5da90963019d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.746495544910431, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2535044550895691, + "restore_error": 1.1920928955078125e-07, + "score": 0.2535044550895691, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.555015504360199, + "candidate_source_group_id": "ms-4b3a296acc66a14476c3;ms-ef2d84500e27679d22d9;ms-662379c2c351807b9cdf;ms-80d8d8fc4a3308139975;ms-ed30f8fbb80b2cf46fbc;ms-a40abdebe8a9c17de878", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b383acd9844466b19579", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5629571080207825, + "candidate_source_group_id": "ms-87fa87e06dc88c28a44f;ms-1d5ca9681600acdaba39;ms-6ceb341dfa656e485a13;ms-093472a082b3b61e73d6;ms-d5241a32e5c9de09f2e4;ms-6f03b16858c35025503e", + "expert_regret": 1.5844866633415222, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-741e906eafd57d115b5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5844866633415222, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4155133366584778, + "restore_error": 1.1920928955078125e-07, + "score": 0.4155133366584778, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32941243052482605, + "candidate_source_group_id": "ms-865f9d670f806778ae61;ms-619d3d285d2cae3abbb9;ms-c7677b8f230103dd3c51;ms-88f7199271947fc4c7e8;ms-c090bce47703a4c4bb0b;ms-e705fef3e4caa4c49718", + "expert_regret": 0.5238056480884552, + "expert_score": 0.7231871485710144, + "expert_success": false, + "group_id": "ms-64a755437c34f39cda2a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5238056480884552, + "oracle_score": 0.7231871485710144, + "oracle_success": false, + "progress": 0.1993815004825592, + "restore_error": 1.1920928955078125e-07, + "score": 0.1993815004825592, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5389226675033569, + "candidate_source_group_id": "ms-aee5716b3e4fc47e46ba;ms-59474486dd5cb4e5bfd5;ms-d3377ca0da444ae9b40a;ms-7aeb0835d3396e6666b6;ms-6e2b02ee71a4a44bc325;ms-7a0330e9e3189ff035d3", + "expert_regret": 0.011125326156616211, + "expert_score": 0.7251858115196228, + "expert_success": false, + "group_id": "ms-92070f417bd9d14d6fc7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.011125326156616211, + "oracle_score": 0.7251858115196228, + "oracle_success": false, + "progress": 0.7140604853630066, + "restore_error": 1.1920928955078125e-07, + "score": 0.7140604853630066, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4585074782371521, + "candidate_source_group_id": "ms-7a3daad6772d2384ea66;ms-2f2b16367db3db120235;ms-84264ef080ec4f3631df;ms-1d728ae415a4d3cb782e;ms-01a86e5f5731af7002ab;ms-e91b824c3841686ed053", + "expert_regret": 1.4172101616859436, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e56b37f0e3881a70ef54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4172101616859436, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5827898383140564, + "restore_error": 1.1920928955078125e-07, + "score": 0.5827898383140564, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.579157829284668, + "candidate_source_group_id": "ms-9156a9a9c1b829b742ad;ms-059d7962a5f998edf668;ms-e3f38594991aafbffc23;ms-908213fef55ccf1dfda6;ms-3f56672eac1c00e9c2b0;ms-472376eba1a5e1c706bf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb329ccd569163c53415", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.3383508920669556, + "candidate_source_group_id": "ms-1955408aeb8a8a4d0847;ms-8b15f77ad3436ac282ba;ms-50b9f93dd246400d20c8;ms-9b687dc2de14c6813d44;ms-524ae7618ed9b6a272ae;ms-8a9e7d69f7ade362fe40", + "expert_regret": 1.7739738821983337, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-917b0f051489227842f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7739738821983337, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22602611780166626, + "restore_error": 1.1920928955078125e-07, + "score": 0.22602611780166626, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.650115966796875, + "candidate_source_group_id": "ms-715db95b13ebc6c977c8;ms-ec2e4afb34b439731136;ms-29a11d7bdcf49c86bd7a;ms-648250f7c25953eab081;ms-68d9596217cc37c949c4;ms-36d1128e3bd512cffe18", + "expert_regret": 1.8035843968391418, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28835618507e7bc71227", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8035843968391418, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19641560316085815, + "restore_error": 1.1920928955078125e-07, + "score": 0.19641560316085815, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1924881786108017, + "candidate_source_group_id": "ms-3d862f2a32d3404926c3;ms-605dbfbe6bef2b15b58c;ms-f2c8835e8a162283a646;ms-5cc5e6359fc006559eae;ms-6abc3749b5df33ea621e;ms-8b18ea4e0982a1352696", + "expert_regret": 0.004888713359832764, + "expert_score": 0.7208024859428406, + "expert_success": false, + "group_id": "ms-502dba1003c09ec60ba0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2840862274169922, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7159137725830078, + "restore_error": 1.1920928955078125e-07, + "score": 0.7159137725830078, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3068009316921234, + "candidate_source_group_id": "ms-28fe4b5a2888189c28d9;ms-9257b89b9b635a0fb174;ms-3176a570b75767d1d729;ms-9554f100dd5be3a4fa47;ms-d799435b5f6b8fae2ffb;ms-a905b84bd3ab703c025f", + "expert_regret": 1.798503816127777, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf8c5d9c874edc9f000d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.798503816127777, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2014961838722229, + "restore_error": 1.1920928955078125e-07, + "score": 0.2014961838722229, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6295377612113953, + "candidate_source_group_id": "ms-fae3c6a2f1b575ddc3f7;ms-4b3a296acc66a14476c3;ms-a96ff9a1d5571ec4a6f2;ms-ed4f6388ae96f9da76fa;ms-ef2d84500e27679d22d9;ms-80d8d8fc4a3308139975", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d2839c13649000454a65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4947667717933655, + "candidate_source_group_id": "ms-5fc588b9c9d52034f4c4;ms-30e4ae59842091fe16b2;ms-125287f805d320b2eff7;ms-f4060cdbe6d39b9215ac;ms-14a2c3eb293175cb76f3;ms-a905b84bd3ab703c025f", + "expert_regret": 1.7869701087474823, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01bef10a5ccfd38294fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7869701087474823, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2130298912525177, + "restore_error": 1.1920928955078125e-07, + "score": 0.2130298912525177, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42320579290390015, + "candidate_source_group_id": "ms-18ab33df290e3919a468;ms-f539c5c30da21c875657;ms-dd0fad10ce064047d62e;ms-df961fe24a43e56d1716;ms-6959fa589edc996753d7;ms-484ea653bbca2de3a4a2", + "expert_regret": 1.6253606379032135, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6d6456c45f9f3ae74b50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6253606379032135, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3746393620967865, + "restore_error": 1.1920928955078125e-07, + "score": 0.3746393620967865, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42993026971817017, + "candidate_source_group_id": "ms-4906f3adfda6dace862d;ms-131a98e2d4a78a9645f8;ms-31fe1d98bc7adcd515db;ms-295dab0e1d105e758827;ms-3661d65df223386f1be9;ms-c871c1157a16e19e6150", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29027a8e3742362fd477", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.0785186290740967, + "candidate_source_group_id": "ms-c910a469460f71880556;ms-0a8109ce7ab2ddc1bb1e;ms-e12808f670338ca180c6;ms-f3211ecde366ca9f6ac7;ms-8c8cf210aa675c5db1fe;ms-44a607bf50304347ead8", + "expert_regret": 1.7863537222146988, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83c0299c23fa800452c7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7863537222146988, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2136462777853012, + "restore_error": 1.1920928955078125e-07, + "score": 0.2136462777853012, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30791282653808594, + "candidate_source_group_id": "ms-89520c3ac8779d9e81e7;ms-44a607bf50304347ead8;ms-f3211ecde366ca9f6ac7;ms-288ce929957d627c569c;ms-8c8cf210aa675c5db1fe;ms-ba9541c7192498a1d8bd", + "expert_regret": 0.5077747106552124, + "expert_score": 0.7214354276657104, + "expert_success": false, + "group_id": "ms-e2a037eadb166228b1dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5115827322006226, + "oracle_score": 0.7252434492111206, + "oracle_success": false, + "progress": 0.21366071701049805, + "restore_error": 1.1920928955078125e-07, + "score": 0.21366071701049805, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3353612720966339, + "candidate_source_group_id": "ms-14dabc3ac1e1a339ebe4;ms-472376eba1a5e1c706bf;ms-908213fef55ccf1dfda6;ms-067e0fe46e4e9483e2a1;ms-785fb44f1371895f7721;ms-938b53ef53e669518a56", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-487d0fe2a13fb699dd7a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4117530882358551, + "candidate_source_group_id": "ms-df961fe24a43e56d1716;ms-6939f3ecafd5e0a4bfee;ms-484ea653bbca2de3a4a2;ms-3f6e7085c865144a7408;ms-f539c5c30da21c875657;ms-7b1a03be4a61ba27261c", + "expert_regret": 1.7978478223085403, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65e9da4468e522823587", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7978478223085403, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20215217769145966, + "restore_error": 1.1920928955078125e-07, + "score": 0.20215217769145966, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3465295135974884, + "candidate_source_group_id": "ms-efc33064e2a2f7e86dbe;ms-3661d65df223386f1be9;ms-9f993a6e9bb26846d4f4;ms-131a98e2d4a78a9645f8;ms-295dab0e1d105e758827;ms-cdbfe4d3b05f4ed12db3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b3d9d9570bf9b64c18fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5829631090164185, + "candidate_source_group_id": "ms-6ceb341dfa656e485a13;ms-6f03b16858c35025503e;ms-1a2d298bf9972ddc1a7e;ms-d5241a32e5c9de09f2e4;ms-c9e0182d4090ddaa991c;ms-093472a082b3b61e73d6", + "expert_regret": 1.3228377103805542, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0d80d6d87a27a53951fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3228377103805542, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6771622896194458, + "restore_error": 1.1920928955078125e-07, + "score": 0.6771622896194458, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.13507354259490967, + "candidate_source_group_id": "ms-785fb44f1371895f7721;ms-76b0b0463fdb323b6233;ms-34f60c9a263bd0a5641f;ms-472376eba1a5e1c706bf;ms-908213fef55ccf1dfda6;ms-3f56672eac1c00e9c2b0", + "expert_regret": 0.0, + "expert_score": 0.7244810461997986, + "expert_success": false, + "group_id": "ms-2436538e05fdcf8e44fc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42387357354164124, + "candidate_source_group_id": "ms-18ab33df290e3919a468;ms-6959fa589edc996753d7;ms-f539c5c30da21c875657;ms-dd0fad10ce064047d62e;ms-df961fe24a43e56d1716;ms-98c8fcf4c9f098cebe8d", + "expert_regret": 1.6157010197639465, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7ce799eb9d3b741e8960", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6157010197639465, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.38429898023605347, + "restore_error": 1.1920928955078125e-07, + "score": 0.38429898023605347, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4629737436771393, + "candidate_source_group_id": "ms-6818a4edf6ef35dacfb0;ms-c663f7e73e7e8376a05c;ms-b37738e210bf33a45a1d;ms-057132b6fc7922013391;ms-3c3fb1d170c1a7965ac4;ms-777412474251e64d7e24", + "expert_regret": 1.28501296043396, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0bc111c5ce4e0052716b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.28501296043396, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.71498703956604, + "restore_error": 1.1920928955078125e-07, + "score": 0.71498703956604, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4643208682537079, + "candidate_source_group_id": "ms-4906f3adfda6dace862d;ms-131a98e2d4a78a9645f8;ms-3661d65df223386f1be9;ms-510cafd84de611de3909;ms-31fe1d98bc7adcd515db;ms-a6e4ac1995198def96a8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-03495469257613a802b4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32523420453071594, + "candidate_source_group_id": "ms-136f1ebebd0b697c3310;ms-a6e4ac1995198def96a8;ms-510cafd84de611de3909;ms-e89a3ba400f81d2795f3;ms-31fe1d98bc7adcd515db;ms-4906f3adfda6dace862d", + "expert_regret": 1.3398639559745789, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a40dee47c502e73949af", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3398639559745789, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6601360440254211, + "restore_error": 1.1920928955078125e-07, + "score": 0.6601360440254211, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.03126028925180435, + "candidate_source_group_id": "ms-9fd14cc61816c2d4360e;ms-d9ed0a9faf86ca5f5caa;ms-3a09e411ee6c882ef7df;ms-93b076203c0c65fb22be;ms-2b59042e27453aff03a7;ms-e4090b0b0c1739070201", + "expert_regret": 0.0034009814262390137, + "expert_score": 0.7224933505058289, + "expert_success": false, + "group_id": "ms-baa36ee75ec2de550b9b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2809076309204102, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7190923690795898, + "restore_error": 1.1920928955078125e-07, + "score": 0.7190923690795898, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31800419092178345, + "candidate_source_group_id": "ms-a699ee643e76a610b444;ms-ddb4e5a1f88dfd017319;ms-6f12a291dd9c3bce4b44;ms-7571c367fe683b0f1cf9;ms-e0b2e69a5ea0d0ad4fb5;ms-a509a572b3871e591d26", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-af22292595eebbd60e48", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1094897985458374, + "candidate_source_group_id": "ms-ee19bfbcb2f4fbf5a44d;ms-8315ae30e2cf041c8674;ms-d807915e233a0c74b809;ms-b4af4c8b9dcd6976546c;ms-c3a1cf0e424a4f065459;ms-4e86b87d6e5f6ab914fe", + "expert_regret": 1.4600076079368591, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d4bde31fd7e7cee76b09", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4600076079368591, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5399923920631409, + "restore_error": 1.1920928955078125e-07, + "score": 0.5399923920631409, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5013295412063599, + "candidate_source_group_id": "ms-a5775906ce2fb6556103;ms-5071d49489e1900dfa91;ms-578e24198ed828a74485;ms-10a5b6cc3ec06dfdc5c5;ms-bc53e550cb202b5fcdf3;ms-54f34c73458181a65e9a", + "expert_regret": 1.4513219594955444, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b15f9c696a2661346cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4513219594955444, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5486780405044556, + "restore_error": 1.1920928955078125e-07, + "score": 0.5486780405044556, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5465834736824036, + "candidate_source_group_id": "ms-9e87481ce12fa45b2554;ms-9a2d8f0085e6740cf5b0;ms-e793d78eaff3fb28deb6;ms-1d36e5be82aee5a8e3b8;ms-f07607bc0ce1c4e202b0;ms-9b4483fb034248fe882d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-02acbd591a961c0dbd46", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.11978138983249664, + "candidate_source_group_id": "ms-6af227c07aaf7c0f0aea;ms-a1846ef1f00eb54e2d60;ms-3b0ad4f07f1813ecf670;ms-3e971096794f04f325f2;ms-4f190184d3920a0add8b;ms-bdd1924b44de2db5b07a", + "expert_regret": 0.020448148250579834, + "expert_score": 0.14857541024684906, + "expert_success": false, + "group_id": "ms-0843bef6b0c13c3ede69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.030796274542808533, + "oracle_score": 0.15892353653907776, + "oracle_success": false, + "progress": 0.12812726199626923, + "restore_error": 1.1920928955078125e-07, + "score": 0.12812726199626923, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19712130725383759, + "candidate_source_group_id": "ms-99b15d50660b77fe2fcb;ms-4705657703da9d791fb9;ms-67f602a0e4efc9984d72;ms-16d5b122db1824caf92b;ms-10af171aa279a879207d;ms-7be1c6c8ef67031b1f90", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-813cac6d08ed5af48b12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.05634909123182297, + "candidate_source_group_id": "ms-b606af28580a38cea636;ms-ffef7730418c831245b3;ms-6a6a41baedceb27ad888;ms-7785d335d4a95e21a84d;ms-c151229bc1dd03ed2feb;ms-47a55ae1d3a858eed51c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ca10d8b9d03f4d59806c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.26169589161872864, + "candidate_source_group_id": "ms-3c458f671129e1ebe7b4;ms-732d0515ed28df031b8e;ms-28817fe297f38fd9550a;ms-87fd37bcc6b666e220ef;ms-f682952c6ecb2b833c35;ms-0377c81a67d9819ab96b", + "expert_regret": 1.4597296714782715, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f458832fc85f00873cc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4597296714782715, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5402703285217285, + "restore_error": 1.1920928955078125e-07, + "score": 0.5402703285217285, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5999676585197449, + "candidate_source_group_id": "ms-22325628db75967cf779;ms-236601c5e076b4ee5d75;ms-f7c9f440fec3a22cd6d4;ms-5df54a8baaceb8c73c8a;ms-d6e14cec49894dd329f0;ms-c425c810f7865e9564ee", + "expert_regret": 1.4532561898231506, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c76158673d20b18c2622", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4532561898231506, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5467438101768494, + "restore_error": 1.1920928955078125e-07, + "score": 0.5467438101768494, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.05087048560380936, + "candidate_source_group_id": "ms-d965f63e091a5d6dd6d7;ms-a22fbce4503f088acb1f;ms-11bb3387454624de8143;ms-4742d169606f3ec2b474;ms-766b6fe7c08a3525ce94;ms-38507741c3b5d91a7b33", + "expert_regret": 1.4416561126708984, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5fb668380b64d4f1e74", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4416561126708984, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5583438873291016, + "restore_error": 1.1920928955078125e-07, + "score": 0.5583438873291016, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.08607659488916397, + "candidate_source_group_id": "ms-5e1e38c86ef8f564ec77;ms-5e6d18ccfcf923f52f8e;ms-f39e1d7a2d636e39a02f;ms-2f57eadf546710065684;ms-a7179e4e4e2a0d5335b3;ms-3417f5f2f1470c61d0a8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ed419c64a6693cb8998b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3252336084842682, + "candidate_source_group_id": "ms-3ea30989082ec714e12d;ms-d849d754f346b826e052;ms-b7ed399f40d2d554b16d;ms-288532d255e4828bb15b;ms-1abd8c7cc1c683f88d3d;ms-fb228a036fe5973bcad1", + "expert_regret": 1.4679107069969177, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a8e6435948250f5e163d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4679107069969177, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5320892930030823, + "restore_error": 1.1920928955078125e-07, + "score": 0.5320892930030823, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19222275912761688, + "candidate_source_group_id": "ms-0b7f8ba789c00b37caa0;ms-91d86cba2602d1fa780d;ms-a509a572b3871e591d26;ms-d67409d8ecfd5d97336d;ms-6558f35ae2a2871a4bfd;ms-ee7463f3d937dbc16f89", + "expert_regret": 1.467070758342743, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-54a7c3d32b6a267d81a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.467070758342743, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5329292416572571, + "restore_error": 1.1920928955078125e-07, + "score": 0.5329292416572571, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5508180856704712, + "candidate_source_group_id": "ms-7982e5af0d533320432f;ms-4895312f7ef7a8e0109c;ms-17a04b4ac2d938261bff;ms-8c0b600aef5393f929cd;ms-3e7befcb3d8fc7884e8f;ms-c7f427f37d47501932e8", + "expert_regret": 0.5713350176811218, + "expert_score": 0.5877946019172668, + "expert_success": false, + "group_id": "ms-4c7138016830a563fb1b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5713350176811218, + "oracle_score": 0.5877946019172668, + "oracle_success": false, + "progress": 0.01645958423614502, + "restore_error": 1.1920928955078125e-07, + "score": 0.01645958423614502, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18581008911132812, + "candidate_source_group_id": "ms-2be3bf4f348678c0cc6c;ms-5be34d2caaa3a2d07b81;ms-4746e04d636d13cfbe6c;ms-193063285cdb9faff39b;ms-912718b1f2ef92066799;ms-12050326f623a94ae9e0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5aa7ce332ee9702812a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29436397552490234, + "candidate_source_group_id": "ms-4f405775dcbb88f7d8b0;ms-5c8b50523e0de37d80b8;ms-7e94769c30229d5cc7b8;ms-3737178a1f85502652ea;ms-d305a11348461ae1622c;ms-28817fe297f38fd9550a", + "expert_regret": 1.4407914876937866, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c3cdd70e2bc10bba1930", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4407914876937866, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5592085123062134, + "restore_error": 1.1920928955078125e-07, + "score": 0.5592085123062134, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5336085557937622, + "candidate_source_group_id": "ms-a45ed89f5b95d1e7ab07;ms-50d83ce148904504ec50;ms-32435d71bb817daf01d9;ms-25839c690d85a4f5b986;ms-5ac153f97fd3c2f689c5;ms-d26a60e383a2e822615a", + "expert_regret": 1.4662367105484009, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ca25b016439a98198434", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4662367105484009, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5337632894515991, + "restore_error": 2.384185791015625e-07, + "score": 0.5337632894515991, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42451098561286926, + "candidate_source_group_id": "ms-29eab654e4adf7ca9c4b;ms-4f938bd3599c372c8bff;ms-cdfe8f580576f4c577b0;ms-9ffeb1600c04f08bdfcb;ms-55c2bba961a327aa5260;ms-f6db4e8bed63ed868487", + "expert_regret": 1.4546353220939636, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fd1c44c6d5d8f7f11451", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4546353220939636, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5453646779060364, + "restore_error": 2.384185791015625e-07, + "score": 0.5453646779060364, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.656699001789093, + "candidate_source_group_id": "ms-8d9b2a5ccd43461f827e;ms-a01f0549a18d924d31c0;ms-fbcca760f5e16aa5c776;ms-a43a663a3c4b15ec3ac2;ms-f653a3ac16eba9fba5dd;ms-14c40aa19f7b9307511d", + "expert_regret": 1.4418796300888062, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e4af96af7d344ec47a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4418796300888062, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5581203699111938, + "restore_error": 2.384185791015625e-07, + "score": 0.5581203699111938, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5108858346939087, + "candidate_source_group_id": "ms-362ba7cebb2bab1421e8;ms-12a997dde50b7a7f35cb;ms-87f65c35c9d8b3ced6fc;ms-de709118c78966c5aff7;ms-59020093d2eeaf58aa84;ms-d67409d8ecfd5d97336d", + "expert_regret": 1.4436945915222168, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-60a28a9b282e7586d4d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4436945915222168, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5563054084777832, + "restore_error": 2.384185791015625e-07, + "score": 0.5563054084777832, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 1.0012789964675903, + "candidate_source_group_id": "ms-edcdf99767068f94bcb4;ms-86b302005e0461f28c43;ms-417cab1470cf46273b02;ms-eac0d7dd54b1e797fdbd;ms-c774aeee2c4066edd668;ms-5e85dc3760eef8a53a67", + "expert_regret": 0.0, + "expert_score": 0.5850434899330139, + "expert_success": false, + "group_id": "ms-a9ac13384fe5afc835f1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6097205877304077, + "candidate_source_group_id": "ms-8315ae30e2cf041c8674;ms-d807915e233a0c74b809;ms-c3a1cf0e424a4f065459;ms-b4af4c8b9dcd6976546c;ms-16d5b122db1824caf92b;ms-b40ee5a75332685d5cec", + "expert_regret": 1.4401201009750366, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6029bab18ae94b126d79", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4401201009750366, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5598798990249634, + "restore_error": 2.384185791015625e-07, + "score": 0.5598798990249634, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.49996042251586914, + "candidate_source_group_id": "ms-b606af28580a38cea636;ms-045f5adce6d38ea2794f;ms-ffef7730418c831245b3;ms-6a6a41baedceb27ad888;ms-dc965b3a72976440156c;ms-d3cebfccbbe54d22c561", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2b64c720290c6dad7e35", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7536073923110962, + "candidate_source_group_id": "ms-1df0775c4ef08d0cf1bf;ms-73e36360221b6732c688;ms-d69b907e65875420bab7;ms-023e021f079a8774c741;ms-2dc8e489908f72903319;ms-21155188bc35f0f021d3", + "expert_regret": 1.4733810424804688, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3d095a49ed03de972849", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4733810424804688, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5266189575195312, + "restore_error": 2.384185791015625e-07, + "score": 0.5266189575195312, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.05375160649418831, + "candidate_source_group_id": "ms-910364d2d86091c5e0cf;ms-30998855587c076a2a77;ms-d0e4bdc60ab8ea52a320;ms-869a04e41dc5cc90916b;ms-6be8614a1bd50b974b95;ms-4082ce1f04dbacd6a5b9", + "expert_regret": 1.4361915588378906, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5d81a7c740394b68c3f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4361915588378906, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5638084411621094, + "restore_error": 1.1920928955078125e-07, + "score": 0.5638084411621094, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.10712426155805588, + "candidate_source_group_id": "ms-f4b95f2b569e3f1bf086;ms-46987cd8daa3091c8a85;ms-3950f823020f08f8e8cd;ms-a10d8368c33b56390f77;ms-45d4b692eda9ecacaa55;ms-10621e1108a69d0b633e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-16a7ccf3c442984c2feb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15082213282585144, + "candidate_source_group_id": "ms-3b4b0b8c60ad41bb16b0;ms-cca07eb504a242633931;ms-239a07967247700a8ed1;ms-5fc884c238818acdde08;ms-f39bbaa063044719a98d;ms-1781d9c562b4425df7c8", + "expert_regret": 1.4557369351387024, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a3d0c460532de2d801ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4557369351387024, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5442630648612976, + "restore_error": 1.1920928955078125e-07, + "score": 0.5442630648612976, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20015934109687805, + "candidate_source_group_id": "ms-fd99b14bf152ebc0ef8e;ms-74868f62709b91077e27;ms-59cc3cdf6918248d7f78;ms-5922c28e4a71a88c6d21;ms-fa62bbb3e8416561ed69;ms-3e971096794f04f325f2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-227fe0347d2ea57a66a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29311588406562805, + "candidate_source_group_id": "ms-82e28eb350e21d43d3eb;ms-aed881d8d61a756aa297;ms-7cab119c7b8019254ba4;ms-b40ee5a75332685d5cec;ms-d807915e233a0c74b809;ms-8315ae30e2cf041c8674", + "expert_regret": 1.4945808053016663, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a497e44e8c2ff0d46e47", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4945808053016663, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5054191946983337, + "restore_error": 1.1920928955078125e-07, + "score": 0.5054191946983337, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8481022715568542, + "candidate_source_group_id": "ms-578537600f7a649c2dd5;ms-9c7e6b057c74f3014fd5;ms-86b0447349029dfaa6ab;ms-c86956f3f1333e136186;ms-ac79bc3a841958ce127f;ms-cd340bca589f0cebd7da", + "expert_regret": 1.4337644577026367, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f9c00ba41392adec3fd1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4337644577026367, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5662355422973633, + "restore_error": 1.1920928955078125e-07, + "score": 0.5662355422973633, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3450329005718231, + "candidate_source_group_id": "ms-b606af28580a38cea636;ms-4d43fb19477b7ab848bc;ms-ffef7730418c831245b3;ms-7785d335d4a95e21a84d;ms-045f5adce6d38ea2794f;ms-6a6a41baedceb27ad888", + "expert_regret": 1.4462494850158691, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-50f62a61a82a96061d9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4462494850158691, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5537505149841309, + "restore_error": 1.1920928955078125e-07, + "score": 0.5537505149841309, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2876572608947754, + "candidate_source_group_id": "ms-b36673c3905a123cbd50;ms-5922c28e4a71a88c6d21;ms-59020093d2eeaf58aa84;ms-fd9f10f7df6a11ec2cef;ms-311a52ec4b0ca8d71889;ms-59cc3cdf6918248d7f78", + "expert_regret": 1.4564212560653687, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dea17c1c383f54d05636", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4564212560653687, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5435787439346313, + "restore_error": 1.1920928955078125e-07, + "score": 0.5435787439346313, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.34333816170692444, + "candidate_source_group_id": "ms-9e1f3c14116ebca6164d;ms-1cea800b74c1ea2f6338;ms-0ca11ec8f7fbf0c1d66e;ms-d824135bf97b907f7cc2;ms-17e8d6ba42404c7b7d07;ms-23f9cca8edfca421a4a6", + "expert_regret": 1.4462417364120483, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c78721d9c4196a9e8ec5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4462417364120483, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5537582635879517, + "restore_error": 1.1920928955078125e-07, + "score": 0.5537582635879517, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43157094717025757, + "candidate_source_group_id": "ms-bcd9be34f050d97499bd;ms-782893a3eb2e3dcfd15e;ms-e20f5d43f319248c5001;ms-add4b7d277e1fc171144;ms-71ef8f2cdc11d83250fa;ms-bc53e550cb202b5fcdf3", + "expert_regret": 1.4550440907478333, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e058c0dba52df04b8642", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4550440907478333, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5449559092521667, + "restore_error": 1.1920928955078125e-07, + "score": 0.5449559092521667, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14907561242580414, + "candidate_source_group_id": "ms-f71c7cf8ca320b8eb7a4;ms-a73f46824bdbdfb96238;ms-08858c7ba8d4a3357e05;ms-7d962acc9cfbc27c599c;ms-70381721e736d44afeaf;ms-478f754a15221314d15e", + "expert_regret": 1.4790117144584656, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-71452ba714a10880870b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4790117144584656, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5209882855415344, + "restore_error": 1.1920928955078125e-07, + "score": 0.5209882855415344, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7495704293251038, + "candidate_source_group_id": "ms-eac0d7dd54b1e797fdbd;ms-9cdebdcdad56bd8d87cc;ms-edcdf99767068f94bcb4;ms-c774aeee2c4066edd668;ms-86b302005e0461f28c43;ms-417cab1470cf46273b02", + "expert_regret": 0.0, + "expert_score": 0.5829448699951172, + "expert_success": false, + "group_id": "ms-4ca84594a789c9abd5d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.5829448699951172, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5121486783027649, + "candidate_source_group_id": "ms-17330235d51598ebcb4e;ms-351844f358ea7564d27d;ms-cafa65eeb953aff47f30;ms-ed7b02bc8f37b8524a56;ms-4ec67456479f53e605e1;ms-dc5a883a3e28b90ebf1a", + "expert_regret": 1.4792837500572205, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b5b5e5f9237c41e0fe9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4792837500572205, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5207162499427795, + "restore_error": 1.1920928955078125e-07, + "score": 0.5207162499427795, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6281210780143738, + "candidate_source_group_id": "ms-70342af6b601660d7c69;ms-64ab703e7a82799a47dd;ms-dbb32d9fd6999e09f589;ms-10af171aa279a879207d;ms-67f602a0e4efc9984d72;ms-0e275939f12a9dcee0a0", + "expert_regret": 1.4526816606521606, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d88107eff1e361cdcc4c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4526816606521606, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5473183393478394, + "restore_error": 1.1920928955078125e-07, + "score": 0.5473183393478394, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.498522013425827, + "candidate_source_group_id": "ms-fe54b45b549a55d45c0e;ms-b90d7926b23eabbbed04;ms-dbcc3da47d96ceeaf9f0;ms-b0aa24be399d843c9d50;ms-beb3567748ba228bdfce;ms-32435d71bb817daf01d9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-683b1d258a1cafbf87b9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29422813653945923, + "candidate_source_group_id": "ms-fef1cf4879be83a77574;ms-8adf1cf09ddabdc5fe5f;ms-fcbac5ac63b87452c719;ms-8fa24da5c97dc1dad5c1;ms-a509a572b3871e591d26;ms-0b7f8ba789c00b37caa0", + "expert_regret": 1.4223199486732483, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7361bfba9d2ab4f1913e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4223199486732483, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5776800513267517, + "restore_error": 1.1920928955078125e-07, + "score": 0.5776800513267517, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4393734931945801, + "candidate_source_group_id": "ms-48d490ed21088bb5ba85;ms-b671fa9fcef84dbf2a13;ms-d73a2a984d5829e884f9;ms-8420ccaff5986c85063f;ms-e45b5de01eafae73e492;ms-c7041c6f758f8e4a3698", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2ae57bab6d2ea11f6638", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3275270164012909, + "candidate_source_group_id": "ms-4b970be37419ce0be0ae;ms-8e4755f1627d85c12bd8;ms-80fbba5636cb4f9c64a3;ms-4cd1ceea2dda2732110a;ms-351c397795d9af204ec6;ms-28817fe297f38fd9550a", + "expert_regret": 1.4249294996261597, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-12ac4329c5bca5f2bb62", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4249294996261597, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5750705003738403, + "restore_error": 1.1920928955078125e-07, + "score": 0.5750705003738403, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47384434938430786, + "candidate_source_group_id": "ms-2d995e39f2b95fed1a67;ms-14c40aa19f7b9307511d;ms-10cb98b0a1ca5429dd28;ms-f653a3ac16eba9fba5dd;ms-8bb2d8cb7c0d33fa0c1d;ms-5d169f059bde8e429786", + "expert_regret": 1.4886125922203064, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7e6493bb6b1ff650d6de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4886125922203064, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5113874077796936, + "restore_error": 1.1920928955078125e-07, + "score": 0.5113874077796936, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46906593441963196, + "candidate_source_group_id": "ms-8edf3c4f13fa7a151824;ms-b863927293ce6530bb3b;ms-ba156a5cdaf40cc85cc4;ms-3a65e7b378a87a7eeb11;ms-bc53e550cb202b5fcdf3;ms-add4b7d277e1fc171144", + "expert_regret": 1.9782416578382254, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-38ceda08bad38fbebc1c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9782416578382254, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.021758342161774635, + "restore_error": 1.1920928955078125e-07, + "score": 0.021758342161774635, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5346171855926514, + "candidate_source_group_id": "ms-0c9c39c462522b25ef2b;ms-88bdd8987f890af7e9ea;ms-30fe784e67f732ef9a3d;ms-ffba357213945be5f9f7;ms-c70be4072fb4e49ac106;ms-99ecd2226d7187416316", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ee32e6bb3c0bb45702b9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28423526883125305, + "candidate_source_group_id": "ms-28817fe297f38fd9550a;ms-4f405775dcbb88f7d8b0;ms-f682952c6ecb2b833c35;ms-7e94769c30229d5cc7b8;ms-0377c81a67d9819ab96b;ms-3c458f671129e1ebe7b4", + "expert_regret": 1.4401622414588928, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4fad1f976cc64cc06826", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4401622414588928, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5598377585411072, + "restore_error": 1.1920928955078125e-07, + "score": 0.5598377585411072, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.32855483889579773, + "candidate_source_group_id": "ms-0b4ac5b183639ac19191;ms-d75a00b1388f50bf8919;ms-85eef30b36b044b33f60;ms-912718b1f2ef92066799;ms-4746e04d636d13cfbe6c;ms-d44f5bd2488ea182132b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4d6099258a3a6e037aff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4465859532356262, + "candidate_source_group_id": "ms-07e0726dedce0a0e4419;ms-87b44e6219279322a723;ms-ee055e1282f6302ad9e8;ms-1abf5e6d483e2788b086;ms-81085eba1dd49b17ec9c;ms-09de52dad7e40970c938", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb92a1e6b67121783fff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9671252965927124, + "candidate_source_group_id": "ms-547f4204888aee978bf0;ms-3fae81854f4c927f1f8d;ms-8ccc51fb09484026ebbb;ms-b0d54c14a65fb73f08ca;ms-b23839ace2fb08438144;ms-a76ae18568c88af1da6b", + "expert_regret": 1.9072430729866028, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d9e3a187dcadb9ad26b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9072430729866028, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09275692701339722, + "restore_error": 1.1920928955078125e-07, + "score": 0.09275692701339722, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.999265730381012, + "candidate_source_group_id": "ms-edcdf99767068f94bcb4;ms-86b302005e0461f28c43;ms-417cab1470cf46273b02;ms-eac0d7dd54b1e797fdbd;ms-c774aeee2c4066edd668;ms-5e85dc3760eef8a53a67", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69962cd1c448094e4fb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5431287288665771, + "candidate_source_group_id": "ms-0cc80a2933abf1b4853f;ms-12a997dde50b7a7f35cb;ms-de709118c78966c5aff7;ms-723a1f2e22afe15b6981;ms-362ba7cebb2bab1421e8;ms-91ad1a5f945470b4346e", + "expert_regret": 1.491007685661316, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-859d0ea38fb5e8aa6b98", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.491007685661316, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5089923143386841, + "restore_error": 1.1920928955078125e-07, + "score": 0.5089923143386841, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24475108087062836, + "candidate_source_group_id": "ms-81729abe5d83a1ca280d;ms-2073841ae01f224365a1;ms-8d94c7c692c91a962f25;ms-5922c28e4a71a88c6d21;ms-59cc3cdf6918248d7f78;ms-fd9f10f7df6a11ec2cef", + "expert_regret": 1.4598247408866882, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97598e118c5cc8c254a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4598247408866882, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5401752591133118, + "restore_error": 1.1920928955078125e-07, + "score": 0.5401752591133118, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6136251091957092, + "candidate_source_group_id": "ms-aaf1c4931e054f52623c;ms-d1dd16f03551d840a922;ms-a43a663a3c4b15ec3ac2;ms-3e7befcb3d8fc7884e8f;ms-b666f24369c548cd56ab;ms-49641ecf3e1326621609", + "expert_regret": 1.9254220500588417, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-19e6e6e341aebb7ec693", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9254220500588417, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0745779499411583, + "restore_error": 1.1920928955078125e-07, + "score": 0.0745779499411583, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15702925622463226, + "candidate_source_group_id": "ms-45d4b692eda9ecacaa55;ms-f80ae137a8d9981f8c98;ms-dc2a8fa76e1ceb0d8925;ms-f4d6da245d340cd16d30;ms-25839c690d85a4f5b986;ms-10621e1108a69d0b633e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68970d9d9bf975e25eb5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6850227117538452, + "candidate_source_group_id": "ms-50f29e19c798fee5422f;ms-c3a1cf0e424a4f065459;ms-b4af4c8b9dcd6976546c;ms-1451f536f2ac0df844f6;ms-7c5059db4c14a74b64a3;ms-f88a44616a0985aac518", + "expert_regret": 1.4656415581703186, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7de8743758ec505a3294", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4656415581703186, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5343584418296814, + "restore_error": 1.1920928955078125e-07, + "score": 0.5343584418296814, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1880321502685547, + "candidate_source_group_id": "ms-1bfca22d4af29f0e14b1;ms-81085eba1dd49b17ec9c;ms-61068da67676a95e5065;ms-e093f85b121d443b61e2;ms-87b44e6219279322a723;ms-07e0726dedce0a0e4419", + "expert_regret": 1.4317131042480469, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4fe7fdaf946c97803c82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4317131042480469, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5682868957519531, + "restore_error": 1.1920928955078125e-07, + "score": 0.5682868957519531, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.16793107986450195, + "candidate_source_group_id": "ms-76b9f40367a1ee020744;ms-d6b2d805dc063382ade2;ms-d7a32da3ed5d010654a0;ms-635a384c88604ad7ba4f;ms-0f219ce35aff264455e2;ms-486ff31b7a04a7e9e8f9", + "expert_regret": 1.4701767563819885, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d5d7c690819019cb7869", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4701767563819885, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5298232436180115, + "restore_error": 1.1920928955078125e-07, + "score": 0.5298232436180115, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.34401893615722656, + "candidate_source_group_id": "ms-1b83fc0981e283975488;ms-cd71a93dcab09ba15592;ms-ebb616f9b291184677b3;ms-b5deb1971bf3b3484282;ms-ac79bc3a841958ce127f;ms-2cf1227610d4602f88ed", + "expert_regret": 1.493221640586853, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b98e8aa8ecee10bea27", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.493221640586853, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.506778359413147, + "restore_error": 1.1920928955078125e-07, + "score": 0.506778359413147, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8405627012252808, + "candidate_source_group_id": "ms-ea72196e20393870bcbb;ms-bb60defa0d234da9e0bc;ms-08c75f74bf7813b1c257;ms-4021797e9499e6aaab7a;ms-486b916e7b4ad1566788;ms-3a64af2410ea932a6267", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-af16712eadcaebf175ff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7142432332038879, + "candidate_source_group_id": "ms-d8b4090565126a66d13e;ms-999a8c1454dd4597a834;ms-b0d54c14a65fb73f08ca;ms-b23839ace2fb08438144;ms-3b7c5c91ae441f282006;ms-630663751ab841a96d5a", + "expert_regret": 1.8773896470665932, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b481531ab787e3d6fb1e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8773896470665932, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.12261035293340683, + "restore_error": 1.1920928955078125e-07, + "score": 0.12261035293340683, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7364488840103149, + "candidate_source_group_id": "ms-98427ae2d94c1f85811a;ms-0ca1c25fddb7da05d80a;ms-40cb974de9da58dcd32b;ms-706943f06888dd5bbb3a;ms-9233eae706910c204b79;ms-6fc6a26da9fbe53dd616", + "expert_regret": 1.4529674053192139, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5bae191ebad7c9f2687", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4529674053192139, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5470325946807861, + "restore_error": 1.1920928955078125e-07, + "score": 0.5470325946807861, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.38686591386795044, + "candidate_source_group_id": "ms-307f9067d5b66f55b3a6;ms-2dc4f12ea7e8567e3a6e;ms-44694e99af9263ad3c45;ms-d305a11348461ae1622c;ms-52cdfff790d71133c5a0;ms-5847c6d196024fce1770", + "expert_regret": 1.4450801014900208, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-90a03366976eaa1ad013", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4450801014900208, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5549198985099792, + "restore_error": 1.1920928955078125e-07, + "score": 0.5549198985099792, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24583128094673157, + "candidate_source_group_id": "ms-45d4b692eda9ecacaa55;ms-f4b95f2b569e3f1bf086;ms-f4d6da245d340cd16d30;ms-25839c690d85a4f5b986;ms-f80ae137a8d9981f8c98;ms-dc2a8fa76e1ceb0d8925", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-81d1d8def1fbeb3b1cc5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22754497826099396, + "candidate_source_group_id": "ms-8f0e2c9caad14bd37ecf;ms-023e021f079a8774c741;ms-eb16021deb5d03f15c9d;ms-fd6deac5a281d169bc75;ms-753929cfdc4aaa652b32;ms-d91cbe61314c18955b6b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-561f4f913d7b4991d81a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42923668026924133, + "candidate_source_group_id": "ms-f80ae137a8d9981f8c98;ms-dc2a8fa76e1ceb0d8925;ms-25839c690d85a4f5b986;ms-45d4b692eda9ecacaa55;ms-f4d6da245d340cd16d30;ms-32435d71bb817daf01d9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f6d30c2ade00e451dc2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5099431872367859, + "candidate_source_group_id": "ms-3e7befcb3d8fc7884e8f;ms-aaf1c4931e054f52623c;ms-b666f24369c548cd56ab;ms-a43a663a3c4b15ec3ac2;ms-d1dd16f03551d840a922;ms-7982e5af0d533320432f", + "expert_regret": 1.949408434331417, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c9f657875cf334b1f17", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.949408434331417, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.050591565668582916, + "restore_error": 1.1920928955078125e-07, + "score": 0.050591565668582916, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6873399019241333, + "candidate_source_group_id": "ms-45ed57caa698d87a99cf;ms-5f5bf12b5ebb67eeb361;ms-4385e9c56007fdaa94b5;ms-ffba357213945be5f9f7;ms-c70be4072fb4e49ac106;ms-23f9cca8edfca421a4a6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e55645c0c701caac48a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8216077089309692, + "candidate_source_group_id": "ms-486572c62484eb4d73db;ms-6c39b520dca0a325535f;ms-763c73c94818a090d358;ms-b0aa24be399d843c9d50;ms-4fe47d946641f0096a85;ms-dd4f37e032d56b692a0e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a44a2c9eee8baea5d29e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.27158311009407043, + "candidate_source_group_id": "ms-a1d69e0b112064914357;ms-2e5c2f75d3f6311e0a1c;ms-1c0e2bb3a811fac6d567;ms-5c8b50523e0de37d80b8;ms-62b597990a3d637e5a8a;ms-9b213fea5cdf7a7c91c4", + "expert_regret": 1.4578503370285034, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8af2224cc82636ef1dd7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4578503370285034, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5421496629714966, + "restore_error": 1.1920928955078125e-07, + "score": 0.5421496629714966, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4842032790184021, + "candidate_source_group_id": "ms-630663751ab841a96d5a;ms-aea09fb002af52e12bd8;ms-319a6c0cef0ac1a872d5;ms-a01e21b91a5b37a16afe;ms-b9e46b7345a63ded4397;ms-e218d19c595e580c3e32", + "expert_regret": 1.9437690004706383, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe650308e25459ee64c6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9437690004706383, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.056230999529361725, + "restore_error": 1.1920928955078125e-07, + "score": 0.056230999529361725, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5769554972648621, + "candidate_source_group_id": "ms-f4860c7945db15b54d2e;ms-0a4c4442237909d5f7b7;ms-bfda95ffffd5d1a2683a;ms-9a1de6130828dc946a51;ms-10a5b6cc3ec06dfdc5c5;ms-91ad1a5f945470b4346e", + "expert_regret": 1.4533597826957703, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b1c9975d1a007dd03dc4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4533597826957703, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5466402173042297, + "restore_error": 1.1920928955078125e-07, + "score": 0.5466402173042297, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.37601742148399353, + "candidate_source_group_id": "ms-a3c53708416dbfb9fbc5;ms-88e10d1be12a407b3926;ms-79d500110f3723b57da8;ms-d3cebfccbbe54d22c561;ms-e2ddf4681b47f39e15da;ms-2d4547df5dccc4c4ca24", + "expert_regret": 1.517016977071762, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9e31a19a776a861f9d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.517016977071762, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4829830229282379, + "restore_error": 1.1920928955078125e-07, + "score": 0.4829830229282379, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.38358429074287415, + "candidate_source_group_id": "ms-78da3efba7a739dcad14;ms-7571c367fe683b0f1cf9;ms-ddb4e5a1f88dfd017319;ms-950df0830b2e57010248;ms-a509a572b3871e591d26;ms-fd99b14bf152ebc0ef8e", + "expert_regret": 1.9464599005877972, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01067b8ff16f74652382", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9464599005877972, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.053540099412202835, + "restore_error": 1.1920928955078125e-07, + "score": 0.053540099412202835, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.27236413955688477, + "candidate_source_group_id": "ms-88bdd8987f890af7e9ea;ms-99ecd2226d7187416316;ms-9783ccaf76f1b20c766e;ms-c70be4072fb4e49ac106;ms-30fe784e67f732ef9a3d;ms-0c9c39c462522b25ef2b", + "expert_regret": 1.4385539889335632, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c5d026dffb39f2f1d38a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4385539889335632, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5614460110664368, + "restore_error": 1.1920928955078125e-07, + "score": 0.5614460110664368, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5989216566085815, + "candidate_source_group_id": "ms-cdcdb32d7c02c49869ef;ms-9de5ccc7f31ca1c2154b;ms-fcfb7dd60d966e20b98d;ms-16cd0a94ad2cb78b1ada;ms-10dbf8bb0c239a44ec0f;ms-72cf68c15631675b063f", + "expert_regret": 1.9449644796550274, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-15c083989d8277fd07ec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9449644796550274, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05503552034497261, + "restore_error": 1.1920928955078125e-07, + "score": 0.05503552034497261, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6897839307785034, + "candidate_source_group_id": "ms-3aa864ead19c9cb9fb49;ms-79c7332b2b329eaa6a13;ms-bb60defa0d234da9e0bc;ms-1158e6997b2f1281b105;ms-708baf01c22c75cafd22;ms-61b1188974f35233b883", + "expert_regret": 1.4315165281295776, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-95320371ce6b820c85f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4315165281295776, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5684834718704224, + "restore_error": 1.1920928955078125e-07, + "score": 0.5684834718704224, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2617696523666382, + "candidate_source_group_id": "ms-4f938bd3599c372c8bff;ms-cdfe8f580576f4c577b0;ms-9b213fea5cdf7a7c91c4;ms-29eab654e4adf7ca9c4b;ms-ebb616f9b291184677b3;ms-9ffeb1600c04f08bdfcb", + "expert_regret": 1.4725446701049805, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de0abc7a53a48164f82d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4725446701049805, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5274553298950195, + "restore_error": 1.1920928955078125e-07, + "score": 0.5274553298950195, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6201459765434265, + "candidate_source_group_id": "ms-045f5adce6d38ea2794f;ms-dc965b3a72976440156c;ms-b606af28580a38cea636;ms-ffef7730418c831245b3;ms-e2ddf4681b47f39e15da;ms-64ab703e7a82799a47dd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cba2f44df79669ff934b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12714287638664246, + "candidate_source_group_id": "ms-bcfeba2af1e844c22aed;ms-1735d1abca4a91293d78;ms-9044026b69850d12d05b;ms-3352e05afd9065cd09bf;ms-326a7b583623d136470e;ms-97140da7cf409922f6ce", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eb206a3dda0ac16e1643", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2503371834754944, + "candidate_source_group_id": "ms-10dbf8bb0c239a44ec0f;ms-16cd0a94ad2cb78b1ada;ms-793a98188fd57ed5291f;ms-0541a144afe57b5a7ae6;ms-c2e07545267c612a022c;ms-fcfb7dd60d966e20b98d", + "expert_regret": 1.4961593747138977, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3abfb4c309360a304d54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4961593747138977, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5038406252861023, + "restore_error": 1.1920928955078125e-07, + "score": 0.5038406252861023, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48269394040107727, + "candidate_source_group_id": "ms-076d67ac4d2de4e0c627;ms-c7156b26670838d40934;ms-8330999c6669ec42122a;ms-0ac53e56b4852c85ca2e;ms-b786173f210fcaa65a6e;ms-a68740208f81c5d6c97b", + "expert_regret": 1.9276846125721931, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5dfad80e83d210946447", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9276846125721931, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07231538742780685, + "restore_error": 1.1920928955078125e-07, + "score": 0.07231538742780685, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19484136998653412, + "candidate_source_group_id": "ms-bd6b2dc41ba42b44462a;ms-4082ce1f04dbacd6a5b9;ms-21155188bc35f0f021d3;ms-87f8bbc8d9e7f4dcaacf;ms-31782020143c24b4271b;ms-fbcc714230de2c097d0d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-93e3d9968204474eff49", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2045658677816391, + "candidate_source_group_id": "ms-6a7e80154a9a4e5e9c08;ms-0d1db6695acdf1ec3eaf;ms-c7041c6f758f8e4a3698;ms-00b9ad6a8fe73fccc6fc;ms-8fcc78fba7b3bec0fab6;ms-da855323619ebf257b19", + "expert_regret": 1.4465671181678772, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d4aab6f9b6717dd5712e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4465671181678772, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5534328818321228, + "restore_error": 1.1920928955078125e-07, + "score": 0.5534328818321228, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46273502707481384, + "candidate_source_group_id": "ms-b0d54c14a65fb73f08ca;ms-999a8c1454dd4597a834;ms-3fae81854f4c927f1f8d;ms-a76ae18568c88af1da6b;ms-547f4204888aee978bf0;ms-ed9addab41f3298db7bc", + "expert_regret": 1.9550312273204327, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7670f25745871759e69e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9550312273204327, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04496877267956734, + "restore_error": 1.1920928955078125e-07, + "score": 0.04496877267956734, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2243867814540863, + "candidate_source_group_id": "ms-4f405775dcbb88f7d8b0;ms-28817fe297f38fd9550a;ms-7e94769c30229d5cc7b8;ms-f682952c6ecb2b833c35;ms-0377c81a67d9819ab96b;ms-3c458f671129e1ebe7b4", + "expert_regret": 1.489164650440216, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe9347448b7f810d1353", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.489164650440216, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5108353495597839, + "restore_error": 1.1920928955078125e-07, + "score": 0.5108353495597839, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9006804823875427, + "candidate_source_group_id": "ms-c3a1cf0e424a4f065459;ms-b4af4c8b9dcd6976546c;ms-8315ae30e2cf041c8674;ms-16d5b122db1824caf92b;ms-10af171aa279a879207d;ms-3a64af2410ea932a6267", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-99a5ffff5b73cf604b3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19958002865314484, + "candidate_source_group_id": "ms-1781d9c562b4425df7c8;ms-3b4b0b8c60ad41bb16b0;ms-f39bbaa063044719a98d;ms-bcc70292f404cd1c7f75;ms-9b4483fb034248fe882d;ms-cca07eb504a242633931", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b68d8b4d22e6ff0451d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47547611594200134, + "candidate_source_group_id": "ms-2d4547df5dccc4c4ca24;ms-fe1a5f1bc3c4ec7669f2;ms-a3c53708416dbfb9fbc5;ms-e2ddf4681b47f39e15da;ms-0bb8964d3e6f9dd302f4;ms-88e10d1be12a407b3926", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8a74cf665984273be00d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7066043615341187, + "candidate_source_group_id": "ms-aea09fb002af52e12bd8;ms-3b7c5c91ae441f282006;ms-e218d19c595e580c3e32;ms-a01e21b91a5b37a16afe;ms-706943f06888dd5bbb3a;ms-319a6c0cef0ac1a872d5", + "expert_regret": 1.8454006016254425, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4acbf69acd30d96e46a7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8454006016254425, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1545993983745575, + "restore_error": 1.1920928955078125e-07, + "score": 0.1545993983745575, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22538287937641144, + "candidate_source_group_id": "ms-87fd37bcc6b666e220ef;ms-e0b2e69a5ea0d0ad4fb5;ms-2458fcfffb3f96c6ca1a;ms-3c458f671129e1ebe7b4;ms-3b0ad4f07f1813ecf670;ms-732d0515ed28df031b8e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2259a78b2187e22f9f37", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.534131646156311, + "candidate_source_group_id": "ms-10a5b6cc3ec06dfdc5c5;ms-06935a084a7af6d7596c;ms-7fe236a99d555408d474;ms-c86956f3f1333e136186;ms-4cd1ceea2dda2732110a;ms-f4860c7945db15b54d2e", + "expert_regret": 1.9088848307728767, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-503d0b1d27ed78b6130f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9088848307728767, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09111516922712326, + "restore_error": 1.1920928955078125e-07, + "score": 0.09111516922712326, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8348591923713684, + "candidate_source_group_id": "ms-c2e07545267c612a022c;ms-0541a144afe57b5a7ae6;ms-2470946f31fee328ad6c;ms-3eeaca32feb66f450a0b;ms-41561ecd4d68cf77c933;ms-793a98188fd57ed5291f", + "expert_regret": 1.4804835319519043, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5e23219a8e2aadd039c7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4804835319519043, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5195164680480957, + "restore_error": 1.1920928955078125e-07, + "score": 0.5195164680480957, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5991522669792175, + "candidate_source_group_id": "ms-076d67ac4d2de4e0c627;ms-8330999c6669ec42122a;ms-c7156b26670838d40934;ms-0ac53e56b4852c85ca2e;ms-a68740208f81c5d6c97b;ms-b786173f210fcaa65a6e", + "expert_regret": 1.5006667077541351, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e318e13f77e75e7cd802", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5006667077541351, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49933329224586487, + "restore_error": 1.1920928955078125e-07, + "score": 0.49933329224586487, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.36086639761924744, + "candidate_source_group_id": "ms-ee19bfbcb2f4fbf5a44d;ms-0e12a6083750bfecca87;ms-61b1188974f35233b883;ms-79c7332b2b329eaa6a13;ms-f71c7cf8ca320b8eb7a4;ms-3aa864ead19c9cb9fb49", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-842e179244eddac303a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2214268147945404, + "candidate_source_group_id": "ms-351818a836474e594d3c;ms-dbb32d9fd6999e09f589;ms-ce992c1fa0bcc38512b7;ms-a5a651f9e28ea52016fe;ms-2af09f91e05d19f7f181;ms-c6d4f51c1adffc449778", + "expert_regret": 1.440782368183136, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c2515d4a10082514714", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.440782368183136, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.559217631816864, + "restore_error": 1.1920928955078125e-07, + "score": 0.559217631816864, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39133220911026, + "candidate_source_group_id": "ms-f682952c6ecb2b833c35;ms-4f405775dcbb88f7d8b0;ms-28817fe297f38fd9550a;ms-7e94769c30229d5cc7b8;ms-351c397795d9af204ec6;ms-1f8e2d5d25706493821d", + "expert_regret": 1.4496687650680542, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-20e5ffa93544d6d8b313", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4496687650680542, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5503312349319458, + "restore_error": 1.1920928955078125e-07, + "score": 0.5503312349319458, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6251911520957947, + "candidate_source_group_id": "ms-d26a60e383a2e822615a;ms-4a7b774ee02339c4ca19;ms-6053d8ef243250b88f96;ms-dd4f37e032d56b692a0e;ms-5e85dc3760eef8a53a67;ms-a576ca39e26c4e1ab240", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f4967102c7b10057ab9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.292365700006485, + "candidate_source_group_id": "ms-08c39d9cc9eb7578e6e9;ms-66ec6692758e9a7f2e01;ms-f947dbf28ad85666e2f1;ms-10f2865bef6da7b66423;ms-a323150b5305fc2a329d;ms-a699ee643e76a610b444", + "expert_regret": 1.9751946926116943, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbda7bc51ca269d1cda4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9751946926116943, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.024805307388305664, + "restore_error": 1.1920928955078125e-07, + "score": 0.024805307388305664, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24593736231327057, + "candidate_source_group_id": "ms-1c0e2bb3a811fac6d567;ms-2e5c2f75d3f6311e0a1c;ms-307f9067d5b66f55b3a6;ms-a1d69e0b112064914357;ms-5c8b50523e0de37d80b8;ms-d305a11348461ae1622c", + "expert_regret": 1.5011721551418304, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5415e349e8f9f2bce641", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5011721551418304, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49882784485816956, + "restore_error": 1.1920928955078125e-07, + "score": 0.49882784485816956, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5057913064956665, + "candidate_source_group_id": "ms-5daa8575a80e98a83170;ms-f1fb6cdb836269adb2cc;ms-dd7f9cc9585878b84824;ms-a949424c5fa615565d72;ms-8522a9364bf70311450d;ms-f101cf5cc8575be3c201", + "expert_regret": 1.4423831105232239, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b73e5dfa1f2a01e6017", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4423831105232239, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5576168894767761, + "restore_error": 1.1920928955078125e-07, + "score": 0.5576168894767761, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6833339333534241, + "candidate_source_group_id": "ms-29dd2cdbb66fe13ab877;ms-f897cc2141a0a303fc6a;ms-fbb609a3f2a334986245;ms-bd6b2dc41ba42b44462a;ms-054a02413d31389d1b7f;ms-c0995730ba36614c249a", + "expert_regret": 1.4481063485145569, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-23d6e5835aa90a62b6ef", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4481063485145569, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5518936514854431, + "restore_error": 1.1920928955078125e-07, + "score": 0.5518936514854431, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5001571774482727, + "candidate_source_group_id": "ms-0b4ac5b183639ac19191;ms-d75a00b1388f50bf8919;ms-4746e04d636d13cfbe6c;ms-193063285cdb9faff39b;ms-85eef30b36b044b33f60;ms-912718b1f2ef92066799", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d686ae387b1a0ce2f2f3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7494997978210449, + "candidate_source_group_id": "ms-1df0775c4ef08d0cf1bf;ms-4cd9eae753bf9e48f520;ms-2dc8e489908f72903319;ms-81951a4920488e6c62e9;ms-3731f1c5af3c4a133633;ms-5367a8bae4304851384e", + "expert_regret": 1.5045024752616882, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8fbdbddd9200f5091d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5045024752616882, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49549752473831177, + "restore_error": 1.1920928955078125e-07, + "score": 0.49549752473831177, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5455873608589172, + "candidate_source_group_id": "ms-ee05717b29d39d7cddff;ms-4082ce1f04dbacd6a5b9;ms-090e18187bb6ae4a9120;ms-ff23e4fce42c637ed617;ms-054a02413d31389d1b7f;ms-30998855587c076a2a77", + "expert_regret": 1.4384557604789734, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-76194d089c97018ce427", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4384557604789734, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5615442395210266, + "restore_error": 1.1920928955078125e-07, + "score": 0.5615442395210266, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5383086800575256, + "candidate_source_group_id": "ms-bd6b2dc41ba42b44462a;ms-31782020143c24b4271b;ms-4082ce1f04dbacd6a5b9;ms-1518756d5da0b8d3c190;ms-642670f4bb658d32970b;ms-054a02413d31389d1b7f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ae33e3afb57e61026d72", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3639485538005829, + "candidate_source_group_id": "ms-16cd0a94ad2cb78b1ada;ms-10dbf8bb0c239a44ec0f;ms-793a98188fd57ed5291f;ms-fcfb7dd60d966e20b98d;ms-0541a144afe57b5a7ae6;ms-c2e07545267c612a022c", + "expert_regret": 1.925457403063774, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c8198e44eea32f98ca7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.925457403063774, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07454259693622589, + "restore_error": 2.384185791015625e-07, + "score": 0.07454259693622589, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2769887447357178, + "candidate_source_group_id": "ms-ebb616f9b291184677b3;ms-1b83fc0981e283975488;ms-b5deb1971bf3b3484282;ms-cd71a93dcab09ba15592;ms-2cf1227610d4602f88ed;ms-ac79bc3a841958ce127f", + "expert_regret": 1.5035418570041656, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-adfe268e473c03b72c65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5035418570041656, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49645814299583435, + "restore_error": 2.384185791015625e-07, + "score": 0.49645814299583435, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.660578191280365, + "candidate_source_group_id": "ms-9c8a90334c3b933c8976;ms-e1972ebf2c5587a6fdf9;ms-1781d9c562b4425df7c8;ms-bcc70292f404cd1c7f75;ms-9b4483fb034248fe882d;ms-9e87481ce12fa45b2554", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97aebe1dd42939e3b340", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9886021018028259, + "candidate_source_group_id": "ms-0adce283894b0a2b7b94;ms-9bcf8a1e5e7b0f7ff6f5;ms-bc30ca6b7675f4de5041;ms-ffba357213945be5f9f7;ms-4385e9c56007fdaa94b5;ms-45ed57caa698d87a99cf", + "expert_regret": 0.014737844467163086, + "expert_score": 0.5644459128379822, + "expert_success": false, + "group_id": "ms-28d5618562729c763eb6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.014737844467163086, + "oracle_score": 0.5644459128379822, + "oracle_success": false, + "progress": 0.5497080683708191, + "restore_error": 2.384185791015625e-07, + "score": 0.5497080683708191, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6317652463912964, + "candidate_source_group_id": "ms-4681331b496c8a9cf14d;ms-ad5ad5314850df7b0853;ms-dbcc3da47d96ceeaf9f0;ms-b90d7926b23eabbbed04;ms-c3f7b780f604922f4f67;ms-fe54b45b549a55d45c0e", + "expert_regret": 1.5325371623039246, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b7800060cd4a8c3cb6b9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5325371623039246, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.46746283769607544, + "restore_error": 2.384185791015625e-07, + "score": 0.46746283769607544, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46075937151908875, + "candidate_source_group_id": "ms-6a7e80154a9a4e5e9c08;ms-c7041c6f758f8e4a3698;ms-8fcc78fba7b3bec0fab6;ms-da46296bd4e9032570df;ms-0d1db6695acdf1ec3eaf;ms-b671fa9fcef84dbf2a13", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1a4ecfbe9c97214d5c78", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4221176505088806, + "candidate_source_group_id": "ms-dd1311efb8ab2a0a2d23;ms-39450dbba738dbd8a764;ms-87f8bbc8d9e7f4dcaacf;ms-4ec67456479f53e605e1;ms-486ff31b7a04a7e9e8f9;ms-31782020143c24b4271b", + "expert_regret": 1.4368355870246887, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-564c02492863ae749ea9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4368355870246887, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5631644129753113, + "restore_error": 2.384185791015625e-07, + "score": 0.5631644129753113, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46848392486572266, + "candidate_source_group_id": "ms-a576ca39e26c4e1ab240;ms-0de368e8d16fd01f4e67;ms-4a7b774ee02339c4ca19;ms-7d81f3e8b6a42695871d;ms-dd4f37e032d56b692a0e;ms-f4d6da245d340cd16d30", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7020fdb7cba871e8b3e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.30690762400627136, + "candidate_source_group_id": "ms-288532d255e4828bb15b;ms-b7ed399f40d2d554b16d;ms-1abd8c7cc1c683f88d3d;ms-fb228a036fe5973bcad1;ms-8af87d14945da6a910e4;ms-b82cc8ce5d9d348ba6b4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-26e09c86be9068a34acf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4691881239414215, + "candidate_source_group_id": "ms-9783ccaf76f1b20c766e;ms-88bdd8987f890af7e9ea;ms-c70be4072fb4e49ac106;ms-30fe784e67f732ef9a3d;ms-99ecd2226d7187416316;ms-0c9c39c462522b25ef2b", + "expert_regret": 1.4414274096488953, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3aa5793c449b59c77b6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4414274096488953, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5585725903511047, + "restore_error": 1.1920928955078125e-07, + "score": 0.5585725903511047, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7668940424919128, + "candidate_source_group_id": "ms-bb60defa0d234da9e0bc;ms-3aa864ead19c9cb9fb49;ms-79c7332b2b329eaa6a13;ms-478f754a15221314d15e;ms-61b1188974f35233b883;ms-708baf01c22c75cafd22", + "expert_regret": 0.0, + "expert_score": 0.5963302850723267, + "expert_success": false, + "group_id": "ms-66cc354bbf4e8bdd1051", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.5963302850723267, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.23858214914798737, + "candidate_source_group_id": "ms-97a18aeeea0b34f7c606;ms-f28fbb82a51d4de7811b;ms-f4fd59b4d1bce2d6b6a4;ms-6edb3f8fe977a81f8979;ms-fffe378a3bad31bbed52;ms-0a48fbd111be17b50be5", + "expert_regret": 1.4909815788269043, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f3f6a1b34fdf35290a6c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4909815788269043, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5090184211730957, + "restore_error": 1.1920928955078125e-07, + "score": 0.5090184211730957, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.636202335357666, + "candidate_source_group_id": "ms-b36673c3905a123cbd50;ms-59020093d2eeaf58aa84;ms-fd9f10f7df6a11ec2cef;ms-87f65c35c9d8b3ced6fc;ms-03ed7e57992354e27896;ms-59cc3cdf6918248d7f78", + "expert_regret": 1.9151953235268593, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-382000b79932b7c68326", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9151953235268593, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08480467647314072, + "restore_error": 1.1920928955078125e-07, + "score": 0.08480467647314072, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4246285557746887, + "candidate_source_group_id": "ms-155ec4624d261f6ca16e;ms-7a1ce0a81e4f34902622;ms-ccc0326ed73cd2ea6bf6;ms-751daa0137578c486f3d;ms-3352e05afd9065cd09bf;ms-4b94e0333251263012ec", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b33f1d4ddb6a531d2a71", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.31994321942329407, + "candidate_source_group_id": "ms-4f405775dcbb88f7d8b0;ms-5c8b50523e0de37d80b8;ms-7e94769c30229d5cc7b8;ms-44694e99af9263ad3c45;ms-d305a11348461ae1622c;ms-5847c6d196024fce1770", + "expert_regret": 1.4438931941986084, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ddc0b3adf8506c30f503", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4438931941986084, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5561068058013916, + "restore_error": 1.1920928955078125e-07, + "score": 0.5561068058013916, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5862815976142883, + "candidate_source_group_id": "ms-8f5255815f8b70b48734;ms-4d43fb19477b7ab848bc;ms-13b3c492538e5b3c7bdd;ms-7e0ef0b7f94396bf0029;ms-d3cebfccbbe54d22c561;ms-b606af28580a38cea636", + "expert_regret": 1.5249618589878082, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f3ddc66fde2d59666e07", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5249618589878082, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4750381410121918, + "restore_error": 1.1920928955078125e-07, + "score": 0.4750381410121918, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5690264701843262, + "candidate_source_group_id": "ms-c0995730ba36614c249a;ms-fe2964cc8940ee7c24aa;ms-f897cc2141a0a303fc6a;ms-c2107b650136a20fc4a3;ms-3c6ec8ef5145ff6274e7;ms-fbb609a3f2a334986245", + "expert_regret": 1.4187771081924438, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-348af0b70d3e679f40a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4187771081924438, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5812228918075562, + "restore_error": 1.1920928955078125e-07, + "score": 0.5812228918075562, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5898619294166565, + "candidate_source_group_id": "ms-6a7e80154a9a4e5e9c08;ms-8fcc78fba7b3bec0fab6;ms-00b9ad6a8fe73fccc6fc;ms-c7041c6f758f8e4a3698;ms-da855323619ebf257b19;ms-0d1db6695acdf1ec3eaf", + "expert_regret": 1.4351617693901062, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-41b0258c4e329a734da7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4351617693901062, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5648382306098938, + "restore_error": 1.1920928955078125e-07, + "score": 0.5648382306098938, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5457525849342346, + "candidate_source_group_id": "ms-4742d169606f3ec2b474;ms-a6273302894af3505ca8;ms-766b6fe7c08a3525ce94;ms-225fbe08f2933f91d603;ms-38507741c3b5d91a7b33;ms-386220c339b7de7f222b", + "expert_regret": 1.4359933733940125, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13192a27f5fcf4fd24d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4359933733940125, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5640066266059875, + "restore_error": 1.1920928955078125e-07, + "score": 0.5640066266059875, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.06431896239519119, + "candidate_source_group_id": "ms-23f9cca8edfca421a4a6;ms-9bcf8a1e5e7b0f7ff6f5;ms-0adce283894b0a2b7b94;ms-d824135bf97b907f7cc2;ms-ffba357213945be5f9f7;ms-bc30ca6b7675f4de5041", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-daaac2887015a6e4f3e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44902950525283813, + "candidate_source_group_id": "ms-29f1abb869ff206a4d52;ms-f3e40db5e157647d463d;ms-fe2964cc8940ee7c24aa;ms-fbb609a3f2a334986245;ms-6f1db8895d5164cc5ae5;ms-87f8bbc8d9e7f4dcaacf", + "expert_regret": 0.02416318655014038, + "expert_score": 0.5545835494995117, + "expert_success": false, + "group_id": "ms-3c4ff3dae26217f22a8b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.02416318655014038, + "oracle_score": 0.5545835494995117, + "oracle_success": false, + "progress": 0.5304203629493713, + "restore_error": 1.1920928955078125e-07, + "score": 0.5304203629493713, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12190721929073334, + "candidate_source_group_id": "ms-d05d9bbb98f24da55981;ms-d0e4bdc60ab8ea52a320;ms-25a8e32c071be83d913b;ms-774e954ffdc5da041261;ms-4d9cef437c77474dc62d;ms-55ea22014575410563a4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5085e45e6ca37192d2e5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48315495252609253, + "candidate_source_group_id": "ms-22412b51e61621b6025b;ms-55ea22014575410563a4;ms-30998855587c076a2a77;ms-869a04e41dc5cc90916b;ms-ce992c1fa0bcc38512b7;ms-054a02413d31389d1b7f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c0bfce3c9dd10f9d3231", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39642757177352905, + "candidate_source_group_id": "ms-1cea800b74c1ea2f6338;ms-45ed57caa698d87a99cf;ms-4385e9c56007fdaa94b5;ms-9af03b651b5e36ac2ae3;ms-9eb40f856528204bbcfd;ms-c1ac63fb3644e3a2ae06", + "expert_regret": 1.5097167789936066, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-caeb59971565b08f2513", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5097167789936066, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49028322100639343, + "restore_error": 2.0116567611694336e-07, + "score": 0.49028322100639343, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4748038649559021, + "candidate_source_group_id": "ms-d807915e233a0c74b809;ms-8315ae30e2cf041c8674;ms-70d994c15153752d0dce;ms-b40ee5a75332685d5cec;ms-4e86b87d6e5f6ab914fe;ms-c3a1cf0e424a4f065459", + "expert_regret": 1.4506006836891174, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7b932868f83725def2ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4506006836891174, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5493993163108826, + "restore_error": 2.0116567611694336e-07, + "score": 0.5493993163108826, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6637886166572571, + "candidate_source_group_id": "ms-f1fb6cdb836269adb2cc;ms-5daa8575a80e98a83170;ms-dd7f9cc9585878b84824;ms-f101cf5cc8575be3c201;ms-06715386190189185900;ms-d73a2a984d5829e884f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bca6fa102f94cb145cd2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.0116567611694336e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6498159766197205, + "candidate_source_group_id": "ms-b671fa9fcef84dbf2a13;ms-48d490ed21088bb5ba85;ms-8fcc78fba7b3bec0fab6;ms-da46296bd4e9032570df;ms-a927d1bd67068f1d9302;ms-e45b5de01eafae73e492", + "expert_regret": 1.435814082622528, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-910d27b58a0585327a27", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.435814082622528, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5641859173774719, + "restore_error": 2.0116567611694336e-07, + "score": 0.5641859173774719, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.692463755607605, + "candidate_source_group_id": "ms-44252df6095f31d8b26e;ms-d91cbe61314c18955b6b;ms-d0e4bdc60ab8ea52a320;ms-fe2964cc8940ee7c24aa;ms-f3e40db5e157647d463d;ms-910364d2d86091c5e0cf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bb0d941f78d3d9c5a886", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.0116567611694336e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3479180335998535, + "candidate_source_group_id": "ms-a43a663a3c4b15ec3ac2;ms-b666f24369c548cd56ab;ms-d1dd16f03551d840a922;ms-7982e5af0d533320432f;ms-aaf1c4931e054f52623c;ms-8c0b600aef5393f929cd", + "expert_regret": 1.9567282311618328, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-99df75798ec5da5ec7f3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9567282311618328, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04327176883816719, + "restore_error": 2.0116567611694336e-07, + "score": 0.04327176883816719, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45781898498535156, + "candidate_source_group_id": "ms-08858c7ba8d4a3357e05;ms-8f241450069e74460a40;ms-f71c7cf8ca320b8eb7a4;ms-d965f63e091a5d6dd6d7;ms-766b6fe7c08a3525ce94;ms-38507741c3b5d91a7b33", + "expert_regret": 1.4612364768981934, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b35643e98e1b846e27cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4612364768981934, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5387635231018066, + "restore_error": 2.0116567611694336e-07, + "score": 0.5387635231018066, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2671211063861847, + "candidate_source_group_id": "ms-0b7f8ba789c00b37caa0;ms-91d86cba2602d1fa780d;ms-59020093d2eeaf58aa84;ms-b36673c3905a123cbd50;ms-d67409d8ecfd5d97336d;ms-de709118c78966c5aff7", + "expert_regret": 1.4700625538825989, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-56ad75c28031e049a3dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4700625538825989, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5299374461174011, + "restore_error": 2.0116567611694336e-07, + "score": 0.5299374461174011, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19933192431926727, + "candidate_source_group_id": "ms-7cab119c7b8019254ba4;ms-6b750c1bef91c5d15526;ms-8315ae30e2cf041c8674;ms-d807915e233a0c74b809;ms-ee19bfbcb2f4fbf5a44d;ms-82e28eb350e21d43d3eb", + "expert_regret": 1.474578082561493, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2ee00a97b477ba241dba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.474578082561493, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5254219174385071, + "restore_error": 1.1920928955078125e-07, + "score": 0.5254219174385071, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42564496397972107, + "candidate_source_group_id": "ms-2d995e39f2b95fed1a67;ms-ff3e5d72f3adf548d0a1;ms-14c40aa19f7b9307511d;ms-7020f1cda882b79bffa3;ms-10cb98b0a1ca5429dd28;ms-8bb2d8cb7c0d33fa0c1d", + "expert_regret": 1.9767358545213938, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d18f6f16879d2933bcd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9767358545213938, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.023264145478606224, + "restore_error": 1.1920928955078125e-07, + "score": 0.023264145478606224, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8551456332206726, + "candidate_source_group_id": "ms-5df54a8baaceb8c73c8a;ms-42edbdb8ff281fc33a99;ms-22325628db75967cf779;ms-1fb2f4c1e17e99767558;ms-de066fc4200163ebd06b;ms-236601c5e076b4ee5d75", + "expert_regret": 1.8906919360160828, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-81f48d29d0404300ea93", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8906919360160828, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10930806398391724, + "restore_error": 1.1920928955078125e-07, + "score": 0.10930806398391724, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3055308759212494, + "candidate_source_group_id": "ms-dfc737e32df79e1fc429;ms-d1aac7be45644e12a976;ms-b01677be2df71c474d1f;ms-d5bfdabc97e56c680680;ms-f1fb6cdb836269adb2cc;ms-935ff204de9424ec00a2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b59a7ccfb736df4c4c68", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33316564559936523, + "candidate_source_group_id": "ms-7d962acc9cfbc27c599c;ms-72b7d76602371f044fe3;ms-766b6fe7c08a3525ce94;ms-a6273302894af3505ca8;ms-11bb3387454624de8143;ms-a22fbce4503f088acb1f", + "expert_regret": 1.4533644318580627, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7241a1c25af41f4c0b5a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4533644318580627, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5466355681419373, + "restore_error": 1.1920928955078125e-07, + "score": 0.5466355681419373, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40579646825790405, + "candidate_source_group_id": "ms-0e12a6083750bfecca87;ms-f88a44616a0985aac518;ms-5a7891a58bac94796178;ms-3aa864ead19c9cb9fb49;ms-41279eb586ca5e587474;ms-8d9b2a5ccd43461f827e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a17ceb004979b99a586", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6042762994766235, + "candidate_source_group_id": "ms-d26a60e383a2e822615a;ms-4a7b774ee02339c4ca19;ms-6053d8ef243250b88f96;ms-dd4f37e032d56b692a0e;ms-5e85dc3760eef8a53a67;ms-a45ed89f5b95d1e7ab07", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a3cb33ed1e34d229773c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7445307970046997, + "candidate_source_group_id": "ms-67f602a0e4efc9984d72;ms-90464666adfd66056785;ms-30ad687dc1bc8318fa45;ms-84b677a48d338212ceb7;ms-4b1561bd0029228fdbbe;ms-4705657703da9d791fb9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-32b9c353a4890631f1bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3404419422149658, + "candidate_source_group_id": "ms-b01677be2df71c474d1f;ms-d44f5bd2488ea182132b;ms-61ac2be70a9798adeda0;ms-5fc884c238818acdde08;ms-11a2794efa24f4d93d83;ms-c4cb99b887c88c707ba9", + "expert_regret": 1.4383206367492676, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c83412fa0aa5180ad89", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4383206367492676, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5616793632507324, + "restore_error": 2.384185791015625e-07, + "score": 0.5616793632507324, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7354899644851685, + "candidate_source_group_id": "ms-9044026b69850d12d05b;ms-bcfeba2af1e844c22aed;ms-3352e05afd9065cd09bf;ms-fffe378a3bad31bbed52;ms-97140da7cf409922f6ce;ms-478b7b8b729f9212a522", + "expert_regret": 1.450435221195221, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc615957d9bf177dfe26", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.450435221195221, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.549564778804779, + "restore_error": 2.384185791015625e-07, + "score": 0.549564778804779, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.17109797894954681, + "candidate_source_group_id": "ms-81c855f8645b35f0856d;ms-2df0b9d5fa91156e430a;ms-d6305829d7ca1c68a3ce;ms-e07f80b44faf328c5e58;ms-326a7b583623d136470e;ms-ae5421846020d2765f82", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b0fd98bae1ed5d543f35", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2905842363834381, + "candidate_source_group_id": "ms-48d490ed21088bb5ba85;ms-d73a2a984d5829e884f9;ms-b671fa9fcef84dbf2a13;ms-8420ccaff5986c85063f;ms-0d1db6695acdf1ec3eaf;ms-935ff204de9424ec00a2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-57ac136bd68be6387c6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40788236260414124, + "candidate_source_group_id": "ms-23f9cca8edfca421a4a6;ms-9bcf8a1e5e7b0f7ff6f5;ms-0adce283894b0a2b7b94;ms-d824135bf97b907f7cc2;ms-ffba357213945be5f9f7;ms-bc30ca6b7675f4de5041", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a460f3c1b67817c19de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.251613974571228, + "candidate_source_group_id": "ms-a73f46824bdbdfb96238;ms-6edb3f8fe977a81f8979;ms-d19573dc65181befd83d;ms-8f241450069e74460a40;ms-478f754a15221314d15e;ms-fffe378a3bad31bbed52", + "expert_regret": 1.4668212532997131, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9ff81e54049443a0f3d3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4668212532997131, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5331787467002869, + "restore_error": 2.384185791015625e-07, + "score": 0.5331787467002869, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2551186978816986, + "candidate_source_group_id": "ms-a5775906ce2fb6556103;ms-fbea3b8005a30431cb52;ms-91ad1a5f945470b4346e;ms-578e24198ed828a74485;ms-5316151a88a3282436ca;ms-432ca73236be93cb76df", + "expert_regret": 1.445145308971405, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-80d5c509e83845ab1bc7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.445145308971405, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.554854691028595, + "restore_error": 2.384185791015625e-07, + "score": 0.554854691028595, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.422982782125473, + "candidate_source_group_id": "ms-70d994c15153752d0dce;ms-4e86b87d6e5f6ab914fe;ms-c3a1cf0e424a4f065459;ms-b4af4c8b9dcd6976546c;ms-16d5b122db1824caf92b;ms-ce2924d08bdd6c379777", + "expert_regret": 1.5022430717945099, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-746436cac05100783ad7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5022430717945099, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4977569282054901, + "restore_error": 2.384185791015625e-07, + "score": 0.4977569282054901, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 1.0080621242523193, + "candidate_source_group_id": "ms-1add4cf84fdadf5703d6;ms-b6fd2931116c15db0f0a;ms-cb16b458af723bf7cd0a;ms-0a48fbd111be17b50be5;ms-326a7b583623d136470e;ms-97a18aeeea0b34f7c606", + "expert_regret": 1.4437907934188843, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1d1969094d91fe52667d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4437907934188843, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5562092065811157, + "restore_error": 1.1920928955078125e-07, + "score": 0.5562092065811157, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5917970538139343, + "candidate_source_group_id": "ms-de709118c78966c5aff7;ms-91ad1a5f945470b4346e;ms-bfda95ffffd5d1a2683a;ms-982922e263d07c54c136;ms-0a4c4442237909d5f7b7;ms-578e24198ed828a74485", + "expert_regret": 1.4494471549987793, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e110d8ef3eb852a0f564", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4494471549987793, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5505528450012207, + "restore_error": 1.1920928955078125e-07, + "score": 0.5505528450012207, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4204464256763458, + "candidate_source_group_id": "ms-55ea22014575410563a4;ms-42895361db5578b75c0e;ms-22412b51e61621b6025b;ms-ce992c1fa0bcc38512b7;ms-4705657703da9d791fb9;ms-7be1c6c8ef67031b1f90", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11230e3aaabb1feec834", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2431471049785614, + "candidate_source_group_id": "ms-59cc3cdf6918248d7f78;ms-fa62bbb3e8416561ed69;ms-5922c28e4a71a88c6d21;ms-ddb8f148dff1db91851f;ms-96da3b7a3c2a2411fa66;ms-b36673c3905a123cbd50", + "expert_regret": 1.4426361918449402, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c0ef0ef8b493232246c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4426361918449402, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5573638081550598, + "restore_error": 1.1920928955078125e-07, + "score": 0.5573638081550598, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24976468086242676, + "candidate_source_group_id": "ms-b5deb1971bf3b3484282;ms-ebb616f9b291184677b3;ms-a1d69e0b112064914357;ms-2e5c2f75d3f6311e0a1c;ms-2cf1227610d4602f88ed;ms-1c0e2bb3a811fac6d567", + "expert_regret": 0.06330913305282593, + "expert_score": 0.6078249216079712, + "expert_success": false, + "group_id": "ms-4015c296239564108da2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4554842114448547, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5445157885551453, + "restore_error": 1.1920928955078125e-07, + "score": 0.5445157885551453, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6340851187705994, + "candidate_source_group_id": "ms-5df54a8baaceb8c73c8a;ms-de066fc4200163ebd06b;ms-1fb2f4c1e17e99767558;ms-22325628db75967cf779;ms-c425c810f7865e9564ee;ms-42edbdb8ff281fc33a99", + "expert_regret": 1.9723880533128977, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13557287cd450bc12c6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9723880533128977, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.027611946687102318, + "restore_error": 1.1920928955078125e-07, + "score": 0.027611946687102318, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.34203681349754333, + "candidate_source_group_id": "ms-ccc0326ed73cd2ea6bf6;ms-b333c5aec11dd41d37d2;ms-64e28ad134f73fdce800;ms-3352e05afd9065cd09bf;ms-910fe3f3a4cbc2d8e6f5;ms-4b94e0333251263012ec", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8beca0622be320b282c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22244642674922943, + "candidate_source_group_id": "ms-bcc70292f404cd1c7f75;ms-e1972ebf2c5587a6fdf9;ms-f39bbaa063044719a98d;ms-759ba8b7be233ca47c30;ms-ee0986397bc7267882d8;ms-9c8a90334c3b933c8976", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-166b7f66bf9f4eec432b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46339040994644165, + "candidate_source_group_id": "ms-da46296bd4e9032570df;ms-36e8cb2e7f34f8dceb05;ms-0d1db6695acdf1ec3eaf;ms-e45b5de01eafae73e492;ms-a927d1bd67068f1d9302;ms-802e63c9d42228a69c22", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e589f7d40c12eff1712e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33810344338417053, + "candidate_source_group_id": "ms-08c39d9cc9eb7578e6e9;ms-f947dbf28ad85666e2f1;ms-739a89fb4521bc481a9f;ms-6558f35ae2a2871a4bfd;ms-1cdd36810a138190ce3c;ms-10f2865bef6da7b66423", + "expert_regret": 1.9695770386606455, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f69d6aec4ddb12d88c5b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9695770386606455, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.030422961339354515, + "restore_error": 1.1920928955078125e-07, + "score": 0.030422961339354515, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3993537127971649, + "candidate_source_group_id": "ms-7d32f6b32c14e33b1eb1;ms-c679fdafdd776a14b66f;ms-4f833710c2706ee077af;ms-7cbbc5e7dc896a803efa;ms-618c9e3c06f4879ba788;ms-6fc6a26da9fbe53dd616", + "expert_regret": 1.973481249064207, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-22675530f3a401b3fd6d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.973481249064207, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.026518750935792923, + "restore_error": 1.1920928955078125e-07, + "score": 0.026518750935792923, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5659692883491516, + "candidate_source_group_id": "ms-6133ea5e61638487dd46;ms-e441e4042cb7d77a4986;ms-d965f63e091a5d6dd6d7;ms-a145b708d79b243da21f;ms-eb48573b3e330e44504d;ms-d19c9e3ab1d7daf06344", + "expert_regret": 1.4574572443962097, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3e51a1bdc3a2cc4eb06d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4574572443962097, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5425427556037903, + "restore_error": 1.1920928955078125e-07, + "score": 0.5425427556037903, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7138901948928833, + "candidate_source_group_id": "ms-486b916e7b4ad1566788;ms-b809a8756abec7015aac;ms-4021797e9499e6aaab7a;ms-08c75f74bf7813b1c257;ms-ae6d60345612be32478c;ms-82e28eb350e21d43d3eb", + "expert_regret": 1.4369839429855347, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-867fd9318b2445dcefb5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4369839429855347, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5630160570144653, + "restore_error": 1.1920928955078125e-07, + "score": 0.5630160570144653, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5073359608650208, + "candidate_source_group_id": "ms-ad058e704a159164d7c4;ms-362ba7cebb2bab1421e8;ms-12a997dde50b7a7f35cb;ms-b786173f210fcaa65a6e;ms-c7156b26670838d40934;ms-8ccc51fb09484026ebbb", + "expert_regret": 0.020129799842834473, + "expert_score": 0.5876509547233582, + "expert_success": false, + "group_id": "ms-51873059990aa55691a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.020129799842834473, + "oracle_score": 0.5876509547233582, + "oracle_success": false, + "progress": 0.5675211548805237, + "restore_error": 1.1920928955078125e-07, + "score": 0.5675211548805237, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8018721342086792, + "candidate_source_group_id": "ms-1add4cf84fdadf5703d6;ms-b6fd2931116c15db0f0a;ms-0a48fbd111be17b50be5;ms-cb16b458af723bf7cd0a;ms-326a7b583623d136470e;ms-3352e05afd9065cd09bf", + "expert_regret": 1.4406368136405945, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c684df0b998b593db723", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4406368136405945, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5593631863594055, + "restore_error": 1.1920928955078125e-07, + "score": 0.5593631863594055, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7925829291343689, + "candidate_source_group_id": "ms-2649df827a3c1017ccd8;ms-a202dd8923327af132da;ms-89c0c15f7bb38eaf59e4;ms-f4fd59b4d1bce2d6b6a4;ms-b6827e38768a63212d73;ms-61b1188974f35233b883", + "expert_regret": 1.4844990372657776, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9184c93267b4bbfa4cae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4844990372657776, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5155009627342224, + "restore_error": 1.1920928955078125e-07, + "score": 0.5155009627342224, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4113105237483978, + "candidate_source_group_id": "ms-10621e1108a69d0b633e;ms-08c75f74bf7813b1c257;ms-b809a8756abec7015aac;ms-ae6d60345612be32478c;ms-4021797e9499e6aaab7a;ms-ea72196e20393870bcbb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29afe3c91faef25f1343", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2502500116825104, + "candidate_source_group_id": "ms-a509a572b3871e591d26;ms-a699ee643e76a610b444;ms-ddb4e5a1f88dfd017319;ms-78da3efba7a739dcad14;ms-ddb8f148dff1db91851f;ms-fa62bbb3e8416561ed69", + "expert_regret": 1.441695749759674, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4bc023d8d1f7748b0e12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.441695749759674, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5583042502403259, + "restore_error": 1.1920928955078125e-07, + "score": 0.5583042502403259, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4499436020851135, + "candidate_source_group_id": "ms-a76ae18568c88af1da6b;ms-8ccc51fb09484026ebbb;ms-0ec98183be760ea25a45;ms-3fae81854f4c927f1f8d;ms-547f4204888aee978bf0;ms-197fee321caebfd320f5", + "expert_regret": 0.5840626712888479, + "expert_score": 0.6015409231185913, + "expert_success": false, + "group_id": "ms-f5483f0819e0e8bc352e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5840626712888479, + "oracle_score": 0.6015409231185913, + "oracle_success": false, + "progress": 0.017478251829743385, + "restore_error": 1.1920928955078125e-07, + "score": 0.017478251829743385, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40497276186943054, + "candidate_source_group_id": "ms-912718b1f2ef92066799;ms-85eef30b36b044b33f60;ms-61781d30cb05657c5f5d;ms-8c6e41e7542bc6924a1f;ms-0b4ac5b183639ac19191;ms-2be3bf4f348678c0cc6c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3cfb09df08ad7279ef02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6932269930839539, + "candidate_source_group_id": "ms-bbad1e7f073de07fafbd;ms-0c7dab7ee052231f3f57;ms-dc965b3a72976440156c;ms-f32035837f7df88396a3;ms-045f5adce6d38ea2794f;ms-88b1a0f8f758f7956c0f", + "expert_regret": 1.4445855617523193, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1fa37879a24f0e84c275", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4445855617523193, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5554144382476807, + "restore_error": 1.1920928955078125e-07, + "score": 0.5554144382476807, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3601514995098114, + "candidate_source_group_id": "ms-a3c53708416dbfb9fbc5;ms-88e10d1be12a407b3926;ms-13b3c492538e5b3c7bdd;ms-79d500110f3723b57da8;ms-7e0ef0b7f94396bf0029;ms-fb98254adaa23dc128df", + "expert_regret": 1.4478097558021545, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7af1e453acf970f40546", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4478097558021545, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5521902441978455, + "restore_error": 1.1920928955078125e-07, + "score": 0.5521902441978455, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.616047739982605, + "candidate_source_group_id": "ms-3c458f671129e1ebe7b4;ms-732d0515ed28df031b8e;ms-28817fe297f38fd9550a;ms-87fd37bcc6b666e220ef;ms-0377c81a67d9819ab96b;ms-f682952c6ecb2b833c35", + "expert_regret": 1.893520638346672, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-17a17b212837b7f1309f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.893520638346672, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10647936165332794, + "restore_error": 1.1920928955078125e-07, + "score": 0.10647936165332794, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5796743035316467, + "candidate_source_group_id": "ms-0cfef0ba35d4e6097003;ms-8522a9364bf70311450d;ms-a949424c5fa615565d72;ms-fd225482b96686f51dc8;ms-8420ccaff5986c85063f;ms-00b9ad6a8fe73fccc6fc", + "expert_regret": 1.4429927468299866, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eff5f21c51f26a85f07c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4429927468299866, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5570072531700134, + "restore_error": 1.1920928955078125e-07, + "score": 0.5570072531700134, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5251359939575195, + "candidate_source_group_id": "ms-fd99b14bf152ebc0ef8e;ms-74868f62709b91077e27;ms-311a52ec4b0ca8d71889;ms-fa62bbb3e8416561ed69;ms-ddb8f148dff1db91851f;ms-03ed7e57992354e27896", + "expert_regret": 1.425118327140808, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a2c5c9fd35d9fda5ce9e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.425118327140808, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5748816728591919, + "restore_error": 1.1920928955078125e-07, + "score": 0.5748816728591919, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5169607400894165, + "candidate_source_group_id": "ms-5367a8bae4304851384e;ms-a13ee9983c139d34fca8;ms-a47818abd17d958ad6ca;ms-17330235d51598ebcb4e;ms-2dc8e489908f72903319;ms-2bf2f3a2444b64f8230a", + "expert_regret": 1.4407377243041992, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-128c7c43e30023e6b1a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4407377243041992, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5592622756958008, + "restore_error": 1.1920928955078125e-07, + "score": 0.5592622756958008, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4233744740486145, + "candidate_source_group_id": "ms-802e63c9d42228a69c22;ms-b671fa9fcef84dbf2a13;ms-d33444117889b5aa9cfb;ms-a927d1bd67068f1d9302;ms-da46296bd4e9032570df;ms-36e8cb2e7f34f8dceb05", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28b1f1e4380d434605de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7234172224998474, + "candidate_source_group_id": "ms-045f5adce6d38ea2794f;ms-dc965b3a72976440156c;ms-b40ee5a75332685d5cec;ms-f32035837f7df88396a3;ms-82e28eb350e21d43d3eb;ms-8315ae30e2cf041c8674", + "expert_regret": 1.432457685470581, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2f846e9f31e2b8c4965f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.432457685470581, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.567542314529419, + "restore_error": 1.1920928955078125e-07, + "score": 0.567542314529419, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5306833386421204, + "candidate_source_group_id": "ms-339ae3ec9482aa259eec;ms-a10d8368c33b56390f77;ms-fe54b45b549a55d45c0e;ms-32435d71bb817daf01d9;ms-88b1a0f8f758f7956c0f;ms-4681331b496c8a9cf14d", + "expert_regret": 1.5293186008930206, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-53cfcc878e30fc078bba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5293186008930206, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.47068139910697937, + "restore_error": 1.1920928955078125e-07, + "score": 0.47068139910697937, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.35632064938545227, + "candidate_source_group_id": "ms-6558f35ae2a2871a4bfd;ms-a509a572b3871e591d26;ms-0b7f8ba789c00b37caa0;ms-91d86cba2602d1fa780d;ms-a699ee643e76a610b444;ms-3deb9fa600781abb51c1", + "expert_regret": 1.9232720360159874, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-175375383979526d80b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9232720360159874, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0767279639840126, + "restore_error": 1.1920928955078125e-07, + "score": 0.0767279639840126, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.278912752866745, + "candidate_source_group_id": "ms-0c9c39c462522b25ef2b;ms-88bdd8987f890af7e9ea;ms-a166a9b750ec3446beea;ms-60c7d1d3b5701e7f4e48;ms-c70be4072fb4e49ac106;ms-30fe784e67f732ef9a3d", + "expert_regret": 1.4630261063575745, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b8276cb9b6cb9a9b302f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4630261063575745, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5369738936424255, + "restore_error": 1.1920928955078125e-07, + "score": 0.5369738936424255, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8007393479347229, + "candidate_source_group_id": "ms-de709118c78966c5aff7;ms-59020093d2eeaf58aa84;ms-bfda95ffffd5d1a2683a;ms-87f65c35c9d8b3ced6fc;ms-91d86cba2602d1fa780d;ms-0b7f8ba789c00b37caa0", + "expert_regret": 1.4842354655265808, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de0321d0ece4c58bc224", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4842354655265808, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5157645344734192, + "restore_error": 1.1920928955078125e-07, + "score": 0.5157645344734192, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42218270897865295, + "candidate_source_group_id": "ms-88e10d1be12a407b3926;ms-fb98254adaa23dc128df;ms-a3c53708416dbfb9fbc5;ms-53fdabb5d8ef20778214;ms-2b3e081263ed25d45dc8;ms-2a67eea0b1293de9bcf9", + "expert_regret": 1.4539957642555237, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8fdde5008d12abb7ae6a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4539957642555237, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5460042357444763, + "restore_error": 1.1920928955078125e-07, + "score": 0.5460042357444763, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6089717745780945, + "candidate_source_group_id": "ms-3737178a1f85502652ea;ms-7c76bb3c93411136f11a;ms-cf274fbe4c657d04d7c4;ms-62b597990a3d637e5a8a;ms-5c8b50523e0de37d80b8;ms-a1d69e0b112064914357", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3aaa0d68ca26b1fe6626", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7569202184677124, + "candidate_source_group_id": "ms-d3cebfccbbe54d22c561;ms-b606af28580a38cea636;ms-772768ec2f9792127251;ms-2dc828d2d76b389db4f8;ms-9783ccaf76f1b20c766e;ms-c70be4072fb4e49ac106", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-479aa7d4248a0ebd94e1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.334579735994339, + "candidate_source_group_id": "ms-17e8d6ba42404c7b7d07;ms-802e63c9d42228a69c22;ms-da46296bd4e9032570df;ms-d33444117889b5aa9cfb;ms-a927d1bd67068f1d9302;ms-9e1f3c14116ebca6164d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ece7b8c91d9d82f244b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20671069622039795, + "candidate_source_group_id": "ms-6af227c07aaf7c0f0aea;ms-3e971096794f04f325f2;ms-a1846ef1f00eb54e2d60;ms-3b0ad4f07f1813ecf670;ms-950df0830b2e57010248;ms-46f10a29b484c9461204", + "expert_regret": 1.467664122581482, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cea745484a24f376d7e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.467664122581482, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5323358774185181, + "restore_error": 1.1920928955078125e-07, + "score": 0.5323358774185181, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.531676173210144, + "candidate_source_group_id": "ms-b4af4c8b9dcd6976546c;ms-c3a1cf0e424a4f065459;ms-50f29e19c798fee5422f;ms-1451f536f2ac0df844f6;ms-67f602a0e4efc9984d72;ms-c81880a77c4d978a0b7a", + "expert_regret": 1.4078767895698547, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-49219cb8ed7dad70c897", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4078767895698547, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5921232104301453, + "restore_error": 1.1920928955078125e-07, + "score": 0.5921232104301453, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43296295404434204, + "candidate_source_group_id": "ms-55ea22014575410563a4;ms-25a8e32c071be83d913b;ms-22412b51e61621b6025b;ms-d05d9bbb98f24da55981;ms-42895361db5578b75c0e;ms-869a04e41dc5cc90916b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f8c4e700a751537ebb16", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4575501084327698, + "candidate_source_group_id": "ms-b01677be2df71c474d1f;ms-d1aac7be45644e12a976;ms-54a04864cb68a4c3caac;ms-dfc737e32df79e1fc429;ms-f1fb6cdb836269adb2cc;ms-570c074dbf28b5faae58", + "expert_regret": 1.4398059248924255, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c6beb139304a0ea6f7ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4398059248924255, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5601940751075745, + "restore_error": 1.1920928955078125e-07, + "score": 0.5601940751075745, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14884543418884277, + "candidate_source_group_id": "ms-13af3f2f8e0b8444fe68;ms-f39e1d7a2d636e39a02f;ms-61d4dd4acc03b8d30f19;ms-c9c1649478107785e9d2;ms-5e6d18ccfcf923f52f8e;ms-8c6e41e7542bc6924a1f", + "expert_regret": 0.0, + "expert_score": 0.5946909785270691, + "expert_success": false, + "group_id": "ms-309d2258d275ae304857", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.17499928176403046, + "candidate_source_group_id": "ms-3c12da28c8edab3fa554;ms-759ba8b7be233ca47c30;ms-48d490ed21088bb5ba85;ms-2c68b2b895bdbedbaa08;ms-47662cfa5e75ac8250e7;ms-e1972ebf2c5587a6fdf9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4a0ae3deadb8560fd315", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45941299200057983, + "candidate_source_group_id": "ms-cd340bca589f0cebd7da;ms-86b0447349029dfaa6ab;ms-c86956f3f1333e136186;ms-578537600f7a649c2dd5;ms-1f8e2d5d25706493821d;ms-4cd1ceea2dda2732110a", + "expert_regret": 1.4616252779960632, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7651a7f31eae24958ef0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4616252779960632, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5383747220039368, + "restore_error": 1.1920928955078125e-07, + "score": 0.5383747220039368, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.64251309633255, + "candidate_source_group_id": "ms-478b7b8b729f9212a522;ms-bcfeba2af1e844c22aed;ms-97140da7cf409922f6ce;ms-3352e05afd9065cd09bf;ms-a26c2ffdac089c72ade5;ms-10621e1108a69d0b633e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cb99eeafec52800f3b77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7505017518997192, + "candidate_source_group_id": "ms-dbcc3da47d96ceeaf9f0;ms-c3f7b780f604922f4f67;ms-4681331b496c8a9cf14d;ms-ad5ad5314850df7b0853;ms-b0aa24be399d843c9d50;ms-b90d7926b23eabbbed04", + "expert_regret": 1.4586541652679443, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-732819b0c220a4c06870", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4586541652679443, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5413458347320557, + "restore_error": 1.1920928955078125e-07, + "score": 0.5413458347320557, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.672531008720398, + "candidate_source_group_id": "ms-663aa9934c0f923cc125;ms-704fee4c9fb9941a26e7;ms-7ea16036a1dd971fc4e0;ms-c3f7b780f604922f4f67;ms-a6b029a958e91306966a;ms-b0aa24be399d843c9d50", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-350b797a531f87ad2c0f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5263814330101013, + "candidate_source_group_id": "ms-b92ca6f216624d6305c2;ms-ebacae0135af2832dfbb;ms-7dedf60ad41ea2d92ee5;ms-d73fd5fce55fb58ef8e9;ms-29ae8ff2b706fed904df;ms-36ce7b44f44c615347ab", + "expert_regret": 0.10322775691747665, + "expert_score": 0.18145142495632172, + "expert_success": false, + "group_id": "ms-003a2225c0892dcda683", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.921776331961155, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07822366803884506, + "restore_error": 1.1920928955078125e-07, + "score": 0.07822366803884506, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.9194717407226562, + "candidate_source_group_id": "ms-9acbb20bd73584f0e215;ms-6d5f6a187b61ea26c2e2;ms-652ad552ba98d2736620;ms-be0f2598cc527ad9040a;ms-12c741253e1802aad9ec;ms-f2b2b2a1aa2863c3676f", + "expert_regret": 0.19753699004650116, + "expert_score": 0.2730255424976349, + "expert_success": false, + "group_id": "ms-e6a58c859c498bb0f4d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.19753699004650116, + "oracle_score": 0.2730255424976349, + "oracle_success": false, + "progress": 0.07548855245113373, + "restore_error": 1.1920928955078125e-07, + "score": 0.07548855245113373, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8849044442176819, + "candidate_source_group_id": "ms-8551c2634431d2ade8a8;ms-e8afd0ad85d7e219a1ec;ms-eab38ab23e5fd0218632;ms-57e91ed3c8bd0299534f;ms-9fbd54f73e56e3231631;ms-4d400b68d540cebcc9e0", + "expert_regret": 0.17570988088846207, + "expert_score": 0.21716713905334473, + "expert_success": false, + "group_id": "ms-26c3a975205dfd16f076", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.17570988088846207, + "oracle_score": 0.21716713905334473, + "oracle_success": false, + "progress": 0.04145725816488266, + "restore_error": 1.1920928955078125e-07, + "score": 0.04145725816488266, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.23352491855621338, + "candidate_source_group_id": "ms-dab8307a45ebe8220c83;ms-88012aab0303554a1736;ms-e4e21b9ec2546537fff0;ms-5b513b00260d517c02d9;ms-2dc5138251afd26a040d;ms-bccd7bbe1b1b98254147", + "expert_regret": 0.0, + "expert_score": 0.12086304277181625, + "expert_success": false, + "group_id": "ms-456cdaaa617fc54fd766", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.308398574590683, + "candidate_source_group_id": "ms-cb8cbd90038493c30888;ms-d271e7de6bc331371e9c;ms-372f2ecb6685d8cae8d5;ms-02fd0338e80ef19ceec1;ms-25ab20bb3da8ba34be95;ms-7a044cb6c7bb03f3ea10", + "expert_regret": 0.0, + "expert_score": 0.07767709344625473, + "expert_success": false, + "group_id": "ms-f3f1d07cfd59b823da47", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.17124073207378387, + "oracle_success": false, + "progress": 0.1916952133178711, + "restore_error": 1.1920928955078125e-07, + "score": 0.1916952133178711, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5420222282409668, + "candidate_source_group_id": "ms-c8fa3c12dd48ffd82fcf;ms-3a4e2d080c9c4b279895;ms-e6b654653119682cf01e;ms-a96bca1ef0b74f686018;ms-dc5563c9b0dcd84e393b;ms-85f911fca087fed2caff", + "expert_regret": 1.8098716884851456, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6f425f086690b71d778", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8098716884851456, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19012831151485443, + "restore_error": 1.1920928955078125e-07, + "score": 0.19012831151485443, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6854647397994995, + "candidate_source_group_id": "ms-e9ed5d488afdfd6449d1;ms-bd90866faa10e62fce2c;ms-29f47a1dc1d9c3ec3365;ms-b8fc1568ce66c45c8d8b;ms-6388b5d2356c556c3e55;ms-3f2aed5964eed6c4936a", + "expert_regret": 0.0, + "expert_score": 0.21594193577766418, + "expert_success": false, + "group_id": "ms-ac94b48febe523da15a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2973631024360657, + "candidate_source_group_id": "ms-70549468e433100cfaa6;ms-db2c4015a0690cc80d24;ms-e3e9c08ff116ef32db75;ms-7b90f35aa521ef45ea27;ms-50e54f9608e1420ba11a;ms-7e88428497a6b13936c4", + "expert_regret": 0.0, + "expert_score": 0.13041290640830994, + "expert_success": false, + "group_id": "ms-a1b57fcae964d7b531da", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.15699544548988342, + "oracle_success": false, + "progress": 0.19149520993232727, + "restore_error": 1.1920928955078125e-07, + "score": 0.19149520993232727, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 2.0809378623962402, + "candidate_source_group_id": "ms-cebdee3fec248354033e;ms-1d3f30fae746c0b9cefc;ms-61c3c0e99a653d2a7fe2;ms-c09bd18e1017cc532aee;ms-ff129e39095c2861b522;ms-20e1efbb745fd02abc95", + "expert_regret": 0.0, + "expert_score": 0.12437069416046143, + "expert_success": false, + "group_id": "ms-84388e63928e1a30ffc4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4832541048526764, + "candidate_source_group_id": "ms-088ad33a4461de5ce0cb;ms-633308d7f0e52c013505;ms-3c223e8c7f870c807541;ms-3ed611d029d2ae0b12d8;ms-778efc20fc2ee8a3dd02;ms-2e40499cb146da6f89e7", + "expert_regret": 0.0, + "expert_score": 0.0981486439704895, + "expert_success": false, + "group_id": "ms-c5d53da10b561f402ee7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.20912069082260132, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.920226514339447, + "candidate_source_group_id": "ms-744702a88bec9222a30a;ms-4f0a59b7bc897c0d5e5e;ms-088ad33a4461de5ce0cb;ms-633308d7f0e52c013505;ms-778efc20fc2ee8a3dd02;ms-2e40499cb146da6f89e7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-53b435e197011e0d48b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6693049669265747, + "candidate_source_group_id": "ms-1cba84e4c11e030aeb3e;ms-b49043f15f4846de5b13;ms-1a4d443c5b80e0dac794;ms-b784fe769f0fb1d315e5;ms-a6a6de64c39abad45f86;ms-babaeb20129c46551281", + "expert_regret": 0.0, + "expert_score": 0.23240530490875244, + "expert_success": false, + "group_id": "ms-36f0ff5c96ebdd4644c2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4530714452266693, + "candidate_source_group_id": "ms-b7d7021b782f73816083;ms-6754ed0131c952830729;ms-9681d9cb43cc26adb0fe;ms-e87c704dfdbf7ee7f51f;ms-0dee962a5901fb8b5bbb;ms-b8c3ec3ea915c5d35b3e", + "expert_regret": 0.0, + "expert_score": 0.08866866677999496, + "expert_success": false, + "group_id": "ms-4bda8533405961380322", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13122013211250305, + "oracle_score": 0.31490015983581543, + "oracle_success": false, + "progress": 0.18368002772331238, + "restore_error": 1.1920928955078125e-07, + "score": 0.18368002772331238, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5396822094917297, + "candidate_source_group_id": "ms-f59e0d91a187e6a48299;ms-d92cec7cfd1915a30824;ms-ee30ebaf98622759d888;ms-109ea940d18ab80efabc;ms-b794f77d280289ce22a4;ms-ebacae0135af2832dfbb", + "expert_regret": 0.0857737809419632, + "expert_score": 0.17002534866333008, + "expert_success": false, + "group_id": "ms-7923b8196b397863cf4f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9157484322786331, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08425156772136688, + "restore_error": 1.1920928955078125e-07, + "score": 0.08425156772136688, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5660525560379028, + "candidate_source_group_id": "ms-6754ed0131c952830729;ms-9229ce141dd41a11fac1;ms-e87c704dfdbf7ee7f51f;ms-9681d9cb43cc26adb0fe;ms-1c2768099019b86daca7;ms-b7d7021b782f73816083", + "expert_regret": 0.03562392666935921, + "expert_score": 0.05257302522659302, + "expert_success": false, + "group_id": "ms-728b865677134d3788e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.20963937416672707, + "oracle_score": 0.22658847272396088, + "oracle_success": false, + "progress": 0.01694909855723381, + "restore_error": 1.1920928955078125e-07, + "score": 0.01694909855723381, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.697235643863678, + "candidate_source_group_id": "ms-76f27d9a935b25e15c38;ms-638d2ba1917eff4d09e0;ms-c0e3ab57fcf0d12ea4d8;ms-a8731059713697ce5e2a;ms-d535b38d768633f6d922;ms-9757fc494e79b5543bb6", + "expert_regret": 0.010791480541229248, + "expert_score": 0.2168768048286438, + "expert_success": false, + "group_id": "ms-4f7161e1beab1ab777d8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.04413801431655884, + "oracle_score": 0.2502233386039734, + "oracle_success": false, + "progress": 0.20608532428741455, + "restore_error": 1.1920928955078125e-07, + "score": 0.20608532428741455, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6201148629188538, + "candidate_source_group_id": "ms-638d2ba1917eff4d09e0;ms-c0e3ab57fcf0d12ea4d8;ms-482c5c8d208b5907a2c2;ms-a8731059713697ce5e2a;ms-1c2768099019b86daca7;ms-0fdb89ea83047c63b9b0", + "expert_regret": 0.0, + "expert_score": 0.23002704977989197, + "expert_success": false, + "group_id": "ms-4920f51977e482b3a66c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.23002704977989197, + "oracle_success": false, + "progress": 0.24234744906425476, + "restore_error": 1.1920928955078125e-07, + "score": 0.24234744906425476, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.33144256472587585, + "candidate_source_group_id": "ms-aefa917c6b1659d6edd2;ms-bce8c4ec2bf882ca0b2e;ms-3f2aed5964eed6c4936a;ms-b8fc1568ce66c45c8d8b;ms-5ecde7b64c80d2abbe1f;ms-29f47a1dc1d9c3ec3365", + "expert_regret": 0.0, + "expert_score": 0.19225573539733887, + "expert_success": false, + "group_id": "ms-267832544376e3727efb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.050395429134368896, + "oracle_score": 0.28689613938331604, + "oracle_success": false, + "progress": 0.23650071024894714, + "restore_error": 1.1920928955078125e-07, + "score": 0.23650071024894714, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.27371224761009216, + "candidate_source_group_id": "ms-ebfb82df795e73599373;ms-81f4e8858b2ba90aea2e;ms-49b9e0f9ceaf91314919;ms-a2518826fa0a816cc46f;ms-35940a55db9e3f7e6ad0;ms-e6b654653119682cf01e", + "expert_regret": 0.047328315675258636, + "expert_score": 0.12482444941997528, + "expert_success": false, + "group_id": "ms-f4a2d61f02d4224bad4f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.1754956617951393, + "oracle_score": 0.25299179553985596, + "oracle_success": false, + "progress": 0.07749613374471664, + "restore_error": 1.1920928955078125e-07, + "score": 0.07749613374471664, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.3201656341552734, + "candidate_source_group_id": "ms-dce346f7f90e29664890;ms-4143ca4fca04091084e4;ms-7eaea428dfdef7255a66;ms-57be9ae181c077e7821f;ms-067cac2e4dbeddb12239;ms-16661b2fd2c85f57a66c", + "expert_regret": 1.846969872713089, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-070184c0f6831eb39bc1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.846969872713089, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.153030127286911, + "restore_error": 1.1920928955078125e-07, + "score": 0.153030127286911, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8463976979255676, + "candidate_source_group_id": "ms-088ad33a4461de5ce0cb;ms-633308d7f0e52c013505;ms-3c223e8c7f870c807541;ms-4f0a59b7bc897c0d5e5e;ms-744702a88bec9222a30a;ms-778efc20fc2ee8a3dd02", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d915ee5030ef1ea1b0d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.616149365901947, + "candidate_source_group_id": "ms-554727d05aa9a2b32904;ms-02d160e1d5db6e544363;ms-972c5be72d0b24be7cd5;ms-340e4b5de99447fbcd5e;ms-7eaea428dfdef7255a66;ms-fa8b4ba41ecac8030271", + "expert_regret": 0.0, + "expert_score": 0.2159806191921234, + "expert_success": false, + "group_id": "ms-e84163d9ef2e7014daca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5755575299263, + "candidate_source_group_id": "ms-c31b98b3d3702c6f9c8c;ms-c2398cb80b194084dbfc;ms-bccd7bbe1b1b98254147;ms-cb5dc99d8c3b4c0c3616;ms-5ab7f487c7006dec473a;ms-394edcd961226f337ce1", + "expert_regret": 0.0032410025596618652, + "expert_score": 0.16375553607940674, + "expert_success": false, + "group_id": "ms-c8a0f64b433a541481eb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0368461012840271, + "oracle_score": 0.19736063480377197, + "oracle_success": false, + "progress": 0.16051453351974487, + "restore_error": 1.1920928955078125e-07, + "score": 0.16051453351974487, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6922501921653748, + "candidate_source_group_id": "ms-f9740a08a98cb251b761;ms-9a50730a0ff65eb93ea5;ms-45131c0aa974fa9602ad;ms-89c4edc5d083202b2443;ms-3d31ef4f467b204b8477;ms-4d400b68d540cebcc9e0", + "expert_regret": 1.9671452417969704, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ec2eec3ab528878445cd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.9671452417969704, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03285475820302963, + "restore_error": 1.1920928955078125e-07, + "score": 0.03285475820302963, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6511778235435486, + "candidate_source_group_id": "ms-dab8307a45ebe8220c83;ms-2dc5138251afd26a040d;ms-88012aab0303554a1736;ms-e4e21b9ec2546537fff0;ms-5ab7f487c7006dec473a;ms-5b513b00260d517c02d9", + "expert_regret": 0.0, + "expert_score": 0.09775444120168686, + "expert_success": false, + "group_id": "ms-284545b8610706250f3c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1140122041106224, + "oracle_success": false, + "progress": 0.1481233537197113, + "restore_error": 2.384185791015625e-07, + "score": 0.1481233537197113, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.303334355354309, + "candidate_source_group_id": "ms-714913716f5f0a287401;ms-5ecde7b64c80d2abbe1f;ms-29f47a1dc1d9c3ec3365;ms-bd90866faa10e62fce2c;ms-b8fc1568ce66c45c8d8b;ms-3f2aed5964eed6c4936a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-615d4a98352149e15ff1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.25215885043144226, + "candidate_source_group_id": "ms-57be9ae181c077e7821f;ms-62f8c18a15c566ec4b00;ms-91ad1e8602f14dada73c;ms-1f19fd22562f87bdb776;ms-dce346f7f90e29664890;ms-4143ca4fca04091084e4", + "expert_regret": 0.015604227781295776, + "expert_score": 0.2889223098754883, + "expert_success": false, + "group_id": "ms-dc26b448cce4164a23e6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7266819179058075, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2733180820941925, + "restore_error": 2.384185791015625e-07, + "score": 0.2733180820941925, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.28870540857315063, + "candidate_source_group_id": "ms-fe5a961ee9b8b8a91b44;ms-e4e21b9ec2546537fff0;ms-b8c3ec3ea915c5d35b3e;ms-9681d9cb43cc26adb0fe;ms-3f8284543efb724e8845;ms-2dc5138251afd26a040d", + "expert_regret": 0.0, + "expert_score": 0.19429567456245422, + "expert_success": false, + "group_id": "ms-8c07fff2c7a5131a141b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6683898568153381, + "candidate_source_group_id": "ms-554727d05aa9a2b32904;ms-02d160e1d5db6e544363;ms-972c5be72d0b24be7cd5;ms-340e4b5de99447fbcd5e;ms-7eaea428dfdef7255a66;ms-fa8b4ba41ecac8030271", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7b2cb5c6abcc36a362d1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3142785429954529, + "candidate_source_group_id": "ms-5ecde7b64c80d2abbe1f;ms-714913716f5f0a287401;ms-b8fc1568ce66c45c8d8b;ms-3f2aed5964eed6c4936a;ms-29f47a1dc1d9c3ec3365;ms-bd90866faa10e62fce2c", + "expert_regret": 0.0, + "expert_score": 0.16634780168533325, + "expert_success": false, + "group_id": "ms-e2f8f0ef073900703441", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5444856882095337, + "candidate_source_group_id": "ms-1c2768099019b86daca7;ms-0228f3312b428eaf7e9d;ms-d8e18d4d22b4cc73b803;ms-6a43c1f6dd61d4df80ec;ms-3d090ac2459c4b891dd1;ms-ea8382de946b98af3bf8", + "expert_regret": 0.0, + "expert_score": 0.07999710738658905, + "expert_success": false, + "group_id": "ms-ba11d52e628b2efe32ea", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0748717188835144, + "oracle_score": 0.2388150691986084, + "oracle_success": false, + "progress": 0.163943350315094, + "restore_error": 2.384185791015625e-07, + "score": 0.163943350315094, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.44861334562301636, + "candidate_source_group_id": "ms-26b69e1e596d2e3163da;ms-f40162c64827e8c44a1a;ms-e50ef9df7287938b501c;ms-3bfe7e8a312d53f966d0;ms-088ad33a4461de5ce0cb;ms-f497cc22967badd9f8b0", + "expert_regret": 0.0, + "expert_score": 0.005320350639522076, + "expert_success": false, + "group_id": "ms-b2287fbbcd2b5d8372bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.1117854118347168, + "oracle_score": 0.21861237287521362, + "oracle_success": false, + "progress": 0.10682696104049683, + "restore_error": 2.384185791015625e-07, + "score": 0.10682696104049683, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.45301222801208496, + "candidate_source_group_id": "ms-cd84deb86ca0c1f1c020;ms-575c7eef4563e02ec689;ms-b6b7052345036de1448d;ms-6388b5d2356c556c3e55;ms-b94dfc54c3bf844d5146;ms-0e1ff8d16372796dac97", + "expert_regret": 0.0, + "expert_score": 0.1568639576435089, + "expert_success": false, + "group_id": "ms-d0158d7b3df11d64095c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.21547327935695648, + "oracle_success": false, + "progress": 0.2214585840702057, + "restore_error": 1.1920928955078125e-07, + "score": 0.2214585840702057, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.26088792085647583, + "candidate_source_group_id": "ms-f5dd1c43ebc4c0cfc3f1;ms-45672e1bf3b083eb3fc3;ms-02fd0338e80ef19ceec1;ms-cb8cbd90038493c30888;ms-0dee962a5901fb8b5bbb;ms-9681d9cb43cc26adb0fe", + "expert_regret": 0.0, + "expert_score": 0.15089315176010132, + "expert_success": false, + "group_id": "ms-d81e3048f5ae278c708f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.07352279126644135, + "oracle_score": 0.23822252452373505, + "oracle_success": false, + "progress": 0.1646997332572937, + "restore_error": 1.1920928955078125e-07, + "score": 0.1646997332572937, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3255547881126404, + "candidate_source_group_id": "ms-88012aab0303554a1736;ms-dab8307a45ebe8220c83;ms-2dc5138251afd26a040d;ms-5b513b00260d517c02d9;ms-fe5a961ee9b8b8a91b44;ms-e4e21b9ec2546537fff0", + "expert_regret": 0.0, + "expert_score": 0.1233738511800766, + "expert_success": false, + "group_id": "ms-fbd73493bcf73542f735", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.25541552901268005, + "candidate_source_group_id": "ms-e8afd0ad85d7e219a1ec;ms-4d400b68d540cebcc9e0;ms-8551c2634431d2ade8a8;ms-57e91ed3c8bd0299534f;ms-eab38ab23e5fd0218632;ms-62db3d4ffad1f0e82dd8", + "expert_regret": 0.0, + "expert_score": 0.23221425712108612, + "expert_success": false, + "group_id": "ms-abf8880f672677acc931", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5864173173904419, + "candidate_source_group_id": "ms-2eabcf580547d2c133ce;ms-f4f9dd2ff38f992d4fb9;ms-6f26118aa94bacd82250;ms-4aed2a49597da545e551;ms-d402ca600d53b2db9dbe;ms-d6cc29ec9fbbc53d0f68", + "expert_regret": 0.0, + "expert_score": 0.0808674544095993, + "expert_success": false, + "group_id": "ms-c832439976a37f52d094", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.07536900043487549, + "oracle_score": 0.2594742774963379, + "oracle_success": false, + "progress": 0.1841052770614624, + "restore_error": 1.1920928955078125e-07, + "score": 0.1841052770614624, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3463180363178253, + "candidate_source_group_id": "ms-fdc8588aee7d089fca84;ms-b8c3ec3ea915c5d35b3e;ms-e4e21b9ec2546537fff0;ms-fe5a961ee9b8b8a91b44;ms-3f8284543efb724e8845;ms-9681d9cb43cc26adb0fe", + "expert_regret": 0.0, + "expert_score": 0.1861332654953003, + "expert_success": false, + "group_id": "ms-277531f5e24eeb525899", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8578768968582153, + "candidate_source_group_id": "ms-778efc20fc2ee8a3dd02;ms-2e40499cb146da6f89e7;ms-4f0a59b7bc897c0d5e5e;ms-12c741253e1802aad9ec;ms-744702a88bec9222a30a;ms-633308d7f0e52c013505", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c62736c7767014960e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6148220896720886, + "candidate_source_group_id": "ms-aab59ee607a5ba7e3bfa;ms-4db7b82d22bfbf9258b5;ms-60f0d45b604940db0058;ms-1e30e297540582d59926;ms-8a72b73ac452bc190aeb;ms-9dbf65115872ab5360e4", + "expert_regret": 0.0, + "expert_score": 0.018661757931113243, + "expert_success": false, + "group_id": "ms-3798cbeab8a36b08c295", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.24742551520466805, + "oracle_score": 0.2663142681121826, + "oracle_success": false, + "progress": 0.018888752907514572, + "restore_error": 1.1920928955078125e-07, + "score": 0.018888752907514572, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.9158782362937927, + "candidate_source_group_id": "ms-cb5dc99d8c3b4c0c3616;ms-b8c3ec3ea915c5d35b3e;ms-c2398cb80b194084dbfc;ms-5ab7f487c7006dec473a;ms-b7d7021b782f73816083;ms-e4e21b9ec2546537fff0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-62bd92bfcbc50801e008", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 2.185817241668701, + "candidate_source_group_id": "ms-f126e1cf5b3ee52a8476;ms-6661b157c41ad4d6ab85;ms-19cb10d10516bd0216a6;ms-ee4ddb148e138fce841c;ms-c083dba0e5dcc8ca1004;ms-6ad14a70593958c00a63", + "expert_regret": 0.0, + "expert_score": 0.14424000680446625, + "expert_success": false, + "group_id": "ms-344d81289be624d70b0e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.002375990152359009, + "oracle_score": 0.1725815236568451, + "oracle_success": false, + "progress": 0.17020553350448608, + "restore_error": 1.1920928955078125e-07, + "score": 0.17020553350448608, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5876073837280273, + "candidate_source_group_id": "ms-b334dd4c101f3bd0476b;ms-9229ce141dd41a11fac1;ms-7df455efd413d77e6ce3;ms-f087710511e9f9336ad6;ms-2b7ca4255af28e33db96;ms-4f0a41c8fb3caaeb9540", + "expert_regret": 0.005846301093697548, + "expert_score": 0.01563560962677002, + "expert_success": false, + "group_id": "ms-d45766ebe3a1d7f8876c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13297010399401188, + "oracle_score": 0.14275941252708435, + "oracle_success": false, + "progress": 0.009789308533072472, + "restore_error": 1.1920928955078125e-07, + "score": 0.009789308533072472, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0134583711624146, + "candidate_source_group_id": "ms-12c741253e1802aad9ec;ms-778efc20fc2ee8a3dd02;ms-2e40499cb146da6f89e7;ms-4f0a59b7bc897c0d5e5e;ms-744702a88bec9222a30a;ms-be0f2598cc527ad9040a", + "expert_regret": 1.814615085721016, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-271889c9e921f7716135", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.814615085721016, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18538491427898407, + "restore_error": 1.1920928955078125e-07, + "score": 0.18538491427898407, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5180688500404358, + "candidate_source_group_id": "ms-1cba84e4c11e030aeb3e;ms-a6a6de64c39abad45f86;ms-b0c64b4a1c04972e47a1;ms-1a4d443c5b80e0dac794;ms-babaeb20129c46551281;ms-b784fe769f0fb1d315e5", + "expert_regret": 0.0, + "expert_score": 0.17393752932548523, + "expert_success": false, + "group_id": "ms-151566379dfd7af6fe63", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.18055260181427002, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.40205833315849304, + "candidate_source_group_id": "ms-dab8307a45ebe8220c83;ms-88012aab0303554a1736;ms-2dc5138251afd26a040d;ms-fe5a961ee9b8b8a91b44;ms-e4e21b9ec2546537fff0;ms-5b513b00260d517c02d9", + "expert_regret": 0.0, + "expert_score": 0.18806186318397522, + "expert_success": false, + "group_id": "ms-06babf453b22ba8f2407", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4507524073123932, + "candidate_source_group_id": "ms-6661b157c41ad4d6ab85;ms-e7c50fae013f9728539a;ms-45fbd749d5ed3fe37c13;ms-8b603da9f857de028798;ms-082cb0ac119a83c42c2d;ms-e0c576a5a78374889088", + "expert_regret": 0.0, + "expert_score": 0.1521211564540863, + "expert_success": false, + "group_id": "ms-cc07f96f3454a4643b9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.191031813621521, + "oracle_success": false, + "progress": 0.2221594750881195, + "restore_error": 1.1920928955078125e-07, + "score": 0.2221594750881195, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.468104749917984, + "candidate_source_group_id": "ms-6661b157c41ad4d6ab85;ms-c31b98b3d3702c6f9c8c;ms-bccd7bbe1b1b98254147;ms-394edcd961226f337ce1;ms-fc87ea5245c2743bdb2d;ms-c2398cb80b194084dbfc", + "expert_regret": 0.0, + "expert_score": 0.08069789409637451, + "expert_success": false, + "group_id": "ms-223b0a8319beb051a1ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1593424528837204, + "oracle_success": false, + "progress": 0.1899843066930771, + "restore_error": 1.1920928955078125e-07, + "score": 0.1899843066930771, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.48402532935142517, + "candidate_source_group_id": "ms-7a044cb6c7bb03f3ea10;ms-0dee962a5901fb8b5bbb;ms-e87c704dfdbf7ee7f51f;ms-45672e1bf3b083eb3fc3;ms-372f2ecb6685d8cae8d5;ms-6ddecc7f074b9e267409", + "expert_regret": 0.0, + "expert_score": 0.21284407377243042, + "expert_success": false, + "group_id": "ms-45309d0bdc5e3babc17b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.015265971422195435, + "oracle_score": 0.22903120517730713, + "oracle_success": false, + "progress": 0.2137652337551117, + "restore_error": 2.3096799850463867e-07, + "score": 0.2137652337551117, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4393661320209503, + "candidate_source_group_id": "ms-7ea98b8f4d2220347ee0;ms-48178f52a96de3d1ead0;ms-89538d844f6299774906;ms-674fad0e7c042d23629e;ms-45fbd749d5ed3fe37c13;ms-9826b7a6fdcc0fd3eb69", + "expert_regret": 0.0, + "expert_score": 0.05304628610610962, + "expert_success": false, + "group_id": "ms-126eb8b36769f9ba4671", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1985912322998047, + "oracle_success": false, + "progress": 0.20704786479473114, + "restore_error": 2.3096799850463867e-07, + "score": 0.20704786479473114, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4588485062122345, + "candidate_source_group_id": "ms-554727d05aa9a2b32904;ms-02d160e1d5db6e544363;ms-340e4b5de99447fbcd5e;ms-972c5be72d0b24be7cd5;ms-7eaea428dfdef7255a66;ms-fa8b4ba41ecac8030271", + "expert_regret": 0.014544114470481873, + "expert_score": 0.16841016709804535, + "expert_success": false, + "group_id": "ms-26751f54c657b24b4da2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.10128402709960938, + "oracle_score": 0.25515007972717285, + "oracle_success": false, + "progress": 0.15386605262756348, + "restore_error": 2.3096799850463867e-07, + "score": 0.15386605262756348, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.49257877469062805, + "candidate_source_group_id": "ms-45131c0aa974fa9602ad;ms-9a50730a0ff65eb93ea5;ms-89c4edc5d083202b2443;ms-f9740a08a98cb251b761;ms-3d31ef4f467b204b8477;ms-e8afd0ad85d7e219a1ec", + "expert_regret": 1.9588582888245583, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a04e804d3aad7b40f1ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9588582888245583, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04114171117544174, + "restore_error": 2.3096799850463867e-07, + "score": 0.04114171117544174, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3331431746482849, + "candidate_source_group_id": "ms-d8e18d4d22b4cc73b803;ms-5dbfefbfb832855ef80a;ms-0fdb89ea83047c63b9b0;ms-ea8382de946b98af3bf8;ms-482c5c8d208b5907a2c2;ms-6a43c1f6dd61d4df80ec", + "expert_regret": 0.048048511147499084, + "expert_score": 0.18874704837799072, + "expert_success": false, + "group_id": "ms-1a4979e969aa331fb126", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.13043652474880219, + "oracle_score": 0.2711350619792938, + "oracle_success": false, + "progress": 0.14069853723049164, + "restore_error": 2.3096799850463867e-07, + "score": 0.14069853723049164, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5630654096603394, + "candidate_source_group_id": "ms-ccc79c981e3a67ebeaf2;ms-d6cc29ec9fbbc53d0f68;ms-0093b06390890d181104;ms-2eabcf580547d2c133ce;ms-d402ca600d53b2db9dbe;ms-ccb8bd419b9cd771d12f", + "expert_regret": 0.04571201652288437, + "expert_score": 0.07016094774007797, + "expert_success": false, + "group_id": "ms-34726202b475d29cdf38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.22897177934646606, + "oracle_score": 0.25342071056365967, + "oracle_success": false, + "progress": 0.024448931217193604, + "restore_error": 2.3096799850463867e-07, + "score": 0.024448931217193604, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5145731568336487, + "candidate_source_group_id": "ms-48178f52a96de3d1ead0;ms-7df455efd413d77e6ce3;ms-7ea98b8f4d2220347ee0;ms-e0c576a5a78374889088;ms-38f7298184a2c5005e94;ms-2b7ca4255af28e33db96", + "expert_regret": 0.0, + "expert_score": 0.13672415912151337, + "expert_success": false, + "group_id": "ms-75da653dc43676d593ce", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.2194269299507141, + "oracle_success": false, + "progress": 0.2713845372200012, + "restore_error": 2.3096799850463867e-07, + "score": 0.2713845372200012, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5884336829185486, + "candidate_source_group_id": "ms-68b43d83b97196e0d27f;ms-465d531b9cec5bc77ed7;ms-cad6645f8175e38ad155;ms-29f47a1dc1d9c3ec3365;ms-3f2aed5964eed6c4936a;ms-b8fc1568ce66c45c8d8b", + "expert_regret": 0.0, + "expert_score": 0.16178712248802185, + "expert_success": false, + "group_id": "ms-4cc40587ec490257b1d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.9958545565605164, + "candidate_source_group_id": "ms-61c3c0e99a653d2a7fe2;ms-59d4cdcd401477b5adfc;ms-f2b2b2a1aa2863c3676f;ms-f7a54f4783da1d4129a8;ms-1d3f30fae746c0b9cefc;ms-02311c7783bc67e188b4", + "expert_regret": 1.764320433139801, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0f5ffa7a4448b22b7951", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.764320433139801, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23567956686019897, + "restore_error": 1.1920928955078125e-07, + "score": 0.23567956686019897, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6452683210372925, + "candidate_source_group_id": "ms-6661b157c41ad4d6ab85;ms-bccd7bbe1b1b98254147;ms-c31b98b3d3702c6f9c8c;ms-ee4ddb148e138fce841c;ms-394edcd961226f337ce1;ms-f126e1cf5b3ee52a8476", + "expert_regret": 0.0, + "expert_score": 0.10120099782943726, + "expert_success": false, + "group_id": "ms-1faf779e909ec0415be0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0027366429567337036, + "oracle_score": 0.15691404044628143, + "oracle_success": false, + "progress": 0.15417739748954773, + "restore_error": 1.1920928955078125e-07, + "score": 0.15417739748954773, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4478422701358795, + "candidate_source_group_id": "ms-7ea98b8f4d2220347ee0;ms-89538d844f6299774906;ms-45fbd749d5ed3fe37c13;ms-9826b7a6fdcc0fd3eb69;ms-674fad0e7c042d23629e;ms-dd7527ab9ed49f79d2ba", + "expert_regret": 0.0004937052726745605, + "expert_score": 0.1594313085079193, + "expert_success": false, + "group_id": "ms-98eb81debb5186ebbe38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.08079788088798523, + "oracle_score": 0.23973548412322998, + "oracle_success": false, + "progress": 0.15893760323524475, + "restore_error": 1.1920928955078125e-07, + "score": 0.15893760323524475, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.564146876335144, + "candidate_source_group_id": "ms-35a50d2822c2c3cc4516;ms-d81f9c2974c2d599f151;ms-dc5563c9b0dcd84e393b;ms-206099bab6bfe7c84fce;ms-9fd23a06ae1659cef27b;ms-bce8c4ec2bf882ca0b2e", + "expert_regret": 0.0, + "expert_score": 0.164321169257164, + "expert_success": false, + "group_id": "ms-8e56b0eaa2604db6749e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0404258668422699, + "oracle_score": 0.2857772707939148, + "oracle_success": false, + "progress": 0.2453514039516449, + "restore_error": 1.1920928955078125e-07, + "score": 0.2453514039516449, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.34547683596611023, + "candidate_source_group_id": "ms-482c5c8d208b5907a2c2;ms-a8731059713697ce5e2a;ms-1c2768099019b86daca7;ms-638d2ba1917eff4d09e0;ms-9919d2d2a89c5d491093;ms-c0e3ab57fcf0d12ea4d8", + "expert_regret": 0.018681704998016357, + "expert_score": 0.19676916301250458, + "expert_success": false, + "group_id": "ms-6939bfeb878a54849131", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.05263848602771759, + "oracle_score": 0.2307259440422058, + "oracle_success": false, + "progress": 0.17808745801448822, + "restore_error": 1.1920928955078125e-07, + "score": 0.17808745801448822, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5757417678833008, + "candidate_source_group_id": "ms-372f2ecb6685d8cae8d5;ms-cb8cbd90038493c30888;ms-7a044cb6c7bb03f3ea10;ms-d271e7de6bc331371e9c;ms-6ddecc7f074b9e267409;ms-45672e1bf3b083eb3fc3", + "expert_regret": 0.0, + "expert_score": 0.07837198674678802, + "expert_success": false, + "group_id": "ms-6b789356d65b3312fbae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.22781728208065033, + "oracle_success": false, + "progress": 0.29715704917907715, + "restore_error": 1.1920928955078125e-07, + "score": 0.29715704917907715, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.889521598815918, + "candidate_source_group_id": "ms-3ed611d029d2ae0b12d8;ms-3c223e8c7f870c807541;ms-633308d7f0e52c013505;ms-088ad33a4461de5ce0cb;ms-b0c64b4a1c04972e47a1;ms-a6a6de64c39abad45f86", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-620cd9e02d46b021f112", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7275859117507935, + "candidate_source_group_id": "ms-97832747def371d6de99;ms-6388b5d2356c556c3e55;ms-b6b7052345036de1448d;ms-c09bd18e1017cc532aee;ms-575c7eef4563e02ec689;ms-b6dae6677869af5f7f52", + "expert_regret": 0.0610787570476532, + "expert_score": 0.2651830017566681, + "expert_success": false, + "group_id": "ms-ac4fb33f3ab4db853995", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.795895755290985, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2041042447090149, + "restore_error": 1.1920928955078125e-07, + "score": 0.2041042447090149, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7891191244125366, + "candidate_source_group_id": "ms-dd7527ab9ed49f79d2ba;ms-9826b7a6fdcc0fd3eb69;ms-1e30e297540582d59926;ms-89538d844f6299774906;ms-7ea98b8f4d2220347ee0;ms-8a72b73ac452bc190aeb", + "expert_regret": 0.0, + "expert_score": 0.18361739814281464, + "expert_success": false, + "group_id": "ms-c79a79c1cbd7a472da65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.18361739814281464, + "oracle_success": false, + "progress": 0.190775066614151, + "restore_error": 1.1920928955078125e-07, + "score": 0.190775066614151, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.8494288921356201, + "candidate_source_group_id": "ms-ea8382de946b98af3bf8;ms-6758deb06644a14aa722;ms-3089724d0eba0f7b5d91;ms-ee30ebaf98622759d888;ms-109ea940d18ab80efabc;ms-be219977a9db8dbb1e58", + "expert_regret": 1.8622429370880127, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fd4b2d974e51fed9536e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8622429370880127, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1377570629119873, + "restore_error": 1.1920928955078125e-07, + "score": 0.1377570629119873, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5704624056816101, + "candidate_source_group_id": "ms-4d400b68d540cebcc9e0;ms-0b63f107b0ced8009668;ms-0285f5815c210ac00bec;ms-e9d7fc13264ff1c06637;ms-9fbd54f73e56e3231631;ms-eab38ab23e5fd0218632", + "expert_regret": 1.7827239036560059, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fad04ef94fd664ff89ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7827239036560059, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21727609634399414, + "restore_error": 1.1920928955078125e-07, + "score": 0.21727609634399414, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.7522162199020386, + "candidate_source_group_id": "ms-ed375122594187ef997e;ms-d024c00b780e0df06b55;ms-d73fd5fce55fb58ef8e9;ms-7dedf60ad41ea2d92ee5;ms-8b1ed7e9f28f7a3f924d;ms-b92ca6f216624d6305c2", + "expert_regret": 1.9520369954407215, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-22638e64d6a54980bc02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9520369954407215, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04796300455927849, + "restore_error": 1.1920928955078125e-07, + "score": 0.04796300455927849, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8642854690551758, + "candidate_source_group_id": "ms-6d5f6a187b61ea26c2e2;ms-652ad552ba98d2736620;ms-9acbb20bd73584f0e215;ms-aa45731e1b9734a493fd;ms-07215d42deb9f67c65fd;ms-be0f2598cc527ad9040a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a9747843e0fddd993263", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6202000379562378, + "candidate_source_group_id": "ms-340e4b5de99447fbcd5e;ms-7eaea428dfdef7255a66;ms-02d160e1d5db6e544363;ms-dce346f7f90e29664890;ms-554727d05aa9a2b32904;ms-972c5be72d0b24be7cd5", + "expert_regret": 1.7173007726669312, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-906dbd4dc79cb6be1e2c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7173007726669312, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.28269922733306885, + "restore_error": 1.1920928955078125e-07, + "score": 0.28269922733306885, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.4145680665969849, + "candidate_source_group_id": "ms-c083dba0e5dcc8ca1004;ms-6ad14a70593958c00a63;ms-6661b157c41ad4d6ab85;ms-f126e1cf5b3ee52a8476;ms-e2fe413566da0516273d;ms-19cb10d10516bd0216a6", + "expert_regret": 0.13455285131931305, + "expert_score": 0.26739317178726196, + "expert_success": false, + "group_id": "ms-53344c3bc69a3b0fe303", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13455285131931305, + "oracle_score": 0.26739317178726196, + "oracle_success": false, + "progress": 0.1328403204679489, + "restore_error": 1.1920928955078125e-07, + "score": 0.1328403204679489, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0260263681411743, + "candidate_source_group_id": "ms-9df6734b8268172ea7e5;ms-f2b2b2a1aa2863c3676f;ms-59d4cdcd401477b5adfc;ms-02311c7783bc67e188b4;ms-61c3c0e99a653d2a7fe2;ms-b784fe769f0fb1d315e5", + "expert_regret": 1.7653429210186005, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ccd3b342e4da3980c688", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7653429210186005, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23465707898139954, + "restore_error": 1.1920928955078125e-07, + "score": 0.23465707898139954, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4751153886318207, + "candidate_source_group_id": "ms-9c6eae5aaafcbc2e7b1d;ms-4dc6f09c1beeb5314d11;ms-6f26118aa94bacd82250;ms-0093b06390890d181104;ms-ccc79c981e3a67ebeaf2;ms-f4f9dd2ff38f992d4fb9", + "expert_regret": 0.0, + "expert_score": 0.010581731796264648, + "expert_success": false, + "group_id": "ms-ec013396e4aff6170ee1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.1300228238105774, + "oracle_score": 0.24502670764923096, + "oracle_success": false, + "progress": 0.11500388383865356, + "restore_error": 1.1920928955078125e-07, + "score": 0.11500388383865356, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3841593563556671, + "candidate_source_group_id": "ms-c96b415f083f60857334;ms-50e54f9608e1420ba11a;ms-1ca019318ddec8ce5e8a;ms-a2518826fa0a816cc46f;ms-52b4f33b924e82688187;ms-db2c4015a0690cc80d24", + "expert_regret": 0.03337840363383293, + "expert_score": 0.05565448850393295, + "expert_success": false, + "group_id": "ms-d6da14bffe59c0265db7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.09865641966462135, + "oracle_score": 0.12093250453472137, + "oracle_success": false, + "progress": 0.02227608487010002, + "restore_error": 1.1920928955078125e-07, + "score": 0.02227608487010002, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7079547643661499, + "candidate_source_group_id": "ms-8a58b518ca9ac275d8d5;ms-109ea940d18ab80efabc;ms-5e422b9487b4a1efd7af;ms-d92cec7cfd1915a30824;ms-80801b0de8334bd2bcc8;ms-be219977a9db8dbb1e58", + "expert_regret": 1.9559103026986122, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-423347f93e1045f6bdd0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9559103026986122, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04408969730138779, + "restore_error": 1.1920928955078125e-07, + "score": 0.04408969730138779, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7514201402664185, + "candidate_source_group_id": "ms-0b63f107b0ced8009668;ms-80801b0de8334bd2bcc8;ms-3d090ac2459c4b891dd1;ms-0285f5815c210ac00bec;ms-1150c257eb77fdf40f55;ms-d92cec7cfd1915a30824", + "expert_regret": 1.954742431640625, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a54d67e82a4dc1380e7b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.954742431640625, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.045257568359375, + "restore_error": 1.1920928955078125e-07, + "score": 0.045257568359375, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.529532253742218, + "candidate_source_group_id": "ms-088ad33a4461de5ce0cb;ms-3c223e8c7f870c807541;ms-633308d7f0e52c013505;ms-3ed611d029d2ae0b12d8;ms-b0c64b4a1c04972e47a1;ms-a6a6de64c39abad45f86", + "expert_regret": 0.0, + "expert_score": 0.14673510193824768, + "expert_success": false, + "group_id": "ms-6a3add21affa4796f9be", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.10000097751617432, + "oracle_score": 0.25397229194641113, + "oracle_success": false, + "progress": 0.15397131443023682, + "restore_error": 1.1920928955078125e-07, + "score": 0.15397131443023682, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2928546965122223, + "candidate_source_group_id": "ms-fdc8588aee7d089fca84;ms-b8c3ec3ea915c5d35b3e;ms-e4e21b9ec2546537fff0;ms-9681d9cb43cc26adb0fe;ms-fe5a961ee9b8b8a91b44;ms-b7d7021b782f73816083", + "expert_regret": 0.029119372367858887, + "expert_score": 0.19101719558238983, + "expert_success": false, + "group_id": "ms-d21367899e99e3048dbe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.04234689474105835, + "oracle_score": 0.2042447179555893, + "oracle_success": false, + "progress": 0.16189782321453094, + "restore_error": 1.1920928955078125e-07, + "score": 0.16189782321453094, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6529350280761719, + "candidate_source_group_id": "ms-f7a54f4783da1d4129a8;ms-61c3c0e99a653d2a7fe2;ms-59d4cdcd401477b5adfc;ms-f2b2b2a1aa2863c3676f;ms-652ad552ba98d2736620;ms-9acbb20bd73584f0e215", + "expert_regret": 0.0, + "expert_score": 0.2637917995452881, + "expert_success": false, + "group_id": "ms-8577816da2917a2bb63d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5349454283714294, + "candidate_source_group_id": "ms-7df455efd413d77e6ce3;ms-e0c576a5a78374889088;ms-48178f52a96de3d1ead0;ms-2b7ca4255af28e33db96;ms-9229ce141dd41a11fac1;ms-38f7298184a2c5005e94", + "expert_regret": 0.0, + "expert_score": 0.05953723192214966, + "expert_success": false, + "group_id": "ms-397e502908d16b7804b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0148545503616333, + "oracle_score": 0.13980631530284882, + "oracle_success": false, + "progress": 0.12495176494121552, + "restore_error": 1.1920928955078125e-07, + "score": 0.12495176494121552, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.6014474630355835, + "candidate_source_group_id": "ms-554727d05aa9a2b32904;ms-02d160e1d5db6e544363;ms-972c5be72d0b24be7cd5;ms-340e4b5de99447fbcd5e;ms-7eaea428dfdef7255a66;ms-fa8b4ba41ecac8030271", + "expert_regret": 0.16828763857483864, + "expert_score": 0.21256206929683685, + "expert_success": false, + "group_id": "ms-f85a653af630821f2572", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9557255692780018, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.044274430721998215, + "restore_error": 1.1920928955078125e-07, + "score": 0.044274430721998215, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.24424995481967926, + "candidate_source_group_id": "ms-883bd3738bfe11cfc192;ms-9757fc494e79b5543bb6;ms-0e1ff8d16372796dac97;ms-b94dfc54c3bf844d5146;ms-5ecde7b64c80d2abbe1f;ms-bd90866faa10e62fce2c", + "expert_regret": 0.0, + "expert_score": 0.1662796437740326, + "expert_success": false, + "group_id": "ms-1577a0922a9e53528571", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.045422136783599854, + "oracle_score": 0.2255966067314148, + "oracle_success": false, + "progress": 0.18017446994781494, + "restore_error": 1.1920928955078125e-07, + "score": 0.18017446994781494, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.13803918659687042, + "candidate_source_group_id": "ms-f4f9dd2ff38f992d4fb9;ms-2eabcf580547d2c133ce;ms-4aed2a49597da545e551;ms-d402ca600d53b2db9dbe;ms-d6cc29ec9fbbc53d0f68;ms-76f27d9a935b25e15c38", + "expert_regret": 0.0, + "expert_score": 0.04269101470708847, + "expert_success": false, + "group_id": "ms-cad33aa1136af34af6ec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.10183591395616531, + "oracle_score": 0.1830441653728485, + "oracle_success": false, + "progress": 0.0812082514166832, + "restore_error": 1.1920928955078125e-07, + "score": 0.0812082514166832, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.13111528754234314, + "candidate_source_group_id": "ms-d402ca600d53b2db9dbe;ms-2eabcf580547d2c133ce;ms-4aed2a49597da545e551;ms-76f27d9a935b25e15c38;ms-d6cc29ec9fbbc53d0f68;ms-d535b38d768633f6d922", + "expert_regret": 0.0, + "expert_score": 0.12557005882263184, + "expert_success": false, + "group_id": "ms-e30fd80adc089e9f697a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.18920521438121796, + "oracle_success": false, + "progress": 0.23618459701538086, + "restore_error": 1.1920928955078125e-07, + "score": 0.23618459701538086, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.733149528503418, + "candidate_source_group_id": "ms-9229ce141dd41a11fac1;ms-2b7ca4255af28e33db96;ms-7df455efd413d77e6ce3;ms-38f7298184a2c5005e94;ms-387e6771a55be98f1a59;ms-e0c576a5a78374889088", + "expert_regret": 0.12937398999929428, + "expert_score": 0.24371962249279022, + "expert_success": false, + "group_id": "ms-757b3e9ecfc21efc80a7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.12937398999929428, + "oracle_score": 0.24371962249279022, + "oracle_success": false, + "progress": 0.11434563249349594, + "restore_error": 1.1920928955078125e-07, + "score": 0.11434563249349594, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.33515360951423645, + "candidate_source_group_id": "ms-68b43d83b97196e0d27f;ms-e9ed5d488afdfd6449d1;ms-29f47a1dc1d9c3ec3365;ms-97832747def371d6de99;ms-6388b5d2356c556c3e55;ms-465d531b9cec5bc77ed7", + "expert_regret": 0.0, + "expert_score": 0.22809019684791565, + "expert_success": false, + "group_id": "ms-37384bede4d1c03f3b80", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.442611813545227, + "candidate_source_group_id": "ms-6d5f6a187b61ea26c2e2;ms-652ad552ba98d2736620;ms-9acbb20bd73584f0e215;ms-aa45731e1b9734a493fd;ms-be0f2598cc527ad9040a;ms-07215d42deb9f67c65fd", + "expert_regret": 1.8990296497941017, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f7f4e41613e39d53b7c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8990296497941017, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10097035020589828, + "restore_error": 1.1920928955078125e-07, + "score": 0.10097035020589828, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.23926942050457, + "candidate_source_group_id": "ms-02fd0338e80ef19ceec1;ms-cb8cbd90038493c30888;ms-25ab20bb3da8ba34be95;ms-0dee962a5901fb8b5bbb;ms-372f2ecb6685d8cae8d5;ms-7a044cb6c7bb03f3ea10", + "expert_regret": 0.0, + "expert_score": 0.03588511794805527, + "expert_success": false, + "group_id": "ms-c9f45175ee5fcafa38ec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0900292694568634, + "oracle_score": 0.21779823303222656, + "oracle_success": false, + "progress": 0.12776896357536316, + "restore_error": 1.1920928955078125e-07, + "score": 0.12776896357536316, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6911419630050659, + "candidate_source_group_id": "ms-1f19fd22562f87bdb776;ms-62f8c18a15c566ec4b00;ms-91ad1e8602f14dada73c;ms-57be9ae181c077e7821f;ms-bd90866faa10e62fce2c;ms-5ecde7b64c80d2abbe1f", + "expert_regret": 0.1899625062942505, + "expert_score": 0.2741829752922058, + "expert_success": false, + "group_id": "ms-52f9c8427a88de8dfa6b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.1899625062942505, + "oracle_score": 0.2741829752922058, + "oracle_success": false, + "progress": 0.08422046899795532, + "restore_error": 2.3096799850463867e-07, + "score": 0.08422046899795532, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7603012919425964, + "candidate_source_group_id": "ms-d6cc29ec9fbbc53d0f68;ms-d402ca600d53b2db9dbe;ms-9dbf65115872ab5360e4;ms-ccb8bd419b9cd771d12f;ms-ccc79c981e3a67ebeaf2;ms-2eabcf580547d2c133ce", + "expert_regret": 0.0, + "expert_score": 0.03382353112101555, + "expert_success": false, + "group_id": "ms-20b11e3e581c2a865096", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8098657429218292, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19013425707817078, + "restore_error": 2.3096799850463867e-07, + "score": 0.19013425707817078, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.013184666633606, + "candidate_source_group_id": "ms-31372cdadd8d9da23b8d;ms-44a69da62321224c1df9;ms-f14cda80db7270dd0f86;ms-cbdf12e174c323015f38;ms-c257731ddcf5cf149393;ms-c9a00cd02aa3ea31af1c", + "expert_regret": 0.0, + "expert_score": 0.0, + "expert_success": false, + "group_id": "ms-54fdd49dc2c46e162fc6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.36830583214759827, + "candidate_source_group_id": "ms-abb9a0e2ba0163714374;ms-40bddbc4f8ee1ed19575;ms-7a5970ba19b465cd86c3;ms-97939101c75832eb62cd;ms-bb8ddc9a1e197eb7cee1;ms-2db29812d012d503054a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2377ed2b717d22203e99", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.14227892458438873, + "candidate_source_group_id": "ms-b0d0004818ae853d5bc5;ms-ae5eaf676ba740f3dc07;ms-864a932d1281c7e316af;ms-ecf6837325ac3bc3b66d;ms-2baa5b5b99121cff72c2;ms-40c0e775426e28c3afd9", + "expert_regret": 0.0, + "expert_score": 3.814697265625e-06, + "expert_success": false, + "group_id": "ms-6825a9112cb71ea137c9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5608710646629333, + "candidate_source_group_id": "ms-783ceec205863d92ef8a;ms-e7fcbe2b61632a79fe6a;ms-c57abcef044f324c2f1d;ms-3f6cd47af5e9e6781b73;ms-44e2ba085128234ef9eb;ms-90a840c7cbbfe35e8a67", + "expert_regret": 1.9384861439466476, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-269731d0630cffc1a216", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9384861439466476, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.061513856053352356, + "restore_error": 1.1920928955078125e-07, + "score": 0.061513856053352356, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5009163618087769, + "candidate_source_group_id": "ms-109d9131cce2e94f40c1;ms-147e4106b5d337cefcb2;ms-670a696bd472769ac513;ms-b5ca4a8c438aadab9ec5;ms-4c9ed894520169849bc6;ms-93cbf45c02a304a2f6dc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7fac99962876b33e8d0b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5497530102729797, + "candidate_source_group_id": "ms-0942bb0cc1143a2058f9;ms-64f98d163b6bff29332b;ms-9d943a2732771576e41d;ms-9fad82fd288e4296e354;ms-1fe4b5c84ee5c0e6fcdb;ms-966895e247be1f41daee", + "expert_regret": 1.837142437696457, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-72da580865509f75d6eb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.837142437696457, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1628575623035431, + "restore_error": 1.1920928955078125e-07, + "score": 0.1628575623035431, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.21842847764492035, + "candidate_source_group_id": "ms-ea6878cc654f7f255811;ms-8682e5b9068871041b74;ms-e4656ad3c67bd430c1a6;ms-130f96b49e1bdb7c0e7c;ms-d867fd6ed17aeaa97c2b;ms-79d2ebbe5913e3a72313", + "expert_regret": 0.0, + "expert_score": 0.01401551067829132, + "expert_success": false, + "group_id": "ms-6ffe441e29681c8f116e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6752247214317322, + "candidate_source_group_id": "ms-949bca60825f84d7b5b9;ms-608a539637578968beb3;ms-183174ef761d19fb85d9;ms-2e368b0323bc5ae1cfed;ms-e411015630dcff33d0f7;ms-8278abbc47a6efcb5b68", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-33885f2999b6dbe71f42", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3303948938846588, + "candidate_source_group_id": "ms-8293ae7689b30820278f;ms-a0863466a999b4680737;ms-3b99101d58e538cfbd6d;ms-081952a63087fc8f83cd;ms-f7db0d0ad0967af1d0c5;ms-34ea26afcb2c6fe1a1fe", + "expert_regret": 0.007241234183311462, + "expert_score": 0.12348532676696777, + "expert_success": false, + "group_id": "ms-ad5107846b45eae5a0ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8837559074163437, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11624409258365631, + "restore_error": 1.1920928955078125e-07, + "score": 0.11624409258365631, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7319757342338562, + "candidate_source_group_id": "ms-0e132f1526b2090e440e;ms-25942684dfc6d81c449a;ms-47d33f56890889e86355;ms-98d738638749a1c0999d;ms-5d646fb3dbdcd5443729;ms-2a7f05987ae1fd0fa33d", + "expert_regret": 1.958494320511818, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f6006a647438280a273", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.958494320511818, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04150567948818207, + "restore_error": 1.1920928955078125e-07, + "score": 0.04150567948818207, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4950188100337982, + "candidate_source_group_id": "ms-edeb8cb36d3d06244421;ms-d7cbc8db5f1b69fcd9f9;ms-167bd325bc0845dcaba3;ms-97ccdc4668a995776663;ms-2b27b1ecc0284ec3a993;ms-e2a1bc3e5cd509eb08c2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5c7ab237037e9344a2ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6192970275878906, + "candidate_source_group_id": "ms-de96f1dcca4527c03814;ms-170a9228df2273649f1c;ms-82a5b63ed41420747fb9;ms-0a001f1bda12891b219f;ms-b8f5ebd4732c0274945b;ms-88c39906a4e9c32ec286", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7aaa46eaa657a3179a70", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6107285618782043, + "candidate_source_group_id": "ms-edb1d483ba0ada6fa703;ms-f7db0d0ad0967af1d0c5;ms-be8665e211c9b1cc13b4;ms-940cce8479900a244d54;ms-130188b25b236b6c13fc;ms-918efaf9527826841090", + "expert_regret": 1.9560008496046066, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29fbdaedca6b1e7d233d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9560008496046066, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04399915039539337, + "restore_error": 1.1920928955078125e-07, + "score": 0.04399915039539337, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6985872983932495, + "candidate_source_group_id": "ms-3333e935277a2e1f4e05;ms-733b04f5bd4720d79e99;ms-bc4bf52af94d1469eaee;ms-64b6e9f72ae5e2999f56;ms-14265f08eea0055edff3;ms-ec5819de002710aa5d97", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c333dcd8ec59f2ae8a3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6553367972373962, + "candidate_source_group_id": "ms-949bca60825f84d7b5b9;ms-8278abbc47a6efcb5b68;ms-551020d425c370126f59;ms-2e368b0323bc5ae1cfed;ms-608a539637578968beb3;ms-1fe4b5c84ee5c0e6fcdb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-686b6de62b641e0dba0d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6658691763877869, + "candidate_source_group_id": "ms-048c14d42c3f3b352f53;ms-8293ae7689b30820278f;ms-f7db0d0ad0967af1d0c5;ms-a0863466a999b4680737;ms-081952a63087fc8f83cd;ms-940cce8479900a244d54", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-653181f057aeaeeadfe2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6821543574333191, + "candidate_source_group_id": "ms-316e11b816e8a3495dd9;ms-90a840c7cbbfe35e8a67;ms-33e036c8224f052e6279;ms-44e2ba085128234ef9eb;ms-db2cfd3c0ce8ece8a112;ms-783ceec205863d92ef8a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e333fb7b8697ebeb474e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3525257706642151, + "candidate_source_group_id": "ms-234ce02cf98f85bda72c;ms-fd66d311a01f9c4fc825;ms-6f6c2f554a8e1c33ab32;ms-06c528eb38baee4e31b8;ms-1f195ac1f3ae4b397c71;ms-66d3cc0e17bcbfb5f36e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a699e157f311f764b46", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3183343708515167, + "candidate_source_group_id": "ms-298fc552bfc93c2b32bf;ms-c3191d9c08e5756e90e7;ms-5dab866561f657e9aa8d;ms-f492405ef825467ddcba;ms-f52fe666ef7c9b997778;ms-10a1077a32c1abd486f7", + "expert_regret": 0.0, + "expert_score": 0.19285303354263306, + "expert_success": false, + "group_id": "ms-3c9527725515347ba7de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.31426629424095154, + "candidate_source_group_id": "ms-da66340af8ac9f3852c4;ms-0350672b45f92c437c22;ms-3589c30bbad90d19f2c4;ms-167bd325bc0845dcaba3;ms-edeb8cb36d3d06244421;ms-bb6a2f2ae3014b135b40", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2b4b951e47485c8be41", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.44710010290145874, + "candidate_source_group_id": "ms-147e4106b5d337cefcb2;ms-93cbf45c02a304a2f6dc;ms-670a696bd472769ac513;ms-2b309050ebafdd5a3482;ms-ccccd221a821803e36c5;ms-109d9131cce2e94f40c1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-998ac1af1755510c9229", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4310223460197449, + "candidate_source_group_id": "ms-4f291cdf6a62b9af9e5d;ms-cdca8a6fff0640ab7f16;ms-64b6e9f72ae5e2999f56;ms-d99360c1e4bb4bed6d50;ms-111355c28fcb5ef51167;ms-f49fbce5bf7a0a169f1e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe5a68745bbc6b4256cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.36498337984085083, + "candidate_source_group_id": "ms-7208ab12aba7b4a0da1e;ms-b2c71dc14945b7bd8a60;ms-ee72e3f1115cfb8294ee;ms-2288d0eb01482bc757e5;ms-2ca0290759891500c6bd;ms-16619fc9e4f3627b8dd1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-973f50778408dcecccdd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8584597706794739, + "candidate_source_group_id": "ms-f40f6fe1910a94971980;ms-27c9f70e97b8850cc3ab;ms-23a02f5f0c3f979684ff;ms-2423891634e7b469eed8;ms-281b1eae3c1ac42cb40c;ms-1003d1fe41aba4c8af84", + "expert_regret": 1.962943822145462, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2d9efcce135f0c9d2203", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.962943822145462, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.037056177854537964, + "restore_error": 1.1920928955078125e-07, + "score": 0.037056177854537964, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.49972453713417053, + "candidate_source_group_id": "ms-eccd5c34e1762a33f643;ms-2ba02dcefa15a9371706;ms-a012d1677923703d5a0c;ms-05f34a90fa7355262b8e;ms-864a932d1281c7e316af;ms-8a38529670b19d605663", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-25119a8a2d03c8e71300", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.24254463613033295, + "candidate_source_group_id": "ms-82a203dfa8631639ba7e;ms-f813ff3f9ae188b0259c;ms-5d4b83a1d21ee90ef69f;ms-cf8cc7e3c4481783d5f5;ms-c8593eabfdb5a6bca7bb;ms-5a0da896925f50a1d2ee", + "expert_regret": 0.0, + "expert_score": 0.2145896553993225, + "expert_success": false, + "group_id": "ms-1044e227d00afb01a5dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5704150795936584, + "candidate_source_group_id": "ms-3579b51b91daa627d195;ms-74704688fb63757619e1;ms-54346a8f79bd9dca1dfe;ms-17723f5f0806414eda67;ms-49b9fd364e000bc7d579;ms-933425ede670e8efc04e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f1b05f75f6ad032a0cd1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.439624547958374, + "candidate_source_group_id": "ms-84404222b954c48c48d8;ms-f97fbc8f36f0af9ce18c;ms-698e09998c5dbfa6b7e3;ms-e9bb31726937713db23a;ms-8efd9238ae8d6ca1cd1a;ms-a18cc16207970cd8f84d", + "expert_regret": 1.9402020871639252, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d0005f84908a87243dd6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9402020871639252, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05979791283607483, + "restore_error": 1.1920928955078125e-07, + "score": 0.05979791283607483, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7196608781814575, + "candidate_source_group_id": "ms-5884cb0ce8ef0e034fec;ms-70e24231e9bb560abb3e;ms-fbfbee34b928dbb775da;ms-c109289291b46fd832b3;ms-b4293fc495a608f8063c;ms-17723f5f0806414eda67", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fa637544793129258022", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.29846319556236267, + "candidate_source_group_id": "ms-634dce5b0ce43bfaa04e;ms-4aa2c82355bdbbb93f9d;ms-b929d6015e41aa9a9de8;ms-167bd325bc0845dcaba3;ms-97ccdc4668a995776663;ms-2b309050ebafdd5a3482", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5b5ed3d64cc0c00bac17", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6090079545974731, + "candidate_source_group_id": "ms-1f9a8bf8a8c0882b4039;ms-9d190663aa55bb434720;ms-4c8a03e5d6e3b7a13c29;ms-ce6cbc6d7664766f1285;ms-83b649656afa71ab6bde;ms-fbfbee34b928dbb775da", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ba0d059f1c55c5737e17", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.15599575638771057, + "candidate_source_group_id": "ms-17b435e93391674c7fdd;ms-67f2977ab7d070052b61;ms-b25b49e16e98af4a554c;ms-acfecece1f8160045f0a;ms-65d0541a2ba23a8478fa;ms-a5885ec43a0aa166a0e7", + "expert_regret": 0.0, + "expert_score": 0.06626647710800171, + "expert_success": false, + "group_id": "ms-7cb73c21b0db06dff162", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5596002340316772, + "candidate_source_group_id": "ms-9d1d3a7b2dcafeda3bf3;ms-3a5eaa0095953c9d6241;ms-9d82d1927529dc675bc5;ms-f261341a4a394ae06c69;ms-4dbdc6ed61dccebbfe92;ms-3cb727b6501f5c1a5a16", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69b8e0564f16c652d900", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.48306766152381897, + "candidate_source_group_id": "ms-28a10bea0cf3f917e067;ms-2867deaca7e98582620b;ms-ff08c0b84d984d3d8620;ms-cbdc087c47e35d3d93d9;ms-771e632c1b0f3181ff36;ms-f492405ef825467ddcba", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9fd5ccb16c4e5d0c4579", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7465410232543945, + "candidate_source_group_id": "ms-9915a1632fdf65172a02;ms-3d208c1e04bb84341859;ms-88de0a1035cb8f8ef16a;ms-e2058192b3065ce7dc60;ms-db2cfd3c0ce8ece8a112;ms-d593c823d7fa1cd02635", + "expert_regret": 1.9453376084566116, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a39c5eb6453fab13bb3f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9453376084566116, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05466239154338837, + "restore_error": 1.1920928955078125e-07, + "score": 0.05466239154338837, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.767401397228241, + "candidate_source_group_id": "ms-eb0a75800f4ab451b92e;ms-29788f80c9da2d2d8b4e;ms-3b99101d58e538cfbd6d;ms-889dd046ec7b0fc0a7a4;ms-048c14d42c3f3b352f53;ms-081952a63087fc8f83cd", + "expert_regret": 1.9152712970972061, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65b3fb1b7924487ebe2b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9152712970972061, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08472870290279388, + "restore_error": 1.1920928955078125e-07, + "score": 0.08472870290279388, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5749297738075256, + "candidate_source_group_id": "ms-e8a0577b3fc6f75776b3;ms-81eff749adbf328a93e1;ms-cbdf12e174c323015f38;ms-1aea30e99a4945020cc1;ms-1be8db140ae74d18596f;ms-7f0fb9edfc18e6b83b41", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68dcba1af854c06fc0e6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5700198411941528, + "candidate_source_group_id": "ms-9345a7952bca93b2be95;ms-4c74a17f4d3e6237c0e5;ms-22f6ac0312682d5358b5;ms-a6fbec34b57a97204a37;ms-c16b5cbd61b51f0b66e7;ms-7f0fb9edfc18e6b83b41", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dc6ca032f5df915c7945", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5757805705070496, + "candidate_source_group_id": "ms-7208ab12aba7b4a0da1e;ms-b2c71dc14945b7bd8a60;ms-ee72e3f1115cfb8294ee;ms-2ca0290759891500c6bd;ms-2288d0eb01482bc757e5;ms-eec1c80f2bdd990118d8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-04020456c994946d9a76", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.585867702960968, + "candidate_source_group_id": "ms-0942bb0cc1143a2058f9;ms-64f98d163b6bff29332b;ms-9d943a2732771576e41d;ms-9fad82fd288e4296e354;ms-1fe4b5c84ee5c0e6fcdb;ms-966895e247be1f41daee", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c1f8e861c7c4485c361a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.9851576089859009, + "candidate_source_group_id": "ms-be8665e211c9b1cc13b4;ms-edb1d483ba0ada6fa703;ms-1003d1fe41aba4c8af84;ms-918efaf9527826841090;ms-2423891634e7b469eed8;ms-f7db0d0ad0967af1d0c5", + "expert_regret": 1.9495478421449661, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a75d1290f292d92ca67", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9495478421449661, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.050452157855033875, + "restore_error": 2.384185791015625e-07, + "score": 0.050452157855033875, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.21768435835838318, + "candidate_source_group_id": "ms-fa20766f8a3e706a8ea1;ms-eccd5c34e1762a33f643;ms-2ba02dcefa15a9371706;ms-05f34a90fa7355262b8e;ms-a012d1677923703d5a0c;ms-864a932d1281c7e316af", + "expert_regret": 1.8660841882228851, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fa27eb61283e52488bdb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8660841882228851, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.13391581177711487, + "restore_error": 2.384185791015625e-07, + "score": 0.13391581177711487, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8163213729858398, + "candidate_source_group_id": "ms-0e132f1526b2090e440e;ms-f3b9739bcb72c30a5535;ms-98d738638749a1c0999d;ms-25942684dfc6d81c449a;ms-889dd046ec7b0fc0a7a4;ms-3b99101d58e538cfbd6d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5f722aaecb894444ac4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5248411297798157, + "candidate_source_group_id": "ms-733b04f5bd4720d79e99;ms-3333e935277a2e1f4e05;ms-64b6e9f72ae5e2999f56;ms-3ee8f778784665ea6ee0;ms-cfed5c82c6f4d1c1c3f0;ms-14265f08eea0055edff3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-33dcfa4725ad078cc898", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.818609893321991, + "candidate_source_group_id": "ms-081952a63087fc8f83cd;ms-29788f80c9da2d2d8b4e;ms-34ea26afcb2c6fe1a1fe;ms-8293ae7689b30820278f;ms-3b99101d58e538cfbd6d;ms-048c14d42c3f3b352f53", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-beb40d1c9533f7508aa5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.34244483709335327, + "candidate_source_group_id": "ms-79e8bd81bad486786dc3;ms-2b309050ebafdd5a3482;ms-634dce5b0ce43bfaa04e;ms-670a696bd472769ac513;ms-147e4106b5d337cefcb2;ms-93cbf45c02a304a2f6dc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-272972565b3a686fc999", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7124417424201965, + "candidate_source_group_id": "ms-4401ec9ab8c89fb39f58;ms-d65e80424e917743d9a4;ms-fb23602361466c57dd2d;ms-e825bdad55212cb330da;ms-933425ede670e8efc04e;ms-86909e2391a6a77883b3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-031c526a8690cad1677c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4642127454280853, + "candidate_source_group_id": "ms-940cce8479900a244d54;ms-130188b25b236b6c13fc;ms-f7db0d0ad0967af1d0c5;ms-8293ae7689b30820278f;ms-048c14d42c3f3b352f53;ms-be8665e211c9b1cc13b4", + "expert_regret": 1.90437251329422, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f6174dd8dd65bd736685", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.90437251329422, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09562748670578003, + "restore_error": 2.384185791015625e-07, + "score": 0.09562748670578003, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.729139506816864, + "candidate_source_group_id": "ms-605cecc07e3298489320;ms-44a69da62321224c1df9;ms-ca9a06f00b861bf34c4d;ms-c257731ddcf5cf149393;ms-c9a00cd02aa3ea31af1c;ms-7f22550a9f6707a45cd4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1dd7b6c07218e5e69494", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.49009111523628235, + "candidate_source_group_id": "ms-e6b0ee06238145e2a517;ms-6f6c2f554a8e1c33ab32;ms-4ed913628b5f121bbf34;ms-06c528eb38baee4e31b8;ms-fd66d311a01f9c4fc825;ms-cefef59d2909a69dd709", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d5d38df1f2dbae367af0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5235866904258728, + "candidate_source_group_id": "ms-9d190663aa55bb434720;ms-4c8a03e5d6e3b7a13c29;ms-ce6cbc6d7664766f1285;ms-83b649656afa71ab6bde;ms-1f9a8bf8a8c0882b4039;ms-fbfbee34b928dbb775da", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-238b0d92a2c0a61289b7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7029919624328613, + "candidate_source_group_id": "ms-64b6e9f72ae5e2999f56;ms-4f291cdf6a62b9af9e5d;ms-14265f08eea0055edff3;ms-cdca8a6fff0640ab7f16;ms-bc4bf52af94d1469eaee;ms-d99360c1e4bb4bed6d50", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1e15448c374f47bee884", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7034451365470886, + "candidate_source_group_id": "ms-1f9a8bf8a8c0882b4039;ms-4c8a03e5d6e3b7a13c29;ms-83b649656afa71ab6bde;ms-9d190663aa55bb434720;ms-fbfbee34b928dbb775da;ms-49731d5e69272f3bd959", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f39cb13a5942ca3317d0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5340426564216614, + "candidate_source_group_id": "ms-048c14d42c3f3b352f53;ms-a0863466a999b4680737;ms-940cce8479900a244d54;ms-f7db0d0ad0967af1d0c5;ms-8293ae7689b30820278f;ms-3b99101d58e538cfbd6d", + "expert_regret": 1.9407232105731964, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4d96769e78d7391e43f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9407232105731964, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05927678942680359, + "restore_error": 1.1920928955078125e-07, + "score": 0.05927678942680359, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8171297311782837, + "candidate_source_group_id": "ms-8293ae7689b30820278f;ms-048c14d42c3f3b352f53;ms-3b99101d58e538cfbd6d;ms-a0863466a999b4680737;ms-081952a63087fc8f83cd;ms-29788f80c9da2d2d8b4e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2f6b95c91f5d672d3a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5001031756401062, + "candidate_source_group_id": "ms-42f077d286655b676709;ms-9574e0bf814256a11f3e;ms-86909e2391a6a77883b3;ms-b8f5ebd4732c0274945b;ms-30caf93619a0e2f94eae;ms-170a9228df2273649f1c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a631a8d6314b7547f71f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.26511549949645996, + "candidate_source_group_id": "ms-234ce02cf98f85bda72c;ms-1f195ac1f3ae4b397c71;ms-fd66d311a01f9c4fc825;ms-66d3cc0e17bcbfb5f36e;ms-351f07141fc0a8885759;ms-5816c255ea56bc8a63c3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-60a0de44d30044ef60ff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5317700505256653, + "candidate_source_group_id": "ms-847200a83b8ce5835fd9;ms-ccccd221a821803e36c5;ms-06c528eb38baee4e31b8;ms-5383e9b606cc63b724ab;ms-cefef59d2909a69dd709;ms-234ce02cf98f85bda72c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0818eb8cc217c9b3040a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6017632484436035, + "candidate_source_group_id": "ms-4c8a03e5d6e3b7a13c29;ms-83b649656afa71ab6bde;ms-1f9a8bf8a8c0882b4039;ms-fbfbee34b928dbb775da;ms-9d190663aa55bb434720;ms-49731d5e69272f3bd959", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-70dd7025d2b038824c72", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.18110279738903046, + "candidate_source_group_id": "ms-916b66e56329dbd05b29;ms-351f07141fc0a8885759;ms-39f133217cde17cf4465;ms-f83aacaa71f0151421c7;ms-66d3cc0e17bcbfb5f36e;ms-1f195ac1f3ae4b397c71", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bb9f2f5b67bbb7e0f516", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7342977523803711, + "candidate_source_group_id": "ms-9915a1632fdf65172a02;ms-cece69f5a160c40d613a;ms-db41eac14b49855e7e58;ms-a83154b77975bca93e5e;ms-d593c823d7fa1cd02635;ms-dab80e1bb7987577e33d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e31553038464afab4ec1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4468461573123932, + "candidate_source_group_id": "ms-702a28f36df5dbbbe010;ms-7a50dd49897a83a22282;ms-4711dffcd73048a3656c;ms-c3191d9c08e5756e90e7;ms-f52fe666ef7c9b997778;ms-ad4cbad05e1be65b72ad", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ffdca676bf6a4ccaf640", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5229363441467285, + "candidate_source_group_id": "ms-4dbdc6ed61dccebbfe92;ms-9d1d3a7b2dcafeda3bf3;ms-3cb727b6501f5c1a5a16;ms-d5f6186b51268063515e;ms-9d82d1927529dc675bc5;ms-09bceb938cc530125601", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-98d8d5d728ee4cff6776", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.11117972433567047, + "candidate_source_group_id": "ms-abb9a0e2ba0163714374;ms-f044b20b0f2bb0983f5a;ms-4711dffcd73048a3656c;ms-97939101c75832eb62cd;ms-84bc79aab8423997e8c4;ms-ea694828fcd81abbbc7a", + "expert_regret": 0.0, + "expert_score": 0.18189409375190735, + "expert_success": false, + "group_id": "ms-7530a944fb0979ba91e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.15758708119392395, + "candidate_source_group_id": "ms-5a0da896925f50a1d2ee;ms-f813ff3f9ae188b0259c;ms-82a203dfa8631639ba7e;ms-c8593eabfdb5a6bca7bb;ms-cf8cc7e3c4481783d5f5;ms-5d4b83a1d21ee90ef69f", + "expert_regret": 0.0, + "expert_score": 0.07371273636817932, + "expert_success": false, + "group_id": "ms-bad55a54ecb4349a5323", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6243085265159607, + "candidate_source_group_id": "ms-2db29812d012d503054a;ms-f044b20b0f2bb0983f5a;ms-ce6cbc6d7664766f1285;ms-9d190663aa55bb434720;ms-bb8ddc9a1e197eb7cee1;ms-abb9a0e2ba0163714374", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-157e8e3ee1b0de1840d3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.26468053460121155, + "candidate_source_group_id": "ms-e8a0577b3fc6f75776b3;ms-81eff749adbf328a93e1;ms-cbdf12e174c323015f38;ms-1be8db140ae74d18596f;ms-44a69da62321224c1df9;ms-b187043687d88d509fc7", + "expert_regret": 0.0, + "expert_score": 0.0793772041797638, + "expert_success": false, + "group_id": "ms-b8bfdd3e6c31bd98082d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5644981265068054, + "candidate_source_group_id": "ms-17723f5f0806414eda67;ms-a40d644441c878ac5292;ms-ce6cbc6d7664766f1285;ms-70e24231e9bb560abb3e;ms-9d190663aa55bb434720;ms-fbfbee34b928dbb775da", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2a4611f1099507f9babf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6579678654670715, + "candidate_source_group_id": "ms-5884cb0ce8ef0e034fec;ms-c109289291b46fd832b3;ms-b4293fc495a608f8063c;ms-7c72cdc319220ea76854;ms-70e24231e9bb560abb3e;ms-fbfbee34b928dbb775da", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7dd90f1575d9612c456c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.32486656308174133, + "candidate_source_group_id": "ms-ff08c0b84d984d3d8620;ms-cbdc087c47e35d3d93d9;ms-31880fb2dfed92c021ef;ms-b5f45644a5e3ed45c86d;ms-fc8084d5cd7da937fc02;ms-85a4fc6e131dacc9d839", + "expert_regret": 0.0, + "expert_score": 0.11025479435920715, + "expert_success": false, + "group_id": "ms-ec5ac79449116b0a30c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7073019742965698, + "candidate_source_group_id": "ms-cbdf12e174c323015f38;ms-e8a0577b3fc6f75776b3;ms-44a69da62321224c1df9;ms-60c02d02de5f1e91124f;ms-f14cda80db7270dd0f86;ms-87f2f63d694d8ccca7f8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01fe80a36517a246929d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4691568911075592, + "candidate_source_group_id": "ms-4f291cdf6a62b9af9e5d;ms-cdca8a6fff0640ab7f16;ms-111355c28fcb5ef51167;ms-64b6e9f72ae5e2999f56;ms-f49fbce5bf7a0a169f1e;ms-d99360c1e4bb4bed6d50", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b5dee7bdaf34270e6515", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.9018881916999817, + "candidate_source_group_id": "ms-29788f80c9da2d2d8b4e;ms-a83154b77975bca93e5e;ms-34ea26afcb2c6fe1a1fe;ms-b559638a0a726e441847;ms-db41eac14b49855e7e58;ms-cece69f5a160c40d613a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1371e0e5fe7f126bbea2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1219305768609047, + "candidate_source_group_id": "ms-ea694828fcd81abbbc7a;ms-84bc79aab8423997e8c4;ms-e63468cc3772da77cc67;ms-c84dbd2afb3321e2f43c;ms-40bddbc4f8ee1ed19575;ms-86508eb5d360c56023e1", + "expert_regret": 0.0, + "expert_score": 0.14765234291553497, + "expert_success": false, + "group_id": "ms-f985a8cb6c13af7df7ba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6779971718788147, + "candidate_source_group_id": "ms-98d738638749a1c0999d;ms-b559638a0a726e441847;ms-25942684dfc6d81c449a;ms-33e036c8224f052e6279;ms-2a7f05987ae1fd0fa33d;ms-0b13513f98f2d3def73a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e4a99e5ef340bcc181c9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.27988916635513306, + "candidate_source_group_id": "ms-fc2e1272ed035d0b9066;ms-663c7e7fdaea6a945a2b;ms-4096e2d9cf2e9d4943c7;ms-a2766876467c8fbd5379;ms-2a738f03ee216527dfa6;ms-fc8084d5cd7da937fc02", + "expert_regret": 0.046813711524009705, + "expert_score": 0.20761503279209137, + "expert_success": false, + "group_id": "ms-22cfd6a9a619133478b6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8391986787319183, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16080132126808167, + "restore_error": 1.1920928955078125e-07, + "score": 0.16080132126808167, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5117210149765015, + "candidate_source_group_id": "ms-2e237a4b84b582828c37;ms-b25b49e16e98af4a554c;ms-a5885ec43a0aa166a0e7;ms-130f96b49e1bdb7c0e7c;ms-65d0541a2ba23a8478fa;ms-e4656ad3c67bd430c1a6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b813b6035f0425892bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.33728671073913574, + "candidate_source_group_id": "ms-74f12c8d99a319a9d020;ms-9ac0a7f45996f7326682;ms-c9568dec28405d273943;ms-adf081811af7bca643a1;ms-16619fc9e4f3627b8dd1;ms-c4a78f303c7f2b1a437b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cffdaeae3b980aaeb8f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.45661047101020813, + "candidate_source_group_id": "ms-0942bb0cc1143a2058f9;ms-64f98d163b6bff29332b;ms-9d943a2732771576e41d;ms-1fe4b5c84ee5c0e6fcdb;ms-551020d425c370126f59;ms-9fad82fd288e4296e354", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d4ee30bf4815d04c391", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.436821311712265, + "candidate_source_group_id": "ms-847200a83b8ce5835fd9;ms-ccccd221a821803e36c5;ms-634dce5b0ce43bfaa04e;ms-93cbf45c02a304a2f6dc;ms-2b309050ebafdd5a3482;ms-b5ca4a8c438aadab9ec5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3e17d03f9d640185853b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5504411458969116, + "candidate_source_group_id": "ms-411a6db8809ff09857ff;ms-847200a83b8ce5835fd9;ms-39f133217cde17cf4465;ms-ccccd221a821803e36c5;ms-d97538effd225a910367;ms-234ce02cf98f85bda72c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-579eb7a700037d011e3f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.22328822314739227, + "candidate_source_group_id": "ms-f12b50fed09bbbf6c039;ms-f8a4e83bdb9d628ac483;ms-365d8c6de6de16f66744;ms-86508eb5d360c56023e1;ms-dae29d741eb65a2fc4b3;ms-0be67b60c98e4f3e692f", + "expert_regret": 0.0, + "expert_score": 0.18926367163658142, + "expert_success": false, + "group_id": "ms-07aa7d1f9c01e93d04bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.657413899898529, + "candidate_source_group_id": "ms-1f9a8bf8a8c0882b4039;ms-7a5970ba19b465cd86c3;ms-b187043687d88d509fc7;ms-ce6cbc6d7664766f1285;ms-9d190663aa55bb434720;ms-bb8ddc9a1e197eb7cee1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ab5681ebeef5851f5ceb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8006273508071899, + "candidate_source_group_id": "ms-081952a63087fc8f83cd;ms-29788f80c9da2d2d8b4e;ms-cece69f5a160c40d613a;ms-b559638a0a726e441847;ms-0b13513f98f2d3def73a;ms-34ea26afcb2c6fe1a1fe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f2f594b2492898e947f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2921546399593353, + "candidate_source_group_id": "ms-79e8bd81bad486786dc3;ms-68054c6c805197b033a7;ms-2b309050ebafdd5a3482;ms-4a4de470c6c7cb5a3c34;ms-5df972e5e36afb67a009;ms-634dce5b0ce43bfaa04e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b6189cefdca2110b96a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5971854329109192, + "candidate_source_group_id": "ms-0942bb0cc1143a2058f9;ms-64f98d163b6bff29332b;ms-1fe4b5c84ee5c0e6fcdb;ms-551020d425c370126f59;ms-8278abbc47a6efcb5b68;ms-2e368b0323bc5ae1cfed", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-027592312fc833e8768d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1076722964644432, + "candidate_source_group_id": "ms-234ce02cf98f85bda72c;ms-66d3cc0e17bcbfb5f36e;ms-351f07141fc0a8885759;ms-1f195ac1f3ae4b397c71;ms-39f133217cde17cf4465;ms-916b66e56329dbd05b29", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6d48ff55845b6759a8c4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.24472643435001373, + "candidate_source_group_id": "ms-b0d0004818ae853d5bc5;ms-40c0e775426e28c3afd9;ms-c16b5cbd61b51f0b66e7;ms-ecf6837325ac3bc3b66d;ms-2baa5b5b99121cff72c2;ms-ae5eaf676ba740f3dc07", + "expert_regret": 0.0, + "expert_score": 2.60770320892334e-06, + "expert_success": false, + "group_id": "ms-22f153f0d4fa656018e6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.41700097918510437, + "candidate_source_group_id": "ms-93cbf45c02a304a2f6dc;ms-147e4106b5d337cefcb2;ms-2b309050ebafdd5a3482;ms-ccccd221a821803e36c5;ms-670a696bd472769ac513;ms-109d9131cce2e94f40c1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-20bc116cad15b072a2ea", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6515932083129883, + "candidate_source_group_id": "ms-383c0d1f90c5a0b55e07;ms-c10cf873dd3f68d97755;ms-e411015630dcff33d0f7;ms-9f33c55b8e06fcb5e21e;ms-183174ef761d19fb85d9;ms-3028df2c22f4c029b533", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7f5fe657331466b2e262", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7604418992996216, + "candidate_source_group_id": "ms-29788f80c9da2d2d8b4e;ms-b559638a0a726e441847;ms-a83154b77975bca93e5e;ms-cece69f5a160c40d613a;ms-34ea26afcb2c6fe1a1fe;ms-33e036c8224f052e6279", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1188a1b8e0ac31187b3b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5113476514816284, + "candidate_source_group_id": "ms-f7db0d0ad0967af1d0c5;ms-130188b25b236b6c13fc;ms-940cce8479900a244d54;ms-3b99101d58e538cfbd6d;ms-048c14d42c3f3b352f53;ms-a0863466a999b4680737", + "expert_regret": 1.9414363652467728, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f09be6d8353d3d53a44e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9414363652467728, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.058563634753227234, + "restore_error": 1.1920928955078125e-07, + "score": 0.058563634753227234, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.39068958163261414, + "candidate_source_group_id": "ms-adf081811af7bca643a1;ms-c4a78f303c7f2b1a437b;ms-674d9e270ff9ba879886;ms-9d943a2732771576e41d;ms-fb7c4ead34050a60dbdd;ms-07321628f307d0c91b44", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e95a64701812302bd039", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2838391363620758, + "candidate_source_group_id": "ms-f97fbc8f36f0af9ce18c;ms-e9bb31726937713db23a;ms-84404222b954c48c48d8;ms-a18cc16207970cd8f84d;ms-698e09998c5dbfa6b7e3;ms-8efd9238ae8d6ca1cd1a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d23082fdeffba7cba51", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5758516192436218, + "candidate_source_group_id": "ms-5816c255ea56bc8a63c3;ms-fd66d311a01f9c4fc825;ms-6f6c2f554a8e1c33ab32;ms-79c57793f8c7523b59fc;ms-06c528eb38baee4e31b8;ms-80269804728c7aaaf9a7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c8ffa7d45ed61e2b94d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.49823763966560364, + "candidate_source_group_id": "ms-c3191d9c08e5756e90e7;ms-4711dffcd73048a3656c;ms-10a1077a32c1abd486f7;ms-9b50c72d20e7510258b8;ms-5dab866561f657e9aa8d;ms-f52fe666ef7c9b997778", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5ae7b4d324285dfe6e80", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7389379143714905, + "candidate_source_group_id": "ms-847200a83b8ce5835fd9;ms-5383e9b606cc63b724ab;ms-ccccd221a821803e36c5;ms-2b309050ebafdd5a3482;ms-634dce5b0ce43bfaa04e;ms-5df972e5e36afb67a009", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a102c1d0334bab9656e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2721920311450958, + "candidate_source_group_id": "ms-7fc804389bb1de250c84;ms-8efd9238ae8d6ca1cd1a;ms-680b80c5d2872be1e66a;ms-a18cc16207970cd8f84d;ms-f97fbc8f36f0af9ce18c;ms-84404222b954c48c48d8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c8902580575f6effb241", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6624695658683777, + "candidate_source_group_id": "ms-74704688fb63757619e1;ms-3579b51b91daa627d195;ms-49b9fd364e000bc7d579;ms-17723f5f0806414eda67;ms-54346a8f79bd9dca1dfe;ms-f044b20b0f2bb0983f5a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-79636173ebff4c91da03", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4283698499202728, + "candidate_source_group_id": "ms-aec40fad850827331244;ms-eea4df1b36e8a31b40a3;ms-ecf6837325ac3bc3b66d;ms-b0d0004818ae853d5bc5;ms-09bceb938cc530125601;ms-fae97eb60014b2866413", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ba0ee0c9c181cdc7de9d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.28850695490837097, + "candidate_source_group_id": "ms-2ca0290759891500c6bd;ms-fc8084d5cd7da937fc02;ms-346494921f998d7a48ab;ms-4410b778c34b05366011;ms-ee72e3f1115cfb8294ee;ms-7838ea128d16b455b2f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a649d9cf4fba45822ad9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.17898061871528625, + "candidate_source_group_id": "ms-1a9e9bcd6cbae272a459;ms-d7254aa722729aa1a031;ms-96ebb8e6e71464ac9172;ms-e2f303a0d1e6017e1fc4;ms-0a4d4909900fb0bc4a9a;ms-a50b6ab3c59b1c953197", + "expert_regret": 1.1419830322265625, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-511bcece89a5ea3b849e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1419830322265625, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8580169677734375, + "restore_error": 1.1920928955078125e-07, + "score": 0.8580169677734375, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7558917999267578, + "candidate_source_group_id": "ms-bdc0e2b6d589c1d90d69;ms-546f8817db5b76b563f0;ms-edf898278a0dd01a5b37;ms-80a997bc4867e103fe34;ms-578fc3b8cbdbe6b0542f;ms-c9c7a51e43dd2c33de08", + "expert_regret": 1.1863604187965393, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5c52a7bf5a1abb1a1517", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1863604187965393, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8136395812034607, + "restore_error": 1.1920928955078125e-07, + "score": 0.8136395812034607, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.19889672100543976, + "candidate_source_group_id": "ms-7d484dd14e9d001a07b1;ms-df6a1fb4b1ccbb410b4c;ms-4dd3c4d0161d01abb6d4;ms-804705b564058a7ac34c;ms-728ce6cbfd4c82607908;ms-e95a846b4e77792e3e6f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-62601bc1741cf8792326", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.34492406249046326, + "candidate_source_group_id": "ms-0b1dd0e538b8df15a6e4;ms-dc4738f9c7a8af86722d;ms-d50a82b8770f333f1947;ms-ecb37ebbab21a506d8ca;ms-e3bbabc7ac3950eb91a2;ms-c9804ff90a86259f7149", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ba1dca497a16134eeed8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7565348744392395, + "candidate_source_group_id": "ms-f2a349cfaa6f7422237b;ms-a50b6ab3c59b1c953197;ms-e2f303a0d1e6017e1fc4;ms-9dd1ff4c297a81b13071;ms-0a4d4909900fb0bc4a9a;ms-71e32140ee4d77f3b275", + "expert_regret": 0.7611556351184845, + "expert_score": 0.78147292137146, + "expert_success": false, + "group_id": "ms-dd9b840c99c305ac1977", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.7611556351184845, + "oracle_score": 0.78147292137146, + "oracle_success": false, + "progress": 0.020317286252975464, + "restore_error": 1.1920928955078125e-07, + "score": 0.020317286252975464, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7798417210578918, + "candidate_source_group_id": "ms-95950ddf57046910494b;ms-783f5e7f8c889bef010e;ms-82b267d663e8400d19ca;ms-036f329c4a881ff59e5f;ms-3ec29a5b20bd65943255;ms-12ea343fddf9f6e6b9e8", + "expert_regret": 1.4000032544136047, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-207e9a9f9123d6c3eeb6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4000032544136047, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5999967455863953, + "restore_error": 1.1920928955078125e-07, + "score": 0.5999967455863953, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.19503512978553772, + "candidate_source_group_id": "ms-38ed02dacc133a888d3a;ms-ecc526493f8048cf4c56;ms-0c490961b934978e5b1c;ms-b6ce87522fcc35b563c7;ms-02aa62c077c9d4f86e61;ms-2c6ff8d807763f665bac", + "expert_regret": 0.6858774125576019, + "expert_score": 0.8573464751243591, + "expert_success": false, + "group_id": "ms-146ff6c3f22b3a49af3a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8285309374332428, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1714690625667572, + "restore_error": 1.1920928955078125e-07, + "score": 0.1714690625667572, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6142809987068176, + "candidate_source_group_id": "ms-77c4a01dcf26dcd8f0f3;ms-c9c7a51e43dd2c33de08;ms-edf898278a0dd01a5b37;ms-fb0e4c4b9775d8121124;ms-6bd5870eb5ff0dd76919;ms-546f8817db5b76b563f0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bf2b9cc05ccb6bce0d30", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.11001671850681305, + "candidate_source_group_id": "ms-4c788310cab7df5251e1;ms-96ebb8e6e71464ac9172;ms-dc26a7037003b94b9f93;ms-a2ee6034df65b51c4d97;ms-141aab4472db1ecc0ea2;ms-0e7f710fb5e661e71fd3", + "expert_regret": 1.186584234237671, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-499d2429a00f3cc35add", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.186584234237671, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8134157657623291, + "restore_error": 1.1920928955078125e-07, + "score": 0.8134157657623291, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5004614591598511, + "candidate_source_group_id": "ms-b75d7924ddc6f1056f17;ms-97343fa03fd05700c270;ms-1e17eb687986f7c5bc22;ms-141aab4472db1ecc0ea2;ms-e7959111ef1429bcf699;ms-a2ee6034df65b51c4d97", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d5da9bf431cb1294c82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2486201822757721, + "candidate_source_group_id": "ms-9ad3b276d9ccaf668d30;ms-f2259eac5ed12ee61c19;ms-0ea6d57781e366b578c1;ms-94b9114b294d56e3f88a;ms-9c7464444eaec0fa07c0;ms-9ae5c6c4132218ecf49e", + "expert_regret": 0.6486964225769043, + "expert_score": 0.8447976112365723, + "expert_success": false, + "group_id": "ms-1cb54e3347c49dcdf28e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.661098301410675, + "oracle_score": 0.857199490070343, + "oracle_success": false, + "progress": 0.19610118865966797, + "restore_error": 1.1920928955078125e-07, + "score": 0.19610118865966797, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6537766456604004, + "candidate_source_group_id": "ms-77c4a01dcf26dcd8f0f3;ms-733f43f6aaed1e84c020;ms-06e6e1db86d9e82e56cf;ms-6c8d06bace98a28a8e4e;ms-68067370d3b20b9bd4e2;ms-5bddb39f792f20e5e6d4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-39cea5dde6dc1718d478", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6892543435096741, + "candidate_source_group_id": "ms-02aa62c077c9d4f86e61;ms-060d5756eac8f17652ee;ms-0c490961b934978e5b1c;ms-0fce9fe598d9ed1471b1;ms-4bbd30ae37fda61aa3c2;ms-ffaf8ddbbe21af6dea95", + "expert_regret": 1.8559570610523224, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-89782a37ecf6a44d23dc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8559570610523224, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1440429389476776, + "restore_error": 1.1920928955078125e-07, + "score": 0.1440429389476776, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8554337620735168, + "candidate_source_group_id": "ms-6ab6c8a66fc509e2113e;ms-8f84a0371a7ac44c1b1a;ms-12ea343fddf9f6e6b9e8;ms-76774eb92b50132c54b6;ms-5a32c809ed679663dcb1;ms-f3f100caf89a2487faaf", + "expert_regret": 0.0, + "expert_score": 0.19744239747524261, + "expert_success": false, + "group_id": "ms-eaccbf417256e38345aa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.19744239747524261, + "oracle_success": false, + "progress": 0.5779617428779602, + "restore_error": 1.1920928955078125e-07, + "score": 0.5779617428779602, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.554486870765686, + "candidate_source_group_id": "ms-dab618f516ccc10f176e;ms-54f7cae3bd3cb84062d3;ms-b1b98e21cd4886f70563;ms-a2a546ebe0d1283df0f0;ms-3afd8959363e917591d4;ms-bb70aa617f82f530d42e", + "expert_regret": 1.2152548432350159, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cba80792e163a5084a92", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.2152548432350159, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7847451567649841, + "restore_error": 1.1920928955078125e-07, + "score": 0.7847451567649841, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4085889458656311, + "candidate_source_group_id": "ms-20976520a892ae80760a;ms-0949097d19e597fc7f63;ms-0cdb564903c69734321f;ms-58e6bcca0d74ea38d3dc;ms-76774eb92b50132c54b6;ms-01f463a409e2ec0c6c3e", + "expert_regret": 1.1645216941833496, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2e683dfff18ef7e90d7d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1645216941833496, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8354783058166504, + "restore_error": 1.1920928955078125e-07, + "score": 0.8354783058166504, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8121731877326965, + "candidate_source_group_id": "ms-4734f618e638d42bae46;ms-7ab0027224139e5332d5;ms-741c227f6249d1c8c9f1;ms-15fc8cc6f74cf589056f;ms-8d02415bb9af319f215a;ms-ee2fcbc94d41385713d0", + "expert_regret": 1.8404345512390137, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4cab45c9b21452c1b523", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8404345512390137, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.15956544876098633, + "restore_error": 1.1920928955078125e-07, + "score": 0.15956544876098633, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.14879107475280762, + "candidate_source_group_id": "ms-554f2960f25ff627b596;ms-77536801924a2a78688e;ms-4b6cf86fc2450321163a;ms-a5eb6b813b57d14f6573;ms-88070bf04696eceac1e9;ms-63f384579c130870fde3", + "expert_regret": 0.0, + "expert_score": 0.8376391530036926, + "expert_success": false, + "group_id": "ms-49e1584a68d8f465e8e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.299485206604004, + "candidate_source_group_id": "ms-7fc5696cb3dc7b9bb9f7;ms-86b55250e01b9b6fba7e;ms-0f2cd78c21a012784e1b;ms-350716d0809bd7ef12df;ms-573ab0ef1d4166be9b54;ms-97cdb4c400ad4ae36518", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0b6ba12f99b3554c0e88", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2377147376537323, + "candidate_source_group_id": "ms-1e25b12c832314a0b015;ms-cb752f1a3b24f95b34a2;ms-fe22e55457c78877c2d9;ms-f774646335321f6c5980;ms-54b553c42a8d825beb38;ms-4c6a9b0840052fd62261", + "expert_regret": 1.803249642252922, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b3a1c65d7357ca4300b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.803249642252922, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19675035774707794, + "restore_error": 1.1920928955078125e-07, + "score": 0.19675035774707794, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9221860766410828, + "candidate_source_group_id": "ms-b651d43182be35524aad;ms-5e19aac5dcd26c992bfd;ms-0c2f2dc98424b6704c79;ms-b2b93411a16dbb5d4202;ms-9e96728c711ffe98fe69;ms-97cdb4c400ad4ae36518", + "expert_regret": 1.421859323978424, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7c300541f4986f403b47", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.421859323978424, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5781406760215759, + "restore_error": 1.1920928955078125e-07, + "score": 0.5781406760215759, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.17549775540828705, + "candidate_source_group_id": "ms-7ee2d50e0788ccf0cdec;ms-12ea343fddf9f6e6b9e8;ms-3ec29a5b20bd65943255;ms-c9edb3f445256b0d5341;ms-f9148dff7961fa66a8a1;ms-f50f1c1b673d0c96d4ce", + "expert_regret": 0.0, + "expert_score": 0.8328490257263184, + "expert_success": false, + "group_id": "ms-ed6314fb8f69f956daf6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.8351536393165588, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6547784805297852, + "candidate_source_group_id": "ms-185c13ec401a35f393b7;ms-20ab0b7fffdbb23e6d53;ms-3278c343e1bdece2f252;ms-b8492a3a812095651d75;ms-180d0e0a6315a06a7021;ms-4dc0defd156f4c30aaf8", + "expert_regret": 1.8318179249763489, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fffe17005e577cb2ac1c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8318179249763489, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16818207502365112, + "restore_error": 1.1920928955078125e-07, + "score": 0.16818207502365112, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.07438642531633377, + "candidate_source_group_id": "ms-6b2df24ea06ce2cdfb5e;ms-bb742574fc7cfaea26d0;ms-5c8151ea6809f3c331e5;ms-fc9523f9953b1b5bfbcd;ms-0f7cd7813265e3795e0a;ms-a3df9ead5a29798665a5", + "expert_regret": 0.04319024085998535, + "expert_score": 0.8572937250137329, + "expert_success": false, + "group_id": "ms-d368732bc01f4100cf07", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.1858965158462524, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8141034841537476, + "restore_error": 1.1920928955078125e-07, + "score": 0.8141034841537476, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7913123965263367, + "candidate_source_group_id": "ms-97e2c618a3045e0a759e;ms-f2259eac5ed12ee61c19;ms-0ea6d57781e366b578c1;ms-269815a0f9c1a1ba5a6b;ms-8c67f938fb3d0264393c;ms-d4c5d7eea19d94314e2e", + "expert_regret": 1.392128348350525, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e0e2a425cce52e820a7e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.392128348350525, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6078716516494751, + "restore_error": 1.1920928955078125e-07, + "score": 0.6078716516494751, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6226480603218079, + "candidate_source_group_id": "ms-4dd3c4d0161d01abb6d4;ms-e95a846b4e77792e3e6f;ms-7bdf9cab1f7071533bbc;ms-aa7cc7e3e5eb86e58ee9;ms-a9eb9fab62fb296d2cf3;ms-bc96a8973358d1c20ed3", + "expert_regret": 1.9459345042705536, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-797db95b24deab760f10", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9459345042705536, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05406549572944641, + "restore_error": 1.1920928955078125e-07, + "score": 0.05406549572944641, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9369173049926758, + "candidate_source_group_id": "ms-da2f79e022bb63a2af11;ms-741c227f6249d1c8c9f1;ms-15fc8cc6f74cf589056f;ms-0ccc81e9a63663c50096;ms-a7760c53ebe20579190e;ms-8d02415bb9af319f215a", + "expert_regret": 1.81567744910717, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65a8786e4fb1527342f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.81567744910717, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1843225508928299, + "restore_error": 1.1920928955078125e-07, + "score": 0.1843225508928299, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2548729181289673, + "candidate_source_group_id": "ms-9dd1ff4c297a81b13071;ms-7fba35a6c125e88b8f54;ms-cc52efdf7f7b9efb1f9e;ms-ce827a7939377a151af9;ms-71e32140ee4d77f3b275;ms-500ed73f6d891e237b30", + "expert_regret": 0.7210763692855835, + "expert_score": 0.8358147144317627, + "expert_success": false, + "group_id": "ms-07b479748a91a9c92b20", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8852616548538208, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1147383451461792, + "restore_error": 1.1920928955078125e-07, + "score": 0.1147383451461792, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8183842301368713, + "candidate_source_group_id": "ms-88d7cbdbd7c9636e456f;ms-efdc07c985935d871adf;ms-37d6b220ad58fb776f7b;ms-be0ca7fa48a7ea391aa8;ms-88070bf04696eceac1e9;ms-a5eb6b813b57d14f6573", + "expert_regret": 1.796819195151329, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-00ce5c82d2af61a7d7e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.796819195151329, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20318080484867096, + "restore_error": 1.1920928955078125e-07, + "score": 0.20318080484867096, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.1019788980484009, + "candidate_source_group_id": "ms-dc26a7037003b94b9f93;ms-df6a1fb4b1ccbb410b4c;ms-b1ea4f7f813ac0c87079;ms-c72d626356a30cbef93b;ms-4c788310cab7df5251e1;ms-141aab4472db1ecc0ea2", + "expert_regret": 1.1627557873725891, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-921a0cd2d5ef7e70229a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1627557873725891, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8372442126274109, + "restore_error": 1.1920928955078125e-07, + "score": 0.8372442126274109, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0522003173828125, + "candidate_source_group_id": "ms-625f1a55bfa2bcd57e24;ms-0949097d19e597fc7f63;ms-caa5773983c25018c3f8;ms-0cdb564903c69734321f;ms-571d878853654c42a521;ms-4048f8f6e047422e3c79", + "expert_regret": 1.8166356086730957, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1cba14e90a2d067bc198", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8166356086730957, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1833643913269043, + "restore_error": 1.1920928955078125e-07, + "score": 0.1833643913269043, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.41911599040031433, + "candidate_source_group_id": "ms-bb742574fc7cfaea26d0;ms-0f7cd7813265e3795e0a;ms-6b2df24ea06ce2cdfb5e;ms-5c8151ea6809f3c331e5;ms-fc9523f9953b1b5bfbcd;ms-a3df9ead5a29798665a5", + "expert_regret": 1.8152623176574707, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f6bfe2d3d8f8956091a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8152623176574707, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1847376823425293, + "restore_error": 1.1920928955078125e-07, + "score": 0.1847376823425293, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0133451223373413, + "candidate_source_group_id": "ms-4d687a60b9ce1f0f1ddd;ms-01094af881b751ef29aa;ms-bfb169ce850eae1c3995;ms-da5f2c1dbafa907d725b;ms-a50b6ab3c59b1c953197;ms-3cdc09425d5b71524854", + "expert_regret": 0.6479790359735489, + "expert_score": 0.8434419631958008, + "expert_success": false, + "group_id": "ms-44940e96c327541acf19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.6479790359735489, + "oracle_score": 0.8434419631958008, + "oracle_success": false, + "progress": 0.1954629272222519, + "restore_error": 1.1920928955078125e-07, + "score": 0.1954629272222519, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.3021562099456787, + "candidate_source_group_id": "ms-fc9523f9953b1b5bfbcd;ms-e2a5f29a9c0d835f3cd8;ms-f0fdcc26c648ce089746;ms-5c8151ea6809f3c331e5;ms-6b2df24ea06ce2cdfb5e;ms-0f7cd7813265e3795e0a", + "expert_regret": 1.4506758451461792, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc99c1baec671e7f85a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4506758451461792, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5493241548538208, + "restore_error": 1.1920928955078125e-07, + "score": 0.5493241548538208, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0044939517974854, + "candidate_source_group_id": "ms-fe22e55457c78877c2d9;ms-4c6a9b0840052fd62261;ms-d4c5d7eea19d94314e2e;ms-269815a0f9c1a1ba5a6b;ms-7bdf9cab1f7071533bbc;ms-1e25b12c832314a0b015", + "expert_regret": 1.789390116930008, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-787b74c3c67428d63b72", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.789390116930008, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21060988306999207, + "restore_error": 1.1920928955078125e-07, + "score": 0.21060988306999207, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.163624882698059, + "candidate_source_group_id": "ms-c9804ff90a86259f7149;ms-fd2387aeed9bfc9a0d08;ms-dc4738f9c7a8af86722d;ms-a4e3e9c634e92a46fc15;ms-652234a929b7ed4d3b23;ms-a40882954ff51b61c49c", + "expert_regret": 1.8215138912200928, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-983f35821c4f83c6e4bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8215138912200928, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17848610877990723, + "restore_error": 1.1920928955078125e-07, + "score": 0.17848610877990723, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1892651468515396, + "candidate_source_group_id": "ms-68067370d3b20b9bd4e2;ms-63f384579c130870fde3;ms-554f2960f25ff627b596;ms-a5eb6b813b57d14f6573;ms-88070bf04696eceac1e9;ms-d1960368ef76bbb10669", + "expert_regret": 0.6704991012811661, + "expert_score": 0.8355538845062256, + "expert_success": false, + "group_id": "ms-3c87c16acc91c68c522f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.6706283837556839, + "oracle_score": 0.8356831669807434, + "oracle_success": false, + "progress": 0.1650547832250595, + "restore_error": 1.1920928955078125e-07, + "score": 0.1650547832250595, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9919771552085876, + "candidate_source_group_id": "ms-15248c64e70b0dafcb33;ms-87efe56140dec7d3ffb8;ms-2360ac84ff893ee51c5f;ms-daff16c01452c735345f;ms-05ab68d4cd79b74a45ee;ms-ce9505086ea115f86649", + "expert_regret": 1.4038568139076233, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fee86da43c17dbf07059", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4038568139076233, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5961431860923767, + "restore_error": 1.1920928955078125e-07, + "score": 0.5961431860923767, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4429907202720642, + "candidate_source_group_id": "ms-b6ce87522fcc35b563c7;ms-b5f0f2ae74766beae291;ms-aa1da4bf5f94c6a74839;ms-ecc526493f8048cf4c56;ms-673f96236583a1925836;ms-38ed02dacc133a888d3a", + "expert_regret": 1.9169142991304398, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-03beb7dddeba28c64afa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9169142991304398, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08308570086956024, + "restore_error": 1.1920928955078125e-07, + "score": 0.08308570086956024, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.71662437915802, + "candidate_source_group_id": "ms-b86c44375ba5328a1608;ms-c80e71e55d51d8595499;ms-a4d692315fd15700e75b;ms-c72d626356a30cbef93b;ms-eb7189a4f2b0f0a5d4bd;ms-ff4c9c58b742da7135da", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-119db4f7ab55afe5b9f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6914180517196655, + "candidate_source_group_id": "ms-2fef2f43af8009bb88f1;ms-500ed73f6d891e237b30;ms-7fba35a6c125e88b8f54;ms-ce827a7939377a151af9;ms-79b745efd36e00515fa7;ms-ebf15fd96b4a62e0b393", + "expert_regret": 1.8166660368442535, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f79778f4c5ec302bbfb4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8166660368442535, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18333396315574646, + "restore_error": 1.1920928955078125e-07, + "score": 0.18333396315574646, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9015490412712097, + "candidate_source_group_id": "ms-0f2cd78c21a012784e1b;ms-7fc5696cb3dc7b9bb9f7;ms-86b55250e01b9b6fba7e;ms-97cdb4c400ad4ae36518;ms-350716d0809bd7ef12df;ms-573ab0ef1d4166be9b54", + "expert_regret": 1.8179517686367035, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c7b2b62ba170ac8133e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8179517686367035, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1820482313632965, + "restore_error": 1.1920928955078125e-07, + "score": 0.1820482313632965, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9283756613731384, + "candidate_source_group_id": "ms-d9e7096b437e7ce7cda8;ms-a13e71cca2a60d77aed4;ms-2503df67073b4c59e640;ms-0547201761e8e1873482;ms-6989f2ad4ed53dc07e1f;ms-caa5773983c25018c3f8", + "expert_regret": 0.10830330848693848, + "expert_score": 0.2056313455104828, + "expert_success": false, + "group_id": "ms-df346e952d6eaab76d40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.10830330848693848, + "oracle_score": 0.2056313455104828, + "oracle_success": false, + "progress": 0.09732803702354431, + "restore_error": 1.1920928955078125e-07, + "score": 0.09732803702354431, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7775713205337524, + "candidate_source_group_id": "ms-95950ddf57046910494b;ms-036f329c4a881ff59e5f;ms-82b267d663e8400d19ca;ms-783f5e7f8c889bef010e;ms-748baf7aee43c63797e1;ms-27d723ae87abc93a95f0", + "expert_regret": 1.4049429297447205, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-14064e79c1a1abcf10e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4049429297447205, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5950570702552795, + "restore_error": 1.1920928955078125e-07, + "score": 0.5950570702552795, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6272069215774536, + "candidate_source_group_id": "ms-f50f1c1b673d0c96d4ce;ms-1a37fdd82d982ae6dbd8;ms-801727be95e46ae5da07;ms-e297545a438d902a680e;ms-3efaacea10b7eb4adb57;ms-f9148dff7961fa66a8a1", + "expert_regret": 1.8210345804691315, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dc2e360a4876f6edce82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8210345804691315, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17896541953086853, + "restore_error": 1.1920928955078125e-07, + "score": 0.17896541953086853, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.567775309085846, + "candidate_source_group_id": "ms-0d8e00d0e73f9a7b4ce8;ms-d46da887312a51a9f2a0;ms-2da5f229550b61852483;ms-5ac1bf2d7d319955d45d;ms-48ddae21c360b2a12b8d;ms-0fb946120bcbd8ed0632", + "expert_regret": 1.4074776768684387, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0841a07e9aeb84cff70f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4074776768684387, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5925223231315613, + "restore_error": 1.1920928955078125e-07, + "score": 0.5925223231315613, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3814394772052765, + "candidate_source_group_id": "ms-5ac1bf2d7d319955d45d;ms-d6ed8683183759789495;ms-d46da887312a51a9f2a0;ms-2da5f229550b61852483;ms-0d8e00d0e73f9a7b4ce8;ms-1d7505b80dff9c229a99", + "expert_regret": 0.6538815945386887, + "expert_score": 0.8253189325332642, + "expert_success": false, + "group_id": "ms-22c36189b47df8987e8e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.6538815945386887, + "oracle_score": 0.8253189325332642, + "oracle_success": false, + "progress": 0.1714373379945755, + "restore_error": 1.1920928955078125e-07, + "score": 0.1714373379945755, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.3815767765045166, + "candidate_source_group_id": "ms-dab618f516ccc10f176e;ms-54f7cae3bd3cb84062d3;ms-720c704eeac615b41763;ms-76c9576538106cb9d5db;ms-bb70aa617f82f530d42e;ms-b1b98e21cd4886f70563", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0982ec8847911627c519", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.355217307806015, + "candidate_source_group_id": "ms-230391b47c390f51bc07;ms-0ee3134ab4e9435f2c2c;ms-cdd9ca03b64c4145587b;ms-fc68c8b1bef631b6cae9;ms-0fb946120bcbd8ed0632;ms-fe763444e70a58ff8b1e", + "expert_regret": 1.8173350542783737, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-151e5f61c8e3c2ece4e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8173350542783737, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18266494572162628, + "restore_error": 1.1920928955078125e-07, + "score": 0.18266494572162628, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.673974335193634, + "candidate_source_group_id": "ms-d8cc5ba8ab1cd4a46519;ms-a50b6ab3c59b1c953197;ms-96ebb8e6e71464ac9172;ms-829c9968f0750cd9aed6;ms-f2a349cfaa6f7422237b;ms-e2f303a0d1e6017e1fc4", + "expert_regret": 1.1472102999687195, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-54f4d544f76358c09ee9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1472102999687195, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8527897000312805, + "restore_error": 1.1920928955078125e-07, + "score": 0.8527897000312805, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.06016109138727188, + "candidate_source_group_id": "ms-4734f618e638d42bae46;ms-ee2fcbc94d41385713d0;ms-7ab0027224139e5332d5;ms-741c227f6249d1c8c9f1;ms-15fc8cc6f74cf589056f;ms-8d02415bb9af319f215a", + "expert_regret": 0.0, + "expert_score": 0.17888590693473816, + "expert_success": false, + "group_id": "ms-95028134c6e3670b89d5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8210734575986862, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17892654240131378, + "restore_error": 1.1920928955078125e-07, + "score": 0.17892654240131378, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.484600305557251, + "candidate_source_group_id": "ms-fe22e55457c78877c2d9;ms-bc02d87b2ed5769ee484;ms-7dca31b0d7d6fab018f3;ms-54b553c42a8d825beb38;ms-4d687a60b9ce1f0f1ddd;ms-f774646335321f6c5980", + "expert_regret": 1.973147064447403, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ffc732b968c030ba1d0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.973147064447403, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.026852935552597046, + "restore_error": 1.1920928955078125e-07, + "score": 0.026852935552597046, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5601376891136169, + "candidate_source_group_id": "ms-f020e53a077d4e6bf383;ms-ab72e600d0bfb162ea80;ms-9b89af1761e33e733a56;ms-cb752f1a3b24f95b34a2;ms-fc68c8b1bef631b6cae9;ms-0ee3134ab4e9435f2c2c", + "expert_regret": 1.9311183840036392, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-00e356a462bdc3380f4f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9311183840036392, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06888161599636078, + "restore_error": 1.1920928955078125e-07, + "score": 0.06888161599636078, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8794110417366028, + "candidate_source_group_id": "ms-cdd9ca03b64c4145587b;ms-230391b47c390f51bc07;ms-fe763444e70a58ff8b1e;ms-0ee3134ab4e9435f2c2c;ms-0fb946120bcbd8ed0632;ms-2b6ab8760ea5d558797c", + "expert_regret": 1.8976535499095917, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-57ccc6bbce43f1c7c000", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8976535499095917, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10234645009040833, + "restore_error": 1.1920928955078125e-07, + "score": 0.10234645009040833, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8789531588554382, + "candidate_source_group_id": "ms-19b9e8a1108ac25f3476;ms-dd8ebc7d7211ece74e03;ms-68f53650da9a9354b58f;ms-01094af881b751ef29aa;ms-7dca31b0d7d6fab018f3;ms-aa1da4bf5f94c6a74839", + "expert_regret": 1.4109516143798828, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-325cd8b08e89bb498c82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4109516143798828, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5890483856201172, + "restore_error": 1.1920928955078125e-07, + "score": 0.5890483856201172, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.48185640573501587, + "candidate_source_group_id": "ms-ab72e600d0bfb162ea80;ms-230391b47c390f51bc07;ms-0ee3134ab4e9435f2c2c;ms-9b89af1761e33e733a56;ms-cb752f1a3b24f95b34a2;ms-cdd9ca03b64c4145587b", + "expert_regret": 1.9786370694637299, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de304cefeb20dcc17ede", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9786370694637299, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02136293053627014, + "restore_error": 1.1920928955078125e-07, + "score": 0.02136293053627014, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7630528211593628, + "candidate_source_group_id": "ms-546f8817db5b76b563f0;ms-c9c7a51e43dd2c33de08;ms-edf898278a0dd01a5b37;ms-578fc3b8cbdbe6b0542f;ms-bdc0e2b6d589c1d90d69;ms-1b50d8927c080cd97a79", + "expert_regret": 1.8003675788640976, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8e69308e5c86a307b08a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8003675788640976, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1996324211359024, + "restore_error": 1.1920928955078125e-07, + "score": 0.1996324211359024, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.461308091878891, + "candidate_source_group_id": "ms-e297545a438d902a680e;ms-571d878853654c42a521;ms-4b6cf86fc2450321163a;ms-6c8d06bace98a28a8e4e;ms-71dc14431350e581537c;ms-283f98eecc655a33d459", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f0696e3657ed996dec15", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6979286074638367, + "candidate_source_group_id": "ms-5973a2df030fcd05cd24;ms-626991ad29d003c808f8;ms-e1f9403543e48fbdde9d;ms-3afd8959363e917591d4;ms-76c9576538106cb9d5db;ms-54f7cae3bd3cb84062d3", + "expert_regret": 1.8436619937419891, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-49516a81fe99935ef15e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8436619937419891, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.15633800625801086, + "restore_error": 1.1920928955078125e-07, + "score": 0.15633800625801086, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9221586585044861, + "candidate_source_group_id": "ms-4cab292bc65fa59274ef;ms-626ac2ad9d0dd95f1a2e;ms-b04a4cfe76d719518dae;ms-edf898278a0dd01a5b37;ms-552acc881ce2bbff59f8;ms-52a2ef2f862cee509ce1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5cfbc3fb2094ad5bba6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2046297937631607, + "candidate_source_group_id": "ms-95950ddf57046910494b;ms-783f5e7f8c889bef010e;ms-12ea343fddf9f6e6b9e8;ms-3ec29a5b20bd65943255;ms-82b267d663e8400d19ca;ms-7ee2d50e0788ccf0cdec", + "expert_regret": 0.030433237552642822, + "expert_score": 0.8212419748306274, + "expert_success": false, + "group_id": "ms-61852da845126d62ff5b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.2091912627220154, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7908087372779846, + "restore_error": 1.1920928955078125e-07, + "score": 0.7908087372779846, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.08453164994716644, + "candidate_source_group_id": "ms-720c704eeac615b41763;ms-76c9576538106cb9d5db;ms-54f7cae3bd3cb84062d3;ms-fdf4af00031d452221d9;ms-b1b98e21cd4886f70563;ms-ceb81989361d018a9e67", + "expert_regret": 0.6920850574970245, + "expert_score": 0.8584641218185425, + "expert_success": false, + "group_id": "ms-03df3e12e1d61aa9ebbf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.833620935678482, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16637906432151794, + "restore_error": 1.1920928955078125e-07, + "score": 0.16637906432151794, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.17016355693340302, + "candidate_source_group_id": "ms-20976520a892ae80760a;ms-76774eb92b50132c54b6;ms-5909e93ba4f8ed21d193;ms-58e6bcca0d74ea38d3dc;ms-0949097d19e597fc7f63;ms-9228f8295b9891cf011c", + "expert_regret": 0.016042768955230713, + "expert_score": 0.8314920663833618, + "expert_success": false, + "group_id": "ms-72777024349c2aacd5e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.184550702571869, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8154492974281311, + "restore_error": 1.1920928955078125e-07, + "score": 0.8154492974281311, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.4024503231048584, + "candidate_source_group_id": "ms-f72b64534388e443b220;ms-ecc526493f8048cf4c56;ms-38ed02dacc133a888d3a;ms-b6ce87522fcc35b563c7;ms-673f96236583a1925836;ms-0c490961b934978e5b1c", + "expert_regret": 1.9355968236923218, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-716586cf73f853a45bfd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9355968236923218, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06440317630767822, + "restore_error": 1.1920928955078125e-07, + "score": 0.06440317630767822, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9086622595787048, + "candidate_source_group_id": "ms-56a0e8e80e2e1e5645d7;ms-4bbd30ae37fda61aa3c2;ms-666f00775d4c54be1282;ms-b5f0f2ae74766beae291;ms-38ed02dacc133a888d3a;ms-ecc526493f8048cf4c56", + "expert_regret": 1.9572487771511078, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-462c1284ee1a148a7e1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9572487771511078, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04275122284889221, + "restore_error": 2.2351741790771484e-07, + "score": 0.04275122284889221, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.117099642753601, + "candidate_source_group_id": "ms-554f2960f25ff627b596;ms-77536801924a2a78688e;ms-a5eb6b813b57d14f6573;ms-b4f96b4975ceb839c5e3;ms-3945306c3b05b122fa9b;ms-4b6cf86fc2450321163a", + "expert_regret": 1.4159716963768005, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e6e8b4cdcadec645d910", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4159716963768005, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5840283036231995, + "restore_error": 2.2351741790771484e-07, + "score": 0.5840283036231995, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.497732937335968, + "candidate_source_group_id": "ms-4cab292bc65fa59274ef;ms-52a2ef2f862cee509ce1;ms-5a456ddf97d294548cf1;ms-6bd5870eb5ff0dd76919;ms-552acc881ce2bbff59f8;ms-19a3669e096e98232ec8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f0033d0b5f4f2e160859", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.2351741790771484e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.36458152532577515, + "candidate_source_group_id": "ms-f4579acd00ff9f578098;ms-b1b98e21cd4886f70563;ms-e1bce061511b584c5381;ms-f0fdcc26c648ce089746;ms-dab618f516ccc10f176e;ms-c164dd3b3b89c546a184", + "expert_regret": 1.8068712055683136, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7bc1b098e6c696f6d4de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8068712055683136, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1931287944316864, + "restore_error": 2.2351741790771484e-07, + "score": 0.1931287944316864, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2568630278110504, + "candidate_source_group_id": "ms-f50f1c1b673d0c96d4ce;ms-3efaacea10b7eb4adb57;ms-1a37fdd82d982ae6dbd8;ms-20f3cfcf183c69853b1e;ms-f9148dff7961fa66a8a1;ms-e327fef230e956dab37c", + "expert_regret": 0.02275794744491577, + "expert_score": 0.8352580070495605, + "expert_success": false, + "group_id": "ms-04eec0abab5f55620e4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.1874999403953552, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8125000596046448, + "restore_error": 2.2351741790771484e-07, + "score": 0.8125000596046448, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7665690779685974, + "candidate_source_group_id": "ms-e887dbfa0133af46829d;ms-55e78c04643bd06fd5f8;ms-48b2c358243f84013a0c;ms-702c6c5000ad4d6424ea;ms-f3f100caf89a2487faaf;ms-6d7030c17759f787a361", + "expert_regret": 1.4147053360939026, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e71e880736efd3e42c02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4147053360939026, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5852946639060974, + "restore_error": 2.2351741790771484e-07, + "score": 0.5852946639060974, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.07042229175567627, + "candidate_source_group_id": "ms-e7959111ef1429bcf699;ms-aa7cc7e3e5eb86e58ee9;ms-7bdf9cab1f7071533bbc;ms-e95a846b4e77792e3e6f;ms-5a0e07161aefc71d4f33;ms-bc96a8973358d1c20ed3", + "expert_regret": 0.0, + "expert_score": 0.8417773246765137, + "expert_success": false, + "group_id": "ms-0b226017db7f07c5307e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.2351741790771484e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.090404748916626, + "candidate_source_group_id": "ms-cbc1fadecdd913c44ce5;ms-035231abc135f925e1cc;ms-3945306c3b05b122fa9b;ms-a2ee6034df65b51c4d97;ms-ff4c9c58b742da7135da;ms-141aab4472db1ecc0ea2", + "expert_regret": 1.1727250814437866, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eff3caf3c103c5232495", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1727250814437866, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8272749185562134, + "restore_error": 2.2351741790771484e-07, + "score": 0.8272749185562134, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6443785429000854, + "candidate_source_group_id": "ms-ba396eb71806ac992acd;ms-d4c5d7eea19d94314e2e;ms-269815a0f9c1a1ba5a6b;ms-741c227f6249d1c8c9f1;ms-da2f79e022bb63a2af11;ms-8d02415bb9af319f215a", + "expert_regret": 1.802648052573204, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-42b26451056c6dd2150e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.802648052573204, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19735194742679596, + "restore_error": 1.1920928955078125e-07, + "score": 0.19735194742679596, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6835700273513794, + "candidate_source_group_id": "ms-cdd9ca03b64c4145587b;ms-230391b47c390f51bc07;ms-0ee3134ab4e9435f2c2c;ms-65f4ea8ed88ed5301430;ms-0fb946120bcbd8ed0632;ms-2b6ab8760ea5d558797c", + "expert_regret": 1.8139354884624481, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8bbf7fcd90b4d11db2a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8139354884624481, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18606451153755188, + "restore_error": 1.1920928955078125e-07, + "score": 0.18606451153755188, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3961392045021057, + "candidate_source_group_id": "ms-020ab0b7cfa5045f3fc7;ms-daff16c01452c735345f;ms-a054eb19f228304d37aa;ms-ae1b8592cb57dbf2fe98;ms-97cdb4c400ad4ae36518;ms-15248c64e70b0dafcb33", + "expert_regret": 1.13912433385849, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a77b8d61c09ed6ea23a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.13912433385849, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.86087566614151, + "restore_error": 1.1920928955078125e-07, + "score": 0.86087566614151, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8418930768966675, + "candidate_source_group_id": "ms-20f3cfcf183c69853b1e;ms-e327fef230e956dab37c;ms-f50f1c1b673d0c96d4ce;ms-1a37fdd82d982ae6dbd8;ms-8b53e5dbab786b2e3b75;ms-d776afa14e6322cadedd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b30834b2c4e6b153624f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5571080446243286, + "candidate_source_group_id": "ms-5909e93ba4f8ed21d193;ms-4048f8f6e047422e3c79;ms-0949097d19e597fc7f63;ms-76774eb92b50132c54b6;ms-c9edb3f445256b0d5341;ms-8c83fb7e9f1a7a8ad58f", + "expert_regret": 1.8348049372434616, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-584d52e4f9515f695251", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8348049372434616, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1651950627565384, + "restore_error": 1.1920928955078125e-07, + "score": 0.1651950627565384, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.37842097878456116, + "candidate_source_group_id": "ms-daff16c01452c735345f;ms-60f5fff0649ceb50ab60;ms-5902e6c4037ecda77a5f;ms-97cdb4c400ad4ae36518;ms-0f2cd78c21a012784e1b;ms-87efe56140dec7d3ffb8", + "expert_regret": 1.415800392627716, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-64ff9614d692fd9dc48b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.415800392627716, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5841996073722839, + "restore_error": 1.1920928955078125e-07, + "score": 0.5841996073722839, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.07784940302371979, + "candidate_source_group_id": "ms-b6ce87522fcc35b563c7;ms-ecc526493f8048cf4c56;ms-38ed02dacc133a888d3a;ms-1cc18d88615939309d51;ms-f72b64534388e443b220;ms-2c6ff8d807763f665bac", + "expert_regret": 0.6183771193027496, + "expert_score": 0.8347060680389404, + "expert_success": false, + "group_id": "ms-016c5de39ed3c111889a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7836710512638092, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2163289487361908, + "restore_error": 1.1920928955078125e-07, + "score": 0.2163289487361908, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8489246368408203, + "candidate_source_group_id": "ms-daff16c01452c735345f;ms-15248c64e70b0dafcb33;ms-ae1b8592cb57dbf2fe98;ms-1c4ef17cdeed30bb2548;ms-020ab0b7cfa5045f3fc7;ms-13243cd92a78eba8c08b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8ccec039b839e612969b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3567885756492615, + "candidate_source_group_id": "ms-626991ad29d003c808f8;ms-3afd8959363e917591d4;ms-54f7cae3bd3cb84062d3;ms-dab618f516ccc10f176e;ms-76c9576538106cb9d5db;ms-bb70aa617f82f530d42e", + "expert_regret": 1.8300504684448242, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c52ffa349a79397da8c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8300504684448242, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16994953155517578, + "restore_error": 1.1920928955078125e-07, + "score": 0.16994953155517578, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8647618293762207, + "candidate_source_group_id": "ms-578fc3b8cbdbe6b0542f;ms-c9c7a51e43dd2c33de08;ms-edf898278a0dd01a5b37;ms-bdc0e2b6d589c1d90d69;ms-546f8817db5b76b563f0;ms-e9cb92d664266091b91d", + "expert_regret": 1.7629787474870682, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87d132d28bc30b07002b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7629787474870682, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23702125251293182, + "restore_error": 1.1920928955078125e-07, + "score": 0.23702125251293182, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9915837645530701, + "candidate_source_group_id": "ms-c9804ff90a86259f7149;ms-fd2387aeed9bfc9a0d08;ms-e3bbabc7ac3950eb91a2;ms-dc4738f9c7a8af86722d;ms-ecb37ebbab21a506d8ca;ms-d50a82b8770f333f1947", + "expert_regret": 1.8155767321586609, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-16850056120649fcc370", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8155767321586609, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1844232678413391, + "restore_error": 1.1920928955078125e-07, + "score": 0.1844232678413391, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3355259895324707, + "candidate_source_group_id": "ms-185c13ec401a35f393b7;ms-f5bc4935790fb8ef7b81;ms-ba396eb71806ac992acd;ms-c8706d0aa14a930236de;ms-269815a0f9c1a1ba5a6b;ms-61cb49c57a8600267d61", + "expert_regret": 1.8343620300292969, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ab5acce4dba71f19d5ad", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8343620300292969, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16563796997070312, + "restore_error": 1.1920928955078125e-07, + "score": 0.16563796997070312, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7249022722244263, + "candidate_source_group_id": "ms-500ed73f6d891e237b30;ms-2fef2f43af8009bb88f1;ms-7fba35a6c125e88b8f54;ms-79b745efd36e00515fa7;ms-ce827a7939377a151af9;ms-d6b0d6d7c66509eb4543", + "expert_regret": 1.835062712430954, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc1ca12b92e3561b95b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.835062712430954, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16493728756904602, + "restore_error": 1.1920928955078125e-07, + "score": 0.16493728756904602, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8368676900863647, + "candidate_source_group_id": "ms-95950ddf57046910494b;ms-783f5e7f8c889bef010e;ms-7ee2d50e0788ccf0cdec;ms-3ec29a5b20bd65943255;ms-12ea343fddf9f6e6b9e8;ms-98c0d73ae0085f97bab9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-578073df4f8fe9b936d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.19982753694057465, + "candidate_source_group_id": "ms-0cdb564903c69734321f;ms-f2509e6c3c468c4e30f0;ms-63a1574267ccbdaf6cc2;ms-4cab292bc65fa59274ef;ms-552acc881ce2bbff59f8;ms-52a2ef2f862cee509ce1", + "expert_regret": 0.0, + "expert_score": 0.8527635335922241, + "expert_success": false, + "group_id": "ms-875a4668671c02054a3c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8932272791862488, + "candidate_source_group_id": "ms-0180bfac51ce81b2b522;ms-a13e71cca2a60d77aed4;ms-ec0b095d57014b86f5e7;ms-1b50d8927c080cd97a79;ms-c9c7a51e43dd2c33de08;ms-d9e7096b437e7ce7cda8", + "expert_regret": 1.7931569665670395, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1e4219bffa35c646ebc9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7931569665670395, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2068430334329605, + "restore_error": 1.1920928955078125e-07, + "score": 0.2068430334329605, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2562890648841858, + "candidate_source_group_id": "ms-c8706d0aa14a930236de;ms-f5bc4935790fb8ef7b81;ms-da2f79e022bb63a2af11;ms-0ccc81e9a63663c50096;ms-ba396eb71806ac992acd;ms-185c13ec401a35f393b7", + "expert_regret": 0.6316317319869995, + "expert_score": 0.8165204524993896, + "expert_success": false, + "group_id": "ms-baba39ca95aa09893dc0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8151112794876099, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18488872051239014, + "restore_error": 1.1920928955078125e-07, + "score": 0.18488872051239014, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5956490635871887, + "candidate_source_group_id": "ms-b4f96b4975ceb839c5e3;ms-d1960368ef76bbb10669;ms-c4a4c6a275c817d8b03f;ms-554f2960f25ff627b596;ms-a5eb6b813b57d14f6573;ms-68067370d3b20b9bd4e2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6af11918833ace7c694", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + } + ], + "seed": 2, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 193, + "retrieval_residual_residual_near_miss": 81, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 84, + "retrieval_residual_residual_no_op": 81, + "retrieval_residual_residual_wrong_gripper": 136 + }, + "selected_residual_scale_counts": { + "0.35": 285, + "0.4": 123, + "0.45": 167 + }, + "selection_margin": 0.0, + "selection_mode": "retrieval_residual", + "split": "validation_groups" +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_rank005.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_rank005.json new file mode 100644 index 0000000000000000000000000000000000000000..6041fbbf5c3702a4d9fd02daf5c164eaa955e08e --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_rank005.json @@ -0,0 +1,12263 @@ +{ + "action_mse_to_best": 0.5275762749997818, + "backbone_model": null, + "backbone_type": "native", + "candidate_oracle_rollouts": 0, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_sigma": 0.0, + "candidate_type_bonus_components": false, + "candidate_type_bonuses": {}, + "candidate_type_bonuses_by_task": { + "*": { + "retrieval_residual_policy_residual": -0.0, + "retrieval_residual_residual_near_miss": 0.0, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.0, + "retrieval_residual_residual_no_op": 0.0, + "retrieval_residual_residual_wrong_gripper": -0.0 + }, + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.0, + "retrieval_residual_residual_near_miss": 0.0, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.0, + "retrieval_residual_residual_no_op": -0.0, + "retrieval_residual_residual_wrong_gripper": -0.0 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": -0.0, + "retrieval_residual_residual_near_miss": -0.0, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.0, + "retrieval_residual_residual_no_op": 0.0, + "retrieval_residual_residual_wrong_gripper": -0.0 + } + }, + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/best_transport.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "expert_success_rate": 0.7704347826086957, + "field_optim_l2_penalty": 0.0, + "field_optim_step_size": 0.0, + "field_optim_steps": 0, + "field_optim_trust_radius": 0.0, + "field_rank_biases_by_task": { + "*": [ + 0.0, + -0.003197421364558978, + -0.004321483475228888, + -0.0059308911450934865 + ], + "LiftPegUpright-v1": [ + 0.0, + -0.006906117283102898, + -0.007782609904609106, + -0.009470702772314599 + ], + "PickCube-v1": [ + 0.0, + 0.0005861977038545186, + -0.0007904352998005904, + -0.002319568171867903 + ] + }, + "group_batch_size": 8, + "lattice_exclude_type_tasks": {}, + "lattice_exclude_types": [ + "residual_random_negative", + "residual_wrong_direction", + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper" + ], + "num_candidates": 48, + "num_groups": 575, + "objective": "lattice_field", + "observation_mode": "state", + "oracle_success_rate": 0.8765217391304347, + "per_task": { + "LiftPegUpright-v1": { + "action_mse_to_best": 0.44695540916291066, + "expert_success_rate": 0.8229166666666666, + "num_groups": 96, + "oracle_success_rate": 0.9270833333333334, + "policy_expert_regret": 0.8176391956706842, + "policy_oracle_regret": 0.9106746912002563, + "policy_rollout_progress": 0.6583504987259706, + "policy_rollout_success_rate": 0.3645833333333333, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "action_mse_to_best": 0.4659817243803932, + "expert_success_rate": 0.9444444444444444, + "num_groups": 198, + "oracle_success_rate": 0.9595959595959596, + "policy_expert_regret": 0.9609507205190532, + "policy_oracle_regret": 0.9680341710477616, + "policy_rollout_progress": 0.6383039071271667, + "policy_rollout_success_rate": 0.3484848484848485, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "action_mse_to_best": 0.6722042224473423, + "expert_success_rate": 0.24444444444444444, + "num_groups": 90, + "oracle_success_rate": 0.4666666666666667, + "policy_expert_regret": 0.3065602982416749, + "policy_oracle_regret": 0.450493123030497, + "policy_rollout_progress": 0.38515357037799225, + "policy_rollout_success_rate": 0.2777777777777778, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "action_mse_to_best": 0.5134861391074587, + "expert_success_rate": 0.8514851485148515, + "num_groups": 101, + "oracle_success_rate": 1.0, + "policy_expert_regret": 0.2486148280377435, + "policy_oracle_regret": 0.28494056705201026, + "policy_rollout_progress": 0.8635742844331382, + "policy_rollout_success_rate": 0.8514851485148515, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "action_mse_to_best": 0.620264192753368, + "expert_success_rate": 0.7666666666666667, + "num_groups": 90, + "oracle_success_rate": 0.9111111111111111, + "policy_expert_regret": 1.0516069930460719, + "policy_oracle_regret": 1.1881121820873684, + "policy_rollout_progress": 0.48885125749640995, + "policy_rollout_success_rate": 0.2222222222222222, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "policy_expert_regret": 0.7236639292084652, + "policy_oracle_regret": 0.7919113234009432, + "policy_rollout_progress": 0.6182039282179397, + "policy_rollout_success_rate": 0.40869565217391307, + "prepend_policy_candidate": false, + "proposal_lattice_types": [], + "proposal_types": [], + "restore_max_error": 2.384185791015625e-07, + "retrieval_metric": "raw", + "retrieval_neighbors": 6, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_anchor": "expert", + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_type_tasks": {}, + "retrieval_residual_challenger_types": [], + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_by_task": { + "*": 0.0, + "PickCube-v1": 0.01, + "StackCube-v1": 0.05 + }, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "rows": [ + { + "action_mse_to_best": 0.3290633261203766, + "candidate_source_group_id": "ms-59474486dd5cb4e5bfd5;ms-7aeb0835d3396e6666b6;ms-6e2b02ee71a4a44bc325;ms-61c099575bcff2de95e3;ms-d3377ca0da444ae9b40a;ms-7a0330e9e3189ff035d3", + "expert_regret": 1.302467167377472, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-debd7e5668e2acdf6bb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.302467167377472, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6975328326225281, + "restore_error": 1.1920928955078125e-07, + "score": 0.6975328326225281, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4052039086818695, + "candidate_source_group_id": "ms-4dc9ab19fbe571f09699;ms-4906f3adfda6dace862d;ms-502c195c0e4810814bac;ms-3661d65df223386f1be9;ms-8bc7aa419d17368d81b5;ms-ef8de99d917753ec603c", + "expert_regret": 0.0, + "expert_score": 0.7194880843162537, + "expert_success": false, + "group_id": "ms-ff3256da4e1731651937", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.7194880843162537, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4016408324241638, + "candidate_source_group_id": "ms-a74a87e26362d09598fe;ms-57dc9349b8f2c9c49105;ms-40eb8d19498413d4e730;ms-c090bce47703a4c4bb0b;ms-effca6c13ef9ccfd21a0;ms-9f844e24c570295e0497", + "expert_regret": 1.7972026467323303, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69785feff08dbf9a50be", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7972026467323303, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20279735326766968, + "restore_error": 1.1920928955078125e-07, + "score": 0.20279735326766968, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5760840177536011, + "candidate_source_group_id": "ms-22d006041320a4487c21;ms-1a2d298bf9972ddc1a7e;ms-6f03b16858c35025503e;ms-6ceb341dfa656e485a13;ms-851d25e7a1dde4242f33;ms-0a57aa04002f1b843856", + "expert_regret": 1.431125521659851, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d2febdb2a469fbbac4f2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.431125521659851, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5688744783401489, + "restore_error": 1.1920928955078125e-07, + "score": 0.5688744783401489, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4137933552265167, + "candidate_source_group_id": "ms-4906f3adfda6dace862d;ms-3661d65df223386f1be9;ms-c871c1157a16e19e6150;ms-caeb4c3d358f256799a8;ms-9f993a6e9bb26846d4f4;ms-131a98e2d4a78a9645f8", + "expert_regret": 1.2771730422973633, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c638b9bb924547f69cb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2771730422973633, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7228269577026367, + "restore_error": 1.1920928955078125e-07, + "score": 0.7228269577026367, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39851874113082886, + "candidate_source_group_id": "ms-dbad4f4d0df3c19c7bbb;ms-5b4f2522663bec742b02;ms-62b88f5cbc4f137e3bba;ms-f5ebbab81506fa27fc6d;ms-737e72810112f3246b05;ms-8864796e31bbe93d7c5d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a323215fb409ab3e9287", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5583524703979492, + "candidate_source_group_id": "ms-6ceb341dfa656e485a13;ms-d5241a32e5c9de09f2e4;ms-6f03b16858c35025503e;ms-093472a082b3b61e73d6;ms-87fa87e06dc88c28a44f;ms-1a2d298bf9972ddc1a7e", + "expert_regret": 1.2747490406036377, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-27251a7c7f13bf165e21", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2747490406036377, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7252509593963623, + "restore_error": 1.1920928955078125e-07, + "score": 0.7252509593963623, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5843793153762817, + "candidate_source_group_id": "ms-605dbfbe6bef2b15b58c;ms-3d862f2a32d3404926c3;ms-5cc5e6359fc006559eae;ms-f2c8835e8a162283a646;ms-cc5f2a24e2571cb23050;ms-7a0330e9e3189ff035d3", + "expert_regret": 1.283086359500885, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-59bff662e0ecb913ed81", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.283086359500885, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.716913640499115, + "restore_error": 1.1920928955078125e-07, + "score": 0.716913640499115, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3172013759613037, + "candidate_source_group_id": "ms-a4420cda0b159dda82a2;ms-aedc3dee6e275342eb8f;ms-c7c812bb98308442d95b;ms-97c28a7584b35207bf84;ms-062addb9da32a0c2ea97;ms-780ea60ea0255941e6c8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-684a66885f21739d826b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42845267057418823, + "candidate_source_group_id": "ms-a4420cda0b159dda82a2;ms-aedc3dee6e275342eb8f;ms-97c28a7584b35207bf84;ms-062addb9da32a0c2ea97;ms-1e41619ab39cf51b7822;ms-c7c812bb98308442d95b", + "expert_regret": 1.310312271118164, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc29afbe2bbf00638d25", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.310312271118164, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6896877288818359, + "restore_error": 1.1920928955078125e-07, + "score": 0.6896877288818359, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3442959785461426, + "candidate_source_group_id": "ms-22aaa483f5e7d381b63d;ms-3a09e411ee6c882ef7df;ms-d26dc2146eb8ae9a5434;ms-2b59042e27453aff03a7;ms-e4090b0b0c1739070201;ms-c3818c2c4474a784fc6b", + "expert_regret": 1.285163164138794, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ef5d3238b33bdebae4d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.285163164138794, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.714836835861206, + "restore_error": 1.1920928955078125e-07, + "score": 0.714836835861206, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3303062617778778, + "candidate_source_group_id": "ms-97c28a7584b35207bf84;ms-c7c812bb98308442d95b;ms-062addb9da32a0c2ea97;ms-a4420cda0b159dda82a2;ms-6c7f34ae8218aa0952c8;ms-74c9fc741b846b5019af", + "expert_regret": 1.5789548456668854, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-35babd5f83dcf1561f9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5789548456668854, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4210451543331146, + "restore_error": 1.1920928955078125e-07, + "score": 0.4210451543331146, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.25173220038414, + "candidate_source_group_id": "ms-31fe1d98bc7adcd515db;ms-0a6bff8326e7e32702f3;ms-bbefdf03d0471be60f8f;ms-ea164b21572d39ffed58;ms-06cb0796d1097e6ca111;ms-bc56601ca069f65cd08f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f6f0d14ef7c24b9e4621", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.21077457070350647, + "candidate_source_group_id": "ms-e3526036a5bf85cac0bf;ms-e0952f3218e0bf6fe027;ms-3aa33c0fda88e08e75fa;ms-d3a7e3f163b142a3e56b;ms-3efca8ee8623914a4faf;ms-a242f1d12ebfcd82de05", + "expert_regret": 1.6894308924674988, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-760c73ea34418ce7a006", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6894308924674988, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3105691075325012, + "restore_error": 1.1920928955078125e-07, + "score": 0.3105691075325012, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2584921717643738, + "candidate_source_group_id": "ms-908213fef55ccf1dfda6;ms-472376eba1a5e1c706bf;ms-785fb44f1371895f7721;ms-067e0fe46e4e9483e2a1;ms-76b0b0463fdb323b6233;ms-e3f38594991aafbffc23", + "expert_regret": 0.0, + "expert_score": 0.6740819811820984, + "expert_success": false, + "group_id": "ms-dfc38c43e9a87f99ef7f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.1462364196777344, + "candidate_source_group_id": "ms-30e2d8b7825053276e0c;ms-e12808f670338ca180c6;ms-8c8cf210aa675c5db1fe;ms-715db95b13ebc6c977c8;ms-c0ed69f549e56aa55f3d;ms-320d99264926ea029f95", + "expert_regret": 1.78958398103714, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-251c1dfd1010906f559f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.78958398103714, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2104160189628601, + "restore_error": 1.1920928955078125e-07, + "score": 0.2104160189628601, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.47235536575317383, + "candidate_source_group_id": "ms-aee5716b3e4fc47e46ba;ms-b933fbfb7c8fa68a445f;ms-8b18ea4e0982a1352696;ms-7272e1e33d4ecc07470c;ms-145f60d5fff285e7d05b;ms-062a265cedee2107eb17", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cc0b4a1deec28e53722a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7273083925247192, + "candidate_source_group_id": "ms-639913ac0e6b3997faae;ms-f97bd60d5430c32f9494;ms-f1eb6805ec9b483bba41;ms-cf7bdf0776c928ee2342;ms-bbaa576369a59660ecdd;ms-dd0fad10ce064047d62e", + "expert_regret": 1.7744708210229874, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b00933d2f628bc51d80a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7744708210229874, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22552917897701263, + "restore_error": 1.1920928955078125e-07, + "score": 0.22552917897701263, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.400958389043808, + "candidate_source_group_id": "ms-50b9f93dd246400d20c8;ms-85fcc6b4797417c3473f;ms-17a5e9b7bd8c1f255307;ms-40eb8d19498413d4e730;ms-ce7b349699ed248bb67c;ms-effca6c13ef9ccfd21a0", + "expert_regret": 0.3992581069469452, + "expert_score": 0.7258185148239136, + "expert_success": false, + "group_id": "ms-a829d650eb9914fb2983", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.3992581069469452, + "oracle_score": 0.7258185148239136, + "oracle_success": false, + "progress": 0.3265604078769684, + "restore_error": 1.1920928955078125e-07, + "score": 0.3265604078769684, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.06125998497009277, + "candidate_source_group_id": "ms-4b3a296acc66a14476c3;ms-662379c2c351807b9cdf;ms-80d8d8fc4a3308139975;ms-a40abdebe8a9c17de878;ms-ef2d84500e27679d22d9;ms-ed30f8fbb80b2cf46fbc", + "expert_regret": 0.0, + "expert_score": 0.695741593837738, + "expert_success": false, + "group_id": "ms-5799584ed40e211c50a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.570219099521637, + "candidate_source_group_id": "ms-fe790caba27d92511f71;ms-36f204d04ec4c4af3169;ms-34f60c9a263bd0a5641f;ms-faeff0379a053e9ea351;ms-76b0b0463fdb323b6233;ms-2f1164357c9732e059d4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-caa0a38b7df789550f8a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2293926179409027, + "candidate_source_group_id": "ms-080e034927abe2f30d60;ms-7dfc3684b46df95070e2;ms-1145e0f6add300eee9bd;ms-13aa39b96923ad8c913a;ms-bdb04ada069c35d51e2e;ms-3e0dbff4309ecbd35d36", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a4ade4de51ca437ac432", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41061142086982727, + "candidate_source_group_id": "ms-97c28a7584b35207bf84;ms-a4420cda0b159dda82a2;ms-c7c812bb98308442d95b;ms-32943eea3e70cd02f313;ms-062addb9da32a0c2ea97;ms-73e3079ce5eb7cd14ec8", + "expert_regret": 1.285853385925293, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-076246c4c5d1ca8ccd9d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.285853385925293, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.714146614074707, + "restore_error": 1.1920928955078125e-07, + "score": 0.714146614074707, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.47833913564682007, + "candidate_source_group_id": "ms-6ceb341dfa656e485a13;ms-6f03b16858c35025503e;ms-1a2d298bf9972ddc1a7e;ms-093472a082b3b61e73d6;ms-b60078e9e6ea9c26dedc;ms-d5241a32e5c9de09f2e4", + "expert_regret": 1.6249901056289673, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2d1a5e132eaeb353782", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6249901056289673, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3750098943710327, + "restore_error": 1.1920928955078125e-07, + "score": 0.3750098943710327, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4365829825401306, + "candidate_source_group_id": "ms-67b6e4d62036c13cc466;ms-f97bd60d5430c32f9494;ms-639913ac0e6b3997faae;ms-87fa87e06dc88c28a44f;ms-093472a082b3b61e73d6;ms-f63a0e43f0923369edc3", + "expert_regret": 1.2859704494476318, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ace117030ae44c474db1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2859704494476318, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7140295505523682, + "restore_error": 1.1920928955078125e-07, + "score": 0.7140295505523682, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.06271909922361374, + "candidate_source_group_id": "ms-ec2e4afb34b439731136;ms-e1b6bcb41532a800d3cb;ms-33a0bdb4bcee42c79a2b;ms-c2b904f450b45e2a8c9a;ms-29a11d7bdcf49c86bd7a;ms-320d99264926ea029f95", + "expert_regret": 0.0039064884185791016, + "expert_score": 0.7265902757644653, + "expert_success": false, + "group_id": "ms-13d8bae55d3c3710138f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2773162126541138, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7226837873458862, + "restore_error": 1.1920928955078125e-07, + "score": 0.7226837873458862, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.568795382976532, + "candidate_source_group_id": "ms-ef2d84500e27679d22d9;ms-957002faf092f769aa8e;ms-ea41340182245326a218;ms-a96ff9a1d5571ec4a6f2;ms-80d8d8fc4a3308139975;ms-4b3a296acc66a14476c3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d8295b43b30ceea30907", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48750588297843933, + "candidate_source_group_id": "ms-f1eb6805ec9b483bba41;ms-f97bd60d5430c32f9494;ms-dd0fad10ce064047d62e;ms-1d5ca9681600acdaba39;ms-02663903d88aa84c9c10;ms-9756d07ed207e9ab1d53", + "expert_regret": 1.6342549920082092, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-40a961867249ddccb68f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6342549920082092, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.36574500799179077, + "restore_error": 1.1920928955078125e-07, + "score": 0.36574500799179077, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37122634053230286, + "candidate_source_group_id": "ms-043a17d678e610264bb8;ms-88f748134c3fd27fcf72;ms-062addb9da32a0c2ea97;ms-c1f3359c70d068a36081;ms-a4420cda0b159dda82a2;ms-dd94921779f12b249579", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6a03497f97765ffd444e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3893188536167145, + "candidate_source_group_id": "ms-c7c812bb98308442d95b;ms-97c28a7584b35207bf84;ms-062addb9da32a0c2ea97;ms-a4420cda0b159dda82a2;ms-6c7f34ae8218aa0952c8;ms-74c9fc741b846b5019af", + "expert_regret": 1.4691587686538696, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5a56eefeb2de0abe600", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4691587686538696, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5308412313461304, + "restore_error": 1.1920928955078125e-07, + "score": 0.5308412313461304, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3576919436454773, + "candidate_source_group_id": "ms-3661d65df223386f1be9;ms-4906f3adfda6dace862d;ms-502c195c0e4810814bac;ms-4dc9ab19fbe571f09699;ms-9f993a6e9bb26846d4f4;ms-c871c1157a16e19e6150", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1b8e9b173562648021f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31439557671546936, + "candidate_source_group_id": "ms-988537a36edfece3d073;ms-3e0dbff4309ecbd35d36;ms-cdbfe4d3b05f4ed12db3;ms-3db845076f92a16d1840;ms-25195d526c9adb43ac79;ms-9f993a6e9bb26846d4f4", + "expert_regret": 1.306308627128601, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9c33d4837de7d23232d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.306308627128601, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6936913728713989, + "restore_error": 1.1920928955078125e-07, + "score": 0.6936913728713989, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3532887101173401, + "candidate_source_group_id": "ms-4dc9ab19fbe571f09699;ms-502c195c0e4810814bac;ms-ef8de99d917753ec603c;ms-3661d65df223386f1be9;ms-9f993a6e9bb26846d4f4;ms-caeb4c3d358f256799a8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7cd314f076bfe5c32088", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.955777406692505e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30966275930404663, + "candidate_source_group_id": "ms-bdb04ada069c35d51e2e;ms-3e0dbff4309ecbd35d36;ms-3661d65df223386f1be9;ms-13aa39b96923ad8c913a;ms-7dfc3684b46df95070e2;ms-080e034927abe2f30d60", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5bbc4c4b1b51e2a088db", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.955777406692505e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.01300532091408968, + "candidate_source_group_id": "ms-3efca8ee8623914a4faf;ms-3a09e411ee6c882ef7df;ms-e3526036a5bf85cac0bf;ms-22aaa483f5e7d381b63d;ms-2b59042e27453aff03a7;ms-9fd14cc61816c2d4360e", + "expert_regret": 0.0, + "expert_score": 0.7146890163421631, + "expert_success": false, + "group_id": "ms-b483cac145e16ccdf42a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.271771788597107, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7282282114028931, + "restore_error": 1.955777406692505e-07, + "score": 0.7282282114028931, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.506008505821228, + "candidate_source_group_id": "ms-a40abdebe8a9c17de878;ms-662379c2c351807b9cdf;ms-ecb5cc61f0b736e3f06f;ms-ed30f8fbb80b2cf46fbc;ms-80d8d8fc4a3308139975;ms-89feb4366865cfaf2273", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-96e1562aaca7ef49db28", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.955777406692505e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5021568536758423, + "candidate_source_group_id": "ms-40392e5aeef63551f9ac;ms-e2f90eb6c79dfd9ce6fd;ms-c0142e4a5d15dd8d647a;ms-67b6e4d62036c13cc466;ms-cf2603516869355b8b13;ms-524ae7618ed9b6a272ae", + "expert_regret": 1.321753740310669, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-49c99f285560483a85ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.321753740310669, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.678246259689331, + "restore_error": 1.955777406692505e-07, + "score": 0.678246259689331, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.4717899560928345, + "candidate_source_group_id": "ms-e7573c5d29c3a1a3f228;ms-30e2d8b7825053276e0c;ms-320d99264926ea029f95;ms-8c8cf210aa675c5db1fe;ms-c910a469460f71880556;ms-1bbd61ce613ae75c8bb0", + "expert_regret": 1.780499592423439, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-af91167a0cf15457c6ba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.780499592423439, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21950040757656097, + "restore_error": 1.955777406692505e-07, + "score": 0.21950040757656097, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2846800982952118, + "candidate_source_group_id": "ms-e12808f670338ca180c6;ms-30e2d8b7825053276e0c;ms-1bbd61ce613ae75c8bb0;ms-715db95b13ebc6c977c8;ms-320d99264926ea029f95;ms-648250f7c25953eab081", + "expert_regret": 0.5122059732675552, + "expert_score": 0.7225138545036316, + "expert_success": false, + "group_id": "ms-4b4cd12d70c0615e0930", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7896921187639236, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21030788123607635, + "restore_error": 1.955777406692505e-07, + "score": 0.21030788123607635, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34828656911849976, + "candidate_source_group_id": "ms-c7677b8f230103dd3c51;ms-e705fef3e4caa4c49718;ms-0fe90299788e1f71f98a;ms-865f9d670f806778ae61;ms-0251a326271aa1cab82b;ms-619d3d285d2cae3abbb9", + "expert_regret": 1.56066232919693, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5dcf9054c3c1c4e1d50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.56066232919693, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.43933767080307007, + "restore_error": 1.955777406692505e-07, + "score": 0.43933767080307007, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5218817591667175, + "candidate_source_group_id": "ms-8e23d2d44e709420e46d;ms-83019373a06eb384c886;ms-cbd6cc8b2708d5e3e4a9;ms-91710558482886874dd7;ms-5b4f2522663bec742b02;ms-f5ebbab81506fa27fc6d", + "expert_regret": 1.3410197496414185, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5fb06efe2b4bea27cc89", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.3410197496414185, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6589802503585815, + "restore_error": 1.1920928955078125e-07, + "score": 0.6589802503585815, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16975267231464386, + "candidate_source_group_id": "ms-3f56672eac1c00e9c2b0;ms-059d7962a5f998edf668;ms-faeff0379a053e9ea351;ms-9156a9a9c1b829b742ad;ms-e3f38594991aafbffc23;ms-908213fef55ccf1dfda6", + "expert_regret": 0.0, + "expert_score": 0.7031490206718445, + "expert_success": false, + "group_id": "ms-e2950dcb50ed2b955be6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.7267410159111023, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48562636971473694, + "candidate_source_group_id": "ms-4c72a9ad08cbf51799fb;ms-8c4a08985213114fffb7;ms-d602b7370c5b90f8a439;ms-894cd0e5dafb2d38831d;ms-3996b923bb25440c29e3;ms-7b1a03be4a61ba27261c", + "expert_regret": 1.277206540107727, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-55e89d326b6531345902", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.277206540107727, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.722793459892273, + "restore_error": 1.1920928955078125e-07, + "score": 0.722793459892273, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.502928614616394, + "candidate_source_group_id": "ms-67b6e4d62036c13cc466;ms-f63a0e43f0923369edc3;ms-02663903d88aa84c9c10;ms-093472a082b3b61e73d6;ms-f97bd60d5430c32f9494;ms-f1eb6805ec9b483bba41", + "expert_regret": 1.7896972596645355, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2c6000014d31fc0bb21c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7896972596645355, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21030274033546448, + "restore_error": 1.1920928955078125e-07, + "score": 0.21030274033546448, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42057356238365173, + "candidate_source_group_id": "ms-c7c812bb98308442d95b;ms-d229ac64c91c9bb6ce88;ms-a4420cda0b159dda82a2;ms-88f748134c3fd27fcf72;ms-780ea60ea0255941e6c8;ms-97c28a7584b35207bf84", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08ab006a923f5fdae198", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.27672091126441956, + "candidate_source_group_id": "ms-af25c332ad54eee6e1c3;ms-de68dbb7daad3e3a71fe;ms-fdf18cd6260d82226927;ms-074b26fed4c4a9dd3449;ms-4a845dab9503bc4eba04;ms-c146ea1c89beb683b6fd", + "expert_regret": 1.543524980545044, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a6cf775fbba580161c4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.543524980545044, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.45647501945495605, + "restore_error": 1.1920928955078125e-07, + "score": 0.45647501945495605, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.062252726405858994, + "candidate_source_group_id": "ms-145f60d5fff285e7d05b;ms-7272e1e33d4ecc07470c;ms-6e268d1e2915740816a1;ms-d3377ca0da444ae9b40a;ms-8b18ea4e0982a1352696;ms-aee5716b3e4fc47e46ba", + "expert_regret": 0.062387049198150635, + "expert_score": 0.724672257900238, + "expert_success": false, + "group_id": "ms-9ced92cccacfe4d157b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3377147912979126, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6622852087020874, + "restore_error": 1.1920928955078125e-07, + "score": 0.6622852087020874, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6100326180458069, + "candidate_source_group_id": "ms-8e23d2d44e709420e46d;ms-91710558482886874dd7;ms-83019373a06eb384c886;ms-62b88f5cbc4f137e3bba;ms-5b4f2522663bec742b02;ms-f5ebbab81506fa27fc6d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-490e2c471adbabec6304", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6862500309944153, + "candidate_source_group_id": "ms-ea41340182245326a218;ms-957002faf092f769aa8e;ms-ef2d84500e27679d22d9;ms-a96ff9a1d5571ec4a6f2;ms-4b3a296acc66a14476c3;ms-fa077183f74add357112", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-88fb2bebd038dc786c01", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.21861067414283752, + "candidate_source_group_id": "ms-118ba8926eda06ffc61e;ms-c76aba3db8d4ce0062bc;ms-b933fbfb7c8fa68a445f;ms-ec4accef21246e0c9213;ms-a1a99e83fb2868164e40;ms-aa46bb6dc8e6274963b6", + "expert_regret": 1.3550251722335815, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9a72e47e2204fa794718", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3550251722335815, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6449748277664185, + "restore_error": 1.1920928955078125e-07, + "score": 0.6449748277664185, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.9083303213119507, + "candidate_source_group_id": "ms-35c12c467fb8a54f89f0;ms-f3211ecde366ca9f6ac7;ms-ba9541c7192498a1d8bd;ms-3af721139694f7f3ec04;ms-a43b35c03282fe0c8464;ms-3c550bf52d7bf91f4ca2", + "expert_regret": 0.5228349715471268, + "expert_score": 0.7269833087921143, + "expert_success": false, + "group_id": "ms-de8d6051e6ee74b62fec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5228349715471268, + "oracle_score": 0.7269833087921143, + "oracle_success": false, + "progress": 0.2041483372449875, + "restore_error": 1.1920928955078125e-07, + "score": 0.2041483372449875, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35652971267700195, + "candidate_source_group_id": "ms-02cacb03f445c8a460e8;ms-8bc7aa419d17368d81b5;ms-7334e620435d1f3545fd;ms-136f1ebebd0b697c3310;ms-a6e4ac1995198def96a8;ms-510cafd84de611de3909", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f24ad2e217963943c12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36151936650276184, + "candidate_source_group_id": "ms-3c1e7b47135487435fc1;ms-e89a3ba400f81d2795f3;ms-31fe1d98bc7adcd515db;ms-074cb86179cdd7f52737;ms-8bab784ae53525967763;ms-131a98e2d4a78a9645f8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-675833805d1139c2f2a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.331878662109375, + "candidate_source_group_id": "ms-340913cb08bfca09a4e3;ms-e536e40f6902c6ba0927;ms-f0d2ffde521e268efc83;ms-457db124a2f46a06175b;ms-b4281a37b8b48a0b4c54;ms-01ab68aa5051226638ee", + "expert_regret": 1.6553326845169067, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fdb2637276b27c46c757", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6553326845169067, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.34466731548309326, + "restore_error": 1.1920928955078125e-07, + "score": 0.34466731548309326, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5676584839820862, + "candidate_source_group_id": "ms-a5bd3a36c6fe41cd0b35;ms-c9e0182d4090ddaa991c;ms-cf44ae14778c60c36af0;ms-0a57aa04002f1b843856;ms-6f03b16858c35025503e;ms-1a2d298bf9972ddc1a7e", + "expert_regret": 1.6448251008987427, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9f4b47c80d59166302ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6448251008987427, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3551748991012573, + "restore_error": 1.1920928955078125e-07, + "score": 0.3551748991012573, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4225463271141052, + "candidate_source_group_id": "ms-ff012c1c8597c8db3cc7;ms-b55ca348be8b64323714;ms-d8f42ed6b0b686d819ab;ms-a195f05e99bccc48907e;ms-2f2b16367db3db120235;ms-84264ef080ec4f3631df", + "expert_regret": 1.6120499968528748, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-80e3d8a34c3cb94cad65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6120499968528748, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.38795000314712524, + "restore_error": 1.1920928955078125e-07, + "score": 0.38795000314712524, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.28298020362854004, + "candidate_source_group_id": "ms-6e2b02ee71a4a44bc325;ms-a6e4ac1995198def96a8;ms-e89a3ba400f81d2795f3;ms-136f1ebebd0b697c3310;ms-59474486dd5cb4e5bfd5;ms-118ba8926eda06ffc61e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bb567fcac946f012535a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4176461398601532, + "candidate_source_group_id": "ms-a4420cda0b159dda82a2;ms-aedc3dee6e275342eb8f;ms-97c28a7584b35207bf84;ms-73e3079ce5eb7cd14ec8;ms-062addb9da32a0c2ea97;ms-32943eea3e70cd02f313", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-507199452c6d42562a38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3114907145500183, + "candidate_source_group_id": "ms-7a0330e9e3189ff035d3;ms-8b18ea4e0982a1352696;ms-d3377ca0da444ae9b40a;ms-54b1042de0891da7c07e;ms-cc5f2a24e2571cb23050;ms-7aeb0835d3396e6666b6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ac6e78b1c56d020d0c09", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5282514691352844, + "candidate_source_group_id": "ms-c2b904f450b45e2a8c9a;ms-29a11d7bdcf49c86bd7a;ms-ec2e4afb34b439731136;ms-715db95b13ebc6c977c8;ms-e1b6bcb41532a800d3cb;ms-320d99264926ea029f95", + "expert_regret": 1.7805708646774292, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9852b3671856321cecc8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7805708646774292, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2194291353225708, + "restore_error": 1.1920928955078125e-07, + "score": 0.2194291353225708, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5794914960861206, + "candidate_source_group_id": "ms-f1eb6805ec9b483bba41;ms-f97bd60d5430c32f9494;ms-1d5ca9681600acdaba39;ms-87fa87e06dc88c28a44f;ms-639913ac0e6b3997faae;ms-dd0fad10ce064047d62e", + "expert_regret": 1.3991202116012573, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a99d874a81bc60301007", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3991202116012573, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6008797883987427, + "restore_error": 1.1920928955078125e-07, + "score": 0.6008797883987427, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.29921403527259827, + "candidate_source_group_id": "ms-fc9b4c94b51f8b2a521b;ms-22d1b2dcc954dcdff384;ms-3176a570b75767d1d729;ms-fc3c8a3572fd96442723;ms-52ea0261959dfacdbcac;ms-3a97ee208c6be9ed8b74", + "expert_regret": 1.6278697848320007, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b025d8068f740557d630", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6278697848320007, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.37213021516799927, + "restore_error": 1.1920928955078125e-07, + "score": 0.37213021516799927, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.024824464693665504, + "candidate_source_group_id": "ms-261f6f6b578cee63be20;ms-8054283375aeefc8f2c1;ms-e91b824c3841686ed053;ms-48db1178206eee52434a;ms-35d84da6eb1afcf8a811;ms-7a3daad6772d2384ea66", + "expert_regret": 0.03360700607299805, + "expert_score": 0.7271000146865845, + "expert_success": false, + "group_id": "ms-fb131b52f94500da894b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3065069913864136, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6934930086135864, + "restore_error": 1.1920928955078125e-07, + "score": 0.6934930086135864, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.15223349630832672, + "candidate_source_group_id": "ms-1cb9edbe8bd7ed4106c1;ms-832f0e966173abd16c34;ms-bbefdf03d0471be60f8f;ms-0f02ff35b7fa1234c52e;ms-06cb0796d1097e6ca111;ms-becd2ffef1c49174810a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-73259d17883355f7fa88", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.708191990852356, + "candidate_source_group_id": "ms-059d7962a5f998edf668;ms-3f56672eac1c00e9c2b0;ms-e3f38594991aafbffc23;ms-908213fef55ccf1dfda6;ms-faeff0379a053e9ea351;ms-472376eba1a5e1c706bf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-26322bd4de52dbd5743c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5003231763839722, + "candidate_source_group_id": "ms-a40abdebe8a9c17de878;ms-662379c2c351807b9cdf;ms-ecb5cc61f0b736e3f06f;ms-80d8d8fc4a3308139975;ms-ed30f8fbb80b2cf46fbc;ms-d1cc32a5c52e78aa5e39", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a1b60ea1461eb460bed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3806215822696686, + "candidate_source_group_id": "ms-b55ca348be8b64323714;ms-a195f05e99bccc48907e;ms-84264ef080ec4f3631df;ms-d8f42ed6b0b686d819ab;ms-e825996818ee6f2f7d26;ms-2f2b16367db3db120235", + "expert_regret": 1.5744295120239258, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6a9c4c704edd84c21cda", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5744295120239258, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4255704879760742, + "restore_error": 1.1920928955078125e-07, + "score": 0.4255704879760742, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6551821827888489, + "candidate_source_group_id": "ms-8f3d4e1d07bb5dcc7c57;ms-a103dfbc0567d05ade6e;ms-95264bfdaa3892cf66ac;ms-33a0bdb4bcee42c79a2b;ms-0e48a13af39db4a58bbc;ms-c910a469460f71880556", + "expert_regret": 1.7744386941194534, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dfc111660c0d1c7b7e04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7744386941194534, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22556130588054657, + "restore_error": 1.1920928955078125e-07, + "score": 0.22556130588054657, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.5441019535064697, + "candidate_source_group_id": "ms-288ce929957d627c569c;ms-89520c3ac8779d9e81e7;ms-0e48a13af39db4a58bbc;ms-c910a469460f71880556;ms-30e2d8b7825053276e0c;ms-e7573c5d29c3a1a3f228", + "expert_regret": 1.7856831103563309, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-efb5a07185a3a1b33226", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7856831103563309, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21431688964366913, + "restore_error": 1.1920928955078125e-07, + "score": 0.21431688964366913, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1430424600839615, + "candidate_source_group_id": "ms-99f263cb3f383b1f6243;ms-aa46bb6dc8e6274963b6;ms-28c139f34a954b692962;ms-ec4accef21246e0c9213;ms-c76aba3db8d4ce0062bc;ms-b0302a41f75a827cd4e4", + "expert_regret": 1.746495544910431, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-575bd87a5da90963019d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.746495544910431, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2535044550895691, + "restore_error": 1.1920928955078125e-07, + "score": 0.2535044550895691, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.555015504360199, + "candidate_source_group_id": "ms-4b3a296acc66a14476c3;ms-ef2d84500e27679d22d9;ms-662379c2c351807b9cdf;ms-80d8d8fc4a3308139975;ms-ed30f8fbb80b2cf46fbc;ms-a40abdebe8a9c17de878", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b383acd9844466b19579", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5629571080207825, + "candidate_source_group_id": "ms-87fa87e06dc88c28a44f;ms-1d5ca9681600acdaba39;ms-6ceb341dfa656e485a13;ms-093472a082b3b61e73d6;ms-d5241a32e5c9de09f2e4;ms-6f03b16858c35025503e", + "expert_regret": 1.5844866633415222, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-741e906eafd57d115b5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5844866633415222, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4155133366584778, + "restore_error": 1.1920928955078125e-07, + "score": 0.4155133366584778, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32941243052482605, + "candidate_source_group_id": "ms-865f9d670f806778ae61;ms-619d3d285d2cae3abbb9;ms-c7677b8f230103dd3c51;ms-88f7199271947fc4c7e8;ms-c090bce47703a4c4bb0b;ms-e705fef3e4caa4c49718", + "expert_regret": 0.5238056480884552, + "expert_score": 0.7231871485710144, + "expert_success": false, + "group_id": "ms-64a755437c34f39cda2a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5238056480884552, + "oracle_score": 0.7231871485710144, + "oracle_success": false, + "progress": 0.1993815004825592, + "restore_error": 1.1920928955078125e-07, + "score": 0.1993815004825592, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5389226675033569, + "candidate_source_group_id": "ms-aee5716b3e4fc47e46ba;ms-59474486dd5cb4e5bfd5;ms-d3377ca0da444ae9b40a;ms-7aeb0835d3396e6666b6;ms-6e2b02ee71a4a44bc325;ms-7a0330e9e3189ff035d3", + "expert_regret": 0.011125326156616211, + "expert_score": 0.7251858115196228, + "expert_success": false, + "group_id": "ms-92070f417bd9d14d6fc7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.011125326156616211, + "oracle_score": 0.7251858115196228, + "oracle_success": false, + "progress": 0.7140604853630066, + "restore_error": 1.1920928955078125e-07, + "score": 0.7140604853630066, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4585074782371521, + "candidate_source_group_id": "ms-7a3daad6772d2384ea66;ms-2f2b16367db3db120235;ms-84264ef080ec4f3631df;ms-1d728ae415a4d3cb782e;ms-01a86e5f5731af7002ab;ms-e91b824c3841686ed053", + "expert_regret": 1.4172101616859436, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e56b37f0e3881a70ef54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4172101616859436, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5827898383140564, + "restore_error": 1.1920928955078125e-07, + "score": 0.5827898383140564, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.579157829284668, + "candidate_source_group_id": "ms-9156a9a9c1b829b742ad;ms-059d7962a5f998edf668;ms-e3f38594991aafbffc23;ms-908213fef55ccf1dfda6;ms-3f56672eac1c00e9c2b0;ms-472376eba1a5e1c706bf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb329ccd569163c53415", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.3383508920669556, + "candidate_source_group_id": "ms-1955408aeb8a8a4d0847;ms-8b15f77ad3436ac282ba;ms-50b9f93dd246400d20c8;ms-9b687dc2de14c6813d44;ms-524ae7618ed9b6a272ae;ms-8a9e7d69f7ade362fe40", + "expert_regret": 1.7739738821983337, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-917b0f051489227842f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7739738821983337, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22602611780166626, + "restore_error": 1.1920928955078125e-07, + "score": 0.22602611780166626, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.650115966796875, + "candidate_source_group_id": "ms-715db95b13ebc6c977c8;ms-ec2e4afb34b439731136;ms-29a11d7bdcf49c86bd7a;ms-648250f7c25953eab081;ms-68d9596217cc37c949c4;ms-36d1128e3bd512cffe18", + "expert_regret": 1.8035843968391418, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28835618507e7bc71227", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8035843968391418, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19641560316085815, + "restore_error": 1.1920928955078125e-07, + "score": 0.19641560316085815, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1924881786108017, + "candidate_source_group_id": "ms-3d862f2a32d3404926c3;ms-605dbfbe6bef2b15b58c;ms-f2c8835e8a162283a646;ms-5cc5e6359fc006559eae;ms-6abc3749b5df33ea621e;ms-8b18ea4e0982a1352696", + "expert_regret": 0.004888713359832764, + "expert_score": 0.7208024859428406, + "expert_success": false, + "group_id": "ms-502dba1003c09ec60ba0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2840862274169922, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7159137725830078, + "restore_error": 1.1920928955078125e-07, + "score": 0.7159137725830078, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3068009316921234, + "candidate_source_group_id": "ms-28fe4b5a2888189c28d9;ms-9257b89b9b635a0fb174;ms-3176a570b75767d1d729;ms-9554f100dd5be3a4fa47;ms-d799435b5f6b8fae2ffb;ms-a905b84bd3ab703c025f", + "expert_regret": 1.798503816127777, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf8c5d9c874edc9f000d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.798503816127777, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2014961838722229, + "restore_error": 1.1920928955078125e-07, + "score": 0.2014961838722229, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6295377612113953, + "candidate_source_group_id": "ms-fae3c6a2f1b575ddc3f7;ms-4b3a296acc66a14476c3;ms-a96ff9a1d5571ec4a6f2;ms-ed4f6388ae96f9da76fa;ms-ef2d84500e27679d22d9;ms-80d8d8fc4a3308139975", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d2839c13649000454a65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4947667717933655, + "candidate_source_group_id": "ms-5fc588b9c9d52034f4c4;ms-30e4ae59842091fe16b2;ms-125287f805d320b2eff7;ms-f4060cdbe6d39b9215ac;ms-14a2c3eb293175cb76f3;ms-a905b84bd3ab703c025f", + "expert_regret": 1.7869701087474823, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01bef10a5ccfd38294fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7869701087474823, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2130298912525177, + "restore_error": 1.1920928955078125e-07, + "score": 0.2130298912525177, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42320579290390015, + "candidate_source_group_id": "ms-18ab33df290e3919a468;ms-f539c5c30da21c875657;ms-dd0fad10ce064047d62e;ms-df961fe24a43e56d1716;ms-6959fa589edc996753d7;ms-484ea653bbca2de3a4a2", + "expert_regret": 1.6253606379032135, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6d6456c45f9f3ae74b50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6253606379032135, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3746393620967865, + "restore_error": 1.1920928955078125e-07, + "score": 0.3746393620967865, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42993026971817017, + "candidate_source_group_id": "ms-4906f3adfda6dace862d;ms-131a98e2d4a78a9645f8;ms-31fe1d98bc7adcd515db;ms-295dab0e1d105e758827;ms-3661d65df223386f1be9;ms-c871c1157a16e19e6150", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29027a8e3742362fd477", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.0785186290740967, + "candidate_source_group_id": "ms-c910a469460f71880556;ms-0a8109ce7ab2ddc1bb1e;ms-e12808f670338ca180c6;ms-f3211ecde366ca9f6ac7;ms-8c8cf210aa675c5db1fe;ms-44a607bf50304347ead8", + "expert_regret": 1.7863537222146988, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83c0299c23fa800452c7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7863537222146988, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2136462777853012, + "restore_error": 1.1920928955078125e-07, + "score": 0.2136462777853012, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30791282653808594, + "candidate_source_group_id": "ms-89520c3ac8779d9e81e7;ms-44a607bf50304347ead8;ms-f3211ecde366ca9f6ac7;ms-288ce929957d627c569c;ms-8c8cf210aa675c5db1fe;ms-ba9541c7192498a1d8bd", + "expert_regret": 0.5077747106552124, + "expert_score": 0.7214354276657104, + "expert_success": false, + "group_id": "ms-e2a037eadb166228b1dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5115827322006226, + "oracle_score": 0.7252434492111206, + "oracle_success": false, + "progress": 0.21366071701049805, + "restore_error": 1.1920928955078125e-07, + "score": 0.21366071701049805, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3353612720966339, + "candidate_source_group_id": "ms-14dabc3ac1e1a339ebe4;ms-472376eba1a5e1c706bf;ms-908213fef55ccf1dfda6;ms-067e0fe46e4e9483e2a1;ms-785fb44f1371895f7721;ms-938b53ef53e669518a56", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-487d0fe2a13fb699dd7a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4117530882358551, + "candidate_source_group_id": "ms-df961fe24a43e56d1716;ms-6939f3ecafd5e0a4bfee;ms-484ea653bbca2de3a4a2;ms-3f6e7085c865144a7408;ms-f539c5c30da21c875657;ms-7b1a03be4a61ba27261c", + "expert_regret": 1.7978478223085403, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65e9da4468e522823587", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7978478223085403, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20215217769145966, + "restore_error": 1.1920928955078125e-07, + "score": 0.20215217769145966, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3465295135974884, + "candidate_source_group_id": "ms-efc33064e2a2f7e86dbe;ms-3661d65df223386f1be9;ms-9f993a6e9bb26846d4f4;ms-131a98e2d4a78a9645f8;ms-295dab0e1d105e758827;ms-cdbfe4d3b05f4ed12db3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b3d9d9570bf9b64c18fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5829631090164185, + "candidate_source_group_id": "ms-6ceb341dfa656e485a13;ms-6f03b16858c35025503e;ms-1a2d298bf9972ddc1a7e;ms-d5241a32e5c9de09f2e4;ms-c9e0182d4090ddaa991c;ms-093472a082b3b61e73d6", + "expert_regret": 1.3228377103805542, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0d80d6d87a27a53951fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3228377103805542, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6771622896194458, + "restore_error": 1.1920928955078125e-07, + "score": 0.6771622896194458, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.13507354259490967, + "candidate_source_group_id": "ms-785fb44f1371895f7721;ms-76b0b0463fdb323b6233;ms-34f60c9a263bd0a5641f;ms-472376eba1a5e1c706bf;ms-908213fef55ccf1dfda6;ms-3f56672eac1c00e9c2b0", + "expert_regret": 0.0, + "expert_score": 0.7244810461997986, + "expert_success": false, + "group_id": "ms-2436538e05fdcf8e44fc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42387357354164124, + "candidate_source_group_id": "ms-18ab33df290e3919a468;ms-6959fa589edc996753d7;ms-f539c5c30da21c875657;ms-dd0fad10ce064047d62e;ms-df961fe24a43e56d1716;ms-98c8fcf4c9f098cebe8d", + "expert_regret": 1.6157010197639465, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7ce799eb9d3b741e8960", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6157010197639465, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.38429898023605347, + "restore_error": 1.1920928955078125e-07, + "score": 0.38429898023605347, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4629737436771393, + "candidate_source_group_id": "ms-6818a4edf6ef35dacfb0;ms-c663f7e73e7e8376a05c;ms-b37738e210bf33a45a1d;ms-057132b6fc7922013391;ms-3c3fb1d170c1a7965ac4;ms-777412474251e64d7e24", + "expert_regret": 1.28501296043396, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0bc111c5ce4e0052716b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.28501296043396, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.71498703956604, + "restore_error": 1.1920928955078125e-07, + "score": 0.71498703956604, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4643208682537079, + "candidate_source_group_id": "ms-4906f3adfda6dace862d;ms-131a98e2d4a78a9645f8;ms-3661d65df223386f1be9;ms-510cafd84de611de3909;ms-31fe1d98bc7adcd515db;ms-a6e4ac1995198def96a8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-03495469257613a802b4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32523420453071594, + "candidate_source_group_id": "ms-136f1ebebd0b697c3310;ms-a6e4ac1995198def96a8;ms-510cafd84de611de3909;ms-e89a3ba400f81d2795f3;ms-31fe1d98bc7adcd515db;ms-4906f3adfda6dace862d", + "expert_regret": 1.3398639559745789, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a40dee47c502e73949af", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3398639559745789, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6601360440254211, + "restore_error": 1.1920928955078125e-07, + "score": 0.6601360440254211, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.03126028925180435, + "candidate_source_group_id": "ms-9fd14cc61816c2d4360e;ms-d9ed0a9faf86ca5f5caa;ms-3a09e411ee6c882ef7df;ms-93b076203c0c65fb22be;ms-2b59042e27453aff03a7;ms-e4090b0b0c1739070201", + "expert_regret": 0.0034009814262390137, + "expert_score": 0.7224933505058289, + "expert_success": false, + "group_id": "ms-baa36ee75ec2de550b9b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2809076309204102, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7190923690795898, + "restore_error": 1.1920928955078125e-07, + "score": 0.7190923690795898, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31800419092178345, + "candidate_source_group_id": "ms-a699ee643e76a610b444;ms-ddb4e5a1f88dfd017319;ms-6f12a291dd9c3bce4b44;ms-7571c367fe683b0f1cf9;ms-e0b2e69a5ea0d0ad4fb5;ms-a509a572b3871e591d26", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-af22292595eebbd60e48", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.10948411375284195, + "candidate_source_group_id": "ms-ee19bfbcb2f4fbf5a44d;ms-8315ae30e2cf041c8674;ms-d807915e233a0c74b809;ms-b4af4c8b9dcd6976546c;ms-c3a1cf0e424a4f065459;ms-4e86b87d6e5f6ab914fe", + "expert_regret": 1.4590672254562378, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d4bde31fd7e7cee76b09", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4590672254562378, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5409327745437622, + "restore_error": 1.1920928955078125e-07, + "score": 0.5409327745437622, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5013295412063599, + "candidate_source_group_id": "ms-a5775906ce2fb6556103;ms-5071d49489e1900dfa91;ms-578e24198ed828a74485;ms-10a5b6cc3ec06dfdc5c5;ms-bc53e550cb202b5fcdf3;ms-54f34c73458181a65e9a", + "expert_regret": 1.4513219594955444, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b15f9c696a2661346cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4513219594955444, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5486780405044556, + "restore_error": 1.1920928955078125e-07, + "score": 0.5486780405044556, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5465834736824036, + "candidate_source_group_id": "ms-9e87481ce12fa45b2554;ms-9a2d8f0085e6740cf5b0;ms-e793d78eaff3fb28deb6;ms-1d36e5be82aee5a8e3b8;ms-f07607bc0ce1c4e202b0;ms-9b4483fb034248fe882d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-02acbd591a961c0dbd46", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.11978138983249664, + "candidate_source_group_id": "ms-6af227c07aaf7c0f0aea;ms-a1846ef1f00eb54e2d60;ms-3b0ad4f07f1813ecf670;ms-3e971096794f04f325f2;ms-4f190184d3920a0add8b;ms-bdd1924b44de2db5b07a", + "expert_regret": 0.020448148250579834, + "expert_score": 0.14857541024684906, + "expert_success": false, + "group_id": "ms-0843bef6b0c13c3ede69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.030796274542808533, + "oracle_score": 0.15892353653907776, + "oracle_success": false, + "progress": 0.12812726199626923, + "restore_error": 1.1920928955078125e-07, + "score": 0.12812726199626923, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4536592662334442, + "candidate_source_group_id": "ms-99b15d50660b77fe2fcb;ms-4705657703da9d791fb9;ms-67f602a0e4efc9984d72;ms-16d5b122db1824caf92b;ms-10af171aa279a879207d;ms-7be1c6c8ef67031b1f90", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-813cac6d08ed5af48b12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.05634909123182297, + "candidate_source_group_id": "ms-b606af28580a38cea636;ms-ffef7730418c831245b3;ms-6a6a41baedceb27ad888;ms-7785d335d4a95e21a84d;ms-c151229bc1dd03ed2feb;ms-47a55ae1d3a858eed51c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ca10d8b9d03f4d59806c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.26169589161872864, + "candidate_source_group_id": "ms-3c458f671129e1ebe7b4;ms-732d0515ed28df031b8e;ms-28817fe297f38fd9550a;ms-87fd37bcc6b666e220ef;ms-f682952c6ecb2b833c35;ms-0377c81a67d9819ab96b", + "expert_regret": 1.4597296714782715, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f458832fc85f00873cc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4597296714782715, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5402703285217285, + "restore_error": 1.1920928955078125e-07, + "score": 0.5402703285217285, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3745163381099701, + "candidate_source_group_id": "ms-22325628db75967cf779;ms-236601c5e076b4ee5d75;ms-f7c9f440fec3a22cd6d4;ms-5df54a8baaceb8c73c8a;ms-d6e14cec49894dd329f0;ms-c425c810f7865e9564ee", + "expert_regret": 1.4608142375946045, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c76158673d20b18c2622", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4608142375946045, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5391857624053955, + "restore_error": 1.1920928955078125e-07, + "score": 0.5391857624053955, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.05087048560380936, + "candidate_source_group_id": "ms-d965f63e091a5d6dd6d7;ms-a22fbce4503f088acb1f;ms-11bb3387454624de8143;ms-4742d169606f3ec2b474;ms-766b6fe7c08a3525ce94;ms-38507741c3b5d91a7b33", + "expert_regret": 1.4416561126708984, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5fb668380b64d4f1e74", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4416561126708984, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5583438873291016, + "restore_error": 1.1920928955078125e-07, + "score": 0.5583438873291016, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.08607659488916397, + "candidate_source_group_id": "ms-5e1e38c86ef8f564ec77;ms-5e6d18ccfcf923f52f8e;ms-f39e1d7a2d636e39a02f;ms-2f57eadf546710065684;ms-a7179e4e4e2a0d5335b3;ms-3417f5f2f1470c61d0a8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ed419c64a6693cb8998b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3252336084842682, + "candidate_source_group_id": "ms-3ea30989082ec714e12d;ms-d849d754f346b826e052;ms-b7ed399f40d2d554b16d;ms-288532d255e4828bb15b;ms-1abd8c7cc1c683f88d3d;ms-fb228a036fe5973bcad1", + "expert_regret": 1.4679107069969177, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a8e6435948250f5e163d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4679107069969177, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5320892930030823, + "restore_error": 1.1920928955078125e-07, + "score": 0.5320892930030823, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19222275912761688, + "candidate_source_group_id": "ms-0b7f8ba789c00b37caa0;ms-91d86cba2602d1fa780d;ms-a509a572b3871e591d26;ms-d67409d8ecfd5d97336d;ms-6558f35ae2a2871a4bfd;ms-ee7463f3d937dbc16f89", + "expert_regret": 1.467070758342743, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-54a7c3d32b6a267d81a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.467070758342743, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5329292416572571, + "restore_error": 1.1920928955078125e-07, + "score": 0.5329292416572571, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5508180856704712, + "candidate_source_group_id": "ms-7982e5af0d533320432f;ms-4895312f7ef7a8e0109c;ms-17a04b4ac2d938261bff;ms-8c0b600aef5393f929cd;ms-3e7befcb3d8fc7884e8f;ms-c7f427f37d47501932e8", + "expert_regret": 0.5713350176811218, + "expert_score": 0.5877946019172668, + "expert_success": false, + "group_id": "ms-4c7138016830a563fb1b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5713350176811218, + "oracle_score": 0.5877946019172668, + "oracle_success": false, + "progress": 0.01645958423614502, + "restore_error": 1.1920928955078125e-07, + "score": 0.01645958423614502, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18581008911132812, + "candidate_source_group_id": "ms-2be3bf4f348678c0cc6c;ms-5be34d2caaa3a2d07b81;ms-4746e04d636d13cfbe6c;ms-193063285cdb9faff39b;ms-912718b1f2ef92066799;ms-12050326f623a94ae9e0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5aa7ce332ee9702812a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29436397552490234, + "candidate_source_group_id": "ms-4f405775dcbb88f7d8b0;ms-5c8b50523e0de37d80b8;ms-7e94769c30229d5cc7b8;ms-3737178a1f85502652ea;ms-d305a11348461ae1622c;ms-28817fe297f38fd9550a", + "expert_regret": 1.4407914876937866, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c3cdd70e2bc10bba1930", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4407914876937866, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5592085123062134, + "restore_error": 1.1920928955078125e-07, + "score": 0.5592085123062134, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5331000685691833, + "candidate_source_group_id": "ms-a45ed89f5b95d1e7ab07;ms-50d83ce148904504ec50;ms-32435d71bb817daf01d9;ms-25839c690d85a4f5b986;ms-5ac153f97fd3c2f689c5;ms-d26a60e383a2e822615a", + "expert_regret": 1.4674625992774963, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ca25b016439a98198434", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4674625992774963, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5325374007225037, + "restore_error": 2.384185791015625e-07, + "score": 0.5325374007225037, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42451098561286926, + "candidate_source_group_id": "ms-29eab654e4adf7ca9c4b;ms-4f938bd3599c372c8bff;ms-cdfe8f580576f4c577b0;ms-9ffeb1600c04f08bdfcb;ms-55c2bba961a327aa5260;ms-f6db4e8bed63ed868487", + "expert_regret": 1.4546353220939636, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fd1c44c6d5d8f7f11451", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4546353220939636, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5453646779060364, + "restore_error": 2.384185791015625e-07, + "score": 0.5453646779060364, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.656699001789093, + "candidate_source_group_id": "ms-8d9b2a5ccd43461f827e;ms-a01f0549a18d924d31c0;ms-fbcca760f5e16aa5c776;ms-a43a663a3c4b15ec3ac2;ms-f653a3ac16eba9fba5dd;ms-14c40aa19f7b9307511d", + "expert_regret": 1.4418796300888062, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e4af96af7d344ec47a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4418796300888062, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5581203699111938, + "restore_error": 2.384185791015625e-07, + "score": 0.5581203699111938, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.934087336063385, + "candidate_source_group_id": "ms-362ba7cebb2bab1421e8;ms-12a997dde50b7a7f35cb;ms-87f65c35c9d8b3ced6fc;ms-de709118c78966c5aff7;ms-59020093d2eeaf58aa84;ms-d67409d8ecfd5d97336d", + "expert_regret": 1.4412808418273926, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-60a28a9b282e7586d4d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4412808418273926, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5587191581726074, + "restore_error": 2.384185791015625e-07, + "score": 0.5587191581726074, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 1.0012789964675903, + "candidate_source_group_id": "ms-edcdf99767068f94bcb4;ms-86b302005e0461f28c43;ms-417cab1470cf46273b02;ms-eac0d7dd54b1e797fdbd;ms-c774aeee2c4066edd668;ms-5e85dc3760eef8a53a67", + "expert_regret": 0.0, + "expert_score": 0.5850434899330139, + "expert_success": false, + "group_id": "ms-a9ac13384fe5afc835f1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.609527587890625, + "candidate_source_group_id": "ms-8315ae30e2cf041c8674;ms-d807915e233a0c74b809;ms-c3a1cf0e424a4f065459;ms-b4af4c8b9dcd6976546c;ms-16d5b122db1824caf92b;ms-b40ee5a75332685d5cec", + "expert_regret": 1.4392043948173523, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6029bab18ae94b126d79", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4392043948173523, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5607956051826477, + "restore_error": 2.384185791015625e-07, + "score": 0.5607956051826477, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.49996042251586914, + "candidate_source_group_id": "ms-b606af28580a38cea636;ms-045f5adce6d38ea2794f;ms-ffef7730418c831245b3;ms-6a6a41baedceb27ad888;ms-dc965b3a72976440156c;ms-d3cebfccbbe54d22c561", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2b64c720290c6dad7e35", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7536073923110962, + "candidate_source_group_id": "ms-1df0775c4ef08d0cf1bf;ms-73e36360221b6732c688;ms-d69b907e65875420bab7;ms-023e021f079a8774c741;ms-2dc8e489908f72903319;ms-21155188bc35f0f021d3", + "expert_regret": 1.4733810424804688, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3d095a49ed03de972849", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4733810424804688, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5266189575195312, + "restore_error": 2.384185791015625e-07, + "score": 0.5266189575195312, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.05375160649418831, + "candidate_source_group_id": "ms-910364d2d86091c5e0cf;ms-30998855587c076a2a77;ms-d0e4bdc60ab8ea52a320;ms-869a04e41dc5cc90916b;ms-6be8614a1bd50b974b95;ms-4082ce1f04dbacd6a5b9", + "expert_regret": 1.4361915588378906, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5d81a7c740394b68c3f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4361915588378906, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5638084411621094, + "restore_error": 1.1920928955078125e-07, + "score": 0.5638084411621094, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.10712426155805588, + "candidate_source_group_id": "ms-f4b95f2b569e3f1bf086;ms-46987cd8daa3091c8a85;ms-3950f823020f08f8e8cd;ms-a10d8368c33b56390f77;ms-45d4b692eda9ecacaa55;ms-10621e1108a69d0b633e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-16a7ccf3c442984c2feb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15082213282585144, + "candidate_source_group_id": "ms-3b4b0b8c60ad41bb16b0;ms-cca07eb504a242633931;ms-239a07967247700a8ed1;ms-5fc884c238818acdde08;ms-f39bbaa063044719a98d;ms-1781d9c562b4425df7c8", + "expert_regret": 1.4557369351387024, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a3d0c460532de2d801ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4557369351387024, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5442630648612976, + "restore_error": 1.1920928955078125e-07, + "score": 0.5442630648612976, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20015934109687805, + "candidate_source_group_id": "ms-fd99b14bf152ebc0ef8e;ms-74868f62709b91077e27;ms-59cc3cdf6918248d7f78;ms-5922c28e4a71a88c6d21;ms-fa62bbb3e8416561ed69;ms-3e971096794f04f325f2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-227fe0347d2ea57a66a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2927531599998474, + "candidate_source_group_id": "ms-82e28eb350e21d43d3eb;ms-aed881d8d61a756aa297;ms-7cab119c7b8019254ba4;ms-b40ee5a75332685d5cec;ms-d807915e233a0c74b809;ms-8315ae30e2cf041c8674", + "expert_regret": 1.4939942955970764, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a497e44e8c2ff0d46e47", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4939942955970764, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5060057044029236, + "restore_error": 1.1920928955078125e-07, + "score": 0.5060057044029236, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8481022715568542, + "candidate_source_group_id": "ms-578537600f7a649c2dd5;ms-9c7e6b057c74f3014fd5;ms-86b0447349029dfaa6ab;ms-c86956f3f1333e136186;ms-ac79bc3a841958ce127f;ms-cd340bca589f0cebd7da", + "expert_regret": 1.4337644577026367, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f9c00ba41392adec3fd1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4337644577026367, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5662355422973633, + "restore_error": 1.1920928955078125e-07, + "score": 0.5662355422973633, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.34495243430137634, + "candidate_source_group_id": "ms-b606af28580a38cea636;ms-4d43fb19477b7ab848bc;ms-ffef7730418c831245b3;ms-7785d335d4a95e21a84d;ms-045f5adce6d38ea2794f;ms-6a6a41baedceb27ad888", + "expert_regret": 1.4431392550468445, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-50f62a61a82a96061d9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4431392550468445, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5568607449531555, + "restore_error": 1.1920928955078125e-07, + "score": 0.5568607449531555, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2876572608947754, + "candidate_source_group_id": "ms-b36673c3905a123cbd50;ms-5922c28e4a71a88c6d21;ms-59020093d2eeaf58aa84;ms-fd9f10f7df6a11ec2cef;ms-311a52ec4b0ca8d71889;ms-59cc3cdf6918248d7f78", + "expert_regret": 1.4564212560653687, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dea17c1c383f54d05636", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4564212560653687, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5435787439346313, + "restore_error": 1.1920928955078125e-07, + "score": 0.5435787439346313, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12555167078971863, + "candidate_source_group_id": "ms-9e1f3c14116ebca6164d;ms-1cea800b74c1ea2f6338;ms-0ca11ec8f7fbf0c1d66e;ms-d824135bf97b907f7cc2;ms-17e8d6ba42404c7b7d07;ms-23f9cca8edfca421a4a6", + "expert_regret": 1.445971965789795, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c78721d9c4196a9e8ec5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.445971965789795, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5540280342102051, + "restore_error": 1.1920928955078125e-07, + "score": 0.5540280342102051, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43157094717025757, + "candidate_source_group_id": "ms-bcd9be34f050d97499bd;ms-782893a3eb2e3dcfd15e;ms-e20f5d43f319248c5001;ms-add4b7d277e1fc171144;ms-71ef8f2cdc11d83250fa;ms-bc53e550cb202b5fcdf3", + "expert_regret": 1.4550440907478333, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e058c0dba52df04b8642", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4550440907478333, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5449559092521667, + "restore_error": 1.1920928955078125e-07, + "score": 0.5449559092521667, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14907561242580414, + "candidate_source_group_id": "ms-f71c7cf8ca320b8eb7a4;ms-a73f46824bdbdfb96238;ms-08858c7ba8d4a3357e05;ms-7d962acc9cfbc27c599c;ms-70381721e736d44afeaf;ms-478f754a15221314d15e", + "expert_regret": 1.4790117144584656, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-71452ba714a10880870b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4790117144584656, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5209882855415344, + "restore_error": 1.1920928955078125e-07, + "score": 0.5209882855415344, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7491084337234497, + "candidate_source_group_id": "ms-eac0d7dd54b1e797fdbd;ms-9cdebdcdad56bd8d87cc;ms-edcdf99767068f94bcb4;ms-c774aeee2c4066edd668;ms-86b302005e0461f28c43;ms-417cab1470cf46273b02", + "expert_regret": 0.0, + "expert_score": 0.5829448699951172, + "expert_success": false, + "group_id": "ms-4ca84594a789c9abd5d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.5829448699951172, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5121486783027649, + "candidate_source_group_id": "ms-17330235d51598ebcb4e;ms-351844f358ea7564d27d;ms-cafa65eeb953aff47f30;ms-ed7b02bc8f37b8524a56;ms-4ec67456479f53e605e1;ms-dc5a883a3e28b90ebf1a", + "expert_regret": 1.4792837500572205, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b5b5e5f9237c41e0fe9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4792837500572205, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5207162499427795, + "restore_error": 1.1920928955078125e-07, + "score": 0.5207162499427795, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6281210780143738, + "candidate_source_group_id": "ms-70342af6b601660d7c69;ms-64ab703e7a82799a47dd;ms-dbb32d9fd6999e09f589;ms-10af171aa279a879207d;ms-67f602a0e4efc9984d72;ms-0e275939f12a9dcee0a0", + "expert_regret": 1.4526816606521606, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d88107eff1e361cdcc4c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4526816606521606, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5473183393478394, + "restore_error": 1.1920928955078125e-07, + "score": 0.5473183393478394, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.49834227561950684, + "candidate_source_group_id": "ms-fe54b45b549a55d45c0e;ms-b90d7926b23eabbbed04;ms-dbcc3da47d96ceeaf9f0;ms-b0aa24be399d843c9d50;ms-beb3567748ba228bdfce;ms-32435d71bb817daf01d9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-683b1d258a1cafbf87b9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29422813653945923, + "candidate_source_group_id": "ms-fef1cf4879be83a77574;ms-8adf1cf09ddabdc5fe5f;ms-fcbac5ac63b87452c719;ms-8fa24da5c97dc1dad5c1;ms-a509a572b3871e591d26;ms-0b7f8ba789c00b37caa0", + "expert_regret": 1.4223199486732483, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7361bfba9d2ab4f1913e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4223199486732483, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5776800513267517, + "restore_error": 1.1920928955078125e-07, + "score": 0.5776800513267517, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4393734931945801, + "candidate_source_group_id": "ms-48d490ed21088bb5ba85;ms-b671fa9fcef84dbf2a13;ms-d73a2a984d5829e884f9;ms-8420ccaff5986c85063f;ms-e45b5de01eafae73e492;ms-c7041c6f758f8e4a3698", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2ae57bab6d2ea11f6638", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3275270164012909, + "candidate_source_group_id": "ms-4b970be37419ce0be0ae;ms-8e4755f1627d85c12bd8;ms-80fbba5636cb4f9c64a3;ms-4cd1ceea2dda2732110a;ms-351c397795d9af204ec6;ms-28817fe297f38fd9550a", + "expert_regret": 1.4249294996261597, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-12ac4329c5bca5f2bb62", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4249294996261597, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5750705003738403, + "restore_error": 1.1920928955078125e-07, + "score": 0.5750705003738403, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47384434938430786, + "candidate_source_group_id": "ms-2d995e39f2b95fed1a67;ms-14c40aa19f7b9307511d;ms-10cb98b0a1ca5429dd28;ms-f653a3ac16eba9fba5dd;ms-8bb2d8cb7c0d33fa0c1d;ms-5d169f059bde8e429786", + "expert_regret": 1.4886125922203064, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7e6493bb6b1ff650d6de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4886125922203064, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5113874077796936, + "restore_error": 1.1920928955078125e-07, + "score": 0.5113874077796936, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46906593441963196, + "candidate_source_group_id": "ms-8edf3c4f13fa7a151824;ms-b863927293ce6530bb3b;ms-ba156a5cdaf40cc85cc4;ms-3a65e7b378a87a7eeb11;ms-bc53e550cb202b5fcdf3;ms-add4b7d277e1fc171144", + "expert_regret": 1.9782416578382254, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-38ceda08bad38fbebc1c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9782416578382254, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.021758342161774635, + "restore_error": 1.1920928955078125e-07, + "score": 0.021758342161774635, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5346171855926514, + "candidate_source_group_id": "ms-0c9c39c462522b25ef2b;ms-88bdd8987f890af7e9ea;ms-30fe784e67f732ef9a3d;ms-ffba357213945be5f9f7;ms-c70be4072fb4e49ac106;ms-99ecd2226d7187416316", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ee32e6bb3c0bb45702b9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28423526883125305, + "candidate_source_group_id": "ms-28817fe297f38fd9550a;ms-4f405775dcbb88f7d8b0;ms-f682952c6ecb2b833c35;ms-7e94769c30229d5cc7b8;ms-0377c81a67d9819ab96b;ms-3c458f671129e1ebe7b4", + "expert_regret": 1.4401622414588928, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4fad1f976cc64cc06826", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4401622414588928, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5598377585411072, + "restore_error": 1.1920928955078125e-07, + "score": 0.5598377585411072, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6593355536460876, + "candidate_source_group_id": "ms-0b4ac5b183639ac19191;ms-d75a00b1388f50bf8919;ms-85eef30b36b044b33f60;ms-912718b1f2ef92066799;ms-4746e04d636d13cfbe6c;ms-d44f5bd2488ea182132b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4d6099258a3a6e037aff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4465859532356262, + "candidate_source_group_id": "ms-07e0726dedce0a0e4419;ms-87b44e6219279322a723;ms-ee055e1282f6302ad9e8;ms-1abf5e6d483e2788b086;ms-81085eba1dd49b17ec9c;ms-09de52dad7e40970c938", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb92a1e6b67121783fff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9671252965927124, + "candidate_source_group_id": "ms-547f4204888aee978bf0;ms-3fae81854f4c927f1f8d;ms-8ccc51fb09484026ebbb;ms-b0d54c14a65fb73f08ca;ms-b23839ace2fb08438144;ms-a76ae18568c88af1da6b", + "expert_regret": 1.9072430729866028, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d9e3a187dcadb9ad26b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9072430729866028, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09275692701339722, + "restore_error": 1.1920928955078125e-07, + "score": 0.09275692701339722, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9990842938423157, + "candidate_source_group_id": "ms-edcdf99767068f94bcb4;ms-86b302005e0461f28c43;ms-417cab1470cf46273b02;ms-eac0d7dd54b1e797fdbd;ms-c774aeee2c4066edd668;ms-5e85dc3760eef8a53a67", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69962cd1c448094e4fb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5431287288665771, + "candidate_source_group_id": "ms-0cc80a2933abf1b4853f;ms-12a997dde50b7a7f35cb;ms-de709118c78966c5aff7;ms-723a1f2e22afe15b6981;ms-362ba7cebb2bab1421e8;ms-91ad1a5f945470b4346e", + "expert_regret": 1.491007685661316, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-859d0ea38fb5e8aa6b98", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.491007685661316, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5089923143386841, + "restore_error": 1.1920928955078125e-07, + "score": 0.5089923143386841, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24475108087062836, + "candidate_source_group_id": "ms-81729abe5d83a1ca280d;ms-2073841ae01f224365a1;ms-8d94c7c692c91a962f25;ms-5922c28e4a71a88c6d21;ms-59cc3cdf6918248d7f78;ms-fd9f10f7df6a11ec2cef", + "expert_regret": 1.4598247408866882, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97598e118c5cc8c254a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4598247408866882, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5401752591133118, + "restore_error": 1.1920928955078125e-07, + "score": 0.5401752591133118, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6136251091957092, + "candidate_source_group_id": "ms-aaf1c4931e054f52623c;ms-d1dd16f03551d840a922;ms-a43a663a3c4b15ec3ac2;ms-3e7befcb3d8fc7884e8f;ms-b666f24369c548cd56ab;ms-49641ecf3e1326621609", + "expert_regret": 1.9254220500588417, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-19e6e6e341aebb7ec693", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9254220500588417, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0745779499411583, + "restore_error": 1.1920928955078125e-07, + "score": 0.0745779499411583, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.429108202457428, + "candidate_source_group_id": "ms-45d4b692eda9ecacaa55;ms-f80ae137a8d9981f8c98;ms-dc2a8fa76e1ceb0d8925;ms-f4d6da245d340cd16d30;ms-25839c690d85a4f5b986;ms-10621e1108a69d0b633e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68970d9d9bf975e25eb5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6850227117538452, + "candidate_source_group_id": "ms-50f29e19c798fee5422f;ms-c3a1cf0e424a4f065459;ms-b4af4c8b9dcd6976546c;ms-1451f536f2ac0df844f6;ms-7c5059db4c14a74b64a3;ms-f88a44616a0985aac518", + "expert_regret": 1.4656415581703186, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7de8743758ec505a3294", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4656415581703186, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5343584418296814, + "restore_error": 1.1920928955078125e-07, + "score": 0.5343584418296814, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1880321502685547, + "candidate_source_group_id": "ms-1bfca22d4af29f0e14b1;ms-81085eba1dd49b17ec9c;ms-61068da67676a95e5065;ms-e093f85b121d443b61e2;ms-87b44e6219279322a723;ms-07e0726dedce0a0e4419", + "expert_regret": 1.4317131042480469, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4fe7fdaf946c97803c82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4317131042480469, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5682868957519531, + "restore_error": 1.1920928955078125e-07, + "score": 0.5682868957519531, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.16793107986450195, + "candidate_source_group_id": "ms-76b9f40367a1ee020744;ms-d6b2d805dc063382ade2;ms-d7a32da3ed5d010654a0;ms-635a384c88604ad7ba4f;ms-0f219ce35aff264455e2;ms-486ff31b7a04a7e9e8f9", + "expert_regret": 1.4701767563819885, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d5d7c690819019cb7869", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4701767563819885, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5298232436180115, + "restore_error": 1.1920928955078125e-07, + "score": 0.5298232436180115, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.34401893615722656, + "candidate_source_group_id": "ms-1b83fc0981e283975488;ms-cd71a93dcab09ba15592;ms-ebb616f9b291184677b3;ms-b5deb1971bf3b3484282;ms-ac79bc3a841958ce127f;ms-2cf1227610d4602f88ed", + "expert_regret": 1.493221640586853, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b98e8aa8ecee10bea27", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.493221640586853, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.506778359413147, + "restore_error": 1.1920928955078125e-07, + "score": 0.506778359413147, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8405627012252808, + "candidate_source_group_id": "ms-ea72196e20393870bcbb;ms-bb60defa0d234da9e0bc;ms-08c75f74bf7813b1c257;ms-4021797e9499e6aaab7a;ms-486b916e7b4ad1566788;ms-3a64af2410ea932a6267", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-af16712eadcaebf175ff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7142432332038879, + "candidate_source_group_id": "ms-d8b4090565126a66d13e;ms-999a8c1454dd4597a834;ms-b0d54c14a65fb73f08ca;ms-b23839ace2fb08438144;ms-3b7c5c91ae441f282006;ms-630663751ab841a96d5a", + "expert_regret": 1.8773896470665932, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b481531ab787e3d6fb1e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8773896470665932, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.12261035293340683, + "restore_error": 1.1920928955078125e-07, + "score": 0.12261035293340683, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5665645003318787, + "candidate_source_group_id": "ms-98427ae2d94c1f85811a;ms-0ca1c25fddb7da05d80a;ms-40cb974de9da58dcd32b;ms-706943f06888dd5bbb3a;ms-9233eae706910c204b79;ms-6fc6a26da9fbe53dd616", + "expert_regret": 1.451539397239685, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5bae191ebad7c9f2687", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.451539397239685, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5484606027603149, + "restore_error": 1.1920928955078125e-07, + "score": 0.5484606027603149, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.38686591386795044, + "candidate_source_group_id": "ms-307f9067d5b66f55b3a6;ms-2dc4f12ea7e8567e3a6e;ms-44694e99af9263ad3c45;ms-d305a11348461ae1622c;ms-52cdfff790d71133c5a0;ms-5847c6d196024fce1770", + "expert_regret": 1.4450801014900208, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-90a03366976eaa1ad013", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4450801014900208, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5549198985099792, + "restore_error": 1.1920928955078125e-07, + "score": 0.5549198985099792, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45466142892837524, + "candidate_source_group_id": "ms-45d4b692eda9ecacaa55;ms-f4b95f2b569e3f1bf086;ms-f4d6da245d340cd16d30;ms-25839c690d85a4f5b986;ms-f80ae137a8d9981f8c98;ms-dc2a8fa76e1ceb0d8925", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-81d1d8def1fbeb3b1cc5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6214953660964966, + "candidate_source_group_id": "ms-8f0e2c9caad14bd37ecf;ms-023e021f079a8774c741;ms-eb16021deb5d03f15c9d;ms-fd6deac5a281d169bc75;ms-753929cfdc4aaa652b32;ms-d91cbe61314c18955b6b", + "expert_regret": 1.4323381185531616, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-561f4f913d7b4991d81a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4323381185531616, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5676618814468384, + "restore_error": 1.1920928955078125e-07, + "score": 0.5676618814468384, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42923668026924133, + "candidate_source_group_id": "ms-f80ae137a8d9981f8c98;ms-dc2a8fa76e1ceb0d8925;ms-25839c690d85a4f5b986;ms-45d4b692eda9ecacaa55;ms-f4d6da245d340cd16d30;ms-32435d71bb817daf01d9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f6d30c2ade00e451dc2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5099431872367859, + "candidate_source_group_id": "ms-3e7befcb3d8fc7884e8f;ms-aaf1c4931e054f52623c;ms-b666f24369c548cd56ab;ms-a43a663a3c4b15ec3ac2;ms-d1dd16f03551d840a922;ms-7982e5af0d533320432f", + "expert_regret": 1.949408434331417, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c9f657875cf334b1f17", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.949408434331417, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.050591565668582916, + "restore_error": 1.1920928955078125e-07, + "score": 0.050591565668582916, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6873399019241333, + "candidate_source_group_id": "ms-45ed57caa698d87a99cf;ms-5f5bf12b5ebb67eeb361;ms-4385e9c56007fdaa94b5;ms-ffba357213945be5f9f7;ms-c70be4072fb4e49ac106;ms-23f9cca8edfca421a4a6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e55645c0c701caac48a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8215524554252625, + "candidate_source_group_id": "ms-486572c62484eb4d73db;ms-6c39b520dca0a325535f;ms-763c73c94818a090d358;ms-b0aa24be399d843c9d50;ms-4fe47d946641f0096a85;ms-dd4f37e032d56b692a0e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a44a2c9eee8baea5d29e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.27158311009407043, + "candidate_source_group_id": "ms-a1d69e0b112064914357;ms-2e5c2f75d3f6311e0a1c;ms-1c0e2bb3a811fac6d567;ms-5c8b50523e0de37d80b8;ms-62b597990a3d637e5a8a;ms-9b213fea5cdf7a7c91c4", + "expert_regret": 1.4578503370285034, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8af2224cc82636ef1dd7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4578503370285034, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5421496629714966, + "restore_error": 1.1920928955078125e-07, + "score": 0.5421496629714966, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4842032790184021, + "candidate_source_group_id": "ms-630663751ab841a96d5a;ms-aea09fb002af52e12bd8;ms-319a6c0cef0ac1a872d5;ms-a01e21b91a5b37a16afe;ms-b9e46b7345a63ded4397;ms-e218d19c595e580c3e32", + "expert_regret": 1.9437690004706383, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe650308e25459ee64c6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9437690004706383, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.056230999529361725, + "restore_error": 1.1920928955078125e-07, + "score": 0.056230999529361725, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5769554972648621, + "candidate_source_group_id": "ms-f4860c7945db15b54d2e;ms-0a4c4442237909d5f7b7;ms-bfda95ffffd5d1a2683a;ms-9a1de6130828dc946a51;ms-10a5b6cc3ec06dfdc5c5;ms-91ad1a5f945470b4346e", + "expert_regret": 1.4533597826957703, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b1c9975d1a007dd03dc4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4533597826957703, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5466402173042297, + "restore_error": 1.1920928955078125e-07, + "score": 0.5466402173042297, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.37601742148399353, + "candidate_source_group_id": "ms-a3c53708416dbfb9fbc5;ms-88e10d1be12a407b3926;ms-79d500110f3723b57da8;ms-d3cebfccbbe54d22c561;ms-e2ddf4681b47f39e15da;ms-2d4547df5dccc4c4ca24", + "expert_regret": 1.517016977071762, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9e31a19a776a861f9d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.517016977071762, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4829830229282379, + "restore_error": 1.1920928955078125e-07, + "score": 0.4829830229282379, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.38358429074287415, + "candidate_source_group_id": "ms-78da3efba7a739dcad14;ms-7571c367fe683b0f1cf9;ms-ddb4e5a1f88dfd017319;ms-950df0830b2e57010248;ms-a509a572b3871e591d26;ms-fd99b14bf152ebc0ef8e", + "expert_regret": 1.9464599005877972, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01067b8ff16f74652382", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9464599005877972, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.053540099412202835, + "restore_error": 1.1920928955078125e-07, + "score": 0.053540099412202835, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.27236413955688477, + "candidate_source_group_id": "ms-88bdd8987f890af7e9ea;ms-99ecd2226d7187416316;ms-9783ccaf76f1b20c766e;ms-c70be4072fb4e49ac106;ms-30fe784e67f732ef9a3d;ms-0c9c39c462522b25ef2b", + "expert_regret": 1.4385539889335632, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c5d026dffb39f2f1d38a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4385539889335632, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5614460110664368, + "restore_error": 1.1920928955078125e-07, + "score": 0.5614460110664368, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5989216566085815, + "candidate_source_group_id": "ms-cdcdb32d7c02c49869ef;ms-9de5ccc7f31ca1c2154b;ms-fcfb7dd60d966e20b98d;ms-16cd0a94ad2cb78b1ada;ms-10dbf8bb0c239a44ec0f;ms-72cf68c15631675b063f", + "expert_regret": 1.9449644796550274, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-15c083989d8277fd07ec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9449644796550274, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05503552034497261, + "restore_error": 1.1920928955078125e-07, + "score": 0.05503552034497261, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6897839307785034, + "candidate_source_group_id": "ms-3aa864ead19c9cb9fb49;ms-79c7332b2b329eaa6a13;ms-bb60defa0d234da9e0bc;ms-1158e6997b2f1281b105;ms-708baf01c22c75cafd22;ms-61b1188974f35233b883", + "expert_regret": 1.4315165281295776, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-95320371ce6b820c85f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4315165281295776, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5684834718704224, + "restore_error": 1.1920928955078125e-07, + "score": 0.5684834718704224, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2617696523666382, + "candidate_source_group_id": "ms-4f938bd3599c372c8bff;ms-cdfe8f580576f4c577b0;ms-9b213fea5cdf7a7c91c4;ms-29eab654e4adf7ca9c4b;ms-ebb616f9b291184677b3;ms-9ffeb1600c04f08bdfcb", + "expert_regret": 1.4725446701049805, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de0abc7a53a48164f82d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4725446701049805, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5274553298950195, + "restore_error": 1.1920928955078125e-07, + "score": 0.5274553298950195, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6201459765434265, + "candidate_source_group_id": "ms-045f5adce6d38ea2794f;ms-dc965b3a72976440156c;ms-b606af28580a38cea636;ms-ffef7730418c831245b3;ms-e2ddf4681b47f39e15da;ms-64ab703e7a82799a47dd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cba2f44df79669ff934b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12714287638664246, + "candidate_source_group_id": "ms-bcfeba2af1e844c22aed;ms-1735d1abca4a91293d78;ms-9044026b69850d12d05b;ms-3352e05afd9065cd09bf;ms-326a7b583623d136470e;ms-97140da7cf409922f6ce", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eb206a3dda0ac16e1643", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2503371834754944, + "candidate_source_group_id": "ms-10dbf8bb0c239a44ec0f;ms-16cd0a94ad2cb78b1ada;ms-793a98188fd57ed5291f;ms-0541a144afe57b5a7ae6;ms-c2e07545267c612a022c;ms-fcfb7dd60d966e20b98d", + "expert_regret": 1.4961593747138977, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3abfb4c309360a304d54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4961593747138977, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5038406252861023, + "restore_error": 1.1920928955078125e-07, + "score": 0.5038406252861023, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48269394040107727, + "candidate_source_group_id": "ms-076d67ac4d2de4e0c627;ms-c7156b26670838d40934;ms-8330999c6669ec42122a;ms-0ac53e56b4852c85ca2e;ms-b786173f210fcaa65a6e;ms-a68740208f81c5d6c97b", + "expert_regret": 1.9276846125721931, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5dfad80e83d210946447", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9276846125721931, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07231538742780685, + "restore_error": 1.1920928955078125e-07, + "score": 0.07231538742780685, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12426872551441193, + "candidate_source_group_id": "ms-bd6b2dc41ba42b44462a;ms-4082ce1f04dbacd6a5b9;ms-21155188bc35f0f021d3;ms-87f8bbc8d9e7f4dcaacf;ms-31782020143c24b4271b;ms-fbcc714230de2c097d0d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-93e3d9968204474eff49", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2045658677816391, + "candidate_source_group_id": "ms-6a7e80154a9a4e5e9c08;ms-0d1db6695acdf1ec3eaf;ms-c7041c6f758f8e4a3698;ms-00b9ad6a8fe73fccc6fc;ms-8fcc78fba7b3bec0fab6;ms-da855323619ebf257b19", + "expert_regret": 1.4465671181678772, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d4aab6f9b6717dd5712e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4465671181678772, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5534328818321228, + "restore_error": 1.1920928955078125e-07, + "score": 0.5534328818321228, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46273502707481384, + "candidate_source_group_id": "ms-b0d54c14a65fb73f08ca;ms-999a8c1454dd4597a834;ms-3fae81854f4c927f1f8d;ms-a76ae18568c88af1da6b;ms-547f4204888aee978bf0;ms-ed9addab41f3298db7bc", + "expert_regret": 1.9550312273204327, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7670f25745871759e69e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9550312273204327, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04496877267956734, + "restore_error": 1.1920928955078125e-07, + "score": 0.04496877267956734, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2243867814540863, + "candidate_source_group_id": "ms-4f405775dcbb88f7d8b0;ms-28817fe297f38fd9550a;ms-7e94769c30229d5cc7b8;ms-f682952c6ecb2b833c35;ms-0377c81a67d9819ab96b;ms-3c458f671129e1ebe7b4", + "expert_regret": 1.489164650440216, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe9347448b7f810d1353", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.489164650440216, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5108353495597839, + "restore_error": 1.1920928955078125e-07, + "score": 0.5108353495597839, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9006131887435913, + "candidate_source_group_id": "ms-c3a1cf0e424a4f065459;ms-b4af4c8b9dcd6976546c;ms-8315ae30e2cf041c8674;ms-16d5b122db1824caf92b;ms-10af171aa279a879207d;ms-3a64af2410ea932a6267", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-99a5ffff5b73cf604b3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5128235816955566, + "candidate_source_group_id": "ms-1781d9c562b4425df7c8;ms-3b4b0b8c60ad41bb16b0;ms-f39bbaa063044719a98d;ms-bcc70292f404cd1c7f75;ms-9b4483fb034248fe882d;ms-cca07eb504a242633931", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b68d8b4d22e6ff0451d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47547611594200134, + "candidate_source_group_id": "ms-2d4547df5dccc4c4ca24;ms-fe1a5f1bc3c4ec7669f2;ms-a3c53708416dbfb9fbc5;ms-e2ddf4681b47f39e15da;ms-0bb8964d3e6f9dd302f4;ms-88e10d1be12a407b3926", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8a74cf665984273be00d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7066043615341187, + "candidate_source_group_id": "ms-aea09fb002af52e12bd8;ms-3b7c5c91ae441f282006;ms-e218d19c595e580c3e32;ms-a01e21b91a5b37a16afe;ms-706943f06888dd5bbb3a;ms-319a6c0cef0ac1a872d5", + "expert_regret": 1.8454006016254425, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4acbf69acd30d96e46a7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8454006016254425, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1545993983745575, + "restore_error": 1.1920928955078125e-07, + "score": 0.1545993983745575, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22538287937641144, + "candidate_source_group_id": "ms-87fd37bcc6b666e220ef;ms-e0b2e69a5ea0d0ad4fb5;ms-2458fcfffb3f96c6ca1a;ms-3c458f671129e1ebe7b4;ms-3b0ad4f07f1813ecf670;ms-732d0515ed28df031b8e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2259a78b2187e22f9f37", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.534131646156311, + "candidate_source_group_id": "ms-10a5b6cc3ec06dfdc5c5;ms-06935a084a7af6d7596c;ms-7fe236a99d555408d474;ms-c86956f3f1333e136186;ms-4cd1ceea2dda2732110a;ms-f4860c7945db15b54d2e", + "expert_regret": 1.9088848307728767, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-503d0b1d27ed78b6130f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9088848307728767, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09111516922712326, + "restore_error": 1.1920928955078125e-07, + "score": 0.09111516922712326, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8348591923713684, + "candidate_source_group_id": "ms-c2e07545267c612a022c;ms-0541a144afe57b5a7ae6;ms-2470946f31fee328ad6c;ms-3eeaca32feb66f450a0b;ms-41561ecd4d68cf77c933;ms-793a98188fd57ed5291f", + "expert_regret": 1.4804835319519043, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5e23219a8e2aadd039c7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4804835319519043, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5195164680480957, + "restore_error": 1.1920928955078125e-07, + "score": 0.5195164680480957, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5991522669792175, + "candidate_source_group_id": "ms-076d67ac4d2de4e0c627;ms-8330999c6669ec42122a;ms-c7156b26670838d40934;ms-0ac53e56b4852c85ca2e;ms-a68740208f81c5d6c97b;ms-b786173f210fcaa65a6e", + "expert_regret": 1.5006667077541351, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e318e13f77e75e7cd802", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5006667077541351, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49933329224586487, + "restore_error": 1.1920928955078125e-07, + "score": 0.49933329224586487, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.36086639761924744, + "candidate_source_group_id": "ms-ee19bfbcb2f4fbf5a44d;ms-0e12a6083750bfecca87;ms-61b1188974f35233b883;ms-79c7332b2b329eaa6a13;ms-f71c7cf8ca320b8eb7a4;ms-3aa864ead19c9cb9fb49", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-842e179244eddac303a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2214268147945404, + "candidate_source_group_id": "ms-351818a836474e594d3c;ms-dbb32d9fd6999e09f589;ms-ce992c1fa0bcc38512b7;ms-a5a651f9e28ea52016fe;ms-2af09f91e05d19f7f181;ms-c6d4f51c1adffc449778", + "expert_regret": 1.440782368183136, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c2515d4a10082514714", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.440782368183136, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.559217631816864, + "restore_error": 1.1920928955078125e-07, + "score": 0.559217631816864, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39133220911026, + "candidate_source_group_id": "ms-f682952c6ecb2b833c35;ms-4f405775dcbb88f7d8b0;ms-28817fe297f38fd9550a;ms-7e94769c30229d5cc7b8;ms-351c397795d9af204ec6;ms-1f8e2d5d25706493821d", + "expert_regret": 1.4496687650680542, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-20e5ffa93544d6d8b313", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4496687650680542, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5503312349319458, + "restore_error": 1.1920928955078125e-07, + "score": 0.5503312349319458, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6247621774673462, + "candidate_source_group_id": "ms-d26a60e383a2e822615a;ms-4a7b774ee02339c4ca19;ms-6053d8ef243250b88f96;ms-dd4f37e032d56b692a0e;ms-5e85dc3760eef8a53a67;ms-a576ca39e26c4e1ab240", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f4967102c7b10057ab9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.292365700006485, + "candidate_source_group_id": "ms-08c39d9cc9eb7578e6e9;ms-66ec6692758e9a7f2e01;ms-f947dbf28ad85666e2f1;ms-10f2865bef6da7b66423;ms-a323150b5305fc2a329d;ms-a699ee643e76a610b444", + "expert_regret": 1.9751946926116943, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbda7bc51ca269d1cda4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9751946926116943, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.024805307388305664, + "restore_error": 1.1920928955078125e-07, + "score": 0.024805307388305664, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24593736231327057, + "candidate_source_group_id": "ms-1c0e2bb3a811fac6d567;ms-2e5c2f75d3f6311e0a1c;ms-307f9067d5b66f55b3a6;ms-a1d69e0b112064914357;ms-5c8b50523e0de37d80b8;ms-d305a11348461ae1622c", + "expert_regret": 1.5011721551418304, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5415e349e8f9f2bce641", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5011721551418304, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49882784485816956, + "restore_error": 1.1920928955078125e-07, + "score": 0.49882784485816956, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5057913064956665, + "candidate_source_group_id": "ms-5daa8575a80e98a83170;ms-f1fb6cdb836269adb2cc;ms-dd7f9cc9585878b84824;ms-a949424c5fa615565d72;ms-8522a9364bf70311450d;ms-f101cf5cc8575be3c201", + "expert_regret": 1.4423831105232239, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b73e5dfa1f2a01e6017", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4423831105232239, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5576168894767761, + "restore_error": 1.1920928955078125e-07, + "score": 0.5576168894767761, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6833339333534241, + "candidate_source_group_id": "ms-29dd2cdbb66fe13ab877;ms-f897cc2141a0a303fc6a;ms-fbb609a3f2a334986245;ms-bd6b2dc41ba42b44462a;ms-054a02413d31389d1b7f;ms-c0995730ba36614c249a", + "expert_regret": 1.4481063485145569, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-23d6e5835aa90a62b6ef", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4481063485145569, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5518936514854431, + "restore_error": 1.1920928955078125e-07, + "score": 0.5518936514854431, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5001571774482727, + "candidate_source_group_id": "ms-0b4ac5b183639ac19191;ms-d75a00b1388f50bf8919;ms-4746e04d636d13cfbe6c;ms-193063285cdb9faff39b;ms-85eef30b36b044b33f60;ms-912718b1f2ef92066799", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d686ae387b1a0ce2f2f3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7493886947631836, + "candidate_source_group_id": "ms-1df0775c4ef08d0cf1bf;ms-4cd9eae753bf9e48f520;ms-2dc8e489908f72903319;ms-81951a4920488e6c62e9;ms-3731f1c5af3c4a133633;ms-5367a8bae4304851384e", + "expert_regret": 1.504360944032669, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8fbdbddd9200f5091d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.504360944032669, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49563905596733093, + "restore_error": 1.1920928955078125e-07, + "score": 0.49563905596733093, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5455873608589172, + "candidate_source_group_id": "ms-ee05717b29d39d7cddff;ms-4082ce1f04dbacd6a5b9;ms-090e18187bb6ae4a9120;ms-ff23e4fce42c637ed617;ms-054a02413d31389d1b7f;ms-30998855587c076a2a77", + "expert_regret": 1.4384557604789734, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-76194d089c97018ce427", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4384557604789734, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5615442395210266, + "restore_error": 1.1920928955078125e-07, + "score": 0.5615442395210266, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5383086800575256, + "candidate_source_group_id": "ms-bd6b2dc41ba42b44462a;ms-31782020143c24b4271b;ms-4082ce1f04dbacd6a5b9;ms-1518756d5da0b8d3c190;ms-642670f4bb658d32970b;ms-054a02413d31389d1b7f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ae33e3afb57e61026d72", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3639485538005829, + "candidate_source_group_id": "ms-16cd0a94ad2cb78b1ada;ms-10dbf8bb0c239a44ec0f;ms-793a98188fd57ed5291f;ms-fcfb7dd60d966e20b98d;ms-0541a144afe57b5a7ae6;ms-c2e07545267c612a022c", + "expert_regret": 1.925457403063774, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c8198e44eea32f98ca7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.925457403063774, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07454259693622589, + "restore_error": 2.384185791015625e-07, + "score": 0.07454259693622589, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2769887447357178, + "candidate_source_group_id": "ms-ebb616f9b291184677b3;ms-1b83fc0981e283975488;ms-b5deb1971bf3b3484282;ms-cd71a93dcab09ba15592;ms-2cf1227610d4602f88ed;ms-ac79bc3a841958ce127f", + "expert_regret": 1.5035418570041656, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-adfe268e473c03b72c65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5035418570041656, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49645814299583435, + "restore_error": 2.384185791015625e-07, + "score": 0.49645814299583435, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.660578191280365, + "candidate_source_group_id": "ms-9c8a90334c3b933c8976;ms-e1972ebf2c5587a6fdf9;ms-1781d9c562b4425df7c8;ms-bcc70292f404cd1c7f75;ms-9b4483fb034248fe882d;ms-9e87481ce12fa45b2554", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97aebe1dd42939e3b340", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9886021018028259, + "candidate_source_group_id": "ms-0adce283894b0a2b7b94;ms-9bcf8a1e5e7b0f7ff6f5;ms-bc30ca6b7675f4de5041;ms-ffba357213945be5f9f7;ms-4385e9c56007fdaa94b5;ms-45ed57caa698d87a99cf", + "expert_regret": 0.014737844467163086, + "expert_score": 0.5644459128379822, + "expert_success": false, + "group_id": "ms-28d5618562729c763eb6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.014737844467163086, + "oracle_score": 0.5644459128379822, + "oracle_success": false, + "progress": 0.5497080683708191, + "restore_error": 2.384185791015625e-07, + "score": 0.5497080683708191, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6317652463912964, + "candidate_source_group_id": "ms-4681331b496c8a9cf14d;ms-ad5ad5314850df7b0853;ms-dbcc3da47d96ceeaf9f0;ms-b90d7926b23eabbbed04;ms-c3f7b780f604922f4f67;ms-fe54b45b549a55d45c0e", + "expert_regret": 1.5325371623039246, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b7800060cd4a8c3cb6b9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5325371623039246, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.46746283769607544, + "restore_error": 2.384185791015625e-07, + "score": 0.46746283769607544, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46075937151908875, + "candidate_source_group_id": "ms-6a7e80154a9a4e5e9c08;ms-c7041c6f758f8e4a3698;ms-8fcc78fba7b3bec0fab6;ms-da46296bd4e9032570df;ms-0d1db6695acdf1ec3eaf;ms-b671fa9fcef84dbf2a13", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1a4ecfbe9c97214d5c78", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4221176505088806, + "candidate_source_group_id": "ms-dd1311efb8ab2a0a2d23;ms-39450dbba738dbd8a764;ms-87f8bbc8d9e7f4dcaacf;ms-4ec67456479f53e605e1;ms-486ff31b7a04a7e9e8f9;ms-31782020143c24b4271b", + "expert_regret": 1.4368355870246887, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-564c02492863ae749ea9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4368355870246887, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5631644129753113, + "restore_error": 2.384185791015625e-07, + "score": 0.5631644129753113, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46848392486572266, + "candidate_source_group_id": "ms-a576ca39e26c4e1ab240;ms-0de368e8d16fd01f4e67;ms-4a7b774ee02339c4ca19;ms-7d81f3e8b6a42695871d;ms-dd4f37e032d56b692a0e;ms-f4d6da245d340cd16d30", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7020fdb7cba871e8b3e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.30690762400627136, + "candidate_source_group_id": "ms-288532d255e4828bb15b;ms-b7ed399f40d2d554b16d;ms-1abd8c7cc1c683f88d3d;ms-fb228a036fe5973bcad1;ms-8af87d14945da6a910e4;ms-b82cc8ce5d9d348ba6b4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-26e09c86be9068a34acf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4691881239414215, + "candidate_source_group_id": "ms-9783ccaf76f1b20c766e;ms-88bdd8987f890af7e9ea;ms-c70be4072fb4e49ac106;ms-30fe784e67f732ef9a3d;ms-99ecd2226d7187416316;ms-0c9c39c462522b25ef2b", + "expert_regret": 1.4414274096488953, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3aa5793c449b59c77b6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4414274096488953, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5585725903511047, + "restore_error": 1.1920928955078125e-07, + "score": 0.5585725903511047, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7668940424919128, + "candidate_source_group_id": "ms-bb60defa0d234da9e0bc;ms-3aa864ead19c9cb9fb49;ms-79c7332b2b329eaa6a13;ms-478f754a15221314d15e;ms-61b1188974f35233b883;ms-708baf01c22c75cafd22", + "expert_regret": 0.0, + "expert_score": 0.5963302850723267, + "expert_success": false, + "group_id": "ms-66cc354bbf4e8bdd1051", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.5963302850723267, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.23709546029567719, + "candidate_source_group_id": "ms-97a18aeeea0b34f7c606;ms-f28fbb82a51d4de7811b;ms-f4fd59b4d1bce2d6b6a4;ms-6edb3f8fe977a81f8979;ms-fffe378a3bad31bbed52;ms-0a48fbd111be17b50be5", + "expert_regret": 1.4858971238136292, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f3f6a1b34fdf35290a6c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4858971238136292, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5141028761863708, + "restore_error": 1.1920928955078125e-07, + "score": 0.5141028761863708, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.636202335357666, + "candidate_source_group_id": "ms-b36673c3905a123cbd50;ms-59020093d2eeaf58aa84;ms-fd9f10f7df6a11ec2cef;ms-87f65c35c9d8b3ced6fc;ms-03ed7e57992354e27896;ms-59cc3cdf6918248d7f78", + "expert_regret": 1.9151953235268593, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-382000b79932b7c68326", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9151953235268593, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08480467647314072, + "restore_error": 1.1920928955078125e-07, + "score": 0.08480467647314072, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4179132878780365, + "candidate_source_group_id": "ms-155ec4624d261f6ca16e;ms-7a1ce0a81e4f34902622;ms-ccc0326ed73cd2ea6bf6;ms-751daa0137578c486f3d;ms-3352e05afd9065cd09bf;ms-4b94e0333251263012ec", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b33f1d4ddb6a531d2a71", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.31994321942329407, + "candidate_source_group_id": "ms-4f405775dcbb88f7d8b0;ms-5c8b50523e0de37d80b8;ms-7e94769c30229d5cc7b8;ms-44694e99af9263ad3c45;ms-d305a11348461ae1622c;ms-5847c6d196024fce1770", + "expert_regret": 1.4438931941986084, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ddc0b3adf8506c30f503", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4438931941986084, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5561068058013916, + "restore_error": 1.1920928955078125e-07, + "score": 0.5561068058013916, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.583455502986908, + "candidate_source_group_id": "ms-8f5255815f8b70b48734;ms-4d43fb19477b7ab848bc;ms-13b3c492538e5b3c7bdd;ms-7e0ef0b7f94396bf0029;ms-d3cebfccbbe54d22c561;ms-b606af28580a38cea636", + "expert_regret": 1.5216103494167328, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f3ddc66fde2d59666e07", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5216103494167328, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4783896505832672, + "restore_error": 1.1920928955078125e-07, + "score": 0.4783896505832672, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5690264701843262, + "candidate_source_group_id": "ms-c0995730ba36614c249a;ms-fe2964cc8940ee7c24aa;ms-f897cc2141a0a303fc6a;ms-c2107b650136a20fc4a3;ms-3c6ec8ef5145ff6274e7;ms-fbb609a3f2a334986245", + "expert_regret": 1.4187771081924438, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-348af0b70d3e679f40a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4187771081924438, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5812228918075562, + "restore_error": 1.1920928955078125e-07, + "score": 0.5812228918075562, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5898619294166565, + "candidate_source_group_id": "ms-6a7e80154a9a4e5e9c08;ms-8fcc78fba7b3bec0fab6;ms-00b9ad6a8fe73fccc6fc;ms-c7041c6f758f8e4a3698;ms-da855323619ebf257b19;ms-0d1db6695acdf1ec3eaf", + "expert_regret": 1.4351617693901062, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-41b0258c4e329a734da7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4351617693901062, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5648382306098938, + "restore_error": 1.1920928955078125e-07, + "score": 0.5648382306098938, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5457525849342346, + "candidate_source_group_id": "ms-4742d169606f3ec2b474;ms-a6273302894af3505ca8;ms-766b6fe7c08a3525ce94;ms-225fbe08f2933f91d603;ms-38507741c3b5d91a7b33;ms-386220c339b7de7f222b", + "expert_regret": 1.4359933733940125, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13192a27f5fcf4fd24d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4359933733940125, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5640066266059875, + "restore_error": 1.1920928955078125e-07, + "score": 0.5640066266059875, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.06431896239519119, + "candidate_source_group_id": "ms-23f9cca8edfca421a4a6;ms-9bcf8a1e5e7b0f7ff6f5;ms-0adce283894b0a2b7b94;ms-d824135bf97b907f7cc2;ms-ffba357213945be5f9f7;ms-bc30ca6b7675f4de5041", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-daaac2887015a6e4f3e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44902950525283813, + "candidate_source_group_id": "ms-29f1abb869ff206a4d52;ms-f3e40db5e157647d463d;ms-fe2964cc8940ee7c24aa;ms-fbb609a3f2a334986245;ms-6f1db8895d5164cc5ae5;ms-87f8bbc8d9e7f4dcaacf", + "expert_regret": 0.02416318655014038, + "expert_score": 0.5545835494995117, + "expert_success": false, + "group_id": "ms-3c4ff3dae26217f22a8b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.02416318655014038, + "oracle_score": 0.5545835494995117, + "oracle_success": false, + "progress": 0.5304203629493713, + "restore_error": 1.1920928955078125e-07, + "score": 0.5304203629493713, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12190721929073334, + "candidate_source_group_id": "ms-d05d9bbb98f24da55981;ms-d0e4bdc60ab8ea52a320;ms-25a8e32c071be83d913b;ms-774e954ffdc5da041261;ms-4d9cef437c77474dc62d;ms-55ea22014575410563a4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5085e45e6ca37192d2e5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48315495252609253, + "candidate_source_group_id": "ms-22412b51e61621b6025b;ms-55ea22014575410563a4;ms-30998855587c076a2a77;ms-869a04e41dc5cc90916b;ms-ce992c1fa0bcc38512b7;ms-054a02413d31389d1b7f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c0bfce3c9dd10f9d3231", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39642757177352905, + "candidate_source_group_id": "ms-1cea800b74c1ea2f6338;ms-45ed57caa698d87a99cf;ms-4385e9c56007fdaa94b5;ms-9af03b651b5e36ac2ae3;ms-9eb40f856528204bbcfd;ms-c1ac63fb3644e3a2ae06", + "expert_regret": 1.5097167789936066, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-caeb59971565b08f2513", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5097167789936066, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49028322100639343, + "restore_error": 2.0116567611694336e-07, + "score": 0.49028322100639343, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4748038649559021, + "candidate_source_group_id": "ms-d807915e233a0c74b809;ms-8315ae30e2cf041c8674;ms-70d994c15153752d0dce;ms-b40ee5a75332685d5cec;ms-4e86b87d6e5f6ab914fe;ms-c3a1cf0e424a4f065459", + "expert_regret": 1.4506006836891174, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7b932868f83725def2ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4506006836891174, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5493993163108826, + "restore_error": 2.0116567611694336e-07, + "score": 0.5493993163108826, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6637886166572571, + "candidate_source_group_id": "ms-f1fb6cdb836269adb2cc;ms-5daa8575a80e98a83170;ms-dd7f9cc9585878b84824;ms-f101cf5cc8575be3c201;ms-06715386190189185900;ms-d73a2a984d5829e884f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bca6fa102f94cb145cd2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.0116567611694336e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6498159766197205, + "candidate_source_group_id": "ms-b671fa9fcef84dbf2a13;ms-48d490ed21088bb5ba85;ms-8fcc78fba7b3bec0fab6;ms-da46296bd4e9032570df;ms-a927d1bd67068f1d9302;ms-e45b5de01eafae73e492", + "expert_regret": 1.435814082622528, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-910d27b58a0585327a27", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.435814082622528, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5641859173774719, + "restore_error": 2.0116567611694336e-07, + "score": 0.5641859173774719, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.692463755607605, + "candidate_source_group_id": "ms-44252df6095f31d8b26e;ms-d91cbe61314c18955b6b;ms-d0e4bdc60ab8ea52a320;ms-fe2964cc8940ee7c24aa;ms-f3e40db5e157647d463d;ms-910364d2d86091c5e0cf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bb0d941f78d3d9c5a886", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.0116567611694336e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3479180335998535, + "candidate_source_group_id": "ms-a43a663a3c4b15ec3ac2;ms-b666f24369c548cd56ab;ms-d1dd16f03551d840a922;ms-7982e5af0d533320432f;ms-aaf1c4931e054f52623c;ms-8c0b600aef5393f929cd", + "expert_regret": 1.9567282311618328, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-99df75798ec5da5ec7f3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9567282311618328, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04327176883816719, + "restore_error": 2.0116567611694336e-07, + "score": 0.04327176883816719, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45781898498535156, + "candidate_source_group_id": "ms-08858c7ba8d4a3357e05;ms-8f241450069e74460a40;ms-f71c7cf8ca320b8eb7a4;ms-d965f63e091a5d6dd6d7;ms-766b6fe7c08a3525ce94;ms-38507741c3b5d91a7b33", + "expert_regret": 1.4612364768981934, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b35643e98e1b846e27cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4612364768981934, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5387635231018066, + "restore_error": 2.0116567611694336e-07, + "score": 0.5387635231018066, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2671211063861847, + "candidate_source_group_id": "ms-0b7f8ba789c00b37caa0;ms-91d86cba2602d1fa780d;ms-59020093d2eeaf58aa84;ms-b36673c3905a123cbd50;ms-d67409d8ecfd5d97336d;ms-de709118c78966c5aff7", + "expert_regret": 1.4700625538825989, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-56ad75c28031e049a3dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4700625538825989, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5299374461174011, + "restore_error": 2.0116567611694336e-07, + "score": 0.5299374461174011, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19939109683036804, + "candidate_source_group_id": "ms-7cab119c7b8019254ba4;ms-6b750c1bef91c5d15526;ms-8315ae30e2cf041c8674;ms-d807915e233a0c74b809;ms-ee19bfbcb2f4fbf5a44d;ms-82e28eb350e21d43d3eb", + "expert_regret": 1.475321114063263, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2ee00a97b477ba241dba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.475321114063263, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5246788859367371, + "restore_error": 1.1920928955078125e-07, + "score": 0.5246788859367371, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42564496397972107, + "candidate_source_group_id": "ms-2d995e39f2b95fed1a67;ms-ff3e5d72f3adf548d0a1;ms-14c40aa19f7b9307511d;ms-7020f1cda882b79bffa3;ms-10cb98b0a1ca5429dd28;ms-8bb2d8cb7c0d33fa0c1d", + "expert_regret": 1.9767358545213938, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d18f6f16879d2933bcd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9767358545213938, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.023264145478606224, + "restore_error": 1.1920928955078125e-07, + "score": 0.023264145478606224, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8551456332206726, + "candidate_source_group_id": "ms-5df54a8baaceb8c73c8a;ms-42edbdb8ff281fc33a99;ms-22325628db75967cf779;ms-1fb2f4c1e17e99767558;ms-de066fc4200163ebd06b;ms-236601c5e076b4ee5d75", + "expert_regret": 1.8906919360160828, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-81f48d29d0404300ea93", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8906919360160828, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10930806398391724, + "restore_error": 1.1920928955078125e-07, + "score": 0.10930806398391724, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5296471118927002, + "candidate_source_group_id": "ms-dfc737e32df79e1fc429;ms-d1aac7be45644e12a976;ms-b01677be2df71c474d1f;ms-d5bfdabc97e56c680680;ms-f1fb6cdb836269adb2cc;ms-935ff204de9424ec00a2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b59a7ccfb736df4c4c68", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33283430337905884, + "candidate_source_group_id": "ms-7d962acc9cfbc27c599c;ms-72b7d76602371f044fe3;ms-766b6fe7c08a3525ce94;ms-a6273302894af3505ca8;ms-11bb3387454624de8143;ms-a22fbce4503f088acb1f", + "expert_regret": 1.4538215398788452, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7241a1c25af41f4c0b5a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4538215398788452, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5461784601211548, + "restore_error": 1.1920928955078125e-07, + "score": 0.5461784601211548, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40579646825790405, + "candidate_source_group_id": "ms-0e12a6083750bfecca87;ms-f88a44616a0985aac518;ms-5a7891a58bac94796178;ms-3aa864ead19c9cb9fb49;ms-41279eb586ca5e587474;ms-8d9b2a5ccd43461f827e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a17ceb004979b99a586", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6042762994766235, + "candidate_source_group_id": "ms-d26a60e383a2e822615a;ms-4a7b774ee02339c4ca19;ms-6053d8ef243250b88f96;ms-dd4f37e032d56b692a0e;ms-5e85dc3760eef8a53a67;ms-a45ed89f5b95d1e7ab07", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a3cb33ed1e34d229773c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7445307970046997, + "candidate_source_group_id": "ms-67f602a0e4efc9984d72;ms-90464666adfd66056785;ms-30ad687dc1bc8318fa45;ms-84b677a48d338212ceb7;ms-4b1561bd0029228fdbbe;ms-4705657703da9d791fb9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-32b9c353a4890631f1bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3404419422149658, + "candidate_source_group_id": "ms-b01677be2df71c474d1f;ms-d44f5bd2488ea182132b;ms-61ac2be70a9798adeda0;ms-5fc884c238818acdde08;ms-11a2794efa24f4d93d83;ms-c4cb99b887c88c707ba9", + "expert_regret": 1.4383206367492676, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c83412fa0aa5180ad89", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4383206367492676, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5616793632507324, + "restore_error": 2.384185791015625e-07, + "score": 0.5616793632507324, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7354899644851685, + "candidate_source_group_id": "ms-9044026b69850d12d05b;ms-bcfeba2af1e844c22aed;ms-3352e05afd9065cd09bf;ms-fffe378a3bad31bbed52;ms-97140da7cf409922f6ce;ms-478b7b8b729f9212a522", + "expert_regret": 1.450435221195221, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc615957d9bf177dfe26", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.450435221195221, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.549564778804779, + "restore_error": 2.384185791015625e-07, + "score": 0.549564778804779, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.17109797894954681, + "candidate_source_group_id": "ms-81c855f8645b35f0856d;ms-2df0b9d5fa91156e430a;ms-d6305829d7ca1c68a3ce;ms-e07f80b44faf328c5e58;ms-326a7b583623d136470e;ms-ae5421846020d2765f82", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b0fd98bae1ed5d543f35", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2905842363834381, + "candidate_source_group_id": "ms-48d490ed21088bb5ba85;ms-d73a2a984d5829e884f9;ms-b671fa9fcef84dbf2a13;ms-8420ccaff5986c85063f;ms-0d1db6695acdf1ec3eaf;ms-935ff204de9424ec00a2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-57ac136bd68be6387c6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40788236260414124, + "candidate_source_group_id": "ms-23f9cca8edfca421a4a6;ms-9bcf8a1e5e7b0f7ff6f5;ms-0adce283894b0a2b7b94;ms-d824135bf97b907f7cc2;ms-ffba357213945be5f9f7;ms-bc30ca6b7675f4de5041", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a460f3c1b67817c19de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.251613974571228, + "candidate_source_group_id": "ms-a73f46824bdbdfb96238;ms-6edb3f8fe977a81f8979;ms-d19573dc65181befd83d;ms-8f241450069e74460a40;ms-478f754a15221314d15e;ms-fffe378a3bad31bbed52", + "expert_regret": 1.4668212532997131, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9ff81e54049443a0f3d3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4668212532997131, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5331787467002869, + "restore_error": 2.384185791015625e-07, + "score": 0.5331787467002869, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2551186978816986, + "candidate_source_group_id": "ms-a5775906ce2fb6556103;ms-fbea3b8005a30431cb52;ms-91ad1a5f945470b4346e;ms-578e24198ed828a74485;ms-5316151a88a3282436ca;ms-432ca73236be93cb76df", + "expert_regret": 1.445145308971405, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-80d5c509e83845ab1bc7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.445145308971405, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.554854691028595, + "restore_error": 2.384185791015625e-07, + "score": 0.554854691028595, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42090439796447754, + "candidate_source_group_id": "ms-70d994c15153752d0dce;ms-4e86b87d6e5f6ab914fe;ms-c3a1cf0e424a4f065459;ms-b4af4c8b9dcd6976546c;ms-16d5b122db1824caf92b;ms-ce2924d08bdd6c379777", + "expert_regret": 1.5001350343227386, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-746436cac05100783ad7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5001350343227386, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49986496567726135, + "restore_error": 2.384185791015625e-07, + "score": 0.49986496567726135, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 1.0080621242523193, + "candidate_source_group_id": "ms-1add4cf84fdadf5703d6;ms-b6fd2931116c15db0f0a;ms-cb16b458af723bf7cd0a;ms-0a48fbd111be17b50be5;ms-326a7b583623d136470e;ms-97a18aeeea0b34f7c606", + "expert_regret": 1.4437907934188843, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1d1969094d91fe52667d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4437907934188843, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5562092065811157, + "restore_error": 1.1920928955078125e-07, + "score": 0.5562092065811157, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5917970538139343, + "candidate_source_group_id": "ms-de709118c78966c5aff7;ms-91ad1a5f945470b4346e;ms-bfda95ffffd5d1a2683a;ms-982922e263d07c54c136;ms-0a4c4442237909d5f7b7;ms-578e24198ed828a74485", + "expert_regret": 1.4494471549987793, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e110d8ef3eb852a0f564", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4494471549987793, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5505528450012207, + "restore_error": 1.1920928955078125e-07, + "score": 0.5505528450012207, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4204464256763458, + "candidate_source_group_id": "ms-55ea22014575410563a4;ms-42895361db5578b75c0e;ms-22412b51e61621b6025b;ms-ce992c1fa0bcc38512b7;ms-4705657703da9d791fb9;ms-7be1c6c8ef67031b1f90", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11230e3aaabb1feec834", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2431471049785614, + "candidate_source_group_id": "ms-59cc3cdf6918248d7f78;ms-fa62bbb3e8416561ed69;ms-5922c28e4a71a88c6d21;ms-ddb8f148dff1db91851f;ms-96da3b7a3c2a2411fa66;ms-b36673c3905a123cbd50", + "expert_regret": 1.4426361918449402, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c0ef0ef8b493232246c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4426361918449402, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5573638081550598, + "restore_error": 1.1920928955078125e-07, + "score": 0.5573638081550598, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24976468086242676, + "candidate_source_group_id": "ms-b5deb1971bf3b3484282;ms-ebb616f9b291184677b3;ms-a1d69e0b112064914357;ms-2e5c2f75d3f6311e0a1c;ms-2cf1227610d4602f88ed;ms-1c0e2bb3a811fac6d567", + "expert_regret": 0.06330913305282593, + "expert_score": 0.6078249216079712, + "expert_success": false, + "group_id": "ms-4015c296239564108da2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4554842114448547, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5445157885551453, + "restore_error": 1.1920928955078125e-07, + "score": 0.5445157885551453, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6340851187705994, + "candidate_source_group_id": "ms-5df54a8baaceb8c73c8a;ms-de066fc4200163ebd06b;ms-1fb2f4c1e17e99767558;ms-22325628db75967cf779;ms-c425c810f7865e9564ee;ms-42edbdb8ff281fc33a99", + "expert_regret": 1.9723880533128977, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13557287cd450bc12c6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9723880533128977, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.027611946687102318, + "restore_error": 1.1920928955078125e-07, + "score": 0.027611946687102318, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.34203681349754333, + "candidate_source_group_id": "ms-ccc0326ed73cd2ea6bf6;ms-b333c5aec11dd41d37d2;ms-64e28ad134f73fdce800;ms-3352e05afd9065cd09bf;ms-910fe3f3a4cbc2d8e6f5;ms-4b94e0333251263012ec", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8beca0622be320b282c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5389528870582581, + "candidate_source_group_id": "ms-bcc70292f404cd1c7f75;ms-e1972ebf2c5587a6fdf9;ms-f39bbaa063044719a98d;ms-759ba8b7be233ca47c30;ms-ee0986397bc7267882d8;ms-9c8a90334c3b933c8976", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-166b7f66bf9f4eec432b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46313604712486267, + "candidate_source_group_id": "ms-da46296bd4e9032570df;ms-36e8cb2e7f34f8dceb05;ms-0d1db6695acdf1ec3eaf;ms-e45b5de01eafae73e492;ms-a927d1bd67068f1d9302;ms-802e63c9d42228a69c22", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e589f7d40c12eff1712e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33810344338417053, + "candidate_source_group_id": "ms-08c39d9cc9eb7578e6e9;ms-f947dbf28ad85666e2f1;ms-739a89fb4521bc481a9f;ms-6558f35ae2a2871a4bfd;ms-1cdd36810a138190ce3c;ms-10f2865bef6da7b66423", + "expert_regret": 1.9695770386606455, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f69d6aec4ddb12d88c5b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9695770386606455, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.030422961339354515, + "restore_error": 1.1920928955078125e-07, + "score": 0.030422961339354515, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3993537127971649, + "candidate_source_group_id": "ms-7d32f6b32c14e33b1eb1;ms-c679fdafdd776a14b66f;ms-4f833710c2706ee077af;ms-7cbbc5e7dc896a803efa;ms-618c9e3c06f4879ba788;ms-6fc6a26da9fbe53dd616", + "expert_regret": 1.973481249064207, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-22675530f3a401b3fd6d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.973481249064207, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.026518750935792923, + "restore_error": 1.1920928955078125e-07, + "score": 0.026518750935792923, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5659692883491516, + "candidate_source_group_id": "ms-6133ea5e61638487dd46;ms-e441e4042cb7d77a4986;ms-d965f63e091a5d6dd6d7;ms-a145b708d79b243da21f;ms-eb48573b3e330e44504d;ms-d19c9e3ab1d7daf06344", + "expert_regret": 1.4574572443962097, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3e51a1bdc3a2cc4eb06d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4574572443962097, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5425427556037903, + "restore_error": 1.1920928955078125e-07, + "score": 0.5425427556037903, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7138901948928833, + "candidate_source_group_id": "ms-486b916e7b4ad1566788;ms-b809a8756abec7015aac;ms-4021797e9499e6aaab7a;ms-08c75f74bf7813b1c257;ms-ae6d60345612be32478c;ms-82e28eb350e21d43d3eb", + "expert_regret": 1.4369839429855347, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-867fd9318b2445dcefb5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4369839429855347, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5630160570144653, + "restore_error": 1.1920928955078125e-07, + "score": 0.5630160570144653, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5073359608650208, + "candidate_source_group_id": "ms-ad058e704a159164d7c4;ms-362ba7cebb2bab1421e8;ms-12a997dde50b7a7f35cb;ms-b786173f210fcaa65a6e;ms-c7156b26670838d40934;ms-8ccc51fb09484026ebbb", + "expert_regret": 0.020129799842834473, + "expert_score": 0.5876509547233582, + "expert_success": false, + "group_id": "ms-51873059990aa55691a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.020129799842834473, + "oracle_score": 0.5876509547233582, + "oracle_success": false, + "progress": 0.5675211548805237, + "restore_error": 1.1920928955078125e-07, + "score": 0.5675211548805237, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.801609218120575, + "candidate_source_group_id": "ms-1add4cf84fdadf5703d6;ms-b6fd2931116c15db0f0a;ms-0a48fbd111be17b50be5;ms-cb16b458af723bf7cd0a;ms-326a7b583623d136470e;ms-3352e05afd9065cd09bf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c684df0b998b593db723", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7925829291343689, + "candidate_source_group_id": "ms-2649df827a3c1017ccd8;ms-a202dd8923327af132da;ms-89c0c15f7bb38eaf59e4;ms-f4fd59b4d1bce2d6b6a4;ms-b6827e38768a63212d73;ms-61b1188974f35233b883", + "expert_regret": 1.4844990372657776, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9184c93267b4bbfa4cae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4844990372657776, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5155009627342224, + "restore_error": 1.1920928955078125e-07, + "score": 0.5155009627342224, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41108962893486023, + "candidate_source_group_id": "ms-10621e1108a69d0b633e;ms-08c75f74bf7813b1c257;ms-b809a8756abec7015aac;ms-ae6d60345612be32478c;ms-4021797e9499e6aaab7a;ms-ea72196e20393870bcbb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29afe3c91faef25f1343", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2502500116825104, + "candidate_source_group_id": "ms-a509a572b3871e591d26;ms-a699ee643e76a610b444;ms-ddb4e5a1f88dfd017319;ms-78da3efba7a739dcad14;ms-ddb8f148dff1db91851f;ms-fa62bbb3e8416561ed69", + "expert_regret": 1.441695749759674, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4bc023d8d1f7748b0e12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.441695749759674, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5583042502403259, + "restore_error": 1.1920928955078125e-07, + "score": 0.5583042502403259, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4499436020851135, + "candidate_source_group_id": "ms-a76ae18568c88af1da6b;ms-8ccc51fb09484026ebbb;ms-0ec98183be760ea25a45;ms-3fae81854f4c927f1f8d;ms-547f4204888aee978bf0;ms-197fee321caebfd320f5", + "expert_regret": 0.5840626712888479, + "expert_score": 0.6015409231185913, + "expert_success": false, + "group_id": "ms-f5483f0819e0e8bc352e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5840626712888479, + "oracle_score": 0.6015409231185913, + "oracle_success": false, + "progress": 0.017478251829743385, + "restore_error": 1.1920928955078125e-07, + "score": 0.017478251829743385, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40497276186943054, + "candidate_source_group_id": "ms-912718b1f2ef92066799;ms-85eef30b36b044b33f60;ms-61781d30cb05657c5f5d;ms-8c6e41e7542bc6924a1f;ms-0b4ac5b183639ac19191;ms-2be3bf4f348678c0cc6c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3cfb09df08ad7279ef02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6932269930839539, + "candidate_source_group_id": "ms-bbad1e7f073de07fafbd;ms-0c7dab7ee052231f3f57;ms-dc965b3a72976440156c;ms-f32035837f7df88396a3;ms-045f5adce6d38ea2794f;ms-88b1a0f8f758f7956c0f", + "expert_regret": 1.4445855617523193, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1fa37879a24f0e84c275", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4445855617523193, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5554144382476807, + "restore_error": 1.1920928955078125e-07, + "score": 0.5554144382476807, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3601514995098114, + "candidate_source_group_id": "ms-a3c53708416dbfb9fbc5;ms-88e10d1be12a407b3926;ms-13b3c492538e5b3c7bdd;ms-79d500110f3723b57da8;ms-7e0ef0b7f94396bf0029;ms-fb98254adaa23dc128df", + "expert_regret": 1.4478097558021545, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7af1e453acf970f40546", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4478097558021545, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5521902441978455, + "restore_error": 1.1920928955078125e-07, + "score": 0.5521902441978455, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.616047739982605, + "candidate_source_group_id": "ms-3c458f671129e1ebe7b4;ms-732d0515ed28df031b8e;ms-28817fe297f38fd9550a;ms-87fd37bcc6b666e220ef;ms-0377c81a67d9819ab96b;ms-f682952c6ecb2b833c35", + "expert_regret": 1.893520638346672, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-17a17b212837b7f1309f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.893520638346672, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10647936165332794, + "restore_error": 1.1920928955078125e-07, + "score": 0.10647936165332794, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5796743035316467, + "candidate_source_group_id": "ms-0cfef0ba35d4e6097003;ms-8522a9364bf70311450d;ms-a949424c5fa615565d72;ms-fd225482b96686f51dc8;ms-8420ccaff5986c85063f;ms-00b9ad6a8fe73fccc6fc", + "expert_regret": 1.4429927468299866, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eff5f21c51f26a85f07c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4429927468299866, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5570072531700134, + "restore_error": 1.1920928955078125e-07, + "score": 0.5570072531700134, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5251359939575195, + "candidate_source_group_id": "ms-fd99b14bf152ebc0ef8e;ms-74868f62709b91077e27;ms-311a52ec4b0ca8d71889;ms-fa62bbb3e8416561ed69;ms-ddb8f148dff1db91851f;ms-03ed7e57992354e27896", + "expert_regret": 1.425118327140808, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a2c5c9fd35d9fda5ce9e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.425118327140808, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5748816728591919, + "restore_error": 1.1920928955078125e-07, + "score": 0.5748816728591919, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5169607400894165, + "candidate_source_group_id": "ms-5367a8bae4304851384e;ms-a13ee9983c139d34fca8;ms-a47818abd17d958ad6ca;ms-17330235d51598ebcb4e;ms-2dc8e489908f72903319;ms-2bf2f3a2444b64f8230a", + "expert_regret": 1.4407377243041992, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-128c7c43e30023e6b1a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4407377243041992, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5592622756958008, + "restore_error": 1.1920928955078125e-07, + "score": 0.5592622756958008, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4233744740486145, + "candidate_source_group_id": "ms-802e63c9d42228a69c22;ms-b671fa9fcef84dbf2a13;ms-d33444117889b5aa9cfb;ms-a927d1bd67068f1d9302;ms-da46296bd4e9032570df;ms-36e8cb2e7f34f8dceb05", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28b1f1e4380d434605de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7227786779403687, + "candidate_source_group_id": "ms-045f5adce6d38ea2794f;ms-dc965b3a72976440156c;ms-b40ee5a75332685d5cec;ms-f32035837f7df88396a3;ms-82e28eb350e21d43d3eb;ms-8315ae30e2cf041c8674", + "expert_regret": 1.435902178287506, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2f846e9f31e2b8c4965f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.435902178287506, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5640978217124939, + "restore_error": 1.1920928955078125e-07, + "score": 0.5640978217124939, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5306833386421204, + "candidate_source_group_id": "ms-339ae3ec9482aa259eec;ms-a10d8368c33b56390f77;ms-fe54b45b549a55d45c0e;ms-32435d71bb817daf01d9;ms-88b1a0f8f758f7956c0f;ms-4681331b496c8a9cf14d", + "expert_regret": 1.5293186008930206, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-53cfcc878e30fc078bba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5293186008930206, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.47068139910697937, + "restore_error": 1.1920928955078125e-07, + "score": 0.47068139910697937, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.35632064938545227, + "candidate_source_group_id": "ms-6558f35ae2a2871a4bfd;ms-a509a572b3871e591d26;ms-0b7f8ba789c00b37caa0;ms-91d86cba2602d1fa780d;ms-a699ee643e76a610b444;ms-3deb9fa600781abb51c1", + "expert_regret": 1.9232720360159874, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-175375383979526d80b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9232720360159874, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0767279639840126, + "restore_error": 1.1920928955078125e-07, + "score": 0.0767279639840126, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.278912752866745, + "candidate_source_group_id": "ms-0c9c39c462522b25ef2b;ms-88bdd8987f890af7e9ea;ms-a166a9b750ec3446beea;ms-60c7d1d3b5701e7f4e48;ms-c70be4072fb4e49ac106;ms-30fe784e67f732ef9a3d", + "expert_regret": 1.4630261063575745, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b8276cb9b6cb9a9b302f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4630261063575745, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5369738936424255, + "restore_error": 1.1920928955078125e-07, + "score": 0.5369738936424255, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8007393479347229, + "candidate_source_group_id": "ms-de709118c78966c5aff7;ms-59020093d2eeaf58aa84;ms-bfda95ffffd5d1a2683a;ms-87f65c35c9d8b3ced6fc;ms-91d86cba2602d1fa780d;ms-0b7f8ba789c00b37caa0", + "expert_regret": 1.4842354655265808, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de0321d0ece4c58bc224", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4842354655265808, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5157645344734192, + "restore_error": 1.1920928955078125e-07, + "score": 0.5157645344734192, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42218270897865295, + "candidate_source_group_id": "ms-88e10d1be12a407b3926;ms-fb98254adaa23dc128df;ms-a3c53708416dbfb9fbc5;ms-53fdabb5d8ef20778214;ms-2b3e081263ed25d45dc8;ms-2a67eea0b1293de9bcf9", + "expert_regret": 1.4539957642555237, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8fdde5008d12abb7ae6a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4539957642555237, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5460042357444763, + "restore_error": 1.1920928955078125e-07, + "score": 0.5460042357444763, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6089717745780945, + "candidate_source_group_id": "ms-3737178a1f85502652ea;ms-7c76bb3c93411136f11a;ms-cf274fbe4c657d04d7c4;ms-62b597990a3d637e5a8a;ms-5c8b50523e0de37d80b8;ms-a1d69e0b112064914357", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3aaa0d68ca26b1fe6626", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7569202184677124, + "candidate_source_group_id": "ms-d3cebfccbbe54d22c561;ms-b606af28580a38cea636;ms-772768ec2f9792127251;ms-2dc828d2d76b389db4f8;ms-9783ccaf76f1b20c766e;ms-c70be4072fb4e49ac106", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-479aa7d4248a0ebd94e1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33460164070129395, + "candidate_source_group_id": "ms-17e8d6ba42404c7b7d07;ms-802e63c9d42228a69c22;ms-da46296bd4e9032570df;ms-d33444117889b5aa9cfb;ms-a927d1bd67068f1d9302;ms-9e1f3c14116ebca6164d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ece7b8c91d9d82f244b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20671069622039795, + "candidate_source_group_id": "ms-6af227c07aaf7c0f0aea;ms-3e971096794f04f325f2;ms-a1846ef1f00eb54e2d60;ms-3b0ad4f07f1813ecf670;ms-950df0830b2e57010248;ms-46f10a29b484c9461204", + "expert_regret": 1.467664122581482, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cea745484a24f376d7e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.467664122581482, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5323358774185181, + "restore_error": 1.1920928955078125e-07, + "score": 0.5323358774185181, + "selected_candidate_index": 16, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5315713286399841, + "candidate_source_group_id": "ms-b4af4c8b9dcd6976546c;ms-c3a1cf0e424a4f065459;ms-50f29e19c798fee5422f;ms-1451f536f2ac0df844f6;ms-67f602a0e4efc9984d72;ms-c81880a77c4d978a0b7a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-49219cb8ed7dad70c897", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43296295404434204, + "candidate_source_group_id": "ms-55ea22014575410563a4;ms-25a8e32c071be83d913b;ms-22412b51e61621b6025b;ms-d05d9bbb98f24da55981;ms-42895361db5578b75c0e;ms-869a04e41dc5cc90916b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f8c4e700a751537ebb16", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4575501084327698, + "candidate_source_group_id": "ms-b01677be2df71c474d1f;ms-d1aac7be45644e12a976;ms-54a04864cb68a4c3caac;ms-dfc737e32df79e1fc429;ms-f1fb6cdb836269adb2cc;ms-570c074dbf28b5faae58", + "expert_regret": 1.4398059248924255, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c6beb139304a0ea6f7ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4398059248924255, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5601940751075745, + "restore_error": 1.1920928955078125e-07, + "score": 0.5601940751075745, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14884543418884277, + "candidate_source_group_id": "ms-13af3f2f8e0b8444fe68;ms-f39e1d7a2d636e39a02f;ms-61d4dd4acc03b8d30f19;ms-c9c1649478107785e9d2;ms-5e6d18ccfcf923f52f8e;ms-8c6e41e7542bc6924a1f", + "expert_regret": 0.0, + "expert_score": 0.5946909785270691, + "expert_success": false, + "group_id": "ms-309d2258d275ae304857", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33243894577026367, + "candidate_source_group_id": "ms-3c12da28c8edab3fa554;ms-759ba8b7be233ca47c30;ms-48d490ed21088bb5ba85;ms-2c68b2b895bdbedbaa08;ms-47662cfa5e75ac8250e7;ms-e1972ebf2c5587a6fdf9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4a0ae3deadb8560fd315", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45941299200057983, + "candidate_source_group_id": "ms-cd340bca589f0cebd7da;ms-86b0447349029dfaa6ab;ms-c86956f3f1333e136186;ms-578537600f7a649c2dd5;ms-1f8e2d5d25706493821d;ms-4cd1ceea2dda2732110a", + "expert_regret": 1.4616252779960632, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7651a7f31eae24958ef0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4616252779960632, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5383747220039368, + "restore_error": 1.1920928955078125e-07, + "score": 0.5383747220039368, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.64251309633255, + "candidate_source_group_id": "ms-478b7b8b729f9212a522;ms-bcfeba2af1e844c22aed;ms-97140da7cf409922f6ce;ms-3352e05afd9065cd09bf;ms-a26c2ffdac089c72ade5;ms-10621e1108a69d0b633e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cb99eeafec52800f3b77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7505017518997192, + "candidate_source_group_id": "ms-dbcc3da47d96ceeaf9f0;ms-c3f7b780f604922f4f67;ms-4681331b496c8a9cf14d;ms-ad5ad5314850df7b0853;ms-b0aa24be399d843c9d50;ms-b90d7926b23eabbbed04", + "expert_regret": 1.4586541652679443, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-732819b0c220a4c06870", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4586541652679443, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5413458347320557, + "restore_error": 1.1920928955078125e-07, + "score": 0.5413458347320557, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.672531008720398, + "candidate_source_group_id": "ms-663aa9934c0f923cc125;ms-704fee4c9fb9941a26e7;ms-7ea16036a1dd971fc4e0;ms-c3f7b780f604922f4f67;ms-a6b029a958e91306966a;ms-b0aa24be399d843c9d50", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-350b797a531f87ad2c0f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5263814330101013, + "candidate_source_group_id": "ms-b92ca6f216624d6305c2;ms-ebacae0135af2832dfbb;ms-7dedf60ad41ea2d92ee5;ms-d73fd5fce55fb58ef8e9;ms-29ae8ff2b706fed904df;ms-36ce7b44f44c615347ab", + "expert_regret": 0.10322775691747665, + "expert_score": 0.18145142495632172, + "expert_success": false, + "group_id": "ms-003a2225c0892dcda683", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.921776331961155, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07822366803884506, + "restore_error": 1.1920928955078125e-07, + "score": 0.07822366803884506, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.9194717407226562, + "candidate_source_group_id": "ms-9acbb20bd73584f0e215;ms-6d5f6a187b61ea26c2e2;ms-652ad552ba98d2736620;ms-be0f2598cc527ad9040a;ms-12c741253e1802aad9ec;ms-f2b2b2a1aa2863c3676f", + "expert_regret": 0.19753699004650116, + "expert_score": 0.2730255424976349, + "expert_success": false, + "group_id": "ms-e6a58c859c498bb0f4d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.19753699004650116, + "oracle_score": 0.2730255424976349, + "oracle_success": false, + "progress": 0.07548855245113373, + "restore_error": 1.1920928955078125e-07, + "score": 0.07548855245113373, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8849044442176819, + "candidate_source_group_id": "ms-8551c2634431d2ade8a8;ms-e8afd0ad85d7e219a1ec;ms-eab38ab23e5fd0218632;ms-57e91ed3c8bd0299534f;ms-9fbd54f73e56e3231631;ms-4d400b68d540cebcc9e0", + "expert_regret": 0.17570988088846207, + "expert_score": 0.21716713905334473, + "expert_success": false, + "group_id": "ms-26c3a975205dfd16f076", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.17570988088846207, + "oracle_score": 0.21716713905334473, + "oracle_success": false, + "progress": 0.04145725816488266, + "restore_error": 1.1920928955078125e-07, + "score": 0.04145725816488266, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.23352491855621338, + "candidate_source_group_id": "ms-dab8307a45ebe8220c83;ms-88012aab0303554a1736;ms-e4e21b9ec2546537fff0;ms-5b513b00260d517c02d9;ms-2dc5138251afd26a040d;ms-bccd7bbe1b1b98254147", + "expert_regret": 0.0, + "expert_score": 0.12086304277181625, + "expert_success": false, + "group_id": "ms-456cdaaa617fc54fd766", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.308398574590683, + "candidate_source_group_id": "ms-cb8cbd90038493c30888;ms-d271e7de6bc331371e9c;ms-372f2ecb6685d8cae8d5;ms-02fd0338e80ef19ceec1;ms-25ab20bb3da8ba34be95;ms-7a044cb6c7bb03f3ea10", + "expert_regret": 0.0, + "expert_score": 0.07767709344625473, + "expert_success": false, + "group_id": "ms-f3f1d07cfd59b823da47", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.17124073207378387, + "oracle_success": false, + "progress": 0.1916952133178711, + "restore_error": 1.1920928955078125e-07, + "score": 0.1916952133178711, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5420222282409668, + "candidate_source_group_id": "ms-c8fa3c12dd48ffd82fcf;ms-3a4e2d080c9c4b279895;ms-e6b654653119682cf01e;ms-a96bca1ef0b74f686018;ms-dc5563c9b0dcd84e393b;ms-85f911fca087fed2caff", + "expert_regret": 1.8098716884851456, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6f425f086690b71d778", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8098716884851456, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19012831151485443, + "restore_error": 1.1920928955078125e-07, + "score": 0.19012831151485443, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6854647397994995, + "candidate_source_group_id": "ms-e9ed5d488afdfd6449d1;ms-bd90866faa10e62fce2c;ms-29f47a1dc1d9c3ec3365;ms-b8fc1568ce66c45c8d8b;ms-6388b5d2356c556c3e55;ms-3f2aed5964eed6c4936a", + "expert_regret": 0.0, + "expert_score": 0.21594193577766418, + "expert_success": false, + "group_id": "ms-ac94b48febe523da15a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2973631024360657, + "candidate_source_group_id": "ms-70549468e433100cfaa6;ms-db2c4015a0690cc80d24;ms-e3e9c08ff116ef32db75;ms-7b90f35aa521ef45ea27;ms-50e54f9608e1420ba11a;ms-7e88428497a6b13936c4", + "expert_regret": 0.0, + "expert_score": 0.13041290640830994, + "expert_success": false, + "group_id": "ms-a1b57fcae964d7b531da", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.15699544548988342, + "oracle_success": false, + "progress": 0.19149520993232727, + "restore_error": 1.1920928955078125e-07, + "score": 0.19149520993232727, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 2.0809378623962402, + "candidate_source_group_id": "ms-cebdee3fec248354033e;ms-1d3f30fae746c0b9cefc;ms-61c3c0e99a653d2a7fe2;ms-c09bd18e1017cc532aee;ms-ff129e39095c2861b522;ms-20e1efbb745fd02abc95", + "expert_regret": 0.0, + "expert_score": 0.12437069416046143, + "expert_success": false, + "group_id": "ms-84388e63928e1a30ffc4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4832541048526764, + "candidate_source_group_id": "ms-088ad33a4461de5ce0cb;ms-633308d7f0e52c013505;ms-3c223e8c7f870c807541;ms-3ed611d029d2ae0b12d8;ms-778efc20fc2ee8a3dd02;ms-2e40499cb146da6f89e7", + "expert_regret": 0.0, + "expert_score": 0.0981486439704895, + "expert_success": false, + "group_id": "ms-c5d53da10b561f402ee7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.20912069082260132, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.920226514339447, + "candidate_source_group_id": "ms-744702a88bec9222a30a;ms-4f0a59b7bc897c0d5e5e;ms-088ad33a4461de5ce0cb;ms-633308d7f0e52c013505;ms-778efc20fc2ee8a3dd02;ms-2e40499cb146da6f89e7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-53b435e197011e0d48b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6693049669265747, + "candidate_source_group_id": "ms-1cba84e4c11e030aeb3e;ms-b49043f15f4846de5b13;ms-1a4d443c5b80e0dac794;ms-b784fe769f0fb1d315e5;ms-a6a6de64c39abad45f86;ms-babaeb20129c46551281", + "expert_regret": 0.0, + "expert_score": 0.23240530490875244, + "expert_success": false, + "group_id": "ms-36f0ff5c96ebdd4644c2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4530714452266693, + "candidate_source_group_id": "ms-b7d7021b782f73816083;ms-6754ed0131c952830729;ms-9681d9cb43cc26adb0fe;ms-e87c704dfdbf7ee7f51f;ms-0dee962a5901fb8b5bbb;ms-b8c3ec3ea915c5d35b3e", + "expert_regret": 0.0, + "expert_score": 0.08866866677999496, + "expert_success": false, + "group_id": "ms-4bda8533405961380322", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13122013211250305, + "oracle_score": 0.31490015983581543, + "oracle_success": false, + "progress": 0.18368002772331238, + "restore_error": 1.1920928955078125e-07, + "score": 0.18368002772331238, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5396822094917297, + "candidate_source_group_id": "ms-f59e0d91a187e6a48299;ms-d92cec7cfd1915a30824;ms-ee30ebaf98622759d888;ms-109ea940d18ab80efabc;ms-b794f77d280289ce22a4;ms-ebacae0135af2832dfbb", + "expert_regret": 0.0857737809419632, + "expert_score": 0.17002534866333008, + "expert_success": false, + "group_id": "ms-7923b8196b397863cf4f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9157484322786331, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08425156772136688, + "restore_error": 1.1920928955078125e-07, + "score": 0.08425156772136688, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5660525560379028, + "candidate_source_group_id": "ms-6754ed0131c952830729;ms-9229ce141dd41a11fac1;ms-e87c704dfdbf7ee7f51f;ms-9681d9cb43cc26adb0fe;ms-1c2768099019b86daca7;ms-b7d7021b782f73816083", + "expert_regret": 0.03562392666935921, + "expert_score": 0.05257302522659302, + "expert_success": false, + "group_id": "ms-728b865677134d3788e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.20963937416672707, + "oracle_score": 0.22658847272396088, + "oracle_success": false, + "progress": 0.01694909855723381, + "restore_error": 1.1920928955078125e-07, + "score": 0.01694909855723381, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.697235643863678, + "candidate_source_group_id": "ms-76f27d9a935b25e15c38;ms-638d2ba1917eff4d09e0;ms-c0e3ab57fcf0d12ea4d8;ms-a8731059713697ce5e2a;ms-d535b38d768633f6d922;ms-9757fc494e79b5543bb6", + "expert_regret": 0.010791480541229248, + "expert_score": 0.2168768048286438, + "expert_success": false, + "group_id": "ms-4f7161e1beab1ab777d8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.04413801431655884, + "oracle_score": 0.2502233386039734, + "oracle_success": false, + "progress": 0.20608532428741455, + "restore_error": 1.1920928955078125e-07, + "score": 0.20608532428741455, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6201148629188538, + "candidate_source_group_id": "ms-638d2ba1917eff4d09e0;ms-c0e3ab57fcf0d12ea4d8;ms-482c5c8d208b5907a2c2;ms-a8731059713697ce5e2a;ms-1c2768099019b86daca7;ms-0fdb89ea83047c63b9b0", + "expert_regret": 0.0, + "expert_score": 0.23002704977989197, + "expert_success": false, + "group_id": "ms-4920f51977e482b3a66c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.23002704977989197, + "oracle_success": false, + "progress": 0.24234744906425476, + "restore_error": 1.1920928955078125e-07, + "score": 0.24234744906425476, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.33144256472587585, + "candidate_source_group_id": "ms-aefa917c6b1659d6edd2;ms-bce8c4ec2bf882ca0b2e;ms-3f2aed5964eed6c4936a;ms-b8fc1568ce66c45c8d8b;ms-5ecde7b64c80d2abbe1f;ms-29f47a1dc1d9c3ec3365", + "expert_regret": 0.0, + "expert_score": 0.19225573539733887, + "expert_success": false, + "group_id": "ms-267832544376e3727efb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.050395429134368896, + "oracle_score": 0.28689613938331604, + "oracle_success": false, + "progress": 0.23650071024894714, + "restore_error": 1.1920928955078125e-07, + "score": 0.23650071024894714, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.27371224761009216, + "candidate_source_group_id": "ms-ebfb82df795e73599373;ms-81f4e8858b2ba90aea2e;ms-49b9e0f9ceaf91314919;ms-a2518826fa0a816cc46f;ms-35940a55db9e3f7e6ad0;ms-e6b654653119682cf01e", + "expert_regret": 0.047328315675258636, + "expert_score": 0.12482444941997528, + "expert_success": false, + "group_id": "ms-f4a2d61f02d4224bad4f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.1754956617951393, + "oracle_score": 0.25299179553985596, + "oracle_success": false, + "progress": 0.07749613374471664, + "restore_error": 1.1920928955078125e-07, + "score": 0.07749613374471664, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.3201656341552734, + "candidate_source_group_id": "ms-dce346f7f90e29664890;ms-4143ca4fca04091084e4;ms-7eaea428dfdef7255a66;ms-57be9ae181c077e7821f;ms-067cac2e4dbeddb12239;ms-16661b2fd2c85f57a66c", + "expert_regret": 1.846969872713089, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-070184c0f6831eb39bc1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.846969872713089, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.153030127286911, + "restore_error": 1.1920928955078125e-07, + "score": 0.153030127286911, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8463976979255676, + "candidate_source_group_id": "ms-088ad33a4461de5ce0cb;ms-633308d7f0e52c013505;ms-3c223e8c7f870c807541;ms-4f0a59b7bc897c0d5e5e;ms-744702a88bec9222a30a;ms-778efc20fc2ee8a3dd02", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d915ee5030ef1ea1b0d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.616149365901947, + "candidate_source_group_id": "ms-554727d05aa9a2b32904;ms-02d160e1d5db6e544363;ms-972c5be72d0b24be7cd5;ms-340e4b5de99447fbcd5e;ms-7eaea428dfdef7255a66;ms-fa8b4ba41ecac8030271", + "expert_regret": 0.0, + "expert_score": 0.2159806191921234, + "expert_success": false, + "group_id": "ms-e84163d9ef2e7014daca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5755575299263, + "candidate_source_group_id": "ms-c31b98b3d3702c6f9c8c;ms-c2398cb80b194084dbfc;ms-bccd7bbe1b1b98254147;ms-cb5dc99d8c3b4c0c3616;ms-5ab7f487c7006dec473a;ms-394edcd961226f337ce1", + "expert_regret": 0.0032410025596618652, + "expert_score": 0.16375553607940674, + "expert_success": false, + "group_id": "ms-c8a0f64b433a541481eb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0368461012840271, + "oracle_score": 0.19736063480377197, + "oracle_success": false, + "progress": 0.16051453351974487, + "restore_error": 1.1920928955078125e-07, + "score": 0.16051453351974487, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6922501921653748, + "candidate_source_group_id": "ms-f9740a08a98cb251b761;ms-9a50730a0ff65eb93ea5;ms-45131c0aa974fa9602ad;ms-89c4edc5d083202b2443;ms-3d31ef4f467b204b8477;ms-4d400b68d540cebcc9e0", + "expert_regret": 1.9671452417969704, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ec2eec3ab528878445cd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.9671452417969704, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03285475820302963, + "restore_error": 1.1920928955078125e-07, + "score": 0.03285475820302963, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6511778235435486, + "candidate_source_group_id": "ms-dab8307a45ebe8220c83;ms-2dc5138251afd26a040d;ms-88012aab0303554a1736;ms-e4e21b9ec2546537fff0;ms-5ab7f487c7006dec473a;ms-5b513b00260d517c02d9", + "expert_regret": 0.0, + "expert_score": 0.09775444120168686, + "expert_success": false, + "group_id": "ms-284545b8610706250f3c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1140122041106224, + "oracle_success": false, + "progress": 0.1481233537197113, + "restore_error": 2.384185791015625e-07, + "score": 0.1481233537197113, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.303334355354309, + "candidate_source_group_id": "ms-714913716f5f0a287401;ms-5ecde7b64c80d2abbe1f;ms-29f47a1dc1d9c3ec3365;ms-bd90866faa10e62fce2c;ms-b8fc1568ce66c45c8d8b;ms-3f2aed5964eed6c4936a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-615d4a98352149e15ff1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.25215885043144226, + "candidate_source_group_id": "ms-57be9ae181c077e7821f;ms-62f8c18a15c566ec4b00;ms-91ad1e8602f14dada73c;ms-1f19fd22562f87bdb776;ms-dce346f7f90e29664890;ms-4143ca4fca04091084e4", + "expert_regret": 0.015604227781295776, + "expert_score": 0.2889223098754883, + "expert_success": false, + "group_id": "ms-dc26b448cce4164a23e6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7266819179058075, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2733180820941925, + "restore_error": 2.384185791015625e-07, + "score": 0.2733180820941925, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.28870540857315063, + "candidate_source_group_id": "ms-fe5a961ee9b8b8a91b44;ms-e4e21b9ec2546537fff0;ms-b8c3ec3ea915c5d35b3e;ms-9681d9cb43cc26adb0fe;ms-3f8284543efb724e8845;ms-2dc5138251afd26a040d", + "expert_regret": 0.0, + "expert_score": 0.19429567456245422, + "expert_success": false, + "group_id": "ms-8c07fff2c7a5131a141b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6683898568153381, + "candidate_source_group_id": "ms-554727d05aa9a2b32904;ms-02d160e1d5db6e544363;ms-972c5be72d0b24be7cd5;ms-340e4b5de99447fbcd5e;ms-7eaea428dfdef7255a66;ms-fa8b4ba41ecac8030271", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7b2cb5c6abcc36a362d1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3142785429954529, + "candidate_source_group_id": "ms-5ecde7b64c80d2abbe1f;ms-714913716f5f0a287401;ms-b8fc1568ce66c45c8d8b;ms-3f2aed5964eed6c4936a;ms-29f47a1dc1d9c3ec3365;ms-bd90866faa10e62fce2c", + "expert_regret": 0.0, + "expert_score": 0.16634780168533325, + "expert_success": false, + "group_id": "ms-e2f8f0ef073900703441", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5444856882095337, + "candidate_source_group_id": "ms-1c2768099019b86daca7;ms-0228f3312b428eaf7e9d;ms-d8e18d4d22b4cc73b803;ms-6a43c1f6dd61d4df80ec;ms-3d090ac2459c4b891dd1;ms-ea8382de946b98af3bf8", + "expert_regret": 0.0, + "expert_score": 0.07999710738658905, + "expert_success": false, + "group_id": "ms-ba11d52e628b2efe32ea", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0748717188835144, + "oracle_score": 0.2388150691986084, + "oracle_success": false, + "progress": 0.163943350315094, + "restore_error": 2.384185791015625e-07, + "score": 0.163943350315094, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.44861334562301636, + "candidate_source_group_id": "ms-26b69e1e596d2e3163da;ms-f40162c64827e8c44a1a;ms-e50ef9df7287938b501c;ms-3bfe7e8a312d53f966d0;ms-088ad33a4461de5ce0cb;ms-f497cc22967badd9f8b0", + "expert_regret": 0.0, + "expert_score": 0.005320350639522076, + "expert_success": false, + "group_id": "ms-b2287fbbcd2b5d8372bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.1117854118347168, + "oracle_score": 0.21861237287521362, + "oracle_success": false, + "progress": 0.10682696104049683, + "restore_error": 2.384185791015625e-07, + "score": 0.10682696104049683, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.45301222801208496, + "candidate_source_group_id": "ms-cd84deb86ca0c1f1c020;ms-575c7eef4563e02ec689;ms-b6b7052345036de1448d;ms-6388b5d2356c556c3e55;ms-b94dfc54c3bf844d5146;ms-0e1ff8d16372796dac97", + "expert_regret": 0.0, + "expert_score": 0.1568639576435089, + "expert_success": false, + "group_id": "ms-d0158d7b3df11d64095c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.21547327935695648, + "oracle_success": false, + "progress": 0.2214585840702057, + "restore_error": 1.1920928955078125e-07, + "score": 0.2214585840702057, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.26088792085647583, + "candidate_source_group_id": "ms-f5dd1c43ebc4c0cfc3f1;ms-45672e1bf3b083eb3fc3;ms-02fd0338e80ef19ceec1;ms-cb8cbd90038493c30888;ms-0dee962a5901fb8b5bbb;ms-9681d9cb43cc26adb0fe", + "expert_regret": 0.0, + "expert_score": 0.15089315176010132, + "expert_success": false, + "group_id": "ms-d81e3048f5ae278c708f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.07352279126644135, + "oracle_score": 0.23822252452373505, + "oracle_success": false, + "progress": 0.1646997332572937, + "restore_error": 1.1920928955078125e-07, + "score": 0.1646997332572937, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3255547881126404, + "candidate_source_group_id": "ms-88012aab0303554a1736;ms-dab8307a45ebe8220c83;ms-2dc5138251afd26a040d;ms-5b513b00260d517c02d9;ms-fe5a961ee9b8b8a91b44;ms-e4e21b9ec2546537fff0", + "expert_regret": 0.0, + "expert_score": 0.1233738511800766, + "expert_success": false, + "group_id": "ms-fbd73493bcf73542f735", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.25541552901268005, + "candidate_source_group_id": "ms-e8afd0ad85d7e219a1ec;ms-4d400b68d540cebcc9e0;ms-8551c2634431d2ade8a8;ms-57e91ed3c8bd0299534f;ms-eab38ab23e5fd0218632;ms-62db3d4ffad1f0e82dd8", + "expert_regret": 0.0, + "expert_score": 0.23221425712108612, + "expert_success": false, + "group_id": "ms-abf8880f672677acc931", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5864173173904419, + "candidate_source_group_id": "ms-2eabcf580547d2c133ce;ms-f4f9dd2ff38f992d4fb9;ms-6f26118aa94bacd82250;ms-4aed2a49597da545e551;ms-d402ca600d53b2db9dbe;ms-d6cc29ec9fbbc53d0f68", + "expert_regret": 0.0, + "expert_score": 0.0808674544095993, + "expert_success": false, + "group_id": "ms-c832439976a37f52d094", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.07536900043487549, + "oracle_score": 0.2594742774963379, + "oracle_success": false, + "progress": 0.1841052770614624, + "restore_error": 1.1920928955078125e-07, + "score": 0.1841052770614624, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3463180363178253, + "candidate_source_group_id": "ms-fdc8588aee7d089fca84;ms-b8c3ec3ea915c5d35b3e;ms-e4e21b9ec2546537fff0;ms-fe5a961ee9b8b8a91b44;ms-3f8284543efb724e8845;ms-9681d9cb43cc26adb0fe", + "expert_regret": 0.0, + "expert_score": 0.1861332654953003, + "expert_success": false, + "group_id": "ms-277531f5e24eeb525899", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8578768968582153, + "candidate_source_group_id": "ms-778efc20fc2ee8a3dd02;ms-2e40499cb146da6f89e7;ms-4f0a59b7bc897c0d5e5e;ms-12c741253e1802aad9ec;ms-744702a88bec9222a30a;ms-633308d7f0e52c013505", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c62736c7767014960e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6148220896720886, + "candidate_source_group_id": "ms-aab59ee607a5ba7e3bfa;ms-4db7b82d22bfbf9258b5;ms-60f0d45b604940db0058;ms-1e30e297540582d59926;ms-8a72b73ac452bc190aeb;ms-9dbf65115872ab5360e4", + "expert_regret": 0.0, + "expert_score": 0.018661757931113243, + "expert_success": false, + "group_id": "ms-3798cbeab8a36b08c295", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.24742551520466805, + "oracle_score": 0.2663142681121826, + "oracle_success": false, + "progress": 0.018888752907514572, + "restore_error": 1.1920928955078125e-07, + "score": 0.018888752907514572, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.9158782362937927, + "candidate_source_group_id": "ms-cb5dc99d8c3b4c0c3616;ms-b8c3ec3ea915c5d35b3e;ms-c2398cb80b194084dbfc;ms-5ab7f487c7006dec473a;ms-b7d7021b782f73816083;ms-e4e21b9ec2546537fff0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-62bd92bfcbc50801e008", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 2.185817241668701, + "candidate_source_group_id": "ms-f126e1cf5b3ee52a8476;ms-6661b157c41ad4d6ab85;ms-19cb10d10516bd0216a6;ms-ee4ddb148e138fce841c;ms-c083dba0e5dcc8ca1004;ms-6ad14a70593958c00a63", + "expert_regret": 0.0, + "expert_score": 0.14424000680446625, + "expert_success": false, + "group_id": "ms-344d81289be624d70b0e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.002375990152359009, + "oracle_score": 0.1725815236568451, + "oracle_success": false, + "progress": 0.17020553350448608, + "restore_error": 1.1920928955078125e-07, + "score": 0.17020553350448608, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5876073837280273, + "candidate_source_group_id": "ms-b334dd4c101f3bd0476b;ms-9229ce141dd41a11fac1;ms-7df455efd413d77e6ce3;ms-f087710511e9f9336ad6;ms-2b7ca4255af28e33db96;ms-4f0a41c8fb3caaeb9540", + "expert_regret": 0.005846301093697548, + "expert_score": 0.01563560962677002, + "expert_success": false, + "group_id": "ms-d45766ebe3a1d7f8876c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13297010399401188, + "oracle_score": 0.14275941252708435, + "oracle_success": false, + "progress": 0.009789308533072472, + "restore_error": 1.1920928955078125e-07, + "score": 0.009789308533072472, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0134583711624146, + "candidate_source_group_id": "ms-12c741253e1802aad9ec;ms-778efc20fc2ee8a3dd02;ms-2e40499cb146da6f89e7;ms-4f0a59b7bc897c0d5e5e;ms-744702a88bec9222a30a;ms-be0f2598cc527ad9040a", + "expert_regret": 1.814615085721016, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-271889c9e921f7716135", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.814615085721016, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18538491427898407, + "restore_error": 1.1920928955078125e-07, + "score": 0.18538491427898407, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5180688500404358, + "candidate_source_group_id": "ms-1cba84e4c11e030aeb3e;ms-a6a6de64c39abad45f86;ms-b0c64b4a1c04972e47a1;ms-1a4d443c5b80e0dac794;ms-babaeb20129c46551281;ms-b784fe769f0fb1d315e5", + "expert_regret": 0.0, + "expert_score": 0.17393752932548523, + "expert_success": false, + "group_id": "ms-151566379dfd7af6fe63", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.18055260181427002, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.40205833315849304, + "candidate_source_group_id": "ms-dab8307a45ebe8220c83;ms-88012aab0303554a1736;ms-2dc5138251afd26a040d;ms-fe5a961ee9b8b8a91b44;ms-e4e21b9ec2546537fff0;ms-5b513b00260d517c02d9", + "expert_regret": 0.0, + "expert_score": 0.18806186318397522, + "expert_success": false, + "group_id": "ms-06babf453b22ba8f2407", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4507524073123932, + "candidate_source_group_id": "ms-6661b157c41ad4d6ab85;ms-e7c50fae013f9728539a;ms-45fbd749d5ed3fe37c13;ms-8b603da9f857de028798;ms-082cb0ac119a83c42c2d;ms-e0c576a5a78374889088", + "expert_regret": 0.0, + "expert_score": 0.1521211564540863, + "expert_success": false, + "group_id": "ms-cc07f96f3454a4643b9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.191031813621521, + "oracle_success": false, + "progress": 0.2221594750881195, + "restore_error": 1.1920928955078125e-07, + "score": 0.2221594750881195, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.468104749917984, + "candidate_source_group_id": "ms-6661b157c41ad4d6ab85;ms-c31b98b3d3702c6f9c8c;ms-bccd7bbe1b1b98254147;ms-394edcd961226f337ce1;ms-fc87ea5245c2743bdb2d;ms-c2398cb80b194084dbfc", + "expert_regret": 0.0, + "expert_score": 0.08069789409637451, + "expert_success": false, + "group_id": "ms-223b0a8319beb051a1ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1593424528837204, + "oracle_success": false, + "progress": 0.1899843066930771, + "restore_error": 1.1920928955078125e-07, + "score": 0.1899843066930771, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.48402532935142517, + "candidate_source_group_id": "ms-7a044cb6c7bb03f3ea10;ms-0dee962a5901fb8b5bbb;ms-e87c704dfdbf7ee7f51f;ms-45672e1bf3b083eb3fc3;ms-372f2ecb6685d8cae8d5;ms-6ddecc7f074b9e267409", + "expert_regret": 0.0, + "expert_score": 0.21284407377243042, + "expert_success": false, + "group_id": "ms-45309d0bdc5e3babc17b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.015265971422195435, + "oracle_score": 0.22903120517730713, + "oracle_success": false, + "progress": 0.2137652337551117, + "restore_error": 2.3096799850463867e-07, + "score": 0.2137652337551117, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4393661320209503, + "candidate_source_group_id": "ms-7ea98b8f4d2220347ee0;ms-48178f52a96de3d1ead0;ms-89538d844f6299774906;ms-674fad0e7c042d23629e;ms-45fbd749d5ed3fe37c13;ms-9826b7a6fdcc0fd3eb69", + "expert_regret": 0.0, + "expert_score": 0.05304628610610962, + "expert_success": false, + "group_id": "ms-126eb8b36769f9ba4671", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1985912322998047, + "oracle_success": false, + "progress": 0.20704786479473114, + "restore_error": 2.3096799850463867e-07, + "score": 0.20704786479473114, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.415784627199173, + "candidate_source_group_id": "ms-554727d05aa9a2b32904;ms-02d160e1d5db6e544363;ms-340e4b5de99447fbcd5e;ms-972c5be72d0b24be7cd5;ms-7eaea428dfdef7255a66;ms-fa8b4ba41ecac8030271", + "expert_regret": 0.0, + "expert_score": 0.16841016709804535, + "expert_success": false, + "group_id": "ms-26751f54c657b24b4da2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.25515007972717285, + "oracle_success": false, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.49257877469062805, + "candidate_source_group_id": "ms-45131c0aa974fa9602ad;ms-9a50730a0ff65eb93ea5;ms-89c4edc5d083202b2443;ms-f9740a08a98cb251b761;ms-3d31ef4f467b204b8477;ms-e8afd0ad85d7e219a1ec", + "expert_regret": 1.9588582888245583, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a04e804d3aad7b40f1ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9588582888245583, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04114171117544174, + "restore_error": 2.3096799850463867e-07, + "score": 0.04114171117544174, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3331431746482849, + "candidate_source_group_id": "ms-d8e18d4d22b4cc73b803;ms-5dbfefbfb832855ef80a;ms-0fdb89ea83047c63b9b0;ms-ea8382de946b98af3bf8;ms-482c5c8d208b5907a2c2;ms-6a43c1f6dd61d4df80ec", + "expert_regret": 0.048048511147499084, + "expert_score": 0.18874704837799072, + "expert_success": false, + "group_id": "ms-1a4979e969aa331fb126", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.13043652474880219, + "oracle_score": 0.2711350619792938, + "oracle_success": false, + "progress": 0.14069853723049164, + "restore_error": 2.3096799850463867e-07, + "score": 0.14069853723049164, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5630654096603394, + "candidate_source_group_id": "ms-ccc79c981e3a67ebeaf2;ms-d6cc29ec9fbbc53d0f68;ms-0093b06390890d181104;ms-2eabcf580547d2c133ce;ms-d402ca600d53b2db9dbe;ms-ccb8bd419b9cd771d12f", + "expert_regret": 0.04571201652288437, + "expert_score": 0.07016094774007797, + "expert_success": false, + "group_id": "ms-34726202b475d29cdf38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.22897177934646606, + "oracle_score": 0.25342071056365967, + "oracle_success": false, + "progress": 0.024448931217193604, + "restore_error": 2.3096799850463867e-07, + "score": 0.024448931217193604, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5145731568336487, + "candidate_source_group_id": "ms-48178f52a96de3d1ead0;ms-7df455efd413d77e6ce3;ms-7ea98b8f4d2220347ee0;ms-e0c576a5a78374889088;ms-38f7298184a2c5005e94;ms-2b7ca4255af28e33db96", + "expert_regret": 0.0, + "expert_score": 0.13672415912151337, + "expert_success": false, + "group_id": "ms-75da653dc43676d593ce", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.2194269299507141, + "oracle_success": false, + "progress": 0.2713845372200012, + "restore_error": 2.3096799850463867e-07, + "score": 0.2713845372200012, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5884336829185486, + "candidate_source_group_id": "ms-68b43d83b97196e0d27f;ms-465d531b9cec5bc77ed7;ms-cad6645f8175e38ad155;ms-29f47a1dc1d9c3ec3365;ms-3f2aed5964eed6c4936a;ms-b8fc1568ce66c45c8d8b", + "expert_regret": 0.0, + "expert_score": 0.16178712248802185, + "expert_success": false, + "group_id": "ms-4cc40587ec490257b1d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.9958545565605164, + "candidate_source_group_id": "ms-61c3c0e99a653d2a7fe2;ms-59d4cdcd401477b5adfc;ms-f2b2b2a1aa2863c3676f;ms-f7a54f4783da1d4129a8;ms-1d3f30fae746c0b9cefc;ms-02311c7783bc67e188b4", + "expert_regret": 1.764320433139801, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0f5ffa7a4448b22b7951", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.764320433139801, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23567956686019897, + "restore_error": 1.1920928955078125e-07, + "score": 0.23567956686019897, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6452683210372925, + "candidate_source_group_id": "ms-6661b157c41ad4d6ab85;ms-bccd7bbe1b1b98254147;ms-c31b98b3d3702c6f9c8c;ms-ee4ddb148e138fce841c;ms-394edcd961226f337ce1;ms-f126e1cf5b3ee52a8476", + "expert_regret": 0.0, + "expert_score": 0.10120099782943726, + "expert_success": false, + "group_id": "ms-1faf779e909ec0415be0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0027366429567337036, + "oracle_score": 0.15691404044628143, + "oracle_success": false, + "progress": 0.15417739748954773, + "restore_error": 1.1920928955078125e-07, + "score": 0.15417739748954773, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4478422701358795, + "candidate_source_group_id": "ms-7ea98b8f4d2220347ee0;ms-89538d844f6299774906;ms-45fbd749d5ed3fe37c13;ms-9826b7a6fdcc0fd3eb69;ms-674fad0e7c042d23629e;ms-dd7527ab9ed49f79d2ba", + "expert_regret": 0.0004937052726745605, + "expert_score": 0.1594313085079193, + "expert_success": false, + "group_id": "ms-98eb81debb5186ebbe38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.08079788088798523, + "oracle_score": 0.23973548412322998, + "oracle_success": false, + "progress": 0.15893760323524475, + "restore_error": 1.1920928955078125e-07, + "score": 0.15893760323524475, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.564146876335144, + "candidate_source_group_id": "ms-35a50d2822c2c3cc4516;ms-d81f9c2974c2d599f151;ms-dc5563c9b0dcd84e393b;ms-206099bab6bfe7c84fce;ms-9fd23a06ae1659cef27b;ms-bce8c4ec2bf882ca0b2e", + "expert_regret": 0.0, + "expert_score": 0.164321169257164, + "expert_success": false, + "group_id": "ms-8e56b0eaa2604db6749e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0404258668422699, + "oracle_score": 0.2857772707939148, + "oracle_success": false, + "progress": 0.2453514039516449, + "restore_error": 1.1920928955078125e-07, + "score": 0.2453514039516449, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.34547683596611023, + "candidate_source_group_id": "ms-482c5c8d208b5907a2c2;ms-a8731059713697ce5e2a;ms-1c2768099019b86daca7;ms-638d2ba1917eff4d09e0;ms-9919d2d2a89c5d491093;ms-c0e3ab57fcf0d12ea4d8", + "expert_regret": 0.018681704998016357, + "expert_score": 0.19676916301250458, + "expert_success": false, + "group_id": "ms-6939bfeb878a54849131", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.05263848602771759, + "oracle_score": 0.2307259440422058, + "oracle_success": false, + "progress": 0.17808745801448822, + "restore_error": 1.1920928955078125e-07, + "score": 0.17808745801448822, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5757417678833008, + "candidate_source_group_id": "ms-372f2ecb6685d8cae8d5;ms-cb8cbd90038493c30888;ms-7a044cb6c7bb03f3ea10;ms-d271e7de6bc331371e9c;ms-6ddecc7f074b9e267409;ms-45672e1bf3b083eb3fc3", + "expert_regret": 0.0, + "expert_score": 0.07837198674678802, + "expert_success": false, + "group_id": "ms-6b789356d65b3312fbae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.22781728208065033, + "oracle_success": false, + "progress": 0.29715704917907715, + "restore_error": 1.1920928955078125e-07, + "score": 0.29715704917907715, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.889521598815918, + "candidate_source_group_id": "ms-3ed611d029d2ae0b12d8;ms-3c223e8c7f870c807541;ms-633308d7f0e52c013505;ms-088ad33a4461de5ce0cb;ms-b0c64b4a1c04972e47a1;ms-a6a6de64c39abad45f86", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-620cd9e02d46b021f112", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7275859117507935, + "candidate_source_group_id": "ms-97832747def371d6de99;ms-6388b5d2356c556c3e55;ms-b6b7052345036de1448d;ms-c09bd18e1017cc532aee;ms-575c7eef4563e02ec689;ms-b6dae6677869af5f7f52", + "expert_regret": 0.0610787570476532, + "expert_score": 0.2651830017566681, + "expert_success": false, + "group_id": "ms-ac4fb33f3ab4db853995", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.795895755290985, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2041042447090149, + "restore_error": 1.1920928955078125e-07, + "score": 0.2041042447090149, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7891191244125366, + "candidate_source_group_id": "ms-dd7527ab9ed49f79d2ba;ms-9826b7a6fdcc0fd3eb69;ms-1e30e297540582d59926;ms-89538d844f6299774906;ms-7ea98b8f4d2220347ee0;ms-8a72b73ac452bc190aeb", + "expert_regret": 0.0, + "expert_score": 0.18361739814281464, + "expert_success": false, + "group_id": "ms-c79a79c1cbd7a472da65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.18361739814281464, + "oracle_success": false, + "progress": 0.190775066614151, + "restore_error": 1.1920928955078125e-07, + "score": 0.190775066614151, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.8494288921356201, + "candidate_source_group_id": "ms-ea8382de946b98af3bf8;ms-6758deb06644a14aa722;ms-3089724d0eba0f7b5d91;ms-ee30ebaf98622759d888;ms-109ea940d18ab80efabc;ms-be219977a9db8dbb1e58", + "expert_regret": 1.8622429370880127, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fd4b2d974e51fed9536e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8622429370880127, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1377570629119873, + "restore_error": 1.1920928955078125e-07, + "score": 0.1377570629119873, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5704624056816101, + "candidate_source_group_id": "ms-4d400b68d540cebcc9e0;ms-0b63f107b0ced8009668;ms-0285f5815c210ac00bec;ms-e9d7fc13264ff1c06637;ms-9fbd54f73e56e3231631;ms-eab38ab23e5fd0218632", + "expert_regret": 1.7827239036560059, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fad04ef94fd664ff89ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7827239036560059, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21727609634399414, + "restore_error": 1.1920928955078125e-07, + "score": 0.21727609634399414, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.7522162199020386, + "candidate_source_group_id": "ms-ed375122594187ef997e;ms-d024c00b780e0df06b55;ms-d73fd5fce55fb58ef8e9;ms-7dedf60ad41ea2d92ee5;ms-8b1ed7e9f28f7a3f924d;ms-b92ca6f216624d6305c2", + "expert_regret": 1.9520369954407215, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-22638e64d6a54980bc02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9520369954407215, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04796300455927849, + "restore_error": 1.1920928955078125e-07, + "score": 0.04796300455927849, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8642854690551758, + "candidate_source_group_id": "ms-6d5f6a187b61ea26c2e2;ms-652ad552ba98d2736620;ms-9acbb20bd73584f0e215;ms-aa45731e1b9734a493fd;ms-07215d42deb9f67c65fd;ms-be0f2598cc527ad9040a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a9747843e0fddd993263", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7681876420974731, + "candidate_source_group_id": "ms-340e4b5de99447fbcd5e;ms-7eaea428dfdef7255a66;ms-02d160e1d5db6e544363;ms-dce346f7f90e29664890;ms-554727d05aa9a2b32904;ms-972c5be72d0b24be7cd5", + "expert_regret": 1.7172439694404602, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-906dbd4dc79cb6be1e2c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.7172439694404602, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2827560305595398, + "restore_error": 1.1920928955078125e-07, + "score": 0.2827560305595398, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.4145680665969849, + "candidate_source_group_id": "ms-c083dba0e5dcc8ca1004;ms-6ad14a70593958c00a63;ms-6661b157c41ad4d6ab85;ms-f126e1cf5b3ee52a8476;ms-e2fe413566da0516273d;ms-19cb10d10516bd0216a6", + "expert_regret": 0.13455285131931305, + "expert_score": 0.26739317178726196, + "expert_success": false, + "group_id": "ms-53344c3bc69a3b0fe303", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13455285131931305, + "oracle_score": 0.26739317178726196, + "oracle_success": false, + "progress": 0.1328403204679489, + "restore_error": 1.1920928955078125e-07, + "score": 0.1328403204679489, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0260263681411743, + "candidate_source_group_id": "ms-9df6734b8268172ea7e5;ms-f2b2b2a1aa2863c3676f;ms-59d4cdcd401477b5adfc;ms-02311c7783bc67e188b4;ms-61c3c0e99a653d2a7fe2;ms-b784fe769f0fb1d315e5", + "expert_regret": 1.7653429210186005, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ccd3b342e4da3980c688", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7653429210186005, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23465707898139954, + "restore_error": 1.1920928955078125e-07, + "score": 0.23465707898139954, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4751153886318207, + "candidate_source_group_id": "ms-9c6eae5aaafcbc2e7b1d;ms-4dc6f09c1beeb5314d11;ms-6f26118aa94bacd82250;ms-0093b06390890d181104;ms-ccc79c981e3a67ebeaf2;ms-f4f9dd2ff38f992d4fb9", + "expert_regret": 0.0, + "expert_score": 0.010581731796264648, + "expert_success": false, + "group_id": "ms-ec013396e4aff6170ee1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.1300228238105774, + "oracle_score": 0.24502670764923096, + "oracle_success": false, + "progress": 0.11500388383865356, + "restore_error": 1.1920928955078125e-07, + "score": 0.11500388383865356, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3841593563556671, + "candidate_source_group_id": "ms-c96b415f083f60857334;ms-50e54f9608e1420ba11a;ms-1ca019318ddec8ce5e8a;ms-a2518826fa0a816cc46f;ms-52b4f33b924e82688187;ms-db2c4015a0690cc80d24", + "expert_regret": 0.03337840363383293, + "expert_score": 0.05565448850393295, + "expert_success": false, + "group_id": "ms-d6da14bffe59c0265db7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.09865641966462135, + "oracle_score": 0.12093250453472137, + "oracle_success": false, + "progress": 0.02227608487010002, + "restore_error": 1.1920928955078125e-07, + "score": 0.02227608487010002, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7079547643661499, + "candidate_source_group_id": "ms-8a58b518ca9ac275d8d5;ms-109ea940d18ab80efabc;ms-5e422b9487b4a1efd7af;ms-d92cec7cfd1915a30824;ms-80801b0de8334bd2bcc8;ms-be219977a9db8dbb1e58", + "expert_regret": 1.9559103026986122, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-423347f93e1045f6bdd0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9559103026986122, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04408969730138779, + "restore_error": 1.1920928955078125e-07, + "score": 0.04408969730138779, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7514201402664185, + "candidate_source_group_id": "ms-0b63f107b0ced8009668;ms-80801b0de8334bd2bcc8;ms-3d090ac2459c4b891dd1;ms-0285f5815c210ac00bec;ms-1150c257eb77fdf40f55;ms-d92cec7cfd1915a30824", + "expert_regret": 1.954742431640625, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a54d67e82a4dc1380e7b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.954742431640625, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.045257568359375, + "restore_error": 1.1920928955078125e-07, + "score": 0.045257568359375, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.529532253742218, + "candidate_source_group_id": "ms-088ad33a4461de5ce0cb;ms-3c223e8c7f870c807541;ms-633308d7f0e52c013505;ms-3ed611d029d2ae0b12d8;ms-b0c64b4a1c04972e47a1;ms-a6a6de64c39abad45f86", + "expert_regret": 0.0, + "expert_score": 0.14673510193824768, + "expert_success": false, + "group_id": "ms-6a3add21affa4796f9be", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.10000097751617432, + "oracle_score": 0.25397229194641113, + "oracle_success": false, + "progress": 0.15397131443023682, + "restore_error": 1.1920928955078125e-07, + "score": 0.15397131443023682, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2928546965122223, + "candidate_source_group_id": "ms-fdc8588aee7d089fca84;ms-b8c3ec3ea915c5d35b3e;ms-e4e21b9ec2546537fff0;ms-9681d9cb43cc26adb0fe;ms-fe5a961ee9b8b8a91b44;ms-b7d7021b782f73816083", + "expert_regret": 0.029119372367858887, + "expert_score": 0.19101719558238983, + "expert_success": false, + "group_id": "ms-d21367899e99e3048dbe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.04234689474105835, + "oracle_score": 0.2042447179555893, + "oracle_success": false, + "progress": 0.16189782321453094, + "restore_error": 1.1920928955078125e-07, + "score": 0.16189782321453094, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6529350280761719, + "candidate_source_group_id": "ms-f7a54f4783da1d4129a8;ms-61c3c0e99a653d2a7fe2;ms-59d4cdcd401477b5adfc;ms-f2b2b2a1aa2863c3676f;ms-652ad552ba98d2736620;ms-9acbb20bd73584f0e215", + "expert_regret": 0.0, + "expert_score": 0.2637917995452881, + "expert_success": false, + "group_id": "ms-8577816da2917a2bb63d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5349454283714294, + "candidate_source_group_id": "ms-7df455efd413d77e6ce3;ms-e0c576a5a78374889088;ms-48178f52a96de3d1ead0;ms-2b7ca4255af28e33db96;ms-9229ce141dd41a11fac1;ms-38f7298184a2c5005e94", + "expert_regret": 0.0, + "expert_score": 0.05953723192214966, + "expert_success": false, + "group_id": "ms-397e502908d16b7804b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0148545503616333, + "oracle_score": 0.13980631530284882, + "oracle_success": false, + "progress": 0.12495176494121552, + "restore_error": 1.1920928955078125e-07, + "score": 0.12495176494121552, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.6014474630355835, + "candidate_source_group_id": "ms-554727d05aa9a2b32904;ms-02d160e1d5db6e544363;ms-972c5be72d0b24be7cd5;ms-340e4b5de99447fbcd5e;ms-7eaea428dfdef7255a66;ms-fa8b4ba41ecac8030271", + "expert_regret": 0.16828763857483864, + "expert_score": 0.21256206929683685, + "expert_success": false, + "group_id": "ms-f85a653af630821f2572", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9557255692780018, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.044274430721998215, + "restore_error": 1.1920928955078125e-07, + "score": 0.044274430721998215, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.24424995481967926, + "candidate_source_group_id": "ms-883bd3738bfe11cfc192;ms-9757fc494e79b5543bb6;ms-0e1ff8d16372796dac97;ms-b94dfc54c3bf844d5146;ms-5ecde7b64c80d2abbe1f;ms-bd90866faa10e62fce2c", + "expert_regret": 0.0, + "expert_score": 0.1662796437740326, + "expert_success": false, + "group_id": "ms-1577a0922a9e53528571", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.045422136783599854, + "oracle_score": 0.2255966067314148, + "oracle_success": false, + "progress": 0.18017446994781494, + "restore_error": 1.1920928955078125e-07, + "score": 0.18017446994781494, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.13803918659687042, + "candidate_source_group_id": "ms-f4f9dd2ff38f992d4fb9;ms-2eabcf580547d2c133ce;ms-4aed2a49597da545e551;ms-d402ca600d53b2db9dbe;ms-d6cc29ec9fbbc53d0f68;ms-76f27d9a935b25e15c38", + "expert_regret": 0.0, + "expert_score": 0.04269101470708847, + "expert_success": false, + "group_id": "ms-cad33aa1136af34af6ec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.10183591395616531, + "oracle_score": 0.1830441653728485, + "oracle_success": false, + "progress": 0.0812082514166832, + "restore_error": 1.1920928955078125e-07, + "score": 0.0812082514166832, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.13111528754234314, + "candidate_source_group_id": "ms-d402ca600d53b2db9dbe;ms-2eabcf580547d2c133ce;ms-4aed2a49597da545e551;ms-76f27d9a935b25e15c38;ms-d6cc29ec9fbbc53d0f68;ms-d535b38d768633f6d922", + "expert_regret": 0.0, + "expert_score": 0.12557005882263184, + "expert_success": false, + "group_id": "ms-e30fd80adc089e9f697a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.18920521438121796, + "oracle_success": false, + "progress": 0.23618459701538086, + "restore_error": 1.1920928955078125e-07, + "score": 0.23618459701538086, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.733149528503418, + "candidate_source_group_id": "ms-9229ce141dd41a11fac1;ms-2b7ca4255af28e33db96;ms-7df455efd413d77e6ce3;ms-38f7298184a2c5005e94;ms-387e6771a55be98f1a59;ms-e0c576a5a78374889088", + "expert_regret": 0.12937398999929428, + "expert_score": 0.24371962249279022, + "expert_success": false, + "group_id": "ms-757b3e9ecfc21efc80a7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.12937398999929428, + "oracle_score": 0.24371962249279022, + "oracle_success": false, + "progress": 0.11434563249349594, + "restore_error": 1.1920928955078125e-07, + "score": 0.11434563249349594, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.33515360951423645, + "candidate_source_group_id": "ms-68b43d83b97196e0d27f;ms-e9ed5d488afdfd6449d1;ms-29f47a1dc1d9c3ec3365;ms-97832747def371d6de99;ms-6388b5d2356c556c3e55;ms-465d531b9cec5bc77ed7", + "expert_regret": 0.0, + "expert_score": 0.22809019684791565, + "expert_success": false, + "group_id": "ms-37384bede4d1c03f3b80", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.442611813545227, + "candidate_source_group_id": "ms-6d5f6a187b61ea26c2e2;ms-652ad552ba98d2736620;ms-9acbb20bd73584f0e215;ms-aa45731e1b9734a493fd;ms-be0f2598cc527ad9040a;ms-07215d42deb9f67c65fd", + "expert_regret": 1.8990296497941017, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f7f4e41613e39d53b7c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8990296497941017, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10097035020589828, + "restore_error": 1.1920928955078125e-07, + "score": 0.10097035020589828, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.23926942050457, + "candidate_source_group_id": "ms-02fd0338e80ef19ceec1;ms-cb8cbd90038493c30888;ms-25ab20bb3da8ba34be95;ms-0dee962a5901fb8b5bbb;ms-372f2ecb6685d8cae8d5;ms-7a044cb6c7bb03f3ea10", + "expert_regret": 0.0, + "expert_score": 0.03588511794805527, + "expert_success": false, + "group_id": "ms-c9f45175ee5fcafa38ec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0900292694568634, + "oracle_score": 0.21779823303222656, + "oracle_success": false, + "progress": 0.12776896357536316, + "restore_error": 1.1920928955078125e-07, + "score": 0.12776896357536316, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6911419630050659, + "candidate_source_group_id": "ms-1f19fd22562f87bdb776;ms-62f8c18a15c566ec4b00;ms-91ad1e8602f14dada73c;ms-57be9ae181c077e7821f;ms-bd90866faa10e62fce2c;ms-5ecde7b64c80d2abbe1f", + "expert_regret": 0.1899625062942505, + "expert_score": 0.2741829752922058, + "expert_success": false, + "group_id": "ms-52f9c8427a88de8dfa6b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.1899625062942505, + "oracle_score": 0.2741829752922058, + "oracle_success": false, + "progress": 0.08422046899795532, + "restore_error": 2.3096799850463867e-07, + "score": 0.08422046899795532, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7603012919425964, + "candidate_source_group_id": "ms-d6cc29ec9fbbc53d0f68;ms-d402ca600d53b2db9dbe;ms-9dbf65115872ab5360e4;ms-ccb8bd419b9cd771d12f;ms-ccc79c981e3a67ebeaf2;ms-2eabcf580547d2c133ce", + "expert_regret": 0.0, + "expert_score": 0.03382353112101555, + "expert_success": false, + "group_id": "ms-20b11e3e581c2a865096", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8098657429218292, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19013425707817078, + "restore_error": 2.3096799850463867e-07, + "score": 0.19013425707817078, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.013184666633606, + "candidate_source_group_id": "ms-31372cdadd8d9da23b8d;ms-44a69da62321224c1df9;ms-f14cda80db7270dd0f86;ms-cbdf12e174c323015f38;ms-c257731ddcf5cf149393;ms-c9a00cd02aa3ea31af1c", + "expert_regret": 0.0, + "expert_score": 0.0, + "expert_success": false, + "group_id": "ms-54fdd49dc2c46e162fc6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.36830583214759827, + "candidate_source_group_id": "ms-abb9a0e2ba0163714374;ms-40bddbc4f8ee1ed19575;ms-7a5970ba19b465cd86c3;ms-97939101c75832eb62cd;ms-bb8ddc9a1e197eb7cee1;ms-2db29812d012d503054a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2377ed2b717d22203e99", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.14227892458438873, + "candidate_source_group_id": "ms-b0d0004818ae853d5bc5;ms-ae5eaf676ba740f3dc07;ms-864a932d1281c7e316af;ms-ecf6837325ac3bc3b66d;ms-2baa5b5b99121cff72c2;ms-40c0e775426e28c3afd9", + "expert_regret": 0.0, + "expert_score": 3.814697265625e-06, + "expert_success": false, + "group_id": "ms-6825a9112cb71ea137c9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5608710646629333, + "candidate_source_group_id": "ms-783ceec205863d92ef8a;ms-e7fcbe2b61632a79fe6a;ms-c57abcef044f324c2f1d;ms-3f6cd47af5e9e6781b73;ms-44e2ba085128234ef9eb;ms-90a840c7cbbfe35e8a67", + "expert_regret": 1.9384861439466476, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-269731d0630cffc1a216", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9384861439466476, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.061513856053352356, + "restore_error": 1.1920928955078125e-07, + "score": 0.061513856053352356, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5009163618087769, + "candidate_source_group_id": "ms-109d9131cce2e94f40c1;ms-147e4106b5d337cefcb2;ms-670a696bd472769ac513;ms-b5ca4a8c438aadab9ec5;ms-4c9ed894520169849bc6;ms-93cbf45c02a304a2f6dc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7fac99962876b33e8d0b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5497530102729797, + "candidate_source_group_id": "ms-0942bb0cc1143a2058f9;ms-64f98d163b6bff29332b;ms-9d943a2732771576e41d;ms-9fad82fd288e4296e354;ms-1fe4b5c84ee5c0e6fcdb;ms-966895e247be1f41daee", + "expert_regret": 1.837142437696457, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-72da580865509f75d6eb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.837142437696457, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1628575623035431, + "restore_error": 1.1920928955078125e-07, + "score": 0.1628575623035431, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.21842847764492035, + "candidate_source_group_id": "ms-ea6878cc654f7f255811;ms-8682e5b9068871041b74;ms-e4656ad3c67bd430c1a6;ms-130f96b49e1bdb7c0e7c;ms-d867fd6ed17aeaa97c2b;ms-79d2ebbe5913e3a72313", + "expert_regret": 0.0, + "expert_score": 0.01401551067829132, + "expert_success": false, + "group_id": "ms-6ffe441e29681c8f116e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6752247214317322, + "candidate_source_group_id": "ms-949bca60825f84d7b5b9;ms-608a539637578968beb3;ms-183174ef761d19fb85d9;ms-2e368b0323bc5ae1cfed;ms-e411015630dcff33d0f7;ms-8278abbc47a6efcb5b68", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-33885f2999b6dbe71f42", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3303948938846588, + "candidate_source_group_id": "ms-8293ae7689b30820278f;ms-a0863466a999b4680737;ms-3b99101d58e538cfbd6d;ms-081952a63087fc8f83cd;ms-f7db0d0ad0967af1d0c5;ms-34ea26afcb2c6fe1a1fe", + "expert_regret": 0.007241234183311462, + "expert_score": 0.12348532676696777, + "expert_success": false, + "group_id": "ms-ad5107846b45eae5a0ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8837559074163437, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11624409258365631, + "restore_error": 1.1920928955078125e-07, + "score": 0.11624409258365631, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7319757342338562, + "candidate_source_group_id": "ms-0e132f1526b2090e440e;ms-25942684dfc6d81c449a;ms-47d33f56890889e86355;ms-98d738638749a1c0999d;ms-5d646fb3dbdcd5443729;ms-2a7f05987ae1fd0fa33d", + "expert_regret": 1.958494320511818, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f6006a647438280a273", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.958494320511818, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04150567948818207, + "restore_error": 1.1920928955078125e-07, + "score": 0.04150567948818207, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4950188100337982, + "candidate_source_group_id": "ms-edeb8cb36d3d06244421;ms-d7cbc8db5f1b69fcd9f9;ms-167bd325bc0845dcaba3;ms-97ccdc4668a995776663;ms-2b27b1ecc0284ec3a993;ms-e2a1bc3e5cd509eb08c2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5c7ab237037e9344a2ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6192970275878906, + "candidate_source_group_id": "ms-de96f1dcca4527c03814;ms-170a9228df2273649f1c;ms-82a5b63ed41420747fb9;ms-0a001f1bda12891b219f;ms-b8f5ebd4732c0274945b;ms-88c39906a4e9c32ec286", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7aaa46eaa657a3179a70", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6107285618782043, + "candidate_source_group_id": "ms-edb1d483ba0ada6fa703;ms-f7db0d0ad0967af1d0c5;ms-be8665e211c9b1cc13b4;ms-940cce8479900a244d54;ms-130188b25b236b6c13fc;ms-918efaf9527826841090", + "expert_regret": 1.9560008496046066, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29fbdaedca6b1e7d233d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9560008496046066, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04399915039539337, + "restore_error": 1.1920928955078125e-07, + "score": 0.04399915039539337, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6985872983932495, + "candidate_source_group_id": "ms-3333e935277a2e1f4e05;ms-733b04f5bd4720d79e99;ms-bc4bf52af94d1469eaee;ms-64b6e9f72ae5e2999f56;ms-14265f08eea0055edff3;ms-ec5819de002710aa5d97", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c333dcd8ec59f2ae8a3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6553367972373962, + "candidate_source_group_id": "ms-949bca60825f84d7b5b9;ms-8278abbc47a6efcb5b68;ms-551020d425c370126f59;ms-2e368b0323bc5ae1cfed;ms-608a539637578968beb3;ms-1fe4b5c84ee5c0e6fcdb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-686b6de62b641e0dba0d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6658691763877869, + "candidate_source_group_id": "ms-048c14d42c3f3b352f53;ms-8293ae7689b30820278f;ms-f7db0d0ad0967af1d0c5;ms-a0863466a999b4680737;ms-081952a63087fc8f83cd;ms-940cce8479900a244d54", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-653181f057aeaeeadfe2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6821543574333191, + "candidate_source_group_id": "ms-316e11b816e8a3495dd9;ms-90a840c7cbbfe35e8a67;ms-33e036c8224f052e6279;ms-44e2ba085128234ef9eb;ms-db2cfd3c0ce8ece8a112;ms-783ceec205863d92ef8a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e333fb7b8697ebeb474e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3525257706642151, + "candidate_source_group_id": "ms-234ce02cf98f85bda72c;ms-fd66d311a01f9c4fc825;ms-6f6c2f554a8e1c33ab32;ms-06c528eb38baee4e31b8;ms-1f195ac1f3ae4b397c71;ms-66d3cc0e17bcbfb5f36e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a699e157f311f764b46", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3183343708515167, + "candidate_source_group_id": "ms-298fc552bfc93c2b32bf;ms-c3191d9c08e5756e90e7;ms-5dab866561f657e9aa8d;ms-f492405ef825467ddcba;ms-f52fe666ef7c9b997778;ms-10a1077a32c1abd486f7", + "expert_regret": 0.0, + "expert_score": 0.19285303354263306, + "expert_success": false, + "group_id": "ms-3c9527725515347ba7de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.31426629424095154, + "candidate_source_group_id": "ms-da66340af8ac9f3852c4;ms-0350672b45f92c437c22;ms-3589c30bbad90d19f2c4;ms-167bd325bc0845dcaba3;ms-edeb8cb36d3d06244421;ms-bb6a2f2ae3014b135b40", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2b4b951e47485c8be41", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.44710010290145874, + "candidate_source_group_id": "ms-147e4106b5d337cefcb2;ms-93cbf45c02a304a2f6dc;ms-670a696bd472769ac513;ms-2b309050ebafdd5a3482;ms-ccccd221a821803e36c5;ms-109d9131cce2e94f40c1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-998ac1af1755510c9229", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4310223460197449, + "candidate_source_group_id": "ms-4f291cdf6a62b9af9e5d;ms-cdca8a6fff0640ab7f16;ms-64b6e9f72ae5e2999f56;ms-d99360c1e4bb4bed6d50;ms-111355c28fcb5ef51167;ms-f49fbce5bf7a0a169f1e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe5a68745bbc6b4256cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.36498337984085083, + "candidate_source_group_id": "ms-7208ab12aba7b4a0da1e;ms-b2c71dc14945b7bd8a60;ms-ee72e3f1115cfb8294ee;ms-2288d0eb01482bc757e5;ms-2ca0290759891500c6bd;ms-16619fc9e4f3627b8dd1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-973f50778408dcecccdd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8584597706794739, + "candidate_source_group_id": "ms-f40f6fe1910a94971980;ms-27c9f70e97b8850cc3ab;ms-23a02f5f0c3f979684ff;ms-2423891634e7b469eed8;ms-281b1eae3c1ac42cb40c;ms-1003d1fe41aba4c8af84", + "expert_regret": 1.962943822145462, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2d9efcce135f0c9d2203", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.962943822145462, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.037056177854537964, + "restore_error": 1.1920928955078125e-07, + "score": 0.037056177854537964, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.49972453713417053, + "candidate_source_group_id": "ms-eccd5c34e1762a33f643;ms-2ba02dcefa15a9371706;ms-a012d1677923703d5a0c;ms-05f34a90fa7355262b8e;ms-864a932d1281c7e316af;ms-8a38529670b19d605663", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-25119a8a2d03c8e71300", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.24254463613033295, + "candidate_source_group_id": "ms-82a203dfa8631639ba7e;ms-f813ff3f9ae188b0259c;ms-5d4b83a1d21ee90ef69f;ms-cf8cc7e3c4481783d5f5;ms-c8593eabfdb5a6bca7bb;ms-5a0da896925f50a1d2ee", + "expert_regret": 0.0, + "expert_score": 0.2145896553993225, + "expert_success": false, + "group_id": "ms-1044e227d00afb01a5dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5704150795936584, + "candidate_source_group_id": "ms-3579b51b91daa627d195;ms-74704688fb63757619e1;ms-54346a8f79bd9dca1dfe;ms-17723f5f0806414eda67;ms-49b9fd364e000bc7d579;ms-933425ede670e8efc04e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f1b05f75f6ad032a0cd1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.439624547958374, + "candidate_source_group_id": "ms-84404222b954c48c48d8;ms-f97fbc8f36f0af9ce18c;ms-698e09998c5dbfa6b7e3;ms-e9bb31726937713db23a;ms-8efd9238ae8d6ca1cd1a;ms-a18cc16207970cd8f84d", + "expert_regret": 1.9402020871639252, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d0005f84908a87243dd6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9402020871639252, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05979791283607483, + "restore_error": 1.1920928955078125e-07, + "score": 0.05979791283607483, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7196608781814575, + "candidate_source_group_id": "ms-5884cb0ce8ef0e034fec;ms-70e24231e9bb560abb3e;ms-fbfbee34b928dbb775da;ms-c109289291b46fd832b3;ms-b4293fc495a608f8063c;ms-17723f5f0806414eda67", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fa637544793129258022", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.29846319556236267, + "candidate_source_group_id": "ms-634dce5b0ce43bfaa04e;ms-4aa2c82355bdbbb93f9d;ms-b929d6015e41aa9a9de8;ms-167bd325bc0845dcaba3;ms-97ccdc4668a995776663;ms-2b309050ebafdd5a3482", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5b5ed3d64cc0c00bac17", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6090079545974731, + "candidate_source_group_id": "ms-1f9a8bf8a8c0882b4039;ms-9d190663aa55bb434720;ms-4c8a03e5d6e3b7a13c29;ms-ce6cbc6d7664766f1285;ms-83b649656afa71ab6bde;ms-fbfbee34b928dbb775da", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ba0d059f1c55c5737e17", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.15599575638771057, + "candidate_source_group_id": "ms-17b435e93391674c7fdd;ms-67f2977ab7d070052b61;ms-b25b49e16e98af4a554c;ms-acfecece1f8160045f0a;ms-65d0541a2ba23a8478fa;ms-a5885ec43a0aa166a0e7", + "expert_regret": 0.0, + "expert_score": 0.06626647710800171, + "expert_success": false, + "group_id": "ms-7cb73c21b0db06dff162", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5596002340316772, + "candidate_source_group_id": "ms-9d1d3a7b2dcafeda3bf3;ms-3a5eaa0095953c9d6241;ms-9d82d1927529dc675bc5;ms-f261341a4a394ae06c69;ms-4dbdc6ed61dccebbfe92;ms-3cb727b6501f5c1a5a16", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69b8e0564f16c652d900", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.48306766152381897, + "candidate_source_group_id": "ms-28a10bea0cf3f917e067;ms-2867deaca7e98582620b;ms-ff08c0b84d984d3d8620;ms-cbdc087c47e35d3d93d9;ms-771e632c1b0f3181ff36;ms-f492405ef825467ddcba", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9fd5ccb16c4e5d0c4579", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7465410232543945, + "candidate_source_group_id": "ms-9915a1632fdf65172a02;ms-3d208c1e04bb84341859;ms-88de0a1035cb8f8ef16a;ms-e2058192b3065ce7dc60;ms-db2cfd3c0ce8ece8a112;ms-d593c823d7fa1cd02635", + "expert_regret": 1.9453376084566116, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a39c5eb6453fab13bb3f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9453376084566116, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05466239154338837, + "restore_error": 1.1920928955078125e-07, + "score": 0.05466239154338837, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.767401397228241, + "candidate_source_group_id": "ms-eb0a75800f4ab451b92e;ms-29788f80c9da2d2d8b4e;ms-3b99101d58e538cfbd6d;ms-889dd046ec7b0fc0a7a4;ms-048c14d42c3f3b352f53;ms-081952a63087fc8f83cd", + "expert_regret": 1.9152712970972061, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65b3fb1b7924487ebe2b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9152712970972061, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08472870290279388, + "restore_error": 1.1920928955078125e-07, + "score": 0.08472870290279388, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5749297738075256, + "candidate_source_group_id": "ms-e8a0577b3fc6f75776b3;ms-81eff749adbf328a93e1;ms-cbdf12e174c323015f38;ms-1aea30e99a4945020cc1;ms-1be8db140ae74d18596f;ms-7f0fb9edfc18e6b83b41", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68dcba1af854c06fc0e6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5700198411941528, + "candidate_source_group_id": "ms-9345a7952bca93b2be95;ms-4c74a17f4d3e6237c0e5;ms-22f6ac0312682d5358b5;ms-a6fbec34b57a97204a37;ms-c16b5cbd61b51f0b66e7;ms-7f0fb9edfc18e6b83b41", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dc6ca032f5df915c7945", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5757805705070496, + "candidate_source_group_id": "ms-7208ab12aba7b4a0da1e;ms-b2c71dc14945b7bd8a60;ms-ee72e3f1115cfb8294ee;ms-2ca0290759891500c6bd;ms-2288d0eb01482bc757e5;ms-eec1c80f2bdd990118d8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-04020456c994946d9a76", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.585867702960968, + "candidate_source_group_id": "ms-0942bb0cc1143a2058f9;ms-64f98d163b6bff29332b;ms-9d943a2732771576e41d;ms-9fad82fd288e4296e354;ms-1fe4b5c84ee5c0e6fcdb;ms-966895e247be1f41daee", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c1f8e861c7c4485c361a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.9851576089859009, + "candidate_source_group_id": "ms-be8665e211c9b1cc13b4;ms-edb1d483ba0ada6fa703;ms-1003d1fe41aba4c8af84;ms-918efaf9527826841090;ms-2423891634e7b469eed8;ms-f7db0d0ad0967af1d0c5", + "expert_regret": 1.9495478421449661, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a75d1290f292d92ca67", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9495478421449661, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.050452157855033875, + "restore_error": 2.384185791015625e-07, + "score": 0.050452157855033875, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.21768435835838318, + "candidate_source_group_id": "ms-fa20766f8a3e706a8ea1;ms-eccd5c34e1762a33f643;ms-2ba02dcefa15a9371706;ms-05f34a90fa7355262b8e;ms-a012d1677923703d5a0c;ms-864a932d1281c7e316af", + "expert_regret": 1.8660841882228851, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fa27eb61283e52488bdb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8660841882228851, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.13391581177711487, + "restore_error": 2.384185791015625e-07, + "score": 0.13391581177711487, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8163213729858398, + "candidate_source_group_id": "ms-0e132f1526b2090e440e;ms-f3b9739bcb72c30a5535;ms-98d738638749a1c0999d;ms-25942684dfc6d81c449a;ms-889dd046ec7b0fc0a7a4;ms-3b99101d58e538cfbd6d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5f722aaecb894444ac4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5248411297798157, + "candidate_source_group_id": "ms-733b04f5bd4720d79e99;ms-3333e935277a2e1f4e05;ms-64b6e9f72ae5e2999f56;ms-3ee8f778784665ea6ee0;ms-cfed5c82c6f4d1c1c3f0;ms-14265f08eea0055edff3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-33dcfa4725ad078cc898", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.818609893321991, + "candidate_source_group_id": "ms-081952a63087fc8f83cd;ms-29788f80c9da2d2d8b4e;ms-34ea26afcb2c6fe1a1fe;ms-8293ae7689b30820278f;ms-3b99101d58e538cfbd6d;ms-048c14d42c3f3b352f53", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-beb40d1c9533f7508aa5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.34244483709335327, + "candidate_source_group_id": "ms-79e8bd81bad486786dc3;ms-2b309050ebafdd5a3482;ms-634dce5b0ce43bfaa04e;ms-670a696bd472769ac513;ms-147e4106b5d337cefcb2;ms-93cbf45c02a304a2f6dc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-272972565b3a686fc999", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7124417424201965, + "candidate_source_group_id": "ms-4401ec9ab8c89fb39f58;ms-d65e80424e917743d9a4;ms-fb23602361466c57dd2d;ms-e825bdad55212cb330da;ms-933425ede670e8efc04e;ms-86909e2391a6a77883b3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-031c526a8690cad1677c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4642127454280853, + "candidate_source_group_id": "ms-940cce8479900a244d54;ms-130188b25b236b6c13fc;ms-f7db0d0ad0967af1d0c5;ms-8293ae7689b30820278f;ms-048c14d42c3f3b352f53;ms-be8665e211c9b1cc13b4", + "expert_regret": 1.90437251329422, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f6174dd8dd65bd736685", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.90437251329422, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09562748670578003, + "restore_error": 2.384185791015625e-07, + "score": 0.09562748670578003, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.729139506816864, + "candidate_source_group_id": "ms-605cecc07e3298489320;ms-44a69da62321224c1df9;ms-ca9a06f00b861bf34c4d;ms-c257731ddcf5cf149393;ms-c9a00cd02aa3ea31af1c;ms-7f22550a9f6707a45cd4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1dd7b6c07218e5e69494", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.49009111523628235, + "candidate_source_group_id": "ms-e6b0ee06238145e2a517;ms-6f6c2f554a8e1c33ab32;ms-4ed913628b5f121bbf34;ms-06c528eb38baee4e31b8;ms-fd66d311a01f9c4fc825;ms-cefef59d2909a69dd709", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d5d38df1f2dbae367af0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5235866904258728, + "candidate_source_group_id": "ms-9d190663aa55bb434720;ms-4c8a03e5d6e3b7a13c29;ms-ce6cbc6d7664766f1285;ms-83b649656afa71ab6bde;ms-1f9a8bf8a8c0882b4039;ms-fbfbee34b928dbb775da", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-238b0d92a2c0a61289b7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7029919624328613, + "candidate_source_group_id": "ms-64b6e9f72ae5e2999f56;ms-4f291cdf6a62b9af9e5d;ms-14265f08eea0055edff3;ms-cdca8a6fff0640ab7f16;ms-bc4bf52af94d1469eaee;ms-d99360c1e4bb4bed6d50", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1e15448c374f47bee884", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7034451365470886, + "candidate_source_group_id": "ms-1f9a8bf8a8c0882b4039;ms-4c8a03e5d6e3b7a13c29;ms-83b649656afa71ab6bde;ms-9d190663aa55bb434720;ms-fbfbee34b928dbb775da;ms-49731d5e69272f3bd959", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f39cb13a5942ca3317d0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5340426564216614, + "candidate_source_group_id": "ms-048c14d42c3f3b352f53;ms-a0863466a999b4680737;ms-940cce8479900a244d54;ms-f7db0d0ad0967af1d0c5;ms-8293ae7689b30820278f;ms-3b99101d58e538cfbd6d", + "expert_regret": 1.9407232105731964, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4d96769e78d7391e43f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9407232105731964, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05927678942680359, + "restore_error": 1.1920928955078125e-07, + "score": 0.05927678942680359, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8171297311782837, + "candidate_source_group_id": "ms-8293ae7689b30820278f;ms-048c14d42c3f3b352f53;ms-3b99101d58e538cfbd6d;ms-a0863466a999b4680737;ms-081952a63087fc8f83cd;ms-29788f80c9da2d2d8b4e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2f6b95c91f5d672d3a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5001031756401062, + "candidate_source_group_id": "ms-42f077d286655b676709;ms-9574e0bf814256a11f3e;ms-86909e2391a6a77883b3;ms-b8f5ebd4732c0274945b;ms-30caf93619a0e2f94eae;ms-170a9228df2273649f1c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a631a8d6314b7547f71f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.26511549949645996, + "candidate_source_group_id": "ms-234ce02cf98f85bda72c;ms-1f195ac1f3ae4b397c71;ms-fd66d311a01f9c4fc825;ms-66d3cc0e17bcbfb5f36e;ms-351f07141fc0a8885759;ms-5816c255ea56bc8a63c3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-60a0de44d30044ef60ff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5317700505256653, + "candidate_source_group_id": "ms-847200a83b8ce5835fd9;ms-ccccd221a821803e36c5;ms-06c528eb38baee4e31b8;ms-5383e9b606cc63b724ab;ms-cefef59d2909a69dd709;ms-234ce02cf98f85bda72c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0818eb8cc217c9b3040a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6017632484436035, + "candidate_source_group_id": "ms-4c8a03e5d6e3b7a13c29;ms-83b649656afa71ab6bde;ms-1f9a8bf8a8c0882b4039;ms-fbfbee34b928dbb775da;ms-9d190663aa55bb434720;ms-49731d5e69272f3bd959", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-70dd7025d2b038824c72", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.18110279738903046, + "candidate_source_group_id": "ms-916b66e56329dbd05b29;ms-351f07141fc0a8885759;ms-39f133217cde17cf4465;ms-f83aacaa71f0151421c7;ms-66d3cc0e17bcbfb5f36e;ms-1f195ac1f3ae4b397c71", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bb9f2f5b67bbb7e0f516", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7342977523803711, + "candidate_source_group_id": "ms-9915a1632fdf65172a02;ms-cece69f5a160c40d613a;ms-db41eac14b49855e7e58;ms-a83154b77975bca93e5e;ms-d593c823d7fa1cd02635;ms-dab80e1bb7987577e33d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e31553038464afab4ec1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4468461573123932, + "candidate_source_group_id": "ms-702a28f36df5dbbbe010;ms-7a50dd49897a83a22282;ms-4711dffcd73048a3656c;ms-c3191d9c08e5756e90e7;ms-f52fe666ef7c9b997778;ms-ad4cbad05e1be65b72ad", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ffdca676bf6a4ccaf640", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5229363441467285, + "candidate_source_group_id": "ms-4dbdc6ed61dccebbfe92;ms-9d1d3a7b2dcafeda3bf3;ms-3cb727b6501f5c1a5a16;ms-d5f6186b51268063515e;ms-9d82d1927529dc675bc5;ms-09bceb938cc530125601", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-98d8d5d728ee4cff6776", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.11117972433567047, + "candidate_source_group_id": "ms-abb9a0e2ba0163714374;ms-f044b20b0f2bb0983f5a;ms-4711dffcd73048a3656c;ms-97939101c75832eb62cd;ms-84bc79aab8423997e8c4;ms-ea694828fcd81abbbc7a", + "expert_regret": 0.0, + "expert_score": 0.18189409375190735, + "expert_success": false, + "group_id": "ms-7530a944fb0979ba91e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.15758708119392395, + "candidate_source_group_id": "ms-5a0da896925f50a1d2ee;ms-f813ff3f9ae188b0259c;ms-82a203dfa8631639ba7e;ms-c8593eabfdb5a6bca7bb;ms-cf8cc7e3c4481783d5f5;ms-5d4b83a1d21ee90ef69f", + "expert_regret": 0.0, + "expert_score": 0.07371273636817932, + "expert_success": false, + "group_id": "ms-bad55a54ecb4349a5323", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6243085265159607, + "candidate_source_group_id": "ms-2db29812d012d503054a;ms-f044b20b0f2bb0983f5a;ms-ce6cbc6d7664766f1285;ms-9d190663aa55bb434720;ms-bb8ddc9a1e197eb7cee1;ms-abb9a0e2ba0163714374", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-157e8e3ee1b0de1840d3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.26468053460121155, + "candidate_source_group_id": "ms-e8a0577b3fc6f75776b3;ms-81eff749adbf328a93e1;ms-cbdf12e174c323015f38;ms-1be8db140ae74d18596f;ms-44a69da62321224c1df9;ms-b187043687d88d509fc7", + "expert_regret": 0.0, + "expert_score": 0.0793772041797638, + "expert_success": false, + "group_id": "ms-b8bfdd3e6c31bd98082d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5644981265068054, + "candidate_source_group_id": "ms-17723f5f0806414eda67;ms-a40d644441c878ac5292;ms-ce6cbc6d7664766f1285;ms-70e24231e9bb560abb3e;ms-9d190663aa55bb434720;ms-fbfbee34b928dbb775da", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2a4611f1099507f9babf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6579678654670715, + "candidate_source_group_id": "ms-5884cb0ce8ef0e034fec;ms-c109289291b46fd832b3;ms-b4293fc495a608f8063c;ms-7c72cdc319220ea76854;ms-70e24231e9bb560abb3e;ms-fbfbee34b928dbb775da", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7dd90f1575d9612c456c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.32486656308174133, + "candidate_source_group_id": "ms-ff08c0b84d984d3d8620;ms-cbdc087c47e35d3d93d9;ms-31880fb2dfed92c021ef;ms-b5f45644a5e3ed45c86d;ms-fc8084d5cd7da937fc02;ms-85a4fc6e131dacc9d839", + "expert_regret": 0.0, + "expert_score": 0.11025479435920715, + "expert_success": false, + "group_id": "ms-ec5ac79449116b0a30c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7073019742965698, + "candidate_source_group_id": "ms-cbdf12e174c323015f38;ms-e8a0577b3fc6f75776b3;ms-44a69da62321224c1df9;ms-60c02d02de5f1e91124f;ms-f14cda80db7270dd0f86;ms-87f2f63d694d8ccca7f8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01fe80a36517a246929d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4691568911075592, + "candidate_source_group_id": "ms-4f291cdf6a62b9af9e5d;ms-cdca8a6fff0640ab7f16;ms-111355c28fcb5ef51167;ms-64b6e9f72ae5e2999f56;ms-f49fbce5bf7a0a169f1e;ms-d99360c1e4bb4bed6d50", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b5dee7bdaf34270e6515", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.9018881916999817, + "candidate_source_group_id": "ms-29788f80c9da2d2d8b4e;ms-a83154b77975bca93e5e;ms-34ea26afcb2c6fe1a1fe;ms-b559638a0a726e441847;ms-db41eac14b49855e7e58;ms-cece69f5a160c40d613a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1371e0e5fe7f126bbea2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1219305768609047, + "candidate_source_group_id": "ms-ea694828fcd81abbbc7a;ms-84bc79aab8423997e8c4;ms-e63468cc3772da77cc67;ms-c84dbd2afb3321e2f43c;ms-40bddbc4f8ee1ed19575;ms-86508eb5d360c56023e1", + "expert_regret": 0.0, + "expert_score": 0.14765234291553497, + "expert_success": false, + "group_id": "ms-f985a8cb6c13af7df7ba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6779971718788147, + "candidate_source_group_id": "ms-98d738638749a1c0999d;ms-b559638a0a726e441847;ms-25942684dfc6d81c449a;ms-33e036c8224f052e6279;ms-2a7f05987ae1fd0fa33d;ms-0b13513f98f2d3def73a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e4a99e5ef340bcc181c9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.27988916635513306, + "candidate_source_group_id": "ms-fc2e1272ed035d0b9066;ms-663c7e7fdaea6a945a2b;ms-4096e2d9cf2e9d4943c7;ms-a2766876467c8fbd5379;ms-2a738f03ee216527dfa6;ms-fc8084d5cd7da937fc02", + "expert_regret": 0.046813711524009705, + "expert_score": 0.20761503279209137, + "expert_success": false, + "group_id": "ms-22cfd6a9a619133478b6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8391986787319183, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16080132126808167, + "restore_error": 1.1920928955078125e-07, + "score": 0.16080132126808167, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5117210149765015, + "candidate_source_group_id": "ms-2e237a4b84b582828c37;ms-b25b49e16e98af4a554c;ms-a5885ec43a0aa166a0e7;ms-130f96b49e1bdb7c0e7c;ms-65d0541a2ba23a8478fa;ms-e4656ad3c67bd430c1a6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b813b6035f0425892bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.33728671073913574, + "candidate_source_group_id": "ms-74f12c8d99a319a9d020;ms-9ac0a7f45996f7326682;ms-c9568dec28405d273943;ms-adf081811af7bca643a1;ms-16619fc9e4f3627b8dd1;ms-c4a78f303c7f2b1a437b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cffdaeae3b980aaeb8f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.45661047101020813, + "candidate_source_group_id": "ms-0942bb0cc1143a2058f9;ms-64f98d163b6bff29332b;ms-9d943a2732771576e41d;ms-1fe4b5c84ee5c0e6fcdb;ms-551020d425c370126f59;ms-9fad82fd288e4296e354", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d4ee30bf4815d04c391", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.436821311712265, + "candidate_source_group_id": "ms-847200a83b8ce5835fd9;ms-ccccd221a821803e36c5;ms-634dce5b0ce43bfaa04e;ms-93cbf45c02a304a2f6dc;ms-2b309050ebafdd5a3482;ms-b5ca4a8c438aadab9ec5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3e17d03f9d640185853b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5504411458969116, + "candidate_source_group_id": "ms-411a6db8809ff09857ff;ms-847200a83b8ce5835fd9;ms-39f133217cde17cf4465;ms-ccccd221a821803e36c5;ms-d97538effd225a910367;ms-234ce02cf98f85bda72c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-579eb7a700037d011e3f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.22328822314739227, + "candidate_source_group_id": "ms-f12b50fed09bbbf6c039;ms-f8a4e83bdb9d628ac483;ms-365d8c6de6de16f66744;ms-86508eb5d360c56023e1;ms-dae29d741eb65a2fc4b3;ms-0be67b60c98e4f3e692f", + "expert_regret": 0.0, + "expert_score": 0.18926367163658142, + "expert_success": false, + "group_id": "ms-07aa7d1f9c01e93d04bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.657413899898529, + "candidate_source_group_id": "ms-1f9a8bf8a8c0882b4039;ms-7a5970ba19b465cd86c3;ms-b187043687d88d509fc7;ms-ce6cbc6d7664766f1285;ms-9d190663aa55bb434720;ms-bb8ddc9a1e197eb7cee1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ab5681ebeef5851f5ceb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8006273508071899, + "candidate_source_group_id": "ms-081952a63087fc8f83cd;ms-29788f80c9da2d2d8b4e;ms-cece69f5a160c40d613a;ms-b559638a0a726e441847;ms-0b13513f98f2d3def73a;ms-34ea26afcb2c6fe1a1fe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f2f594b2492898e947f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2921546399593353, + "candidate_source_group_id": "ms-79e8bd81bad486786dc3;ms-68054c6c805197b033a7;ms-2b309050ebafdd5a3482;ms-4a4de470c6c7cb5a3c34;ms-5df972e5e36afb67a009;ms-634dce5b0ce43bfaa04e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b6189cefdca2110b96a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5971854329109192, + "candidate_source_group_id": "ms-0942bb0cc1143a2058f9;ms-64f98d163b6bff29332b;ms-1fe4b5c84ee5c0e6fcdb;ms-551020d425c370126f59;ms-8278abbc47a6efcb5b68;ms-2e368b0323bc5ae1cfed", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-027592312fc833e8768d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1076722964644432, + "candidate_source_group_id": "ms-234ce02cf98f85bda72c;ms-66d3cc0e17bcbfb5f36e;ms-351f07141fc0a8885759;ms-1f195ac1f3ae4b397c71;ms-39f133217cde17cf4465;ms-916b66e56329dbd05b29", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6d48ff55845b6759a8c4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.24472643435001373, + "candidate_source_group_id": "ms-b0d0004818ae853d5bc5;ms-40c0e775426e28c3afd9;ms-c16b5cbd61b51f0b66e7;ms-ecf6837325ac3bc3b66d;ms-2baa5b5b99121cff72c2;ms-ae5eaf676ba740f3dc07", + "expert_regret": 0.0, + "expert_score": 2.60770320892334e-06, + "expert_success": false, + "group_id": "ms-22f153f0d4fa656018e6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.41700097918510437, + "candidate_source_group_id": "ms-93cbf45c02a304a2f6dc;ms-147e4106b5d337cefcb2;ms-2b309050ebafdd5a3482;ms-ccccd221a821803e36c5;ms-670a696bd472769ac513;ms-109d9131cce2e94f40c1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-20bc116cad15b072a2ea", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6515932083129883, + "candidate_source_group_id": "ms-383c0d1f90c5a0b55e07;ms-c10cf873dd3f68d97755;ms-e411015630dcff33d0f7;ms-9f33c55b8e06fcb5e21e;ms-183174ef761d19fb85d9;ms-3028df2c22f4c029b533", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7f5fe657331466b2e262", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7604418992996216, + "candidate_source_group_id": "ms-29788f80c9da2d2d8b4e;ms-b559638a0a726e441847;ms-a83154b77975bca93e5e;ms-cece69f5a160c40d613a;ms-34ea26afcb2c6fe1a1fe;ms-33e036c8224f052e6279", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1188a1b8e0ac31187b3b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5113476514816284, + "candidate_source_group_id": "ms-f7db0d0ad0967af1d0c5;ms-130188b25b236b6c13fc;ms-940cce8479900a244d54;ms-3b99101d58e538cfbd6d;ms-048c14d42c3f3b352f53;ms-a0863466a999b4680737", + "expert_regret": 1.9414363652467728, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f09be6d8353d3d53a44e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9414363652467728, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.058563634753227234, + "restore_error": 1.1920928955078125e-07, + "score": 0.058563634753227234, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5243722200393677, + "candidate_source_group_id": "ms-adf081811af7bca643a1;ms-c4a78f303c7f2b1a437b;ms-674d9e270ff9ba879886;ms-9d943a2732771576e41d;ms-fb7c4ead34050a60dbdd;ms-07321628f307d0c91b44", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e95a64701812302bd039", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2838391363620758, + "candidate_source_group_id": "ms-f97fbc8f36f0af9ce18c;ms-e9bb31726937713db23a;ms-84404222b954c48c48d8;ms-a18cc16207970cd8f84d;ms-698e09998c5dbfa6b7e3;ms-8efd9238ae8d6ca1cd1a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d23082fdeffba7cba51", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5758516192436218, + "candidate_source_group_id": "ms-5816c255ea56bc8a63c3;ms-fd66d311a01f9c4fc825;ms-6f6c2f554a8e1c33ab32;ms-79c57793f8c7523b59fc;ms-06c528eb38baee4e31b8;ms-80269804728c7aaaf9a7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c8ffa7d45ed61e2b94d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.49823763966560364, + "candidate_source_group_id": "ms-c3191d9c08e5756e90e7;ms-4711dffcd73048a3656c;ms-10a1077a32c1abd486f7;ms-9b50c72d20e7510258b8;ms-5dab866561f657e9aa8d;ms-f52fe666ef7c9b997778", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5ae7b4d324285dfe6e80", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7389379143714905, + "candidate_source_group_id": "ms-847200a83b8ce5835fd9;ms-5383e9b606cc63b724ab;ms-ccccd221a821803e36c5;ms-2b309050ebafdd5a3482;ms-634dce5b0ce43bfaa04e;ms-5df972e5e36afb67a009", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a102c1d0334bab9656e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2721920311450958, + "candidate_source_group_id": "ms-7fc804389bb1de250c84;ms-8efd9238ae8d6ca1cd1a;ms-680b80c5d2872be1e66a;ms-a18cc16207970cd8f84d;ms-f97fbc8f36f0af9ce18c;ms-84404222b954c48c48d8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c8902580575f6effb241", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6624695658683777, + "candidate_source_group_id": "ms-74704688fb63757619e1;ms-3579b51b91daa627d195;ms-49b9fd364e000bc7d579;ms-17723f5f0806414eda67;ms-54346a8f79bd9dca1dfe;ms-f044b20b0f2bb0983f5a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-79636173ebff4c91da03", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4283698499202728, + "candidate_source_group_id": "ms-aec40fad850827331244;ms-eea4df1b36e8a31b40a3;ms-ecf6837325ac3bc3b66d;ms-b0d0004818ae853d5bc5;ms-09bceb938cc530125601;ms-fae97eb60014b2866413", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ba0ee0c9c181cdc7de9d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.28850695490837097, + "candidate_source_group_id": "ms-2ca0290759891500c6bd;ms-fc8084d5cd7da937fc02;ms-346494921f998d7a48ab;ms-4410b778c34b05366011;ms-ee72e3f1115cfb8294ee;ms-7838ea128d16b455b2f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a649d9cf4fba45822ad9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.17898061871528625, + "candidate_source_group_id": "ms-1a9e9bcd6cbae272a459;ms-d7254aa722729aa1a031;ms-96ebb8e6e71464ac9172;ms-e2f303a0d1e6017e1fc4;ms-0a4d4909900fb0bc4a9a;ms-a50b6ab3c59b1c953197", + "expert_regret": 1.1419830322265625, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-511bcece89a5ea3b849e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1419830322265625, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8580169677734375, + "restore_error": 1.1920928955078125e-07, + "score": 0.8580169677734375, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7558917999267578, + "candidate_source_group_id": "ms-bdc0e2b6d589c1d90d69;ms-546f8817db5b76b563f0;ms-edf898278a0dd01a5b37;ms-80a997bc4867e103fe34;ms-578fc3b8cbdbe6b0542f;ms-c9c7a51e43dd2c33de08", + "expert_regret": 1.1863604187965393, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5c52a7bf5a1abb1a1517", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1863604187965393, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8136395812034607, + "restore_error": 1.1920928955078125e-07, + "score": 0.8136395812034607, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.19889672100543976, + "candidate_source_group_id": "ms-7d484dd14e9d001a07b1;ms-df6a1fb4b1ccbb410b4c;ms-4dd3c4d0161d01abb6d4;ms-804705b564058a7ac34c;ms-728ce6cbfd4c82607908;ms-e95a846b4e77792e3e6f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-62601bc1741cf8792326", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.34492406249046326, + "candidate_source_group_id": "ms-0b1dd0e538b8df15a6e4;ms-dc4738f9c7a8af86722d;ms-d50a82b8770f333f1947;ms-ecb37ebbab21a506d8ca;ms-e3bbabc7ac3950eb91a2;ms-c9804ff90a86259f7149", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ba1dca497a16134eeed8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7565348744392395, + "candidate_source_group_id": "ms-f2a349cfaa6f7422237b;ms-a50b6ab3c59b1c953197;ms-e2f303a0d1e6017e1fc4;ms-9dd1ff4c297a81b13071;ms-0a4d4909900fb0bc4a9a;ms-71e32140ee4d77f3b275", + "expert_regret": 0.7611556351184845, + "expert_score": 0.78147292137146, + "expert_success": false, + "group_id": "ms-dd9b840c99c305ac1977", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.7611556351184845, + "oracle_score": 0.78147292137146, + "oracle_success": false, + "progress": 0.020317286252975464, + "restore_error": 1.1920928955078125e-07, + "score": 0.020317286252975464, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7798417210578918, + "candidate_source_group_id": "ms-95950ddf57046910494b;ms-783f5e7f8c889bef010e;ms-82b267d663e8400d19ca;ms-036f329c4a881ff59e5f;ms-3ec29a5b20bd65943255;ms-12ea343fddf9f6e6b9e8", + "expert_regret": 1.4000032544136047, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-207e9a9f9123d6c3eeb6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4000032544136047, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5999967455863953, + "restore_error": 1.1920928955078125e-07, + "score": 0.5999967455863953, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.19503512978553772, + "candidate_source_group_id": "ms-38ed02dacc133a888d3a;ms-ecc526493f8048cf4c56;ms-0c490961b934978e5b1c;ms-b6ce87522fcc35b563c7;ms-02aa62c077c9d4f86e61;ms-2c6ff8d807763f665bac", + "expert_regret": 0.6858774125576019, + "expert_score": 0.8573464751243591, + "expert_success": false, + "group_id": "ms-146ff6c3f22b3a49af3a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8285309374332428, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1714690625667572, + "restore_error": 1.1920928955078125e-07, + "score": 0.1714690625667572, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6142809987068176, + "candidate_source_group_id": "ms-77c4a01dcf26dcd8f0f3;ms-c9c7a51e43dd2c33de08;ms-edf898278a0dd01a5b37;ms-fb0e4c4b9775d8121124;ms-6bd5870eb5ff0dd76919;ms-546f8817db5b76b563f0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bf2b9cc05ccb6bce0d30", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.11001671850681305, + "candidate_source_group_id": "ms-4c788310cab7df5251e1;ms-96ebb8e6e71464ac9172;ms-dc26a7037003b94b9f93;ms-a2ee6034df65b51c4d97;ms-141aab4472db1ecc0ea2;ms-0e7f710fb5e661e71fd3", + "expert_regret": 1.186584234237671, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-499d2429a00f3cc35add", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.186584234237671, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8134157657623291, + "restore_error": 1.1920928955078125e-07, + "score": 0.8134157657623291, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5004614591598511, + "candidate_source_group_id": "ms-b75d7924ddc6f1056f17;ms-97343fa03fd05700c270;ms-1e17eb687986f7c5bc22;ms-141aab4472db1ecc0ea2;ms-e7959111ef1429bcf699;ms-a2ee6034df65b51c4d97", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d5da9bf431cb1294c82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2486201822757721, + "candidate_source_group_id": "ms-9ad3b276d9ccaf668d30;ms-f2259eac5ed12ee61c19;ms-0ea6d57781e366b578c1;ms-94b9114b294d56e3f88a;ms-9c7464444eaec0fa07c0;ms-9ae5c6c4132218ecf49e", + "expert_regret": 0.6486964225769043, + "expert_score": 0.8447976112365723, + "expert_success": false, + "group_id": "ms-1cb54e3347c49dcdf28e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.661098301410675, + "oracle_score": 0.857199490070343, + "oracle_success": false, + "progress": 0.19610118865966797, + "restore_error": 1.1920928955078125e-07, + "score": 0.19610118865966797, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6537766456604004, + "candidate_source_group_id": "ms-77c4a01dcf26dcd8f0f3;ms-733f43f6aaed1e84c020;ms-06e6e1db86d9e82e56cf;ms-6c8d06bace98a28a8e4e;ms-68067370d3b20b9bd4e2;ms-5bddb39f792f20e5e6d4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-39cea5dde6dc1718d478", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6892543435096741, + "candidate_source_group_id": "ms-02aa62c077c9d4f86e61;ms-060d5756eac8f17652ee;ms-0c490961b934978e5b1c;ms-0fce9fe598d9ed1471b1;ms-4bbd30ae37fda61aa3c2;ms-ffaf8ddbbe21af6dea95", + "expert_regret": 1.8559570610523224, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-89782a37ecf6a44d23dc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8559570610523224, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1440429389476776, + "restore_error": 1.1920928955078125e-07, + "score": 0.1440429389476776, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8554337620735168, + "candidate_source_group_id": "ms-6ab6c8a66fc509e2113e;ms-8f84a0371a7ac44c1b1a;ms-12ea343fddf9f6e6b9e8;ms-76774eb92b50132c54b6;ms-5a32c809ed679663dcb1;ms-f3f100caf89a2487faaf", + "expert_regret": 0.0, + "expert_score": 0.19744239747524261, + "expert_success": false, + "group_id": "ms-eaccbf417256e38345aa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.19744239747524261, + "oracle_success": false, + "progress": 0.5779617428779602, + "restore_error": 1.1920928955078125e-07, + "score": 0.5779617428779602, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.554486870765686, + "candidate_source_group_id": "ms-dab618f516ccc10f176e;ms-54f7cae3bd3cb84062d3;ms-b1b98e21cd4886f70563;ms-a2a546ebe0d1283df0f0;ms-3afd8959363e917591d4;ms-bb70aa617f82f530d42e", + "expert_regret": 1.2152548432350159, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cba80792e163a5084a92", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.2152548432350159, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7847451567649841, + "restore_error": 1.1920928955078125e-07, + "score": 0.7847451567649841, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4085889458656311, + "candidate_source_group_id": "ms-20976520a892ae80760a;ms-0949097d19e597fc7f63;ms-0cdb564903c69734321f;ms-58e6bcca0d74ea38d3dc;ms-76774eb92b50132c54b6;ms-01f463a409e2ec0c6c3e", + "expert_regret": 1.1645216941833496, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2e683dfff18ef7e90d7d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1645216941833496, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8354783058166504, + "restore_error": 1.1920928955078125e-07, + "score": 0.8354783058166504, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8121731877326965, + "candidate_source_group_id": "ms-4734f618e638d42bae46;ms-7ab0027224139e5332d5;ms-741c227f6249d1c8c9f1;ms-15fc8cc6f74cf589056f;ms-8d02415bb9af319f215a;ms-ee2fcbc94d41385713d0", + "expert_regret": 1.8404345512390137, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4cab45c9b21452c1b523", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8404345512390137, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.15956544876098633, + "restore_error": 1.1920928955078125e-07, + "score": 0.15956544876098633, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.14879107475280762, + "candidate_source_group_id": "ms-554f2960f25ff627b596;ms-77536801924a2a78688e;ms-4b6cf86fc2450321163a;ms-a5eb6b813b57d14f6573;ms-88070bf04696eceac1e9;ms-63f384579c130870fde3", + "expert_regret": 0.0, + "expert_score": 0.8376391530036926, + "expert_success": false, + "group_id": "ms-49e1584a68d8f465e8e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.299485206604004, + "candidate_source_group_id": "ms-7fc5696cb3dc7b9bb9f7;ms-86b55250e01b9b6fba7e;ms-0f2cd78c21a012784e1b;ms-350716d0809bd7ef12df;ms-573ab0ef1d4166be9b54;ms-97cdb4c400ad4ae36518", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0b6ba12f99b3554c0e88", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2377147376537323, + "candidate_source_group_id": "ms-1e25b12c832314a0b015;ms-cb752f1a3b24f95b34a2;ms-fe22e55457c78877c2d9;ms-f774646335321f6c5980;ms-54b553c42a8d825beb38;ms-4c6a9b0840052fd62261", + "expert_regret": 1.803249642252922, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b3a1c65d7357ca4300b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.803249642252922, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19675035774707794, + "restore_error": 1.1920928955078125e-07, + "score": 0.19675035774707794, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9221860766410828, + "candidate_source_group_id": "ms-b651d43182be35524aad;ms-5e19aac5dcd26c992bfd;ms-0c2f2dc98424b6704c79;ms-b2b93411a16dbb5d4202;ms-9e96728c711ffe98fe69;ms-97cdb4c400ad4ae36518", + "expert_regret": 1.421859323978424, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7c300541f4986f403b47", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.421859323978424, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5781406760215759, + "restore_error": 1.1920928955078125e-07, + "score": 0.5781406760215759, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.17549775540828705, + "candidate_source_group_id": "ms-7ee2d50e0788ccf0cdec;ms-12ea343fddf9f6e6b9e8;ms-3ec29a5b20bd65943255;ms-c9edb3f445256b0d5341;ms-f9148dff7961fa66a8a1;ms-f50f1c1b673d0c96d4ce", + "expert_regret": 0.0, + "expert_score": 0.8328490257263184, + "expert_success": false, + "group_id": "ms-ed6314fb8f69f956daf6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.8351536393165588, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6547784805297852, + "candidate_source_group_id": "ms-185c13ec401a35f393b7;ms-20ab0b7fffdbb23e6d53;ms-3278c343e1bdece2f252;ms-b8492a3a812095651d75;ms-180d0e0a6315a06a7021;ms-4dc0defd156f4c30aaf8", + "expert_regret": 1.8318179249763489, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fffe17005e577cb2ac1c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8318179249763489, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16818207502365112, + "restore_error": 1.1920928955078125e-07, + "score": 0.16818207502365112, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.07438642531633377, + "candidate_source_group_id": "ms-6b2df24ea06ce2cdfb5e;ms-bb742574fc7cfaea26d0;ms-5c8151ea6809f3c331e5;ms-fc9523f9953b1b5bfbcd;ms-0f7cd7813265e3795e0a;ms-a3df9ead5a29798665a5", + "expert_regret": 0.04319024085998535, + "expert_score": 0.8572937250137329, + "expert_success": false, + "group_id": "ms-d368732bc01f4100cf07", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.1858965158462524, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8141034841537476, + "restore_error": 1.1920928955078125e-07, + "score": 0.8141034841537476, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7913123965263367, + "candidate_source_group_id": "ms-97e2c618a3045e0a759e;ms-f2259eac5ed12ee61c19;ms-0ea6d57781e366b578c1;ms-269815a0f9c1a1ba5a6b;ms-8c67f938fb3d0264393c;ms-d4c5d7eea19d94314e2e", + "expert_regret": 1.392128348350525, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e0e2a425cce52e820a7e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.392128348350525, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6078716516494751, + "restore_error": 1.1920928955078125e-07, + "score": 0.6078716516494751, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6226480603218079, + "candidate_source_group_id": "ms-4dd3c4d0161d01abb6d4;ms-e95a846b4e77792e3e6f;ms-7bdf9cab1f7071533bbc;ms-aa7cc7e3e5eb86e58ee9;ms-a9eb9fab62fb296d2cf3;ms-bc96a8973358d1c20ed3", + "expert_regret": 1.9459345042705536, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-797db95b24deab760f10", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9459345042705536, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05406549572944641, + "restore_error": 1.1920928955078125e-07, + "score": 0.05406549572944641, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9369173049926758, + "candidate_source_group_id": "ms-da2f79e022bb63a2af11;ms-741c227f6249d1c8c9f1;ms-15fc8cc6f74cf589056f;ms-0ccc81e9a63663c50096;ms-a7760c53ebe20579190e;ms-8d02415bb9af319f215a", + "expert_regret": 1.81567744910717, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65a8786e4fb1527342f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.81567744910717, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1843225508928299, + "restore_error": 1.1920928955078125e-07, + "score": 0.1843225508928299, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2548729181289673, + "candidate_source_group_id": "ms-9dd1ff4c297a81b13071;ms-7fba35a6c125e88b8f54;ms-cc52efdf7f7b9efb1f9e;ms-ce827a7939377a151af9;ms-71e32140ee4d77f3b275;ms-500ed73f6d891e237b30", + "expert_regret": 0.7210763692855835, + "expert_score": 0.8358147144317627, + "expert_success": false, + "group_id": "ms-07b479748a91a9c92b20", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8852616548538208, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1147383451461792, + "restore_error": 1.1920928955078125e-07, + "score": 0.1147383451461792, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8183842301368713, + "candidate_source_group_id": "ms-88d7cbdbd7c9636e456f;ms-efdc07c985935d871adf;ms-37d6b220ad58fb776f7b;ms-be0ca7fa48a7ea391aa8;ms-88070bf04696eceac1e9;ms-a5eb6b813b57d14f6573", + "expert_regret": 1.796819195151329, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-00ce5c82d2af61a7d7e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.796819195151329, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20318080484867096, + "restore_error": 1.1920928955078125e-07, + "score": 0.20318080484867096, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.42736250162124634, + "candidate_source_group_id": "ms-dc26a7037003b94b9f93;ms-df6a1fb4b1ccbb410b4c;ms-b1ea4f7f813ac0c87079;ms-c72d626356a30cbef93b;ms-4c788310cab7df5251e1;ms-141aab4472db1ecc0ea2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-921a0cd2d5ef7e70229a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0522003173828125, + "candidate_source_group_id": "ms-625f1a55bfa2bcd57e24;ms-0949097d19e597fc7f63;ms-caa5773983c25018c3f8;ms-0cdb564903c69734321f;ms-571d878853654c42a521;ms-4048f8f6e047422e3c79", + "expert_regret": 1.8166356086730957, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1cba14e90a2d067bc198", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8166356086730957, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1833643913269043, + "restore_error": 1.1920928955078125e-07, + "score": 0.1833643913269043, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.41911599040031433, + "candidate_source_group_id": "ms-bb742574fc7cfaea26d0;ms-0f7cd7813265e3795e0a;ms-6b2df24ea06ce2cdfb5e;ms-5c8151ea6809f3c331e5;ms-fc9523f9953b1b5bfbcd;ms-a3df9ead5a29798665a5", + "expert_regret": 1.8152623176574707, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f6bfe2d3d8f8956091a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8152623176574707, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1847376823425293, + "restore_error": 1.1920928955078125e-07, + "score": 0.1847376823425293, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0133451223373413, + "candidate_source_group_id": "ms-4d687a60b9ce1f0f1ddd;ms-01094af881b751ef29aa;ms-bfb169ce850eae1c3995;ms-da5f2c1dbafa907d725b;ms-a50b6ab3c59b1c953197;ms-3cdc09425d5b71524854", + "expert_regret": 0.6479790359735489, + "expert_score": 0.8434419631958008, + "expert_success": false, + "group_id": "ms-44940e96c327541acf19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.6479790359735489, + "oracle_score": 0.8434419631958008, + "oracle_success": false, + "progress": 0.1954629272222519, + "restore_error": 1.1920928955078125e-07, + "score": 0.1954629272222519, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.3021562099456787, + "candidate_source_group_id": "ms-fc9523f9953b1b5bfbcd;ms-e2a5f29a9c0d835f3cd8;ms-f0fdcc26c648ce089746;ms-5c8151ea6809f3c331e5;ms-6b2df24ea06ce2cdfb5e;ms-0f7cd7813265e3795e0a", + "expert_regret": 1.4506758451461792, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc99c1baec671e7f85a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4506758451461792, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5493241548538208, + "restore_error": 1.1920928955078125e-07, + "score": 0.5493241548538208, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0044939517974854, + "candidate_source_group_id": "ms-fe22e55457c78877c2d9;ms-4c6a9b0840052fd62261;ms-d4c5d7eea19d94314e2e;ms-269815a0f9c1a1ba5a6b;ms-7bdf9cab1f7071533bbc;ms-1e25b12c832314a0b015", + "expert_regret": 1.789390116930008, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-787b74c3c67428d63b72", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.789390116930008, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21060988306999207, + "restore_error": 1.1920928955078125e-07, + "score": 0.21060988306999207, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.163624882698059, + "candidate_source_group_id": "ms-c9804ff90a86259f7149;ms-fd2387aeed9bfc9a0d08;ms-dc4738f9c7a8af86722d;ms-a4e3e9c634e92a46fc15;ms-652234a929b7ed4d3b23;ms-a40882954ff51b61c49c", + "expert_regret": 1.8215138912200928, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-983f35821c4f83c6e4bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8215138912200928, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17848610877990723, + "restore_error": 1.1920928955078125e-07, + "score": 0.17848610877990723, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1892651468515396, + "candidate_source_group_id": "ms-68067370d3b20b9bd4e2;ms-63f384579c130870fde3;ms-554f2960f25ff627b596;ms-a5eb6b813b57d14f6573;ms-88070bf04696eceac1e9;ms-d1960368ef76bbb10669", + "expert_regret": 0.6704991012811661, + "expert_score": 0.8355538845062256, + "expert_success": false, + "group_id": "ms-3c87c16acc91c68c522f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.6706283837556839, + "oracle_score": 0.8356831669807434, + "oracle_success": false, + "progress": 0.1650547832250595, + "restore_error": 1.1920928955078125e-07, + "score": 0.1650547832250595, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9919771552085876, + "candidate_source_group_id": "ms-15248c64e70b0dafcb33;ms-87efe56140dec7d3ffb8;ms-2360ac84ff893ee51c5f;ms-daff16c01452c735345f;ms-05ab68d4cd79b74a45ee;ms-ce9505086ea115f86649", + "expert_regret": 1.4038568139076233, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fee86da43c17dbf07059", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4038568139076233, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5961431860923767, + "restore_error": 1.1920928955078125e-07, + "score": 0.5961431860923767, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4429907202720642, + "candidate_source_group_id": "ms-b6ce87522fcc35b563c7;ms-b5f0f2ae74766beae291;ms-aa1da4bf5f94c6a74839;ms-ecc526493f8048cf4c56;ms-673f96236583a1925836;ms-38ed02dacc133a888d3a", + "expert_regret": 1.9169142991304398, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-03beb7dddeba28c64afa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9169142991304398, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08308570086956024, + "restore_error": 1.1920928955078125e-07, + "score": 0.08308570086956024, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.71662437915802, + "candidate_source_group_id": "ms-b86c44375ba5328a1608;ms-c80e71e55d51d8595499;ms-a4d692315fd15700e75b;ms-c72d626356a30cbef93b;ms-eb7189a4f2b0f0a5d4bd;ms-ff4c9c58b742da7135da", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-119db4f7ab55afe5b9f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6914180517196655, + "candidate_source_group_id": "ms-2fef2f43af8009bb88f1;ms-500ed73f6d891e237b30;ms-7fba35a6c125e88b8f54;ms-ce827a7939377a151af9;ms-79b745efd36e00515fa7;ms-ebf15fd96b4a62e0b393", + "expert_regret": 1.8166660368442535, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f79778f4c5ec302bbfb4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8166660368442535, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18333396315574646, + "restore_error": 1.1920928955078125e-07, + "score": 0.18333396315574646, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9015490412712097, + "candidate_source_group_id": "ms-0f2cd78c21a012784e1b;ms-7fc5696cb3dc7b9bb9f7;ms-86b55250e01b9b6fba7e;ms-97cdb4c400ad4ae36518;ms-350716d0809bd7ef12df;ms-573ab0ef1d4166be9b54", + "expert_regret": 1.8179517686367035, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c7b2b62ba170ac8133e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8179517686367035, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1820482313632965, + "restore_error": 1.1920928955078125e-07, + "score": 0.1820482313632965, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7202329635620117, + "candidate_source_group_id": "ms-d9e7096b437e7ce7cda8;ms-a13e71cca2a60d77aed4;ms-2503df67073b4c59e640;ms-0547201761e8e1873482;ms-6989f2ad4ed53dc07e1f;ms-caa5773983c25018c3f8", + "expert_regret": 0.14239105582237244, + "expert_score": 0.2056313455104828, + "expert_success": false, + "group_id": "ms-df346e952d6eaab76d40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.14239105582237244, + "oracle_score": 0.2056313455104828, + "oracle_success": false, + "progress": 0.06324028968811035, + "restore_error": 1.1920928955078125e-07, + "score": 0.06324028968811035, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7775713205337524, + "candidate_source_group_id": "ms-95950ddf57046910494b;ms-036f329c4a881ff59e5f;ms-82b267d663e8400d19ca;ms-783f5e7f8c889bef010e;ms-748baf7aee43c63797e1;ms-27d723ae87abc93a95f0", + "expert_regret": 1.4049429297447205, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-14064e79c1a1abcf10e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4049429297447205, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5950570702552795, + "restore_error": 1.1920928955078125e-07, + "score": 0.5950570702552795, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6272069215774536, + "candidate_source_group_id": "ms-f50f1c1b673d0c96d4ce;ms-1a37fdd82d982ae6dbd8;ms-801727be95e46ae5da07;ms-e297545a438d902a680e;ms-3efaacea10b7eb4adb57;ms-f9148dff7961fa66a8a1", + "expert_regret": 1.8210345804691315, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dc2e360a4876f6edce82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8210345804691315, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17896541953086853, + "restore_error": 1.1920928955078125e-07, + "score": 0.17896541953086853, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.567775309085846, + "candidate_source_group_id": "ms-0d8e00d0e73f9a7b4ce8;ms-d46da887312a51a9f2a0;ms-2da5f229550b61852483;ms-5ac1bf2d7d319955d45d;ms-48ddae21c360b2a12b8d;ms-0fb946120bcbd8ed0632", + "expert_regret": 1.4074776768684387, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0841a07e9aeb84cff70f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4074776768684387, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5925223231315613, + "restore_error": 1.1920928955078125e-07, + "score": 0.5925223231315613, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3814394772052765, + "candidate_source_group_id": "ms-5ac1bf2d7d319955d45d;ms-d6ed8683183759789495;ms-d46da887312a51a9f2a0;ms-2da5f229550b61852483;ms-0d8e00d0e73f9a7b4ce8;ms-1d7505b80dff9c229a99", + "expert_regret": 0.6538815945386887, + "expert_score": 0.8253189325332642, + "expert_success": false, + "group_id": "ms-22c36189b47df8987e8e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.6538815945386887, + "oracle_score": 0.8253189325332642, + "oracle_success": false, + "progress": 0.1714373379945755, + "restore_error": 1.1920928955078125e-07, + "score": 0.1714373379945755, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.3815767765045166, + "candidate_source_group_id": "ms-dab618f516ccc10f176e;ms-54f7cae3bd3cb84062d3;ms-720c704eeac615b41763;ms-76c9576538106cb9d5db;ms-bb70aa617f82f530d42e;ms-b1b98e21cd4886f70563", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0982ec8847911627c519", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.355217307806015, + "candidate_source_group_id": "ms-230391b47c390f51bc07;ms-0ee3134ab4e9435f2c2c;ms-cdd9ca03b64c4145587b;ms-fc68c8b1bef631b6cae9;ms-0fb946120bcbd8ed0632;ms-fe763444e70a58ff8b1e", + "expert_regret": 1.8173350542783737, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-151e5f61c8e3c2ece4e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8173350542783737, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18266494572162628, + "restore_error": 1.1920928955078125e-07, + "score": 0.18266494572162628, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.673974335193634, + "candidate_source_group_id": "ms-d8cc5ba8ab1cd4a46519;ms-a50b6ab3c59b1c953197;ms-96ebb8e6e71464ac9172;ms-829c9968f0750cd9aed6;ms-f2a349cfaa6f7422237b;ms-e2f303a0d1e6017e1fc4", + "expert_regret": 1.1472102999687195, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-54f4d544f76358c09ee9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1472102999687195, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8527897000312805, + "restore_error": 1.1920928955078125e-07, + "score": 0.8527897000312805, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.06016109138727188, + "candidate_source_group_id": "ms-4734f618e638d42bae46;ms-ee2fcbc94d41385713d0;ms-7ab0027224139e5332d5;ms-741c227f6249d1c8c9f1;ms-15fc8cc6f74cf589056f;ms-8d02415bb9af319f215a", + "expert_regret": 0.0, + "expert_score": 0.17888590693473816, + "expert_success": false, + "group_id": "ms-95028134c6e3670b89d5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8210734575986862, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17892654240131378, + "restore_error": 1.1920928955078125e-07, + "score": 0.17892654240131378, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.8229209184646606, + "candidate_source_group_id": "ms-fe22e55457c78877c2d9;ms-bc02d87b2ed5769ee484;ms-7dca31b0d7d6fab018f3;ms-54b553c42a8d825beb38;ms-4d687a60b9ce1f0f1ddd;ms-f774646335321f6c5980", + "expert_regret": 1.9543491154909134, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ffc732b968c030ba1d0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9543491154909134, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04565088450908661, + "restore_error": 1.1920928955078125e-07, + "score": 0.04565088450908661, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5601376891136169, + "candidate_source_group_id": "ms-f020e53a077d4e6bf383;ms-ab72e600d0bfb162ea80;ms-9b89af1761e33e733a56;ms-cb752f1a3b24f95b34a2;ms-fc68c8b1bef631b6cae9;ms-0ee3134ab4e9435f2c2c", + "expert_regret": 1.9311183840036392, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-00e356a462bdc3380f4f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9311183840036392, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06888161599636078, + "restore_error": 1.1920928955078125e-07, + "score": 0.06888161599636078, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8794110417366028, + "candidate_source_group_id": "ms-cdd9ca03b64c4145587b;ms-230391b47c390f51bc07;ms-fe763444e70a58ff8b1e;ms-0ee3134ab4e9435f2c2c;ms-0fb946120bcbd8ed0632;ms-2b6ab8760ea5d558797c", + "expert_regret": 1.8976535499095917, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-57ccc6bbce43f1c7c000", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8976535499095917, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10234645009040833, + "restore_error": 1.1920928955078125e-07, + "score": 0.10234645009040833, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8789531588554382, + "candidate_source_group_id": "ms-19b9e8a1108ac25f3476;ms-dd8ebc7d7211ece74e03;ms-68f53650da9a9354b58f;ms-01094af881b751ef29aa;ms-7dca31b0d7d6fab018f3;ms-aa1da4bf5f94c6a74839", + "expert_regret": 1.4109516143798828, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-325cd8b08e89bb498c82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4109516143798828, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5890483856201172, + "restore_error": 1.1920928955078125e-07, + "score": 0.5890483856201172, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.48185640573501587, + "candidate_source_group_id": "ms-ab72e600d0bfb162ea80;ms-230391b47c390f51bc07;ms-0ee3134ab4e9435f2c2c;ms-9b89af1761e33e733a56;ms-cb752f1a3b24f95b34a2;ms-cdd9ca03b64c4145587b", + "expert_regret": 1.9786370694637299, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de304cefeb20dcc17ede", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9786370694637299, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02136293053627014, + "restore_error": 1.1920928955078125e-07, + "score": 0.02136293053627014, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7630528211593628, + "candidate_source_group_id": "ms-546f8817db5b76b563f0;ms-c9c7a51e43dd2c33de08;ms-edf898278a0dd01a5b37;ms-578fc3b8cbdbe6b0542f;ms-bdc0e2b6d589c1d90d69;ms-1b50d8927c080cd97a79", + "expert_regret": 1.8003675788640976, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8e69308e5c86a307b08a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8003675788640976, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1996324211359024, + "restore_error": 1.1920928955078125e-07, + "score": 0.1996324211359024, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.461308091878891, + "candidate_source_group_id": "ms-e297545a438d902a680e;ms-571d878853654c42a521;ms-4b6cf86fc2450321163a;ms-6c8d06bace98a28a8e4e;ms-71dc14431350e581537c;ms-283f98eecc655a33d459", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f0696e3657ed996dec15", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6979286074638367, + "candidate_source_group_id": "ms-5973a2df030fcd05cd24;ms-626991ad29d003c808f8;ms-e1f9403543e48fbdde9d;ms-3afd8959363e917591d4;ms-76c9576538106cb9d5db;ms-54f7cae3bd3cb84062d3", + "expert_regret": 1.8436619937419891, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-49516a81fe99935ef15e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8436619937419891, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.15633800625801086, + "restore_error": 1.1920928955078125e-07, + "score": 0.15633800625801086, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9221586585044861, + "candidate_source_group_id": "ms-4cab292bc65fa59274ef;ms-626ac2ad9d0dd95f1a2e;ms-b04a4cfe76d719518dae;ms-edf898278a0dd01a5b37;ms-552acc881ce2bbff59f8;ms-52a2ef2f862cee509ce1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5cfbc3fb2094ad5bba6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2046297937631607, + "candidate_source_group_id": "ms-95950ddf57046910494b;ms-783f5e7f8c889bef010e;ms-12ea343fddf9f6e6b9e8;ms-3ec29a5b20bd65943255;ms-82b267d663e8400d19ca;ms-7ee2d50e0788ccf0cdec", + "expert_regret": 0.030433237552642822, + "expert_score": 0.8212419748306274, + "expert_success": false, + "group_id": "ms-61852da845126d62ff5b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.2091912627220154, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7908087372779846, + "restore_error": 1.1920928955078125e-07, + "score": 0.7908087372779846, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.08453164994716644, + "candidate_source_group_id": "ms-720c704eeac615b41763;ms-76c9576538106cb9d5db;ms-54f7cae3bd3cb84062d3;ms-fdf4af00031d452221d9;ms-b1b98e21cd4886f70563;ms-ceb81989361d018a9e67", + "expert_regret": 0.6920850574970245, + "expert_score": 0.8584641218185425, + "expert_success": false, + "group_id": "ms-03df3e12e1d61aa9ebbf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.833620935678482, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16637906432151794, + "restore_error": 1.1920928955078125e-07, + "score": 0.16637906432151794, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.17016355693340302, + "candidate_source_group_id": "ms-20976520a892ae80760a;ms-76774eb92b50132c54b6;ms-5909e93ba4f8ed21d193;ms-58e6bcca0d74ea38d3dc;ms-0949097d19e597fc7f63;ms-9228f8295b9891cf011c", + "expert_regret": 0.016042768955230713, + "expert_score": 0.8314920663833618, + "expert_success": false, + "group_id": "ms-72777024349c2aacd5e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.184550702571869, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8154492974281311, + "restore_error": 1.1920928955078125e-07, + "score": 0.8154492974281311, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.110302448272705, + "candidate_source_group_id": "ms-f72b64534388e443b220;ms-ecc526493f8048cf4c56;ms-38ed02dacc133a888d3a;ms-b6ce87522fcc35b563c7;ms-673f96236583a1925836;ms-0c490961b934978e5b1c", + "expert_regret": 1.9503343850374222, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-716586cf73f853a45bfd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9503343850374222, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04966561496257782, + "restore_error": 1.1920928955078125e-07, + "score": 0.04966561496257782, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6835905909538269, + "candidate_source_group_id": "ms-56a0e8e80e2e1e5645d7;ms-4bbd30ae37fda61aa3c2;ms-666f00775d4c54be1282;ms-b5f0f2ae74766beae291;ms-38ed02dacc133a888d3a;ms-ecc526493f8048cf4c56", + "expert_regret": 1.9582540541887283, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-462c1284ee1a148a7e1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9582540541887283, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04174594581127167, + "restore_error": 2.2351741790771484e-07, + "score": 0.04174594581127167, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.117099642753601, + "candidate_source_group_id": "ms-554f2960f25ff627b596;ms-77536801924a2a78688e;ms-a5eb6b813b57d14f6573;ms-b4f96b4975ceb839c5e3;ms-3945306c3b05b122fa9b;ms-4b6cf86fc2450321163a", + "expert_regret": 1.4159716963768005, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e6e8b4cdcadec645d910", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4159716963768005, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5840283036231995, + "restore_error": 2.2351741790771484e-07, + "score": 0.5840283036231995, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.497732937335968, + "candidate_source_group_id": "ms-4cab292bc65fa59274ef;ms-52a2ef2f862cee509ce1;ms-5a456ddf97d294548cf1;ms-6bd5870eb5ff0dd76919;ms-552acc881ce2bbff59f8;ms-19a3669e096e98232ec8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f0033d0b5f4f2e160859", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.2351741790771484e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.36458152532577515, + "candidate_source_group_id": "ms-f4579acd00ff9f578098;ms-b1b98e21cd4886f70563;ms-e1bce061511b584c5381;ms-f0fdcc26c648ce089746;ms-dab618f516ccc10f176e;ms-c164dd3b3b89c546a184", + "expert_regret": 1.8068712055683136, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7bc1b098e6c696f6d4de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8068712055683136, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1931287944316864, + "restore_error": 2.2351741790771484e-07, + "score": 0.1931287944316864, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2568630278110504, + "candidate_source_group_id": "ms-f50f1c1b673d0c96d4ce;ms-3efaacea10b7eb4adb57;ms-1a37fdd82d982ae6dbd8;ms-20f3cfcf183c69853b1e;ms-f9148dff7961fa66a8a1;ms-e327fef230e956dab37c", + "expert_regret": 0.02275794744491577, + "expert_score": 0.8352580070495605, + "expert_success": false, + "group_id": "ms-04eec0abab5f55620e4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.1874999403953552, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8125000596046448, + "restore_error": 2.2351741790771484e-07, + "score": 0.8125000596046448, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7665690779685974, + "candidate_source_group_id": "ms-e887dbfa0133af46829d;ms-55e78c04643bd06fd5f8;ms-48b2c358243f84013a0c;ms-702c6c5000ad4d6424ea;ms-f3f100caf89a2487faaf;ms-6d7030c17759f787a361", + "expert_regret": 1.4147053360939026, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e71e880736efd3e42c02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4147053360939026, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5852946639060974, + "restore_error": 2.2351741790771484e-07, + "score": 0.5852946639060974, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.07042229175567627, + "candidate_source_group_id": "ms-e7959111ef1429bcf699;ms-aa7cc7e3e5eb86e58ee9;ms-7bdf9cab1f7071533bbc;ms-e95a846b4e77792e3e6f;ms-5a0e07161aefc71d4f33;ms-bc96a8973358d1c20ed3", + "expert_regret": 0.0, + "expert_score": 0.8417773246765137, + "expert_success": false, + "group_id": "ms-0b226017db7f07c5307e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.2351741790771484e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.090404748916626, + "candidate_source_group_id": "ms-cbc1fadecdd913c44ce5;ms-035231abc135f925e1cc;ms-3945306c3b05b122fa9b;ms-a2ee6034df65b51c4d97;ms-ff4c9c58b742da7135da;ms-141aab4472db1ecc0ea2", + "expert_regret": 1.1727250814437866, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eff3caf3c103c5232495", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1727250814437866, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8272749185562134, + "restore_error": 2.2351741790771484e-07, + "score": 0.8272749185562134, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6443785429000854, + "candidate_source_group_id": "ms-ba396eb71806ac992acd;ms-d4c5d7eea19d94314e2e;ms-269815a0f9c1a1ba5a6b;ms-741c227f6249d1c8c9f1;ms-da2f79e022bb63a2af11;ms-8d02415bb9af319f215a", + "expert_regret": 1.802648052573204, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-42b26451056c6dd2150e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.802648052573204, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19735194742679596, + "restore_error": 1.1920928955078125e-07, + "score": 0.19735194742679596, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6835700273513794, + "candidate_source_group_id": "ms-cdd9ca03b64c4145587b;ms-230391b47c390f51bc07;ms-0ee3134ab4e9435f2c2c;ms-65f4ea8ed88ed5301430;ms-0fb946120bcbd8ed0632;ms-2b6ab8760ea5d558797c", + "expert_regret": 1.8139354884624481, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8bbf7fcd90b4d11db2a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8139354884624481, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18606451153755188, + "restore_error": 1.1920928955078125e-07, + "score": 0.18606451153755188, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3961392045021057, + "candidate_source_group_id": "ms-020ab0b7cfa5045f3fc7;ms-daff16c01452c735345f;ms-a054eb19f228304d37aa;ms-ae1b8592cb57dbf2fe98;ms-97cdb4c400ad4ae36518;ms-15248c64e70b0dafcb33", + "expert_regret": 1.13912433385849, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a77b8d61c09ed6ea23a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.13912433385849, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.86087566614151, + "restore_error": 1.1920928955078125e-07, + "score": 0.86087566614151, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8418930768966675, + "candidate_source_group_id": "ms-20f3cfcf183c69853b1e;ms-e327fef230e956dab37c;ms-f50f1c1b673d0c96d4ce;ms-1a37fdd82d982ae6dbd8;ms-8b53e5dbab786b2e3b75;ms-d776afa14e6322cadedd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b30834b2c4e6b153624f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5571080446243286, + "candidate_source_group_id": "ms-5909e93ba4f8ed21d193;ms-4048f8f6e047422e3c79;ms-0949097d19e597fc7f63;ms-76774eb92b50132c54b6;ms-c9edb3f445256b0d5341;ms-8c83fb7e9f1a7a8ad58f", + "expert_regret": 1.8348049372434616, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-584d52e4f9515f695251", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8348049372434616, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1651950627565384, + "restore_error": 1.1920928955078125e-07, + "score": 0.1651950627565384, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.37842097878456116, + "candidate_source_group_id": "ms-daff16c01452c735345f;ms-60f5fff0649ceb50ab60;ms-5902e6c4037ecda77a5f;ms-97cdb4c400ad4ae36518;ms-0f2cd78c21a012784e1b;ms-87efe56140dec7d3ffb8", + "expert_regret": 1.415800392627716, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-64ff9614d692fd9dc48b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.415800392627716, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5841996073722839, + "restore_error": 1.1920928955078125e-07, + "score": 0.5841996073722839, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.07784940302371979, + "candidate_source_group_id": "ms-b6ce87522fcc35b563c7;ms-ecc526493f8048cf4c56;ms-38ed02dacc133a888d3a;ms-1cc18d88615939309d51;ms-f72b64534388e443b220;ms-2c6ff8d807763f665bac", + "expert_regret": 0.6183771193027496, + "expert_score": 0.8347060680389404, + "expert_success": false, + "group_id": "ms-016c5de39ed3c111889a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7836710512638092, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2163289487361908, + "restore_error": 1.1920928955078125e-07, + "score": 0.2163289487361908, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8489246368408203, + "candidate_source_group_id": "ms-daff16c01452c735345f;ms-15248c64e70b0dafcb33;ms-ae1b8592cb57dbf2fe98;ms-1c4ef17cdeed30bb2548;ms-020ab0b7cfa5045f3fc7;ms-13243cd92a78eba8c08b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8ccec039b839e612969b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3567885756492615, + "candidate_source_group_id": "ms-626991ad29d003c808f8;ms-3afd8959363e917591d4;ms-54f7cae3bd3cb84062d3;ms-dab618f516ccc10f176e;ms-76c9576538106cb9d5db;ms-bb70aa617f82f530d42e", + "expert_regret": 1.8300504684448242, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c52ffa349a79397da8c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8300504684448242, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16994953155517578, + "restore_error": 1.1920928955078125e-07, + "score": 0.16994953155517578, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8647618293762207, + "candidate_source_group_id": "ms-578fc3b8cbdbe6b0542f;ms-c9c7a51e43dd2c33de08;ms-edf898278a0dd01a5b37;ms-bdc0e2b6d589c1d90d69;ms-546f8817db5b76b563f0;ms-e9cb92d664266091b91d", + "expert_regret": 1.7629787474870682, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87d132d28bc30b07002b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7629787474870682, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23702125251293182, + "restore_error": 1.1920928955078125e-07, + "score": 0.23702125251293182, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9915837645530701, + "candidate_source_group_id": "ms-c9804ff90a86259f7149;ms-fd2387aeed9bfc9a0d08;ms-e3bbabc7ac3950eb91a2;ms-dc4738f9c7a8af86722d;ms-ecb37ebbab21a506d8ca;ms-d50a82b8770f333f1947", + "expert_regret": 1.8155767321586609, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-16850056120649fcc370", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8155767321586609, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1844232678413391, + "restore_error": 1.1920928955078125e-07, + "score": 0.1844232678413391, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3355259895324707, + "candidate_source_group_id": "ms-185c13ec401a35f393b7;ms-f5bc4935790fb8ef7b81;ms-ba396eb71806ac992acd;ms-c8706d0aa14a930236de;ms-269815a0f9c1a1ba5a6b;ms-61cb49c57a8600267d61", + "expert_regret": 1.8343620300292969, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ab5acce4dba71f19d5ad", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8343620300292969, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16563796997070312, + "restore_error": 1.1920928955078125e-07, + "score": 0.16563796997070312, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7249022722244263, + "candidate_source_group_id": "ms-500ed73f6d891e237b30;ms-2fef2f43af8009bb88f1;ms-7fba35a6c125e88b8f54;ms-79b745efd36e00515fa7;ms-ce827a7939377a151af9;ms-d6b0d6d7c66509eb4543", + "expert_regret": 1.835062712430954, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc1ca12b92e3561b95b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.835062712430954, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16493728756904602, + "restore_error": 1.1920928955078125e-07, + "score": 0.16493728756904602, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8368676900863647, + "candidate_source_group_id": "ms-95950ddf57046910494b;ms-783f5e7f8c889bef010e;ms-7ee2d50e0788ccf0cdec;ms-3ec29a5b20bd65943255;ms-12ea343fddf9f6e6b9e8;ms-98c0d73ae0085f97bab9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-578073df4f8fe9b936d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.19982753694057465, + "candidate_source_group_id": "ms-0cdb564903c69734321f;ms-f2509e6c3c468c4e30f0;ms-63a1574267ccbdaf6cc2;ms-4cab292bc65fa59274ef;ms-552acc881ce2bbff59f8;ms-52a2ef2f862cee509ce1", + "expert_regret": 0.0, + "expert_score": 0.8527635335922241, + "expert_success": false, + "group_id": "ms-875a4668671c02054a3c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8932272791862488, + "candidate_source_group_id": "ms-0180bfac51ce81b2b522;ms-a13e71cca2a60d77aed4;ms-ec0b095d57014b86f5e7;ms-1b50d8927c080cd97a79;ms-c9c7a51e43dd2c33de08;ms-d9e7096b437e7ce7cda8", + "expert_regret": 1.7931569665670395, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1e4219bffa35c646ebc9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7931569665670395, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2068430334329605, + "restore_error": 1.1920928955078125e-07, + "score": 0.2068430334329605, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2562890648841858, + "candidate_source_group_id": "ms-c8706d0aa14a930236de;ms-f5bc4935790fb8ef7b81;ms-da2f79e022bb63a2af11;ms-0ccc81e9a63663c50096;ms-ba396eb71806ac992acd;ms-185c13ec401a35f393b7", + "expert_regret": 0.6316317319869995, + "expert_score": 0.8165204524993896, + "expert_success": false, + "group_id": "ms-baba39ca95aa09893dc0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8151112794876099, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18488872051239014, + "restore_error": 1.1920928955078125e-07, + "score": 0.18488872051239014, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5956490635871887, + "candidate_source_group_id": "ms-b4f96b4975ceb839c5e3;ms-d1960368ef76bbb10669;ms-c4a4c6a275c817d8b03f;ms-554f2960f25ff627b596;ms-a5eb6b813b57d14f6573;ms-68067370d3b20b9bd4e2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6af11918833ace7c694", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + } + ], + "seed": 2, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 202, + "retrieval_residual_residual_near_miss": 75, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 69, + "retrieval_residual_residual_no_op": 69, + "retrieval_residual_residual_wrong_gripper": 160 + }, + "selected_residual_scale_counts": { + "0.35": 274, + "0.4": 134, + "0.45": 167 + }, + "selection_margin": 0.0, + "selection_mode": "retrieval_residual", + "split": "validation_groups" +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_type005.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_type005.json new file mode 100644 index 0000000000000000000000000000000000000000..e374ee24bb17924010e1f30085001c9137520972 --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_oraclecal_train800_k4_type005.json @@ -0,0 +1,12263 @@ +{ + "action_mse_to_best": 0.5257570719767524, + "backbone_model": null, + "backbone_type": "native", + "candidate_oracle_rollouts": 0, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_sigma": 0.0, + "candidate_type_bonus_components": false, + "candidate_type_bonuses": {}, + "candidate_type_bonuses_by_task": { + "*": { + "retrieval_residual_policy_residual": -0.00458823043418467, + "retrieval_residual_residual_near_miss": 0.007431936876798812, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.01051517594857762, + "retrieval_residual_residual_no_op": 0.00474103904753248, + "retrieval_residual_residual_wrong_gripper": -0.00795083217797747 + }, + "LiftPegUpright-v1": { + "retrieval_residual_policy_residual": 0.003095641007872274, + "retrieval_residual_residual_near_miss": 0.02, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.01732570382525154, + "retrieval_residual_residual_no_op": -0.02, + "retrieval_residual_residual_wrong_gripper": -0.006446444076292291 + }, + "PickCube-v1": { + "retrieval_residual_policy_residual": -0.015809756605295388, + "retrieval_residual_residual_near_miss": -0.0025779907361789148, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 0.005494684456500882, + "retrieval_residual_residual_no_op": 0.02, + "retrieval_residual_residual_wrong_gripper": -0.008482263635836968 + } + }, + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/best_transport.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "expert_success_rate": 0.7704347826086957, + "field_optim_l2_penalty": 0.0, + "field_optim_step_size": 0.0, + "field_optim_steps": 0, + "field_optim_trust_radius": 0.0, + "field_rank_biases_by_task": { + "*": [ + 0.0, + -0.0, + -0.0, + -0.0 + ], + "LiftPegUpright-v1": [ + 0.0, + -0.0, + -0.0, + -0.0 + ], + "PickCube-v1": [ + 0.0, + 0.0, + -0.0, + -0.0 + ] + }, + "group_batch_size": 8, + "lattice_exclude_type_tasks": {}, + "lattice_exclude_types": [ + "residual_random_negative", + "residual_wrong_direction", + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper" + ], + "num_candidates": 48, + "num_groups": 575, + "objective": "lattice_field", + "observation_mode": "state", + "oracle_success_rate": 0.8765217391304347, + "per_task": { + "LiftPegUpright-v1": { + "action_mse_to_best": 0.45042866991328384, + "expert_success_rate": 0.8229166666666666, + "num_groups": 96, + "oracle_success_rate": 0.9270833333333334, + "policy_expert_regret": 0.8175432652545472, + "policy_oracle_regret": 0.9105787607841194, + "policy_rollout_progress": 0.6584464291421076, + "policy_rollout_success_rate": 0.3645833333333333, + "restore_max_error": 1.955777406692505e-07 + }, + "PickCube-v1": { + "action_mse_to_best": 0.4548578535140765, + "expert_success_rate": 0.9444444444444444, + "num_groups": 198, + "oracle_success_rate": 0.9595959595959596, + "policy_expert_regret": 0.9680361620084655, + "policy_oracle_regret": 0.9751196125371739, + "policy_rollout_progress": 0.638351541624, + "policy_rollout_success_rate": 0.3484848484848485, + "restore_max_error": 2.384185791015625e-07 + }, + "PullCube-v1": { + "action_mse_to_best": 0.6710384032792516, + "expert_success_rate": 0.24444444444444444, + "num_groups": 90, + "oracle_success_rate": 0.4666666666666667, + "policy_expert_regret": 0.30672253066052996, + "policy_oracle_regret": 0.4516191322563423, + "policy_rollout_progress": 0.37575145092689327, + "policy_rollout_success_rate": 0.26666666666666666, + "restore_max_error": 2.384185791015625e-07 + }, + "PushCube-v1": { + "action_mse_to_best": 0.5121625486281839, + "expert_success_rate": 0.8514851485148515, + "num_groups": 101, + "oracle_success_rate": 1.0, + "policy_expert_regret": 0.2486148280377435, + "policy_oracle_regret": 0.28494056705201026, + "policy_rollout_progress": 0.8635742844331382, + "policy_rollout_success_rate": 0.8514851485148515, + "restore_max_error": 2.384185791015625e-07 + }, + "StackCube-v1": { + "action_mse_to_best": 0.6320603930287891, + "expert_success_rate": 0.7666666666666667, + "num_groups": 90, + "oracle_success_rate": 0.9111111111111111, + "policy_expert_regret": 1.0641816947195264, + "policy_oracle_regret": 1.200686883760823, + "policy_rollout_progress": 0.4873876669340663, + "policy_rollout_success_rate": 0.2111111111111111, + "restore_max_error": 2.2351741790771484e-07 + } + }, + "policy_expert_regret": 0.7280813764489216, + "policy_oracle_regret": 0.7964796226633631, + "policy_rollout_progress": 0.6165356274337872, + "policy_rollout_success_rate": 0.4052173913043478, + "prepend_policy_candidate": false, + "proposal_lattice_types": [], + "proposal_types": [], + "restore_max_error": 2.384185791015625e-07, + "retrieval_metric": "raw", + "retrieval_neighbors": 6, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_anchor": "expert", + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_type_tasks": {}, + "retrieval_residual_challenger_types": [], + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_by_task": { + "*": 0.0, + "PickCube-v1": 0.01, + "StackCube-v1": 0.05 + }, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "rows": [ + { + "action_mse_to_best": 0.3290633261203766, + "candidate_source_group_id": "ms-59474486dd5cb4e5bfd5;ms-7aeb0835d3396e6666b6;ms-6e2b02ee71a4a44bc325;ms-61c099575bcff2de95e3;ms-d3377ca0da444ae9b40a;ms-7a0330e9e3189ff035d3", + "expert_regret": 1.302467167377472, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-debd7e5668e2acdf6bb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.302467167377472, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6975328326225281, + "restore_error": 1.1920928955078125e-07, + "score": 0.6975328326225281, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4052039086818695, + "candidate_source_group_id": "ms-4dc9ab19fbe571f09699;ms-4906f3adfda6dace862d;ms-502c195c0e4810814bac;ms-3661d65df223386f1be9;ms-8bc7aa419d17368d81b5;ms-ef8de99d917753ec603c", + "expert_regret": 0.0, + "expert_score": 0.7194880843162537, + "expert_success": false, + "group_id": "ms-ff3256da4e1731651937", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.7194880843162537, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4016408324241638, + "candidate_source_group_id": "ms-a74a87e26362d09598fe;ms-57dc9349b8f2c9c49105;ms-40eb8d19498413d4e730;ms-c090bce47703a4c4bb0b;ms-effca6c13ef9ccfd21a0;ms-9f844e24c570295e0497", + "expert_regret": 1.7972026467323303, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69785feff08dbf9a50be", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7972026467323303, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20279735326766968, + "restore_error": 1.1920928955078125e-07, + "score": 0.20279735326766968, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5760840177536011, + "candidate_source_group_id": "ms-22d006041320a4487c21;ms-1a2d298bf9972ddc1a7e;ms-6f03b16858c35025503e;ms-6ceb341dfa656e485a13;ms-851d25e7a1dde4242f33;ms-0a57aa04002f1b843856", + "expert_regret": 1.431125521659851, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d2febdb2a469fbbac4f2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.431125521659851, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5688744783401489, + "restore_error": 1.1920928955078125e-07, + "score": 0.5688744783401489, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4137933552265167, + "candidate_source_group_id": "ms-4906f3adfda6dace862d;ms-3661d65df223386f1be9;ms-c871c1157a16e19e6150;ms-caeb4c3d358f256799a8;ms-9f993a6e9bb26846d4f4;ms-131a98e2d4a78a9645f8", + "expert_regret": 1.2771730422973633, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c638b9bb924547f69cb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2771730422973633, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7228269577026367, + "restore_error": 1.1920928955078125e-07, + "score": 0.7228269577026367, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39851874113082886, + "candidate_source_group_id": "ms-dbad4f4d0df3c19c7bbb;ms-5b4f2522663bec742b02;ms-62b88f5cbc4f137e3bba;ms-f5ebbab81506fa27fc6d;ms-737e72810112f3246b05;ms-8864796e31bbe93d7c5d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a323215fb409ab3e9287", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5583524703979492, + "candidate_source_group_id": "ms-6ceb341dfa656e485a13;ms-d5241a32e5c9de09f2e4;ms-6f03b16858c35025503e;ms-093472a082b3b61e73d6;ms-87fa87e06dc88c28a44f;ms-1a2d298bf9972ddc1a7e", + "expert_regret": 1.2747490406036377, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-27251a7c7f13bf165e21", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2747490406036377, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7252509593963623, + "restore_error": 1.1920928955078125e-07, + "score": 0.7252509593963623, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5843793153762817, + "candidate_source_group_id": "ms-605dbfbe6bef2b15b58c;ms-3d862f2a32d3404926c3;ms-5cc5e6359fc006559eae;ms-f2c8835e8a162283a646;ms-cc5f2a24e2571cb23050;ms-7a0330e9e3189ff035d3", + "expert_regret": 1.283086359500885, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-59bff662e0ecb913ed81", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.283086359500885, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.716913640499115, + "restore_error": 1.1920928955078125e-07, + "score": 0.716913640499115, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3172013759613037, + "candidate_source_group_id": "ms-a4420cda0b159dda82a2;ms-aedc3dee6e275342eb8f;ms-c7c812bb98308442d95b;ms-97c28a7584b35207bf84;ms-062addb9da32a0c2ea97;ms-780ea60ea0255941e6c8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-684a66885f21739d826b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42845267057418823, + "candidate_source_group_id": "ms-a4420cda0b159dda82a2;ms-aedc3dee6e275342eb8f;ms-97c28a7584b35207bf84;ms-062addb9da32a0c2ea97;ms-1e41619ab39cf51b7822;ms-c7c812bb98308442d95b", + "expert_regret": 1.310312271118164, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc29afbe2bbf00638d25", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.310312271118164, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6896877288818359, + "restore_error": 1.1920928955078125e-07, + "score": 0.6896877288818359, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3442959785461426, + "candidate_source_group_id": "ms-22aaa483f5e7d381b63d;ms-3a09e411ee6c882ef7df;ms-d26dc2146eb8ae9a5434;ms-2b59042e27453aff03a7;ms-e4090b0b0c1739070201;ms-c3818c2c4474a784fc6b", + "expert_regret": 1.285163164138794, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ef5d3238b33bdebae4d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.285163164138794, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.714836835861206, + "restore_error": 1.1920928955078125e-07, + "score": 0.714836835861206, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3303062617778778, + "candidate_source_group_id": "ms-97c28a7584b35207bf84;ms-c7c812bb98308442d95b;ms-062addb9da32a0c2ea97;ms-a4420cda0b159dda82a2;ms-6c7f34ae8218aa0952c8;ms-74c9fc741b846b5019af", + "expert_regret": 1.5789548456668854, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-35babd5f83dcf1561f9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5789548456668854, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4210451543331146, + "restore_error": 1.1920928955078125e-07, + "score": 0.4210451543331146, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.25173220038414, + "candidate_source_group_id": "ms-31fe1d98bc7adcd515db;ms-0a6bff8326e7e32702f3;ms-bbefdf03d0471be60f8f;ms-ea164b21572d39ffed58;ms-06cb0796d1097e6ca111;ms-bc56601ca069f65cd08f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f6f0d14ef7c24b9e4621", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.21077457070350647, + "candidate_source_group_id": "ms-e3526036a5bf85cac0bf;ms-e0952f3218e0bf6fe027;ms-3aa33c0fda88e08e75fa;ms-d3a7e3f163b142a3e56b;ms-3efca8ee8623914a4faf;ms-a242f1d12ebfcd82de05", + "expert_regret": 1.6894308924674988, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-760c73ea34418ce7a006", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6894308924674988, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3105691075325012, + "restore_error": 1.1920928955078125e-07, + "score": 0.3105691075325012, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2584921717643738, + "candidate_source_group_id": "ms-908213fef55ccf1dfda6;ms-472376eba1a5e1c706bf;ms-785fb44f1371895f7721;ms-067e0fe46e4e9483e2a1;ms-76b0b0463fdb323b6233;ms-e3f38594991aafbffc23", + "expert_regret": 0.0, + "expert_score": 0.6740819811820984, + "expert_success": false, + "group_id": "ms-dfc38c43e9a87f99ef7f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.1462364196777344, + "candidate_source_group_id": "ms-30e2d8b7825053276e0c;ms-e12808f670338ca180c6;ms-8c8cf210aa675c5db1fe;ms-715db95b13ebc6c977c8;ms-c0ed69f549e56aa55f3d;ms-320d99264926ea029f95", + "expert_regret": 1.78958398103714, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-251c1dfd1010906f559f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.78958398103714, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2104160189628601, + "restore_error": 1.1920928955078125e-07, + "score": 0.2104160189628601, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.47235536575317383, + "candidate_source_group_id": "ms-aee5716b3e4fc47e46ba;ms-b933fbfb7c8fa68a445f;ms-8b18ea4e0982a1352696;ms-7272e1e33d4ecc07470c;ms-145f60d5fff285e7d05b;ms-062a265cedee2107eb17", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cc0b4a1deec28e53722a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7273083925247192, + "candidate_source_group_id": "ms-639913ac0e6b3997faae;ms-f97bd60d5430c32f9494;ms-f1eb6805ec9b483bba41;ms-cf7bdf0776c928ee2342;ms-bbaa576369a59660ecdd;ms-dd0fad10ce064047d62e", + "expert_regret": 1.7744708210229874, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b00933d2f628bc51d80a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7744708210229874, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22552917897701263, + "restore_error": 1.1920928955078125e-07, + "score": 0.22552917897701263, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.400958389043808, + "candidate_source_group_id": "ms-50b9f93dd246400d20c8;ms-85fcc6b4797417c3473f;ms-17a5e9b7bd8c1f255307;ms-40eb8d19498413d4e730;ms-ce7b349699ed248bb67c;ms-effca6c13ef9ccfd21a0", + "expert_regret": 0.3992581069469452, + "expert_score": 0.7258185148239136, + "expert_success": false, + "group_id": "ms-a829d650eb9914fb2983", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.3992581069469452, + "oracle_score": 0.7258185148239136, + "oracle_success": false, + "progress": 0.3265604078769684, + "restore_error": 1.1920928955078125e-07, + "score": 0.3265604078769684, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.06125998497009277, + "candidate_source_group_id": "ms-4b3a296acc66a14476c3;ms-662379c2c351807b9cdf;ms-80d8d8fc4a3308139975;ms-a40abdebe8a9c17de878;ms-ef2d84500e27679d22d9;ms-ed30f8fbb80b2cf46fbc", + "expert_regret": 0.0, + "expert_score": 0.695741593837738, + "expert_success": false, + "group_id": "ms-5799584ed40e211c50a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.570219099521637, + "candidate_source_group_id": "ms-fe790caba27d92511f71;ms-36f204d04ec4c4af3169;ms-34f60c9a263bd0a5641f;ms-faeff0379a053e9ea351;ms-76b0b0463fdb323b6233;ms-2f1164357c9732e059d4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-caa0a38b7df789550f8a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2293926179409027, + "candidate_source_group_id": "ms-080e034927abe2f30d60;ms-7dfc3684b46df95070e2;ms-1145e0f6add300eee9bd;ms-13aa39b96923ad8c913a;ms-bdb04ada069c35d51e2e;ms-3e0dbff4309ecbd35d36", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a4ade4de51ca437ac432", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41061142086982727, + "candidate_source_group_id": "ms-97c28a7584b35207bf84;ms-a4420cda0b159dda82a2;ms-c7c812bb98308442d95b;ms-32943eea3e70cd02f313;ms-062addb9da32a0c2ea97;ms-73e3079ce5eb7cd14ec8", + "expert_regret": 1.285853385925293, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-076246c4c5d1ca8ccd9d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.285853385925293, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.714146614074707, + "restore_error": 1.1920928955078125e-07, + "score": 0.714146614074707, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.47833913564682007, + "candidate_source_group_id": "ms-6ceb341dfa656e485a13;ms-6f03b16858c35025503e;ms-1a2d298bf9972ddc1a7e;ms-093472a082b3b61e73d6;ms-b60078e9e6ea9c26dedc;ms-d5241a32e5c9de09f2e4", + "expert_regret": 1.6249901056289673, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2d1a5e132eaeb353782", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6249901056289673, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3750098943710327, + "restore_error": 1.1920928955078125e-07, + "score": 0.3750098943710327, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4365829825401306, + "candidate_source_group_id": "ms-67b6e4d62036c13cc466;ms-f97bd60d5430c32f9494;ms-639913ac0e6b3997faae;ms-87fa87e06dc88c28a44f;ms-093472a082b3b61e73d6;ms-f63a0e43f0923369edc3", + "expert_regret": 1.2859704494476318, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ace117030ae44c474db1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2859704494476318, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7140295505523682, + "restore_error": 1.1920928955078125e-07, + "score": 0.7140295505523682, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.06271909922361374, + "candidate_source_group_id": "ms-ec2e4afb34b439731136;ms-e1b6bcb41532a800d3cb;ms-33a0bdb4bcee42c79a2b;ms-c2b904f450b45e2a8c9a;ms-29a11d7bdcf49c86bd7a;ms-320d99264926ea029f95", + "expert_regret": 0.0039064884185791016, + "expert_score": 0.7265902757644653, + "expert_success": false, + "group_id": "ms-13d8bae55d3c3710138f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2773162126541138, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7226837873458862, + "restore_error": 1.1920928955078125e-07, + "score": 0.7226837873458862, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.568795382976532, + "candidate_source_group_id": "ms-ef2d84500e27679d22d9;ms-957002faf092f769aa8e;ms-ea41340182245326a218;ms-a96ff9a1d5571ec4a6f2;ms-80d8d8fc4a3308139975;ms-4b3a296acc66a14476c3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d8295b43b30ceea30907", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48750588297843933, + "candidate_source_group_id": "ms-f1eb6805ec9b483bba41;ms-f97bd60d5430c32f9494;ms-dd0fad10ce064047d62e;ms-1d5ca9681600acdaba39;ms-02663903d88aa84c9c10;ms-9756d07ed207e9ab1d53", + "expert_regret": 1.6342549920082092, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-40a961867249ddccb68f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6342549920082092, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.36574500799179077, + "restore_error": 1.1920928955078125e-07, + "score": 0.36574500799179077, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37122634053230286, + "candidate_source_group_id": "ms-043a17d678e610264bb8;ms-88f748134c3fd27fcf72;ms-062addb9da32a0c2ea97;ms-c1f3359c70d068a36081;ms-a4420cda0b159dda82a2;ms-dd94921779f12b249579", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6a03497f97765ffd444e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3893188536167145, + "candidate_source_group_id": "ms-c7c812bb98308442d95b;ms-97c28a7584b35207bf84;ms-062addb9da32a0c2ea97;ms-a4420cda0b159dda82a2;ms-6c7f34ae8218aa0952c8;ms-74c9fc741b846b5019af", + "expert_regret": 1.4691587686538696, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5a56eefeb2de0abe600", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4691587686538696, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5308412313461304, + "restore_error": 1.1920928955078125e-07, + "score": 0.5308412313461304, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3576919436454773, + "candidate_source_group_id": "ms-3661d65df223386f1be9;ms-4906f3adfda6dace862d;ms-502c195c0e4810814bac;ms-4dc9ab19fbe571f09699;ms-9f993a6e9bb26846d4f4;ms-c871c1157a16e19e6150", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1b8e9b173562648021f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31439557671546936, + "candidate_source_group_id": "ms-988537a36edfece3d073;ms-3e0dbff4309ecbd35d36;ms-cdbfe4d3b05f4ed12db3;ms-3db845076f92a16d1840;ms-25195d526c9adb43ac79;ms-9f993a6e9bb26846d4f4", + "expert_regret": 1.306308627128601, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9c33d4837de7d23232d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.306308627128601, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6936913728713989, + "restore_error": 1.1920928955078125e-07, + "score": 0.6936913728713989, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3532887101173401, + "candidate_source_group_id": "ms-4dc9ab19fbe571f09699;ms-502c195c0e4810814bac;ms-ef8de99d917753ec603c;ms-3661d65df223386f1be9;ms-9f993a6e9bb26846d4f4;ms-caeb4c3d358f256799a8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7cd314f076bfe5c32088", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.955777406692505e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30966275930404663, + "candidate_source_group_id": "ms-bdb04ada069c35d51e2e;ms-3e0dbff4309ecbd35d36;ms-3661d65df223386f1be9;ms-13aa39b96923ad8c913a;ms-7dfc3684b46df95070e2;ms-080e034927abe2f30d60", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5bbc4c4b1b51e2a088db", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.955777406692505e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.01300532091408968, + "candidate_source_group_id": "ms-3efca8ee8623914a4faf;ms-3a09e411ee6c882ef7df;ms-e3526036a5bf85cac0bf;ms-22aaa483f5e7d381b63d;ms-2b59042e27453aff03a7;ms-9fd14cc61816c2d4360e", + "expert_regret": 0.0, + "expert_score": 0.7146890163421631, + "expert_success": false, + "group_id": "ms-b483cac145e16ccdf42a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.271771788597107, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7282282114028931, + "restore_error": 1.955777406692505e-07, + "score": 0.7282282114028931, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.506008505821228, + "candidate_source_group_id": "ms-a40abdebe8a9c17de878;ms-662379c2c351807b9cdf;ms-ecb5cc61f0b736e3f06f;ms-ed30f8fbb80b2cf46fbc;ms-80d8d8fc4a3308139975;ms-89feb4366865cfaf2273", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-96e1562aaca7ef49db28", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.955777406692505e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5021568536758423, + "candidate_source_group_id": "ms-40392e5aeef63551f9ac;ms-e2f90eb6c79dfd9ce6fd;ms-c0142e4a5d15dd8d647a;ms-67b6e4d62036c13cc466;ms-cf2603516869355b8b13;ms-524ae7618ed9b6a272ae", + "expert_regret": 1.321753740310669, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-49c99f285560483a85ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.321753740310669, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.678246259689331, + "restore_error": 1.955777406692505e-07, + "score": 0.678246259689331, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.4717899560928345, + "candidate_source_group_id": "ms-e7573c5d29c3a1a3f228;ms-30e2d8b7825053276e0c;ms-320d99264926ea029f95;ms-8c8cf210aa675c5db1fe;ms-c910a469460f71880556;ms-1bbd61ce613ae75c8bb0", + "expert_regret": 1.780499592423439, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-af91167a0cf15457c6ba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.780499592423439, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21950040757656097, + "restore_error": 1.955777406692505e-07, + "score": 0.21950040757656097, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2846800982952118, + "candidate_source_group_id": "ms-e12808f670338ca180c6;ms-30e2d8b7825053276e0c;ms-1bbd61ce613ae75c8bb0;ms-715db95b13ebc6c977c8;ms-320d99264926ea029f95;ms-648250f7c25953eab081", + "expert_regret": 0.5122059732675552, + "expert_score": 0.7225138545036316, + "expert_success": false, + "group_id": "ms-4b4cd12d70c0615e0930", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7896921187639236, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21030788123607635, + "restore_error": 1.955777406692505e-07, + "score": 0.21030788123607635, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34828656911849976, + "candidate_source_group_id": "ms-c7677b8f230103dd3c51;ms-e705fef3e4caa4c49718;ms-0fe90299788e1f71f98a;ms-865f9d670f806778ae61;ms-0251a326271aa1cab82b;ms-619d3d285d2cae3abbb9", + "expert_regret": 1.56066232919693, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5dcf9054c3c1c4e1d50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.56066232919693, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.43933767080307007, + "restore_error": 1.955777406692505e-07, + "score": 0.43933767080307007, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5218817591667175, + "candidate_source_group_id": "ms-8e23d2d44e709420e46d;ms-83019373a06eb384c886;ms-cbd6cc8b2708d5e3e4a9;ms-91710558482886874dd7;ms-5b4f2522663bec742b02;ms-f5ebbab81506fa27fc6d", + "expert_regret": 1.3410197496414185, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5fb06efe2b4bea27cc89", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.3410197496414185, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6589802503585815, + "restore_error": 1.1920928955078125e-07, + "score": 0.6589802503585815, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16975267231464386, + "candidate_source_group_id": "ms-3f56672eac1c00e9c2b0;ms-059d7962a5f998edf668;ms-faeff0379a053e9ea351;ms-9156a9a9c1b829b742ad;ms-e3f38594991aafbffc23;ms-908213fef55ccf1dfda6", + "expert_regret": 0.0, + "expert_score": 0.7031490206718445, + "expert_success": false, + "group_id": "ms-e2950dcb50ed2b955be6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.7267410159111023, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48562636971473694, + "candidate_source_group_id": "ms-4c72a9ad08cbf51799fb;ms-8c4a08985213114fffb7;ms-d602b7370c5b90f8a439;ms-894cd0e5dafb2d38831d;ms-3996b923bb25440c29e3;ms-7b1a03be4a61ba27261c", + "expert_regret": 1.277206540107727, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-55e89d326b6531345902", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.277206540107727, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.722793459892273, + "restore_error": 1.1920928955078125e-07, + "score": 0.722793459892273, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.502928614616394, + "candidate_source_group_id": "ms-67b6e4d62036c13cc466;ms-f63a0e43f0923369edc3;ms-02663903d88aa84c9c10;ms-093472a082b3b61e73d6;ms-f97bd60d5430c32f9494;ms-f1eb6805ec9b483bba41", + "expert_regret": 1.7896972596645355, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2c6000014d31fc0bb21c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7896972596645355, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21030274033546448, + "restore_error": 1.1920928955078125e-07, + "score": 0.21030274033546448, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42057356238365173, + "candidate_source_group_id": "ms-c7c812bb98308442d95b;ms-d229ac64c91c9bb6ce88;ms-a4420cda0b159dda82a2;ms-88f748134c3fd27fcf72;ms-780ea60ea0255941e6c8;ms-97c28a7584b35207bf84", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08ab006a923f5fdae198", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.27672091126441956, + "candidate_source_group_id": "ms-af25c332ad54eee6e1c3;ms-de68dbb7daad3e3a71fe;ms-fdf18cd6260d82226927;ms-074b26fed4c4a9dd3449;ms-4a845dab9503bc4eba04;ms-c146ea1c89beb683b6fd", + "expert_regret": 1.543524980545044, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a6cf775fbba580161c4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.543524980545044, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.45647501945495605, + "restore_error": 1.1920928955078125e-07, + "score": 0.45647501945495605, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.062252726405858994, + "candidate_source_group_id": "ms-145f60d5fff285e7d05b;ms-7272e1e33d4ecc07470c;ms-6e268d1e2915740816a1;ms-d3377ca0da444ae9b40a;ms-8b18ea4e0982a1352696;ms-aee5716b3e4fc47e46ba", + "expert_regret": 0.062387049198150635, + "expert_score": 0.724672257900238, + "expert_success": false, + "group_id": "ms-9ced92cccacfe4d157b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3377147912979126, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6622852087020874, + "restore_error": 1.1920928955078125e-07, + "score": 0.6622852087020874, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6100326180458069, + "candidate_source_group_id": "ms-8e23d2d44e709420e46d;ms-91710558482886874dd7;ms-83019373a06eb384c886;ms-62b88f5cbc4f137e3bba;ms-5b4f2522663bec742b02;ms-f5ebbab81506fa27fc6d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-490e2c471adbabec6304", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6862500309944153, + "candidate_source_group_id": "ms-ea41340182245326a218;ms-957002faf092f769aa8e;ms-ef2d84500e27679d22d9;ms-a96ff9a1d5571ec4a6f2;ms-4b3a296acc66a14476c3;ms-fa077183f74add357112", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-88fb2bebd038dc786c01", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.21861067414283752, + "candidate_source_group_id": "ms-118ba8926eda06ffc61e;ms-c76aba3db8d4ce0062bc;ms-b933fbfb7c8fa68a445f;ms-ec4accef21246e0c9213;ms-a1a99e83fb2868164e40;ms-aa46bb6dc8e6274963b6", + "expert_regret": 1.3550251722335815, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9a72e47e2204fa794718", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3550251722335815, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6449748277664185, + "restore_error": 1.1920928955078125e-07, + "score": 0.6449748277664185, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.9083303213119507, + "candidate_source_group_id": "ms-35c12c467fb8a54f89f0;ms-f3211ecde366ca9f6ac7;ms-ba9541c7192498a1d8bd;ms-3af721139694f7f3ec04;ms-a43b35c03282fe0c8464;ms-3c550bf52d7bf91f4ca2", + "expert_regret": 0.5228349715471268, + "expert_score": 0.7269833087921143, + "expert_success": false, + "group_id": "ms-de8d6051e6ee74b62fec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5228349715471268, + "oracle_score": 0.7269833087921143, + "oracle_success": false, + "progress": 0.2041483372449875, + "restore_error": 1.1920928955078125e-07, + "score": 0.2041483372449875, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35652971267700195, + "candidate_source_group_id": "ms-02cacb03f445c8a460e8;ms-8bc7aa419d17368d81b5;ms-7334e620435d1f3545fd;ms-136f1ebebd0b697c3310;ms-a6e4ac1995198def96a8;ms-510cafd84de611de3909", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f24ad2e217963943c12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36151936650276184, + "candidate_source_group_id": "ms-3c1e7b47135487435fc1;ms-e89a3ba400f81d2795f3;ms-31fe1d98bc7adcd515db;ms-074cb86179cdd7f52737;ms-8bab784ae53525967763;ms-131a98e2d4a78a9645f8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-675833805d1139c2f2a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.331878662109375, + "candidate_source_group_id": "ms-340913cb08bfca09a4e3;ms-e536e40f6902c6ba0927;ms-f0d2ffde521e268efc83;ms-457db124a2f46a06175b;ms-b4281a37b8b48a0b4c54;ms-01ab68aa5051226638ee", + "expert_regret": 1.6553326845169067, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fdb2637276b27c46c757", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6553326845169067, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.34466731548309326, + "restore_error": 1.1920928955078125e-07, + "score": 0.34466731548309326, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5676584839820862, + "candidate_source_group_id": "ms-a5bd3a36c6fe41cd0b35;ms-c9e0182d4090ddaa991c;ms-cf44ae14778c60c36af0;ms-0a57aa04002f1b843856;ms-6f03b16858c35025503e;ms-1a2d298bf9972ddc1a7e", + "expert_regret": 1.6448251008987427, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9f4b47c80d59166302ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6448251008987427, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3551748991012573, + "restore_error": 1.1920928955078125e-07, + "score": 0.3551748991012573, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4225463271141052, + "candidate_source_group_id": "ms-ff012c1c8597c8db3cc7;ms-b55ca348be8b64323714;ms-d8f42ed6b0b686d819ab;ms-a195f05e99bccc48907e;ms-2f2b16367db3db120235;ms-84264ef080ec4f3631df", + "expert_regret": 1.6120499968528748, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-80e3d8a34c3cb94cad65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6120499968528748, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.38795000314712524, + "restore_error": 1.1920928955078125e-07, + "score": 0.38795000314712524, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.28298020362854004, + "candidate_source_group_id": "ms-6e2b02ee71a4a44bc325;ms-a6e4ac1995198def96a8;ms-e89a3ba400f81d2795f3;ms-136f1ebebd0b697c3310;ms-59474486dd5cb4e5bfd5;ms-118ba8926eda06ffc61e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bb567fcac946f012535a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4176461398601532, + "candidate_source_group_id": "ms-a4420cda0b159dda82a2;ms-aedc3dee6e275342eb8f;ms-97c28a7584b35207bf84;ms-73e3079ce5eb7cd14ec8;ms-062addb9da32a0c2ea97;ms-32943eea3e70cd02f313", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-507199452c6d42562a38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3114907145500183, + "candidate_source_group_id": "ms-7a0330e9e3189ff035d3;ms-8b18ea4e0982a1352696;ms-d3377ca0da444ae9b40a;ms-54b1042de0891da7c07e;ms-cc5f2a24e2571cb23050;ms-7aeb0835d3396e6666b6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ac6e78b1c56d020d0c09", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5282514691352844, + "candidate_source_group_id": "ms-c2b904f450b45e2a8c9a;ms-29a11d7bdcf49c86bd7a;ms-ec2e4afb34b439731136;ms-715db95b13ebc6c977c8;ms-e1b6bcb41532a800d3cb;ms-320d99264926ea029f95", + "expert_regret": 1.7805708646774292, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9852b3671856321cecc8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7805708646774292, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2194291353225708, + "restore_error": 1.1920928955078125e-07, + "score": 0.2194291353225708, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5794914960861206, + "candidate_source_group_id": "ms-f1eb6805ec9b483bba41;ms-f97bd60d5430c32f9494;ms-1d5ca9681600acdaba39;ms-87fa87e06dc88c28a44f;ms-639913ac0e6b3997faae;ms-dd0fad10ce064047d62e", + "expert_regret": 1.3991202116012573, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a99d874a81bc60301007", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3991202116012573, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6008797883987427, + "restore_error": 1.1920928955078125e-07, + "score": 0.6008797883987427, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.29921403527259827, + "candidate_source_group_id": "ms-fc9b4c94b51f8b2a521b;ms-22d1b2dcc954dcdff384;ms-3176a570b75767d1d729;ms-fc3c8a3572fd96442723;ms-52ea0261959dfacdbcac;ms-3a97ee208c6be9ed8b74", + "expert_regret": 1.6278697848320007, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b025d8068f740557d630", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6278697848320007, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.37213021516799927, + "restore_error": 1.1920928955078125e-07, + "score": 0.37213021516799927, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.024824464693665504, + "candidate_source_group_id": "ms-261f6f6b578cee63be20;ms-8054283375aeefc8f2c1;ms-e91b824c3841686ed053;ms-48db1178206eee52434a;ms-35d84da6eb1afcf8a811;ms-7a3daad6772d2384ea66", + "expert_regret": 0.03360700607299805, + "expert_score": 0.7271000146865845, + "expert_success": false, + "group_id": "ms-fb131b52f94500da894b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3065069913864136, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6934930086135864, + "restore_error": 1.1920928955078125e-07, + "score": 0.6934930086135864, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.15223349630832672, + "candidate_source_group_id": "ms-1cb9edbe8bd7ed4106c1;ms-832f0e966173abd16c34;ms-bbefdf03d0471be60f8f;ms-0f02ff35b7fa1234c52e;ms-06cb0796d1097e6ca111;ms-becd2ffef1c49174810a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-73259d17883355f7fa88", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.708191990852356, + "candidate_source_group_id": "ms-059d7962a5f998edf668;ms-3f56672eac1c00e9c2b0;ms-e3f38594991aafbffc23;ms-908213fef55ccf1dfda6;ms-faeff0379a053e9ea351;ms-472376eba1a5e1c706bf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-26322bd4de52dbd5743c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5003231763839722, + "candidate_source_group_id": "ms-a40abdebe8a9c17de878;ms-662379c2c351807b9cdf;ms-ecb5cc61f0b736e3f06f;ms-80d8d8fc4a3308139975;ms-ed30f8fbb80b2cf46fbc;ms-d1cc32a5c52e78aa5e39", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a1b60ea1461eb460bed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3806215822696686, + "candidate_source_group_id": "ms-b55ca348be8b64323714;ms-a195f05e99bccc48907e;ms-84264ef080ec4f3631df;ms-d8f42ed6b0b686d819ab;ms-e825996818ee6f2f7d26;ms-2f2b16367db3db120235", + "expert_regret": 1.5744295120239258, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6a9c4c704edd84c21cda", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5744295120239258, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4255704879760742, + "restore_error": 1.1920928955078125e-07, + "score": 0.4255704879760742, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.9886152148246765, + "candidate_source_group_id": "ms-8f3d4e1d07bb5dcc7c57;ms-a103dfbc0567d05ade6e;ms-95264bfdaa3892cf66ac;ms-33a0bdb4bcee42c79a2b;ms-0e48a13af39db4a58bbc;ms-c910a469460f71880556", + "expert_regret": 1.7652293741703033, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dfc111660c0d1c7b7e04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7652293741703033, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23477062582969666, + "restore_error": 1.1920928955078125e-07, + "score": 0.23477062582969666, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.5441019535064697, + "candidate_source_group_id": "ms-288ce929957d627c569c;ms-89520c3ac8779d9e81e7;ms-0e48a13af39db4a58bbc;ms-c910a469460f71880556;ms-30e2d8b7825053276e0c;ms-e7573c5d29c3a1a3f228", + "expert_regret": 1.7856831103563309, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-efb5a07185a3a1b33226", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7856831103563309, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21431688964366913, + "restore_error": 1.1920928955078125e-07, + "score": 0.21431688964366913, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1430424600839615, + "candidate_source_group_id": "ms-99f263cb3f383b1f6243;ms-aa46bb6dc8e6274963b6;ms-28c139f34a954b692962;ms-ec4accef21246e0c9213;ms-c76aba3db8d4ce0062bc;ms-b0302a41f75a827cd4e4", + "expert_regret": 1.746495544910431, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-575bd87a5da90963019d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.746495544910431, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2535044550895691, + "restore_error": 1.1920928955078125e-07, + "score": 0.2535044550895691, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.555015504360199, + "candidate_source_group_id": "ms-4b3a296acc66a14476c3;ms-ef2d84500e27679d22d9;ms-662379c2c351807b9cdf;ms-80d8d8fc4a3308139975;ms-ed30f8fbb80b2cf46fbc;ms-a40abdebe8a9c17de878", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b383acd9844466b19579", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5629571080207825, + "candidate_source_group_id": "ms-87fa87e06dc88c28a44f;ms-1d5ca9681600acdaba39;ms-6ceb341dfa656e485a13;ms-093472a082b3b61e73d6;ms-d5241a32e5c9de09f2e4;ms-6f03b16858c35025503e", + "expert_regret": 1.5844866633415222, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-741e906eafd57d115b5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5844866633415222, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4155133366584778, + "restore_error": 1.1920928955078125e-07, + "score": 0.4155133366584778, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32941243052482605, + "candidate_source_group_id": "ms-865f9d670f806778ae61;ms-619d3d285d2cae3abbb9;ms-c7677b8f230103dd3c51;ms-88f7199271947fc4c7e8;ms-c090bce47703a4c4bb0b;ms-e705fef3e4caa4c49718", + "expert_regret": 0.5238056480884552, + "expert_score": 0.7231871485710144, + "expert_success": false, + "group_id": "ms-64a755437c34f39cda2a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5238056480884552, + "oracle_score": 0.7231871485710144, + "oracle_success": false, + "progress": 0.1993815004825592, + "restore_error": 1.1920928955078125e-07, + "score": 0.1993815004825592, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5389226675033569, + "candidate_source_group_id": "ms-aee5716b3e4fc47e46ba;ms-59474486dd5cb4e5bfd5;ms-d3377ca0da444ae9b40a;ms-7aeb0835d3396e6666b6;ms-6e2b02ee71a4a44bc325;ms-7a0330e9e3189ff035d3", + "expert_regret": 0.011125326156616211, + "expert_score": 0.7251858115196228, + "expert_success": false, + "group_id": "ms-92070f417bd9d14d6fc7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.011125326156616211, + "oracle_score": 0.7251858115196228, + "oracle_success": false, + "progress": 0.7140604853630066, + "restore_error": 1.1920928955078125e-07, + "score": 0.7140604853630066, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4585074782371521, + "candidate_source_group_id": "ms-7a3daad6772d2384ea66;ms-2f2b16367db3db120235;ms-84264ef080ec4f3631df;ms-1d728ae415a4d3cb782e;ms-01a86e5f5731af7002ab;ms-e91b824c3841686ed053", + "expert_regret": 1.4172101616859436, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e56b37f0e3881a70ef54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4172101616859436, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5827898383140564, + "restore_error": 1.1920928955078125e-07, + "score": 0.5827898383140564, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.579157829284668, + "candidate_source_group_id": "ms-9156a9a9c1b829b742ad;ms-059d7962a5f998edf668;ms-e3f38594991aafbffc23;ms-908213fef55ccf1dfda6;ms-3f56672eac1c00e9c2b0;ms-472376eba1a5e1c706bf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb329ccd569163c53415", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.3383508920669556, + "candidate_source_group_id": "ms-1955408aeb8a8a4d0847;ms-8b15f77ad3436ac282ba;ms-50b9f93dd246400d20c8;ms-9b687dc2de14c6813d44;ms-524ae7618ed9b6a272ae;ms-8a9e7d69f7ade362fe40", + "expert_regret": 1.7739738821983337, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-917b0f051489227842f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7739738821983337, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22602611780166626, + "restore_error": 1.1920928955078125e-07, + "score": 0.22602611780166626, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.650115966796875, + "candidate_source_group_id": "ms-715db95b13ebc6c977c8;ms-ec2e4afb34b439731136;ms-29a11d7bdcf49c86bd7a;ms-648250f7c25953eab081;ms-68d9596217cc37c949c4;ms-36d1128e3bd512cffe18", + "expert_regret": 1.8035843968391418, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28835618507e7bc71227", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8035843968391418, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19641560316085815, + "restore_error": 1.1920928955078125e-07, + "score": 0.19641560316085815, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1924881786108017, + "candidate_source_group_id": "ms-3d862f2a32d3404926c3;ms-605dbfbe6bef2b15b58c;ms-f2c8835e8a162283a646;ms-5cc5e6359fc006559eae;ms-6abc3749b5df33ea621e;ms-8b18ea4e0982a1352696", + "expert_regret": 0.004888713359832764, + "expert_score": 0.7208024859428406, + "expert_success": false, + "group_id": "ms-502dba1003c09ec60ba0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2840862274169922, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7159137725830078, + "restore_error": 1.1920928955078125e-07, + "score": 0.7159137725830078, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3068009316921234, + "candidate_source_group_id": "ms-28fe4b5a2888189c28d9;ms-9257b89b9b635a0fb174;ms-3176a570b75767d1d729;ms-9554f100dd5be3a4fa47;ms-d799435b5f6b8fae2ffb;ms-a905b84bd3ab703c025f", + "expert_regret": 1.798503816127777, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf8c5d9c874edc9f000d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.798503816127777, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2014961838722229, + "restore_error": 1.1920928955078125e-07, + "score": 0.2014961838722229, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6295377612113953, + "candidate_source_group_id": "ms-fae3c6a2f1b575ddc3f7;ms-4b3a296acc66a14476c3;ms-a96ff9a1d5571ec4a6f2;ms-ed4f6388ae96f9da76fa;ms-ef2d84500e27679d22d9;ms-80d8d8fc4a3308139975", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d2839c13649000454a65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4947667717933655, + "candidate_source_group_id": "ms-5fc588b9c9d52034f4c4;ms-30e4ae59842091fe16b2;ms-125287f805d320b2eff7;ms-f4060cdbe6d39b9215ac;ms-14a2c3eb293175cb76f3;ms-a905b84bd3ab703c025f", + "expert_regret": 1.7869701087474823, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01bef10a5ccfd38294fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7869701087474823, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2130298912525177, + "restore_error": 1.1920928955078125e-07, + "score": 0.2130298912525177, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42320579290390015, + "candidate_source_group_id": "ms-18ab33df290e3919a468;ms-f539c5c30da21c875657;ms-dd0fad10ce064047d62e;ms-df961fe24a43e56d1716;ms-6959fa589edc996753d7;ms-484ea653bbca2de3a4a2", + "expert_regret": 1.6253606379032135, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6d6456c45f9f3ae74b50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6253606379032135, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3746393620967865, + "restore_error": 1.1920928955078125e-07, + "score": 0.3746393620967865, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42993026971817017, + "candidate_source_group_id": "ms-4906f3adfda6dace862d;ms-131a98e2d4a78a9645f8;ms-31fe1d98bc7adcd515db;ms-295dab0e1d105e758827;ms-3661d65df223386f1be9;ms-c871c1157a16e19e6150", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29027a8e3742362fd477", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.0785186290740967, + "candidate_source_group_id": "ms-c910a469460f71880556;ms-0a8109ce7ab2ddc1bb1e;ms-e12808f670338ca180c6;ms-f3211ecde366ca9f6ac7;ms-8c8cf210aa675c5db1fe;ms-44a607bf50304347ead8", + "expert_regret": 1.7863537222146988, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83c0299c23fa800452c7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7863537222146988, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2136462777853012, + "restore_error": 1.1920928955078125e-07, + "score": 0.2136462777853012, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30791282653808594, + "candidate_source_group_id": "ms-89520c3ac8779d9e81e7;ms-44a607bf50304347ead8;ms-f3211ecde366ca9f6ac7;ms-288ce929957d627c569c;ms-8c8cf210aa675c5db1fe;ms-ba9541c7192498a1d8bd", + "expert_regret": 0.5077747106552124, + "expert_score": 0.7214354276657104, + "expert_success": false, + "group_id": "ms-e2a037eadb166228b1dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5115827322006226, + "oracle_score": 0.7252434492111206, + "oracle_success": false, + "progress": 0.21366071701049805, + "restore_error": 1.1920928955078125e-07, + "score": 0.21366071701049805, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3353612720966339, + "candidate_source_group_id": "ms-14dabc3ac1e1a339ebe4;ms-472376eba1a5e1c706bf;ms-908213fef55ccf1dfda6;ms-067e0fe46e4e9483e2a1;ms-785fb44f1371895f7721;ms-938b53ef53e669518a56", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-487d0fe2a13fb699dd7a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4117530882358551, + "candidate_source_group_id": "ms-df961fe24a43e56d1716;ms-6939f3ecafd5e0a4bfee;ms-484ea653bbca2de3a4a2;ms-3f6e7085c865144a7408;ms-f539c5c30da21c875657;ms-7b1a03be4a61ba27261c", + "expert_regret": 1.7978478223085403, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65e9da4468e522823587", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7978478223085403, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20215217769145966, + "restore_error": 1.1920928955078125e-07, + "score": 0.20215217769145966, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3465295135974884, + "candidate_source_group_id": "ms-efc33064e2a2f7e86dbe;ms-3661d65df223386f1be9;ms-9f993a6e9bb26846d4f4;ms-131a98e2d4a78a9645f8;ms-295dab0e1d105e758827;ms-cdbfe4d3b05f4ed12db3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b3d9d9570bf9b64c18fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5829631090164185, + "candidate_source_group_id": "ms-6ceb341dfa656e485a13;ms-6f03b16858c35025503e;ms-1a2d298bf9972ddc1a7e;ms-d5241a32e5c9de09f2e4;ms-c9e0182d4090ddaa991c;ms-093472a082b3b61e73d6", + "expert_regret": 1.3228377103805542, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0d80d6d87a27a53951fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3228377103805542, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6771622896194458, + "restore_error": 1.1920928955078125e-07, + "score": 0.6771622896194458, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.13507354259490967, + "candidate_source_group_id": "ms-785fb44f1371895f7721;ms-76b0b0463fdb323b6233;ms-34f60c9a263bd0a5641f;ms-472376eba1a5e1c706bf;ms-908213fef55ccf1dfda6;ms-3f56672eac1c00e9c2b0", + "expert_regret": 0.0, + "expert_score": 0.7244810461997986, + "expert_success": false, + "group_id": "ms-2436538e05fdcf8e44fc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42387357354164124, + "candidate_source_group_id": "ms-18ab33df290e3919a468;ms-6959fa589edc996753d7;ms-f539c5c30da21c875657;ms-dd0fad10ce064047d62e;ms-df961fe24a43e56d1716;ms-98c8fcf4c9f098cebe8d", + "expert_regret": 1.6157010197639465, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7ce799eb9d3b741e8960", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6157010197639465, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.38429898023605347, + "restore_error": 1.1920928955078125e-07, + "score": 0.38429898023605347, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4629737436771393, + "candidate_source_group_id": "ms-6818a4edf6ef35dacfb0;ms-c663f7e73e7e8376a05c;ms-b37738e210bf33a45a1d;ms-057132b6fc7922013391;ms-3c3fb1d170c1a7965ac4;ms-777412474251e64d7e24", + "expert_regret": 1.28501296043396, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0bc111c5ce4e0052716b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.28501296043396, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.71498703956604, + "restore_error": 1.1920928955078125e-07, + "score": 0.71498703956604, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4643208682537079, + "candidate_source_group_id": "ms-4906f3adfda6dace862d;ms-131a98e2d4a78a9645f8;ms-3661d65df223386f1be9;ms-510cafd84de611de3909;ms-31fe1d98bc7adcd515db;ms-a6e4ac1995198def96a8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-03495469257613a802b4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32523420453071594, + "candidate_source_group_id": "ms-136f1ebebd0b697c3310;ms-a6e4ac1995198def96a8;ms-510cafd84de611de3909;ms-e89a3ba400f81d2795f3;ms-31fe1d98bc7adcd515db;ms-4906f3adfda6dace862d", + "expert_regret": 1.3398639559745789, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a40dee47c502e73949af", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3398639559745789, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6601360440254211, + "restore_error": 1.1920928955078125e-07, + "score": 0.6601360440254211, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.03126028925180435, + "candidate_source_group_id": "ms-9fd14cc61816c2d4360e;ms-d9ed0a9faf86ca5f5caa;ms-3a09e411ee6c882ef7df;ms-93b076203c0c65fb22be;ms-2b59042e27453aff03a7;ms-e4090b0b0c1739070201", + "expert_regret": 0.0034009814262390137, + "expert_score": 0.7224933505058289, + "expert_success": false, + "group_id": "ms-baa36ee75ec2de550b9b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2809076309204102, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7190923690795898, + "restore_error": 1.1920928955078125e-07, + "score": 0.7190923690795898, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31800419092178345, + "candidate_source_group_id": "ms-a699ee643e76a610b444;ms-ddb4e5a1f88dfd017319;ms-6f12a291dd9c3bce4b44;ms-7571c367fe683b0f1cf9;ms-e0b2e69a5ea0d0ad4fb5;ms-a509a572b3871e591d26", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-af22292595eebbd60e48", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1094897985458374, + "candidate_source_group_id": "ms-ee19bfbcb2f4fbf5a44d;ms-8315ae30e2cf041c8674;ms-d807915e233a0c74b809;ms-b4af4c8b9dcd6976546c;ms-c3a1cf0e424a4f065459;ms-4e86b87d6e5f6ab914fe", + "expert_regret": 1.4600076079368591, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d4bde31fd7e7cee76b09", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4600076079368591, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5399923920631409, + "restore_error": 1.1920928955078125e-07, + "score": 0.5399923920631409, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5013295412063599, + "candidate_source_group_id": "ms-a5775906ce2fb6556103;ms-5071d49489e1900dfa91;ms-578e24198ed828a74485;ms-10a5b6cc3ec06dfdc5c5;ms-bc53e550cb202b5fcdf3;ms-54f34c73458181a65e9a", + "expert_regret": 1.4513219594955444, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b15f9c696a2661346cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4513219594955444, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5486780405044556, + "restore_error": 1.1920928955078125e-07, + "score": 0.5486780405044556, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5465834736824036, + "candidate_source_group_id": "ms-9e87481ce12fa45b2554;ms-9a2d8f0085e6740cf5b0;ms-e793d78eaff3fb28deb6;ms-1d36e5be82aee5a8e3b8;ms-f07607bc0ce1c4e202b0;ms-9b4483fb034248fe882d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-02acbd591a961c0dbd46", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.11978138983249664, + "candidate_source_group_id": "ms-6af227c07aaf7c0f0aea;ms-a1846ef1f00eb54e2d60;ms-3b0ad4f07f1813ecf670;ms-3e971096794f04f325f2;ms-4f190184d3920a0add8b;ms-bdd1924b44de2db5b07a", + "expert_regret": 0.020448148250579834, + "expert_score": 0.14857541024684906, + "expert_success": false, + "group_id": "ms-0843bef6b0c13c3ede69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.030796274542808533, + "oracle_score": 0.15892353653907776, + "oracle_success": false, + "progress": 0.12812726199626923, + "restore_error": 1.1920928955078125e-07, + "score": 0.12812726199626923, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19712130725383759, + "candidate_source_group_id": "ms-99b15d50660b77fe2fcb;ms-4705657703da9d791fb9;ms-67f602a0e4efc9984d72;ms-16d5b122db1824caf92b;ms-10af171aa279a879207d;ms-7be1c6c8ef67031b1f90", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-813cac6d08ed5af48b12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.05630256608128548, + "candidate_source_group_id": "ms-b606af28580a38cea636;ms-ffef7730418c831245b3;ms-6a6a41baedceb27ad888;ms-7785d335d4a95e21a84d;ms-c151229bc1dd03ed2feb;ms-47a55ae1d3a858eed51c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ca10d8b9d03f4d59806c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.26169589161872864, + "candidate_source_group_id": "ms-3c458f671129e1ebe7b4;ms-732d0515ed28df031b8e;ms-28817fe297f38fd9550a;ms-87fd37bcc6b666e220ef;ms-f682952c6ecb2b833c35;ms-0377c81a67d9819ab96b", + "expert_regret": 1.4597296714782715, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f458832fc85f00873cc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4597296714782715, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5402703285217285, + "restore_error": 1.1920928955078125e-07, + "score": 0.5402703285217285, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5999676585197449, + "candidate_source_group_id": "ms-22325628db75967cf779;ms-236601c5e076b4ee5d75;ms-f7c9f440fec3a22cd6d4;ms-5df54a8baaceb8c73c8a;ms-d6e14cec49894dd329f0;ms-c425c810f7865e9564ee", + "expert_regret": 1.4532561898231506, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c76158673d20b18c2622", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4532561898231506, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5467438101768494, + "restore_error": 1.1920928955078125e-07, + "score": 0.5467438101768494, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.05087048560380936, + "candidate_source_group_id": "ms-d965f63e091a5d6dd6d7;ms-a22fbce4503f088acb1f;ms-11bb3387454624de8143;ms-4742d169606f3ec2b474;ms-766b6fe7c08a3525ce94;ms-38507741c3b5d91a7b33", + "expert_regret": 1.4416561126708984, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5fb668380b64d4f1e74", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4416561126708984, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5583438873291016, + "restore_error": 1.1920928955078125e-07, + "score": 0.5583438873291016, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.08607659488916397, + "candidate_source_group_id": "ms-5e1e38c86ef8f564ec77;ms-5e6d18ccfcf923f52f8e;ms-f39e1d7a2d636e39a02f;ms-2f57eadf546710065684;ms-a7179e4e4e2a0d5335b3;ms-3417f5f2f1470c61d0a8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ed419c64a6693cb8998b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3252336084842682, + "candidate_source_group_id": "ms-3ea30989082ec714e12d;ms-d849d754f346b826e052;ms-b7ed399f40d2d554b16d;ms-288532d255e4828bb15b;ms-1abd8c7cc1c683f88d3d;ms-fb228a036fe5973bcad1", + "expert_regret": 1.4679107069969177, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a8e6435948250f5e163d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4679107069969177, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5320892930030823, + "restore_error": 1.1920928955078125e-07, + "score": 0.5320892930030823, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19222275912761688, + "candidate_source_group_id": "ms-0b7f8ba789c00b37caa0;ms-91d86cba2602d1fa780d;ms-a509a572b3871e591d26;ms-d67409d8ecfd5d97336d;ms-6558f35ae2a2871a4bfd;ms-ee7463f3d937dbc16f89", + "expert_regret": 1.467070758342743, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-54a7c3d32b6a267d81a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.467070758342743, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5329292416572571, + "restore_error": 1.1920928955078125e-07, + "score": 0.5329292416572571, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5508180856704712, + "candidate_source_group_id": "ms-7982e5af0d533320432f;ms-4895312f7ef7a8e0109c;ms-17a04b4ac2d938261bff;ms-8c0b600aef5393f929cd;ms-3e7befcb3d8fc7884e8f;ms-c7f427f37d47501932e8", + "expert_regret": 0.5713350176811218, + "expert_score": 0.5877946019172668, + "expert_success": false, + "group_id": "ms-4c7138016830a563fb1b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5713350176811218, + "oracle_score": 0.5877946019172668, + "oracle_success": false, + "progress": 0.01645958423614502, + "restore_error": 1.1920928955078125e-07, + "score": 0.01645958423614502, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18581008911132812, + "candidate_source_group_id": "ms-2be3bf4f348678c0cc6c;ms-5be34d2caaa3a2d07b81;ms-4746e04d636d13cfbe6c;ms-193063285cdb9faff39b;ms-912718b1f2ef92066799;ms-12050326f623a94ae9e0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5aa7ce332ee9702812a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29436397552490234, + "candidate_source_group_id": "ms-4f405775dcbb88f7d8b0;ms-5c8b50523e0de37d80b8;ms-7e94769c30229d5cc7b8;ms-3737178a1f85502652ea;ms-d305a11348461ae1622c;ms-28817fe297f38fd9550a", + "expert_regret": 1.4407914876937866, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c3cdd70e2bc10bba1930", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4407914876937866, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5592085123062134, + "restore_error": 1.1920928955078125e-07, + "score": 0.5592085123062134, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5336085557937622, + "candidate_source_group_id": "ms-a45ed89f5b95d1e7ab07;ms-50d83ce148904504ec50;ms-32435d71bb817daf01d9;ms-25839c690d85a4f5b986;ms-5ac153f97fd3c2f689c5;ms-d26a60e383a2e822615a", + "expert_regret": 1.4662367105484009, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ca25b016439a98198434", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4662367105484009, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5337632894515991, + "restore_error": 2.384185791015625e-07, + "score": 0.5337632894515991, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42451098561286926, + "candidate_source_group_id": "ms-29eab654e4adf7ca9c4b;ms-4f938bd3599c372c8bff;ms-cdfe8f580576f4c577b0;ms-9ffeb1600c04f08bdfcb;ms-55c2bba961a327aa5260;ms-f6db4e8bed63ed868487", + "expert_regret": 1.4546353220939636, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fd1c44c6d5d8f7f11451", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4546353220939636, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5453646779060364, + "restore_error": 2.384185791015625e-07, + "score": 0.5453646779060364, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.656699001789093, + "candidate_source_group_id": "ms-8d9b2a5ccd43461f827e;ms-a01f0549a18d924d31c0;ms-fbcca760f5e16aa5c776;ms-a43a663a3c4b15ec3ac2;ms-f653a3ac16eba9fba5dd;ms-14c40aa19f7b9307511d", + "expert_regret": 1.4418796300888062, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e4af96af7d344ec47a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4418796300888062, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5581203699111938, + "restore_error": 2.384185791015625e-07, + "score": 0.5581203699111938, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5108858346939087, + "candidate_source_group_id": "ms-362ba7cebb2bab1421e8;ms-12a997dde50b7a7f35cb;ms-87f65c35c9d8b3ced6fc;ms-de709118c78966c5aff7;ms-59020093d2eeaf58aa84;ms-d67409d8ecfd5d97336d", + "expert_regret": 1.4436945915222168, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-60a28a9b282e7586d4d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4436945915222168, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5563054084777832, + "restore_error": 2.384185791015625e-07, + "score": 0.5563054084777832, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 1.0012789964675903, + "candidate_source_group_id": "ms-edcdf99767068f94bcb4;ms-86b302005e0461f28c43;ms-417cab1470cf46273b02;ms-eac0d7dd54b1e797fdbd;ms-c774aeee2c4066edd668;ms-5e85dc3760eef8a53a67", + "expert_regret": 0.0, + "expert_score": 0.5850434899330139, + "expert_success": false, + "group_id": "ms-a9ac13384fe5afc835f1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6097205877304077, + "candidate_source_group_id": "ms-8315ae30e2cf041c8674;ms-d807915e233a0c74b809;ms-c3a1cf0e424a4f065459;ms-b4af4c8b9dcd6976546c;ms-16d5b122db1824caf92b;ms-b40ee5a75332685d5cec", + "expert_regret": 1.4401201009750366, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6029bab18ae94b126d79", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4401201009750366, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5598798990249634, + "restore_error": 2.384185791015625e-07, + "score": 0.5598798990249634, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.49996042251586914, + "candidate_source_group_id": "ms-b606af28580a38cea636;ms-045f5adce6d38ea2794f;ms-ffef7730418c831245b3;ms-6a6a41baedceb27ad888;ms-dc965b3a72976440156c;ms-d3cebfccbbe54d22c561", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2b64c720290c6dad7e35", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7536073923110962, + "candidate_source_group_id": "ms-1df0775c4ef08d0cf1bf;ms-73e36360221b6732c688;ms-d69b907e65875420bab7;ms-023e021f079a8774c741;ms-2dc8e489908f72903319;ms-21155188bc35f0f021d3", + "expert_regret": 1.4733810424804688, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3d095a49ed03de972849", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4733810424804688, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5266189575195312, + "restore_error": 2.384185791015625e-07, + "score": 0.5266189575195312, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.05375160649418831, + "candidate_source_group_id": "ms-910364d2d86091c5e0cf;ms-30998855587c076a2a77;ms-d0e4bdc60ab8ea52a320;ms-869a04e41dc5cc90916b;ms-6be8614a1bd50b974b95;ms-4082ce1f04dbacd6a5b9", + "expert_regret": 1.4361915588378906, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5d81a7c740394b68c3f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4361915588378906, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5638084411621094, + "restore_error": 1.1920928955078125e-07, + "score": 0.5638084411621094, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.10712426155805588, + "candidate_source_group_id": "ms-f4b95f2b569e3f1bf086;ms-46987cd8daa3091c8a85;ms-3950f823020f08f8e8cd;ms-a10d8368c33b56390f77;ms-45d4b692eda9ecacaa55;ms-10621e1108a69d0b633e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-16a7ccf3c442984c2feb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15082213282585144, + "candidate_source_group_id": "ms-3b4b0b8c60ad41bb16b0;ms-cca07eb504a242633931;ms-239a07967247700a8ed1;ms-5fc884c238818acdde08;ms-f39bbaa063044719a98d;ms-1781d9c562b4425df7c8", + "expert_regret": 1.4557369351387024, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a3d0c460532de2d801ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4557369351387024, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5442630648612976, + "restore_error": 1.1920928955078125e-07, + "score": 0.5442630648612976, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20015934109687805, + "candidate_source_group_id": "ms-fd99b14bf152ebc0ef8e;ms-74868f62709b91077e27;ms-59cc3cdf6918248d7f78;ms-5922c28e4a71a88c6d21;ms-fa62bbb3e8416561ed69;ms-3e971096794f04f325f2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-227fe0347d2ea57a66a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29311588406562805, + "candidate_source_group_id": "ms-82e28eb350e21d43d3eb;ms-aed881d8d61a756aa297;ms-7cab119c7b8019254ba4;ms-b40ee5a75332685d5cec;ms-d807915e233a0c74b809;ms-8315ae30e2cf041c8674", + "expert_regret": 1.4945808053016663, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a497e44e8c2ff0d46e47", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4945808053016663, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5054191946983337, + "restore_error": 1.1920928955078125e-07, + "score": 0.5054191946983337, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8481022715568542, + "candidate_source_group_id": "ms-578537600f7a649c2dd5;ms-9c7e6b057c74f3014fd5;ms-86b0447349029dfaa6ab;ms-c86956f3f1333e136186;ms-ac79bc3a841958ce127f;ms-cd340bca589f0cebd7da", + "expert_regret": 1.4337644577026367, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f9c00ba41392adec3fd1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4337644577026367, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5662355422973633, + "restore_error": 1.1920928955078125e-07, + "score": 0.5662355422973633, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3450329005718231, + "candidate_source_group_id": "ms-b606af28580a38cea636;ms-4d43fb19477b7ab848bc;ms-ffef7730418c831245b3;ms-7785d335d4a95e21a84d;ms-045f5adce6d38ea2794f;ms-6a6a41baedceb27ad888", + "expert_regret": 1.4462494850158691, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-50f62a61a82a96061d9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4462494850158691, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5537505149841309, + "restore_error": 1.1920928955078125e-07, + "score": 0.5537505149841309, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2876572608947754, + "candidate_source_group_id": "ms-b36673c3905a123cbd50;ms-5922c28e4a71a88c6d21;ms-59020093d2eeaf58aa84;ms-fd9f10f7df6a11ec2cef;ms-311a52ec4b0ca8d71889;ms-59cc3cdf6918248d7f78", + "expert_regret": 1.4564212560653687, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dea17c1c383f54d05636", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4564212560653687, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5435787439346313, + "restore_error": 1.1920928955078125e-07, + "score": 0.5435787439346313, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.34333816170692444, + "candidate_source_group_id": "ms-9e1f3c14116ebca6164d;ms-1cea800b74c1ea2f6338;ms-0ca11ec8f7fbf0c1d66e;ms-d824135bf97b907f7cc2;ms-17e8d6ba42404c7b7d07;ms-23f9cca8edfca421a4a6", + "expert_regret": 1.4462417364120483, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c78721d9c4196a9e8ec5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4462417364120483, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5537582635879517, + "restore_error": 1.1920928955078125e-07, + "score": 0.5537582635879517, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43157094717025757, + "candidate_source_group_id": "ms-bcd9be34f050d97499bd;ms-782893a3eb2e3dcfd15e;ms-e20f5d43f319248c5001;ms-add4b7d277e1fc171144;ms-71ef8f2cdc11d83250fa;ms-bc53e550cb202b5fcdf3", + "expert_regret": 1.4550440907478333, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e058c0dba52df04b8642", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4550440907478333, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5449559092521667, + "restore_error": 1.1920928955078125e-07, + "score": 0.5449559092521667, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14907561242580414, + "candidate_source_group_id": "ms-f71c7cf8ca320b8eb7a4;ms-a73f46824bdbdfb96238;ms-08858c7ba8d4a3357e05;ms-7d962acc9cfbc27c599c;ms-70381721e736d44afeaf;ms-478f754a15221314d15e", + "expert_regret": 1.4790117144584656, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-71452ba714a10880870b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4790117144584656, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5209882855415344, + "restore_error": 1.1920928955078125e-07, + "score": 0.5209882855415344, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7495704293251038, + "candidate_source_group_id": "ms-eac0d7dd54b1e797fdbd;ms-9cdebdcdad56bd8d87cc;ms-edcdf99767068f94bcb4;ms-c774aeee2c4066edd668;ms-86b302005e0461f28c43;ms-417cab1470cf46273b02", + "expert_regret": 0.0, + "expert_score": 0.5829448699951172, + "expert_success": false, + "group_id": "ms-4ca84594a789c9abd5d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.5829448699951172, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5121486783027649, + "candidate_source_group_id": "ms-17330235d51598ebcb4e;ms-351844f358ea7564d27d;ms-cafa65eeb953aff47f30;ms-ed7b02bc8f37b8524a56;ms-4ec67456479f53e605e1;ms-dc5a883a3e28b90ebf1a", + "expert_regret": 1.4792837500572205, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b5b5e5f9237c41e0fe9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4792837500572205, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5207162499427795, + "restore_error": 1.1920928955078125e-07, + "score": 0.5207162499427795, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6281210780143738, + "candidate_source_group_id": "ms-70342af6b601660d7c69;ms-64ab703e7a82799a47dd;ms-dbb32d9fd6999e09f589;ms-10af171aa279a879207d;ms-67f602a0e4efc9984d72;ms-0e275939f12a9dcee0a0", + "expert_regret": 1.4526816606521606, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d88107eff1e361cdcc4c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4526816606521606, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5473183393478394, + "restore_error": 1.1920928955078125e-07, + "score": 0.5473183393478394, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.498522013425827, + "candidate_source_group_id": "ms-fe54b45b549a55d45c0e;ms-b90d7926b23eabbbed04;ms-dbcc3da47d96ceeaf9f0;ms-b0aa24be399d843c9d50;ms-beb3567748ba228bdfce;ms-32435d71bb817daf01d9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-683b1d258a1cafbf87b9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29422813653945923, + "candidate_source_group_id": "ms-fef1cf4879be83a77574;ms-8adf1cf09ddabdc5fe5f;ms-fcbac5ac63b87452c719;ms-8fa24da5c97dc1dad5c1;ms-a509a572b3871e591d26;ms-0b7f8ba789c00b37caa0", + "expert_regret": 1.4223199486732483, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7361bfba9d2ab4f1913e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4223199486732483, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5776800513267517, + "restore_error": 1.1920928955078125e-07, + "score": 0.5776800513267517, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4393734931945801, + "candidate_source_group_id": "ms-48d490ed21088bb5ba85;ms-b671fa9fcef84dbf2a13;ms-d73a2a984d5829e884f9;ms-8420ccaff5986c85063f;ms-e45b5de01eafae73e492;ms-c7041c6f758f8e4a3698", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2ae57bab6d2ea11f6638", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3275270164012909, + "candidate_source_group_id": "ms-4b970be37419ce0be0ae;ms-8e4755f1627d85c12bd8;ms-80fbba5636cb4f9c64a3;ms-4cd1ceea2dda2732110a;ms-351c397795d9af204ec6;ms-28817fe297f38fd9550a", + "expert_regret": 1.4249294996261597, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-12ac4329c5bca5f2bb62", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4249294996261597, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5750705003738403, + "restore_error": 1.1920928955078125e-07, + "score": 0.5750705003738403, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47384434938430786, + "candidate_source_group_id": "ms-2d995e39f2b95fed1a67;ms-14c40aa19f7b9307511d;ms-10cb98b0a1ca5429dd28;ms-f653a3ac16eba9fba5dd;ms-8bb2d8cb7c0d33fa0c1d;ms-5d169f059bde8e429786", + "expert_regret": 1.4886125922203064, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7e6493bb6b1ff650d6de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4886125922203064, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5113874077796936, + "restore_error": 1.1920928955078125e-07, + "score": 0.5113874077796936, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46906593441963196, + "candidate_source_group_id": "ms-8edf3c4f13fa7a151824;ms-b863927293ce6530bb3b;ms-ba156a5cdaf40cc85cc4;ms-3a65e7b378a87a7eeb11;ms-bc53e550cb202b5fcdf3;ms-add4b7d277e1fc171144", + "expert_regret": 1.9782416578382254, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-38ceda08bad38fbebc1c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9782416578382254, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.021758342161774635, + "restore_error": 1.1920928955078125e-07, + "score": 0.021758342161774635, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5346171855926514, + "candidate_source_group_id": "ms-0c9c39c462522b25ef2b;ms-88bdd8987f890af7e9ea;ms-30fe784e67f732ef9a3d;ms-ffba357213945be5f9f7;ms-c70be4072fb4e49ac106;ms-99ecd2226d7187416316", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ee32e6bb3c0bb45702b9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28423526883125305, + "candidate_source_group_id": "ms-28817fe297f38fd9550a;ms-4f405775dcbb88f7d8b0;ms-f682952c6ecb2b833c35;ms-7e94769c30229d5cc7b8;ms-0377c81a67d9819ab96b;ms-3c458f671129e1ebe7b4", + "expert_regret": 1.4401622414588928, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4fad1f976cc64cc06826", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4401622414588928, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5598377585411072, + "restore_error": 1.1920928955078125e-07, + "score": 0.5598377585411072, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.32855483889579773, + "candidate_source_group_id": "ms-0b4ac5b183639ac19191;ms-d75a00b1388f50bf8919;ms-85eef30b36b044b33f60;ms-912718b1f2ef92066799;ms-4746e04d636d13cfbe6c;ms-d44f5bd2488ea182132b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4d6099258a3a6e037aff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4465859532356262, + "candidate_source_group_id": "ms-07e0726dedce0a0e4419;ms-87b44e6219279322a723;ms-ee055e1282f6302ad9e8;ms-1abf5e6d483e2788b086;ms-81085eba1dd49b17ec9c;ms-09de52dad7e40970c938", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb92a1e6b67121783fff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9671252965927124, + "candidate_source_group_id": "ms-547f4204888aee978bf0;ms-3fae81854f4c927f1f8d;ms-8ccc51fb09484026ebbb;ms-b0d54c14a65fb73f08ca;ms-b23839ace2fb08438144;ms-a76ae18568c88af1da6b", + "expert_regret": 1.9072430729866028, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d9e3a187dcadb9ad26b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9072430729866028, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09275692701339722, + "restore_error": 1.1920928955078125e-07, + "score": 0.09275692701339722, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.999265730381012, + "candidate_source_group_id": "ms-edcdf99767068f94bcb4;ms-86b302005e0461f28c43;ms-417cab1470cf46273b02;ms-eac0d7dd54b1e797fdbd;ms-c774aeee2c4066edd668;ms-5e85dc3760eef8a53a67", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69962cd1c448094e4fb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5431287288665771, + "candidate_source_group_id": "ms-0cc80a2933abf1b4853f;ms-12a997dde50b7a7f35cb;ms-de709118c78966c5aff7;ms-723a1f2e22afe15b6981;ms-362ba7cebb2bab1421e8;ms-91ad1a5f945470b4346e", + "expert_regret": 1.491007685661316, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-859d0ea38fb5e8aa6b98", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.491007685661316, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5089923143386841, + "restore_error": 1.1920928955078125e-07, + "score": 0.5089923143386841, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24475108087062836, + "candidate_source_group_id": "ms-81729abe5d83a1ca280d;ms-2073841ae01f224365a1;ms-8d94c7c692c91a962f25;ms-5922c28e4a71a88c6d21;ms-59cc3cdf6918248d7f78;ms-fd9f10f7df6a11ec2cef", + "expert_regret": 1.4598247408866882, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97598e118c5cc8c254a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4598247408866882, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5401752591133118, + "restore_error": 1.1920928955078125e-07, + "score": 0.5401752591133118, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6136251091957092, + "candidate_source_group_id": "ms-aaf1c4931e054f52623c;ms-d1dd16f03551d840a922;ms-a43a663a3c4b15ec3ac2;ms-3e7befcb3d8fc7884e8f;ms-b666f24369c548cd56ab;ms-49641ecf3e1326621609", + "expert_regret": 1.9254220500588417, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-19e6e6e341aebb7ec693", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9254220500588417, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0745779499411583, + "restore_error": 1.1920928955078125e-07, + "score": 0.0745779499411583, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15812137722969055, + "candidate_source_group_id": "ms-45d4b692eda9ecacaa55;ms-f80ae137a8d9981f8c98;ms-dc2a8fa76e1ceb0d8925;ms-f4d6da245d340cd16d30;ms-25839c690d85a4f5b986;ms-10621e1108a69d0b633e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68970d9d9bf975e25eb5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6850227117538452, + "candidate_source_group_id": "ms-50f29e19c798fee5422f;ms-c3a1cf0e424a4f065459;ms-b4af4c8b9dcd6976546c;ms-1451f536f2ac0df844f6;ms-7c5059db4c14a74b64a3;ms-f88a44616a0985aac518", + "expert_regret": 1.4656415581703186, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7de8743758ec505a3294", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4656415581703186, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5343584418296814, + "restore_error": 1.1920928955078125e-07, + "score": 0.5343584418296814, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18145036697387695, + "candidate_source_group_id": "ms-1bfca22d4af29f0e14b1;ms-81085eba1dd49b17ec9c;ms-61068da67676a95e5065;ms-e093f85b121d443b61e2;ms-87b44e6219279322a723;ms-07e0726dedce0a0e4419", + "expert_regret": 1.4324032068252563, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4fe7fdaf946c97803c82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4324032068252563, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5675967931747437, + "restore_error": 1.1920928955078125e-07, + "score": 0.5675967931747437, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.16793107986450195, + "candidate_source_group_id": "ms-76b9f40367a1ee020744;ms-d6b2d805dc063382ade2;ms-d7a32da3ed5d010654a0;ms-635a384c88604ad7ba4f;ms-0f219ce35aff264455e2;ms-486ff31b7a04a7e9e8f9", + "expert_regret": 1.4701767563819885, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d5d7c690819019cb7869", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4701767563819885, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5298232436180115, + "restore_error": 1.1920928955078125e-07, + "score": 0.5298232436180115, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.34401893615722656, + "candidate_source_group_id": "ms-1b83fc0981e283975488;ms-cd71a93dcab09ba15592;ms-ebb616f9b291184677b3;ms-b5deb1971bf3b3484282;ms-ac79bc3a841958ce127f;ms-2cf1227610d4602f88ed", + "expert_regret": 1.493221640586853, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b98e8aa8ecee10bea27", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.493221640586853, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.506778359413147, + "restore_error": 1.1920928955078125e-07, + "score": 0.506778359413147, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8405627012252808, + "candidate_source_group_id": "ms-ea72196e20393870bcbb;ms-bb60defa0d234da9e0bc;ms-08c75f74bf7813b1c257;ms-4021797e9499e6aaab7a;ms-486b916e7b4ad1566788;ms-3a64af2410ea932a6267", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-af16712eadcaebf175ff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7142432332038879, + "candidate_source_group_id": "ms-d8b4090565126a66d13e;ms-999a8c1454dd4597a834;ms-b0d54c14a65fb73f08ca;ms-b23839ace2fb08438144;ms-3b7c5c91ae441f282006;ms-630663751ab841a96d5a", + "expert_regret": 1.8773896470665932, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b481531ab787e3d6fb1e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8773896470665932, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.12261035293340683, + "restore_error": 1.1920928955078125e-07, + "score": 0.12261035293340683, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7364488840103149, + "candidate_source_group_id": "ms-98427ae2d94c1f85811a;ms-0ca1c25fddb7da05d80a;ms-40cb974de9da58dcd32b;ms-706943f06888dd5bbb3a;ms-9233eae706910c204b79;ms-6fc6a26da9fbe53dd616", + "expert_regret": 1.4529674053192139, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5bae191ebad7c9f2687", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4529674053192139, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5470325946807861, + "restore_error": 1.1920928955078125e-07, + "score": 0.5470325946807861, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.38686591386795044, + "candidate_source_group_id": "ms-307f9067d5b66f55b3a6;ms-2dc4f12ea7e8567e3a6e;ms-44694e99af9263ad3c45;ms-d305a11348461ae1622c;ms-52cdfff790d71133c5a0;ms-5847c6d196024fce1770", + "expert_regret": 1.4450801014900208, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-90a03366976eaa1ad013", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4450801014900208, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5549198985099792, + "restore_error": 1.1920928955078125e-07, + "score": 0.5549198985099792, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24583128094673157, + "candidate_source_group_id": "ms-45d4b692eda9ecacaa55;ms-f4b95f2b569e3f1bf086;ms-f4d6da245d340cd16d30;ms-25839c690d85a4f5b986;ms-f80ae137a8d9981f8c98;ms-dc2a8fa76e1ceb0d8925", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-81d1d8def1fbeb3b1cc5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22754497826099396, + "candidate_source_group_id": "ms-8f0e2c9caad14bd37ecf;ms-023e021f079a8774c741;ms-eb16021deb5d03f15c9d;ms-fd6deac5a281d169bc75;ms-753929cfdc4aaa652b32;ms-d91cbe61314c18955b6b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-561f4f913d7b4991d81a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42923668026924133, + "candidate_source_group_id": "ms-f80ae137a8d9981f8c98;ms-dc2a8fa76e1ceb0d8925;ms-25839c690d85a4f5b986;ms-45d4b692eda9ecacaa55;ms-f4d6da245d340cd16d30;ms-32435d71bb817daf01d9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f6d30c2ade00e451dc2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5099431872367859, + "candidate_source_group_id": "ms-3e7befcb3d8fc7884e8f;ms-aaf1c4931e054f52623c;ms-b666f24369c548cd56ab;ms-a43a663a3c4b15ec3ac2;ms-d1dd16f03551d840a922;ms-7982e5af0d533320432f", + "expert_regret": 1.949408434331417, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c9f657875cf334b1f17", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.949408434331417, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.050591565668582916, + "restore_error": 1.1920928955078125e-07, + "score": 0.050591565668582916, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6873399019241333, + "candidate_source_group_id": "ms-45ed57caa698d87a99cf;ms-5f5bf12b5ebb67eeb361;ms-4385e9c56007fdaa94b5;ms-ffba357213945be5f9f7;ms-c70be4072fb4e49ac106;ms-23f9cca8edfca421a4a6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e55645c0c701caac48a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8216077089309692, + "candidate_source_group_id": "ms-486572c62484eb4d73db;ms-6c39b520dca0a325535f;ms-763c73c94818a090d358;ms-b0aa24be399d843c9d50;ms-4fe47d946641f0096a85;ms-dd4f37e032d56b692a0e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a44a2c9eee8baea5d29e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.27158311009407043, + "candidate_source_group_id": "ms-a1d69e0b112064914357;ms-2e5c2f75d3f6311e0a1c;ms-1c0e2bb3a811fac6d567;ms-5c8b50523e0de37d80b8;ms-62b597990a3d637e5a8a;ms-9b213fea5cdf7a7c91c4", + "expert_regret": 1.4578503370285034, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8af2224cc82636ef1dd7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4578503370285034, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5421496629714966, + "restore_error": 1.1920928955078125e-07, + "score": 0.5421496629714966, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4842032790184021, + "candidate_source_group_id": "ms-630663751ab841a96d5a;ms-aea09fb002af52e12bd8;ms-319a6c0cef0ac1a872d5;ms-a01e21b91a5b37a16afe;ms-b9e46b7345a63ded4397;ms-e218d19c595e580c3e32", + "expert_regret": 1.9437690004706383, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe650308e25459ee64c6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9437690004706383, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.056230999529361725, + "restore_error": 1.1920928955078125e-07, + "score": 0.056230999529361725, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5769554972648621, + "candidate_source_group_id": "ms-f4860c7945db15b54d2e;ms-0a4c4442237909d5f7b7;ms-bfda95ffffd5d1a2683a;ms-9a1de6130828dc946a51;ms-10a5b6cc3ec06dfdc5c5;ms-91ad1a5f945470b4346e", + "expert_regret": 1.4533597826957703, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b1c9975d1a007dd03dc4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4533597826957703, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5466402173042297, + "restore_error": 1.1920928955078125e-07, + "score": 0.5466402173042297, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.37601742148399353, + "candidate_source_group_id": "ms-a3c53708416dbfb9fbc5;ms-88e10d1be12a407b3926;ms-79d500110f3723b57da8;ms-d3cebfccbbe54d22c561;ms-e2ddf4681b47f39e15da;ms-2d4547df5dccc4c4ca24", + "expert_regret": 1.517016977071762, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9e31a19a776a861f9d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.517016977071762, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4829830229282379, + "restore_error": 1.1920928955078125e-07, + "score": 0.4829830229282379, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.38358429074287415, + "candidate_source_group_id": "ms-78da3efba7a739dcad14;ms-7571c367fe683b0f1cf9;ms-ddb4e5a1f88dfd017319;ms-950df0830b2e57010248;ms-a509a572b3871e591d26;ms-fd99b14bf152ebc0ef8e", + "expert_regret": 1.9464599005877972, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01067b8ff16f74652382", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9464599005877972, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.053540099412202835, + "restore_error": 1.1920928955078125e-07, + "score": 0.053540099412202835, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.27236413955688477, + "candidate_source_group_id": "ms-88bdd8987f890af7e9ea;ms-99ecd2226d7187416316;ms-9783ccaf76f1b20c766e;ms-c70be4072fb4e49ac106;ms-30fe784e67f732ef9a3d;ms-0c9c39c462522b25ef2b", + "expert_regret": 1.4385539889335632, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c5d026dffb39f2f1d38a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4385539889335632, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5614460110664368, + "restore_error": 1.1920928955078125e-07, + "score": 0.5614460110664368, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5989216566085815, + "candidate_source_group_id": "ms-cdcdb32d7c02c49869ef;ms-9de5ccc7f31ca1c2154b;ms-fcfb7dd60d966e20b98d;ms-16cd0a94ad2cb78b1ada;ms-10dbf8bb0c239a44ec0f;ms-72cf68c15631675b063f", + "expert_regret": 1.9449644796550274, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-15c083989d8277fd07ec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9449644796550274, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05503552034497261, + "restore_error": 1.1920928955078125e-07, + "score": 0.05503552034497261, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6897839307785034, + "candidate_source_group_id": "ms-3aa864ead19c9cb9fb49;ms-79c7332b2b329eaa6a13;ms-bb60defa0d234da9e0bc;ms-1158e6997b2f1281b105;ms-708baf01c22c75cafd22;ms-61b1188974f35233b883", + "expert_regret": 1.4315165281295776, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-95320371ce6b820c85f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4315165281295776, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5684834718704224, + "restore_error": 1.1920928955078125e-07, + "score": 0.5684834718704224, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2617696523666382, + "candidate_source_group_id": "ms-4f938bd3599c372c8bff;ms-cdfe8f580576f4c577b0;ms-9b213fea5cdf7a7c91c4;ms-29eab654e4adf7ca9c4b;ms-ebb616f9b291184677b3;ms-9ffeb1600c04f08bdfcb", + "expert_regret": 1.4725446701049805, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de0abc7a53a48164f82d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4725446701049805, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5274553298950195, + "restore_error": 1.1920928955078125e-07, + "score": 0.5274553298950195, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6201459765434265, + "candidate_source_group_id": "ms-045f5adce6d38ea2794f;ms-dc965b3a72976440156c;ms-b606af28580a38cea636;ms-ffef7730418c831245b3;ms-e2ddf4681b47f39e15da;ms-64ab703e7a82799a47dd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cba2f44df79669ff934b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12714287638664246, + "candidate_source_group_id": "ms-bcfeba2af1e844c22aed;ms-1735d1abca4a91293d78;ms-9044026b69850d12d05b;ms-3352e05afd9065cd09bf;ms-326a7b583623d136470e;ms-97140da7cf409922f6ce", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eb206a3dda0ac16e1643", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2503371834754944, + "candidate_source_group_id": "ms-10dbf8bb0c239a44ec0f;ms-16cd0a94ad2cb78b1ada;ms-793a98188fd57ed5291f;ms-0541a144afe57b5a7ae6;ms-c2e07545267c612a022c;ms-fcfb7dd60d966e20b98d", + "expert_regret": 1.4961593747138977, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3abfb4c309360a304d54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4961593747138977, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5038406252861023, + "restore_error": 1.1920928955078125e-07, + "score": 0.5038406252861023, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48269394040107727, + "candidate_source_group_id": "ms-076d67ac4d2de4e0c627;ms-c7156b26670838d40934;ms-8330999c6669ec42122a;ms-0ac53e56b4852c85ca2e;ms-b786173f210fcaa65a6e;ms-a68740208f81c5d6c97b", + "expert_regret": 1.9276846125721931, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5dfad80e83d210946447", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9276846125721931, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07231538742780685, + "restore_error": 1.1920928955078125e-07, + "score": 0.07231538742780685, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19484136998653412, + "candidate_source_group_id": "ms-bd6b2dc41ba42b44462a;ms-4082ce1f04dbacd6a5b9;ms-21155188bc35f0f021d3;ms-87f8bbc8d9e7f4dcaacf;ms-31782020143c24b4271b;ms-fbcc714230de2c097d0d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-93e3d9968204474eff49", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2045658677816391, + "candidate_source_group_id": "ms-6a7e80154a9a4e5e9c08;ms-0d1db6695acdf1ec3eaf;ms-c7041c6f758f8e4a3698;ms-00b9ad6a8fe73fccc6fc;ms-8fcc78fba7b3bec0fab6;ms-da855323619ebf257b19", + "expert_regret": 1.4465671181678772, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d4aab6f9b6717dd5712e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4465671181678772, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5534328818321228, + "restore_error": 1.1920928955078125e-07, + "score": 0.5534328818321228, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46273502707481384, + "candidate_source_group_id": "ms-b0d54c14a65fb73f08ca;ms-999a8c1454dd4597a834;ms-3fae81854f4c927f1f8d;ms-a76ae18568c88af1da6b;ms-547f4204888aee978bf0;ms-ed9addab41f3298db7bc", + "expert_regret": 1.9550312273204327, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7670f25745871759e69e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9550312273204327, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04496877267956734, + "restore_error": 1.1920928955078125e-07, + "score": 0.04496877267956734, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2243867814540863, + "candidate_source_group_id": "ms-4f405775dcbb88f7d8b0;ms-28817fe297f38fd9550a;ms-7e94769c30229d5cc7b8;ms-f682952c6ecb2b833c35;ms-0377c81a67d9819ab96b;ms-3c458f671129e1ebe7b4", + "expert_regret": 1.489164650440216, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe9347448b7f810d1353", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.489164650440216, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5108353495597839, + "restore_error": 1.1920928955078125e-07, + "score": 0.5108353495597839, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9006804823875427, + "candidate_source_group_id": "ms-c3a1cf0e424a4f065459;ms-b4af4c8b9dcd6976546c;ms-8315ae30e2cf041c8674;ms-16d5b122db1824caf92b;ms-10af171aa279a879207d;ms-3a64af2410ea932a6267", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-99a5ffff5b73cf604b3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19958002865314484, + "candidate_source_group_id": "ms-1781d9c562b4425df7c8;ms-3b4b0b8c60ad41bb16b0;ms-f39bbaa063044719a98d;ms-bcc70292f404cd1c7f75;ms-9b4483fb034248fe882d;ms-cca07eb504a242633931", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b68d8b4d22e6ff0451d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47547611594200134, + "candidate_source_group_id": "ms-2d4547df5dccc4c4ca24;ms-fe1a5f1bc3c4ec7669f2;ms-a3c53708416dbfb9fbc5;ms-e2ddf4681b47f39e15da;ms-0bb8964d3e6f9dd302f4;ms-88e10d1be12a407b3926", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8a74cf665984273be00d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7066043615341187, + "candidate_source_group_id": "ms-aea09fb002af52e12bd8;ms-3b7c5c91ae441f282006;ms-e218d19c595e580c3e32;ms-a01e21b91a5b37a16afe;ms-706943f06888dd5bbb3a;ms-319a6c0cef0ac1a872d5", + "expert_regret": 1.8454006016254425, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4acbf69acd30d96e46a7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8454006016254425, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1545993983745575, + "restore_error": 1.1920928955078125e-07, + "score": 0.1545993983745575, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22538287937641144, + "candidate_source_group_id": "ms-87fd37bcc6b666e220ef;ms-e0b2e69a5ea0d0ad4fb5;ms-2458fcfffb3f96c6ca1a;ms-3c458f671129e1ebe7b4;ms-3b0ad4f07f1813ecf670;ms-732d0515ed28df031b8e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2259a78b2187e22f9f37", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.534131646156311, + "candidate_source_group_id": "ms-10a5b6cc3ec06dfdc5c5;ms-06935a084a7af6d7596c;ms-7fe236a99d555408d474;ms-c86956f3f1333e136186;ms-4cd1ceea2dda2732110a;ms-f4860c7945db15b54d2e", + "expert_regret": 1.9088848307728767, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-503d0b1d27ed78b6130f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9088848307728767, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09111516922712326, + "restore_error": 1.1920928955078125e-07, + "score": 0.09111516922712326, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8348591923713684, + "candidate_source_group_id": "ms-c2e07545267c612a022c;ms-0541a144afe57b5a7ae6;ms-2470946f31fee328ad6c;ms-3eeaca32feb66f450a0b;ms-41561ecd4d68cf77c933;ms-793a98188fd57ed5291f", + "expert_regret": 1.4804835319519043, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5e23219a8e2aadd039c7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4804835319519043, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5195164680480957, + "restore_error": 1.1920928955078125e-07, + "score": 0.5195164680480957, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5991522669792175, + "candidate_source_group_id": "ms-076d67ac4d2de4e0c627;ms-8330999c6669ec42122a;ms-c7156b26670838d40934;ms-0ac53e56b4852c85ca2e;ms-a68740208f81c5d6c97b;ms-b786173f210fcaa65a6e", + "expert_regret": 1.5006667077541351, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e318e13f77e75e7cd802", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5006667077541351, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49933329224586487, + "restore_error": 1.1920928955078125e-07, + "score": 0.49933329224586487, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.36086639761924744, + "candidate_source_group_id": "ms-ee19bfbcb2f4fbf5a44d;ms-0e12a6083750bfecca87;ms-61b1188974f35233b883;ms-79c7332b2b329eaa6a13;ms-f71c7cf8ca320b8eb7a4;ms-3aa864ead19c9cb9fb49", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-842e179244eddac303a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2214268147945404, + "candidate_source_group_id": "ms-351818a836474e594d3c;ms-dbb32d9fd6999e09f589;ms-ce992c1fa0bcc38512b7;ms-a5a651f9e28ea52016fe;ms-2af09f91e05d19f7f181;ms-c6d4f51c1adffc449778", + "expert_regret": 1.440782368183136, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c2515d4a10082514714", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.440782368183136, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.559217631816864, + "restore_error": 1.1920928955078125e-07, + "score": 0.559217631816864, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39133220911026, + "candidate_source_group_id": "ms-f682952c6ecb2b833c35;ms-4f405775dcbb88f7d8b0;ms-28817fe297f38fd9550a;ms-7e94769c30229d5cc7b8;ms-351c397795d9af204ec6;ms-1f8e2d5d25706493821d", + "expert_regret": 1.4496687650680542, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-20e5ffa93544d6d8b313", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4496687650680542, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5503312349319458, + "restore_error": 1.1920928955078125e-07, + "score": 0.5503312349319458, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6251911520957947, + "candidate_source_group_id": "ms-d26a60e383a2e822615a;ms-4a7b774ee02339c4ca19;ms-6053d8ef243250b88f96;ms-dd4f37e032d56b692a0e;ms-5e85dc3760eef8a53a67;ms-a576ca39e26c4e1ab240", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f4967102c7b10057ab9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.292365700006485, + "candidate_source_group_id": "ms-08c39d9cc9eb7578e6e9;ms-66ec6692758e9a7f2e01;ms-f947dbf28ad85666e2f1;ms-10f2865bef6da7b66423;ms-a323150b5305fc2a329d;ms-a699ee643e76a610b444", + "expert_regret": 1.9751946926116943, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbda7bc51ca269d1cda4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9751946926116943, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.024805307388305664, + "restore_error": 1.1920928955078125e-07, + "score": 0.024805307388305664, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24593736231327057, + "candidate_source_group_id": "ms-1c0e2bb3a811fac6d567;ms-2e5c2f75d3f6311e0a1c;ms-307f9067d5b66f55b3a6;ms-a1d69e0b112064914357;ms-5c8b50523e0de37d80b8;ms-d305a11348461ae1622c", + "expert_regret": 1.5011721551418304, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5415e349e8f9f2bce641", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5011721551418304, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49882784485816956, + "restore_error": 1.1920928955078125e-07, + "score": 0.49882784485816956, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5057913064956665, + "candidate_source_group_id": "ms-5daa8575a80e98a83170;ms-f1fb6cdb836269adb2cc;ms-dd7f9cc9585878b84824;ms-a949424c5fa615565d72;ms-8522a9364bf70311450d;ms-f101cf5cc8575be3c201", + "expert_regret": 1.4423831105232239, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b73e5dfa1f2a01e6017", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4423831105232239, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5576168894767761, + "restore_error": 1.1920928955078125e-07, + "score": 0.5576168894767761, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6833339333534241, + "candidate_source_group_id": "ms-29dd2cdbb66fe13ab877;ms-f897cc2141a0a303fc6a;ms-fbb609a3f2a334986245;ms-bd6b2dc41ba42b44462a;ms-054a02413d31389d1b7f;ms-c0995730ba36614c249a", + "expert_regret": 1.4481063485145569, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-23d6e5835aa90a62b6ef", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4481063485145569, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5518936514854431, + "restore_error": 1.1920928955078125e-07, + "score": 0.5518936514854431, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5001571774482727, + "candidate_source_group_id": "ms-0b4ac5b183639ac19191;ms-d75a00b1388f50bf8919;ms-4746e04d636d13cfbe6c;ms-193063285cdb9faff39b;ms-85eef30b36b044b33f60;ms-912718b1f2ef92066799", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d686ae387b1a0ce2f2f3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7494997978210449, + "candidate_source_group_id": "ms-1df0775c4ef08d0cf1bf;ms-4cd9eae753bf9e48f520;ms-2dc8e489908f72903319;ms-81951a4920488e6c62e9;ms-3731f1c5af3c4a133633;ms-5367a8bae4304851384e", + "expert_regret": 1.5045024752616882, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8fbdbddd9200f5091d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5045024752616882, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49549752473831177, + "restore_error": 1.1920928955078125e-07, + "score": 0.49549752473831177, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5455873608589172, + "candidate_source_group_id": "ms-ee05717b29d39d7cddff;ms-4082ce1f04dbacd6a5b9;ms-090e18187bb6ae4a9120;ms-ff23e4fce42c637ed617;ms-054a02413d31389d1b7f;ms-30998855587c076a2a77", + "expert_regret": 1.4384557604789734, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-76194d089c97018ce427", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4384557604789734, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5615442395210266, + "restore_error": 1.1920928955078125e-07, + "score": 0.5615442395210266, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5383086800575256, + "candidate_source_group_id": "ms-bd6b2dc41ba42b44462a;ms-31782020143c24b4271b;ms-4082ce1f04dbacd6a5b9;ms-1518756d5da0b8d3c190;ms-642670f4bb658d32970b;ms-054a02413d31389d1b7f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ae33e3afb57e61026d72", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3639485538005829, + "candidate_source_group_id": "ms-16cd0a94ad2cb78b1ada;ms-10dbf8bb0c239a44ec0f;ms-793a98188fd57ed5291f;ms-fcfb7dd60d966e20b98d;ms-0541a144afe57b5a7ae6;ms-c2e07545267c612a022c", + "expert_regret": 1.925457403063774, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c8198e44eea32f98ca7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.925457403063774, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07454259693622589, + "restore_error": 2.384185791015625e-07, + "score": 0.07454259693622589, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2769887447357178, + "candidate_source_group_id": "ms-ebb616f9b291184677b3;ms-1b83fc0981e283975488;ms-b5deb1971bf3b3484282;ms-cd71a93dcab09ba15592;ms-2cf1227610d4602f88ed;ms-ac79bc3a841958ce127f", + "expert_regret": 1.5035418570041656, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-adfe268e473c03b72c65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5035418570041656, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49645814299583435, + "restore_error": 2.384185791015625e-07, + "score": 0.49645814299583435, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.660578191280365, + "candidate_source_group_id": "ms-9c8a90334c3b933c8976;ms-e1972ebf2c5587a6fdf9;ms-1781d9c562b4425df7c8;ms-bcc70292f404cd1c7f75;ms-9b4483fb034248fe882d;ms-9e87481ce12fa45b2554", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97aebe1dd42939e3b340", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9886021018028259, + "candidate_source_group_id": "ms-0adce283894b0a2b7b94;ms-9bcf8a1e5e7b0f7ff6f5;ms-bc30ca6b7675f4de5041;ms-ffba357213945be5f9f7;ms-4385e9c56007fdaa94b5;ms-45ed57caa698d87a99cf", + "expert_regret": 0.014737844467163086, + "expert_score": 0.5644459128379822, + "expert_success": false, + "group_id": "ms-28d5618562729c763eb6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.014737844467163086, + "oracle_score": 0.5644459128379822, + "oracle_success": false, + "progress": 0.5497080683708191, + "restore_error": 2.384185791015625e-07, + "score": 0.5497080683708191, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6317652463912964, + "candidate_source_group_id": "ms-4681331b496c8a9cf14d;ms-ad5ad5314850df7b0853;ms-dbcc3da47d96ceeaf9f0;ms-b90d7926b23eabbbed04;ms-c3f7b780f604922f4f67;ms-fe54b45b549a55d45c0e", + "expert_regret": 1.5325371623039246, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b7800060cd4a8c3cb6b9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5325371623039246, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.46746283769607544, + "restore_error": 2.384185791015625e-07, + "score": 0.46746283769607544, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46075937151908875, + "candidate_source_group_id": "ms-6a7e80154a9a4e5e9c08;ms-c7041c6f758f8e4a3698;ms-8fcc78fba7b3bec0fab6;ms-da46296bd4e9032570df;ms-0d1db6695acdf1ec3eaf;ms-b671fa9fcef84dbf2a13", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1a4ecfbe9c97214d5c78", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42136114835739136, + "candidate_source_group_id": "ms-dd1311efb8ab2a0a2d23;ms-39450dbba738dbd8a764;ms-87f8bbc8d9e7f4dcaacf;ms-4ec67456479f53e605e1;ms-486ff31b7a04a7e9e8f9;ms-31782020143c24b4271b", + "expert_regret": 1.4360958933830261, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-564c02492863ae749ea9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4360958933830261, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5639041066169739, + "restore_error": 2.384185791015625e-07, + "score": 0.5639041066169739, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46848392486572266, + "candidate_source_group_id": "ms-a576ca39e26c4e1ab240;ms-0de368e8d16fd01f4e67;ms-4a7b774ee02339c4ca19;ms-7d81f3e8b6a42695871d;ms-dd4f37e032d56b692a0e;ms-f4d6da245d340cd16d30", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7020fdb7cba871e8b3e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.30690762400627136, + "candidate_source_group_id": "ms-288532d255e4828bb15b;ms-b7ed399f40d2d554b16d;ms-1abd8c7cc1c683f88d3d;ms-fb228a036fe5973bcad1;ms-8af87d14945da6a910e4;ms-b82cc8ce5d9d348ba6b4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-26e09c86be9068a34acf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4691881239414215, + "candidate_source_group_id": "ms-9783ccaf76f1b20c766e;ms-88bdd8987f890af7e9ea;ms-c70be4072fb4e49ac106;ms-30fe784e67f732ef9a3d;ms-99ecd2226d7187416316;ms-0c9c39c462522b25ef2b", + "expert_regret": 1.4414274096488953, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3aa5793c449b59c77b6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4414274096488953, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5585725903511047, + "restore_error": 1.1920928955078125e-07, + "score": 0.5585725903511047, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7668940424919128, + "candidate_source_group_id": "ms-bb60defa0d234da9e0bc;ms-3aa864ead19c9cb9fb49;ms-79c7332b2b329eaa6a13;ms-478f754a15221314d15e;ms-61b1188974f35233b883;ms-708baf01c22c75cafd22", + "expert_regret": 0.0, + "expert_score": 0.5963302850723267, + "expert_success": false, + "group_id": "ms-66cc354bbf4e8bdd1051", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.5963302850723267, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.23858214914798737, + "candidate_source_group_id": "ms-97a18aeeea0b34f7c606;ms-f28fbb82a51d4de7811b;ms-f4fd59b4d1bce2d6b6a4;ms-6edb3f8fe977a81f8979;ms-fffe378a3bad31bbed52;ms-0a48fbd111be17b50be5", + "expert_regret": 1.4909815788269043, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f3f6a1b34fdf35290a6c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4909815788269043, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5090184211730957, + "restore_error": 1.1920928955078125e-07, + "score": 0.5090184211730957, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.636202335357666, + "candidate_source_group_id": "ms-b36673c3905a123cbd50;ms-59020093d2eeaf58aa84;ms-fd9f10f7df6a11ec2cef;ms-87f65c35c9d8b3ced6fc;ms-03ed7e57992354e27896;ms-59cc3cdf6918248d7f78", + "expert_regret": 1.9151953235268593, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-382000b79932b7c68326", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9151953235268593, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08480467647314072, + "restore_error": 1.1920928955078125e-07, + "score": 0.08480467647314072, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4246285557746887, + "candidate_source_group_id": "ms-155ec4624d261f6ca16e;ms-7a1ce0a81e4f34902622;ms-ccc0326ed73cd2ea6bf6;ms-751daa0137578c486f3d;ms-3352e05afd9065cd09bf;ms-4b94e0333251263012ec", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b33f1d4ddb6a531d2a71", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.31994321942329407, + "candidate_source_group_id": "ms-4f405775dcbb88f7d8b0;ms-5c8b50523e0de37d80b8;ms-7e94769c30229d5cc7b8;ms-44694e99af9263ad3c45;ms-d305a11348461ae1622c;ms-5847c6d196024fce1770", + "expert_regret": 1.4438931941986084, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ddc0b3adf8506c30f503", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4438931941986084, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5561068058013916, + "restore_error": 1.1920928955078125e-07, + "score": 0.5561068058013916, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5862815976142883, + "candidate_source_group_id": "ms-8f5255815f8b70b48734;ms-4d43fb19477b7ab848bc;ms-13b3c492538e5b3c7bdd;ms-7e0ef0b7f94396bf0029;ms-d3cebfccbbe54d22c561;ms-b606af28580a38cea636", + "expert_regret": 1.5249618589878082, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f3ddc66fde2d59666e07", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5249618589878082, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4750381410121918, + "restore_error": 1.1920928955078125e-07, + "score": 0.4750381410121918, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5690264701843262, + "candidate_source_group_id": "ms-c0995730ba36614c249a;ms-fe2964cc8940ee7c24aa;ms-f897cc2141a0a303fc6a;ms-c2107b650136a20fc4a3;ms-3c6ec8ef5145ff6274e7;ms-fbb609a3f2a334986245", + "expert_regret": 1.4187771081924438, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-348af0b70d3e679f40a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4187771081924438, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5812228918075562, + "restore_error": 1.1920928955078125e-07, + "score": 0.5812228918075562, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5898619294166565, + "candidate_source_group_id": "ms-6a7e80154a9a4e5e9c08;ms-8fcc78fba7b3bec0fab6;ms-00b9ad6a8fe73fccc6fc;ms-c7041c6f758f8e4a3698;ms-da855323619ebf257b19;ms-0d1db6695acdf1ec3eaf", + "expert_regret": 1.4351617693901062, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-41b0258c4e329a734da7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4351617693901062, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5648382306098938, + "restore_error": 1.1920928955078125e-07, + "score": 0.5648382306098938, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5457525849342346, + "candidate_source_group_id": "ms-4742d169606f3ec2b474;ms-a6273302894af3505ca8;ms-766b6fe7c08a3525ce94;ms-225fbe08f2933f91d603;ms-38507741c3b5d91a7b33;ms-386220c339b7de7f222b", + "expert_regret": 1.4359933733940125, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13192a27f5fcf4fd24d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4359933733940125, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5640066266059875, + "restore_error": 1.1920928955078125e-07, + "score": 0.5640066266059875, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.06431896239519119, + "candidate_source_group_id": "ms-23f9cca8edfca421a4a6;ms-9bcf8a1e5e7b0f7ff6f5;ms-0adce283894b0a2b7b94;ms-d824135bf97b907f7cc2;ms-ffba357213945be5f9f7;ms-bc30ca6b7675f4de5041", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-daaac2887015a6e4f3e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44902950525283813, + "candidate_source_group_id": "ms-29f1abb869ff206a4d52;ms-f3e40db5e157647d463d;ms-fe2964cc8940ee7c24aa;ms-fbb609a3f2a334986245;ms-6f1db8895d5164cc5ae5;ms-87f8bbc8d9e7f4dcaacf", + "expert_regret": 0.02416318655014038, + "expert_score": 0.5545835494995117, + "expert_success": false, + "group_id": "ms-3c4ff3dae26217f22a8b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.02416318655014038, + "oracle_score": 0.5545835494995117, + "oracle_success": false, + "progress": 0.5304203629493713, + "restore_error": 1.1920928955078125e-07, + "score": 0.5304203629493713, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12190721929073334, + "candidate_source_group_id": "ms-d05d9bbb98f24da55981;ms-d0e4bdc60ab8ea52a320;ms-25a8e32c071be83d913b;ms-774e954ffdc5da041261;ms-4d9cef437c77474dc62d;ms-55ea22014575410563a4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5085e45e6ca37192d2e5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48315495252609253, + "candidate_source_group_id": "ms-22412b51e61621b6025b;ms-55ea22014575410563a4;ms-30998855587c076a2a77;ms-869a04e41dc5cc90916b;ms-ce992c1fa0bcc38512b7;ms-054a02413d31389d1b7f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c0bfce3c9dd10f9d3231", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39642757177352905, + "candidate_source_group_id": "ms-1cea800b74c1ea2f6338;ms-45ed57caa698d87a99cf;ms-4385e9c56007fdaa94b5;ms-9af03b651b5e36ac2ae3;ms-9eb40f856528204bbcfd;ms-c1ac63fb3644e3a2ae06", + "expert_regret": 1.5097167789936066, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-caeb59971565b08f2513", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5097167789936066, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49028322100639343, + "restore_error": 2.0116567611694336e-07, + "score": 0.49028322100639343, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4748038649559021, + "candidate_source_group_id": "ms-d807915e233a0c74b809;ms-8315ae30e2cf041c8674;ms-70d994c15153752d0dce;ms-b40ee5a75332685d5cec;ms-4e86b87d6e5f6ab914fe;ms-c3a1cf0e424a4f065459", + "expert_regret": 1.4506006836891174, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7b932868f83725def2ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4506006836891174, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5493993163108826, + "restore_error": 2.0116567611694336e-07, + "score": 0.5493993163108826, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6637886166572571, + "candidate_source_group_id": "ms-f1fb6cdb836269adb2cc;ms-5daa8575a80e98a83170;ms-dd7f9cc9585878b84824;ms-f101cf5cc8575be3c201;ms-06715386190189185900;ms-d73a2a984d5829e884f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bca6fa102f94cb145cd2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.0116567611694336e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6498159766197205, + "candidate_source_group_id": "ms-b671fa9fcef84dbf2a13;ms-48d490ed21088bb5ba85;ms-8fcc78fba7b3bec0fab6;ms-da46296bd4e9032570df;ms-a927d1bd67068f1d9302;ms-e45b5de01eafae73e492", + "expert_regret": 1.435814082622528, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-910d27b58a0585327a27", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.435814082622528, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5641859173774719, + "restore_error": 2.0116567611694336e-07, + "score": 0.5641859173774719, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.692463755607605, + "candidate_source_group_id": "ms-44252df6095f31d8b26e;ms-d91cbe61314c18955b6b;ms-d0e4bdc60ab8ea52a320;ms-fe2964cc8940ee7c24aa;ms-f3e40db5e157647d463d;ms-910364d2d86091c5e0cf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bb0d941f78d3d9c5a886", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.0116567611694336e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3479180335998535, + "candidate_source_group_id": "ms-a43a663a3c4b15ec3ac2;ms-b666f24369c548cd56ab;ms-d1dd16f03551d840a922;ms-7982e5af0d533320432f;ms-aaf1c4931e054f52623c;ms-8c0b600aef5393f929cd", + "expert_regret": 1.9567282311618328, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-99df75798ec5da5ec7f3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9567282311618328, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04327176883816719, + "restore_error": 2.0116567611694336e-07, + "score": 0.04327176883816719, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45781898498535156, + "candidate_source_group_id": "ms-08858c7ba8d4a3357e05;ms-8f241450069e74460a40;ms-f71c7cf8ca320b8eb7a4;ms-d965f63e091a5d6dd6d7;ms-766b6fe7c08a3525ce94;ms-38507741c3b5d91a7b33", + "expert_regret": 1.4612364768981934, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b35643e98e1b846e27cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4612364768981934, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5387635231018066, + "restore_error": 2.0116567611694336e-07, + "score": 0.5387635231018066, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2671211063861847, + "candidate_source_group_id": "ms-0b7f8ba789c00b37caa0;ms-91d86cba2602d1fa780d;ms-59020093d2eeaf58aa84;ms-b36673c3905a123cbd50;ms-d67409d8ecfd5d97336d;ms-de709118c78966c5aff7", + "expert_regret": 1.4700625538825989, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-56ad75c28031e049a3dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4700625538825989, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5299374461174011, + "restore_error": 2.0116567611694336e-07, + "score": 0.5299374461174011, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19933192431926727, + "candidate_source_group_id": "ms-7cab119c7b8019254ba4;ms-6b750c1bef91c5d15526;ms-8315ae30e2cf041c8674;ms-d807915e233a0c74b809;ms-ee19bfbcb2f4fbf5a44d;ms-82e28eb350e21d43d3eb", + "expert_regret": 1.474578082561493, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2ee00a97b477ba241dba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.474578082561493, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5254219174385071, + "restore_error": 1.1920928955078125e-07, + "score": 0.5254219174385071, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42564496397972107, + "candidate_source_group_id": "ms-2d995e39f2b95fed1a67;ms-ff3e5d72f3adf548d0a1;ms-14c40aa19f7b9307511d;ms-7020f1cda882b79bffa3;ms-10cb98b0a1ca5429dd28;ms-8bb2d8cb7c0d33fa0c1d", + "expert_regret": 1.9767358545213938, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d18f6f16879d2933bcd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9767358545213938, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.023264145478606224, + "restore_error": 1.1920928955078125e-07, + "score": 0.023264145478606224, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8551456332206726, + "candidate_source_group_id": "ms-5df54a8baaceb8c73c8a;ms-42edbdb8ff281fc33a99;ms-22325628db75967cf779;ms-1fb2f4c1e17e99767558;ms-de066fc4200163ebd06b;ms-236601c5e076b4ee5d75", + "expert_regret": 1.8906919360160828, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-81f48d29d0404300ea93", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8906919360160828, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10930806398391724, + "restore_error": 1.1920928955078125e-07, + "score": 0.10930806398391724, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3060010075569153, + "candidate_source_group_id": "ms-dfc737e32df79e1fc429;ms-d1aac7be45644e12a976;ms-b01677be2df71c474d1f;ms-d5bfdabc97e56c680680;ms-f1fb6cdb836269adb2cc;ms-935ff204de9424ec00a2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b59a7ccfb736df4c4c68", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33316564559936523, + "candidate_source_group_id": "ms-7d962acc9cfbc27c599c;ms-72b7d76602371f044fe3;ms-766b6fe7c08a3525ce94;ms-a6273302894af3505ca8;ms-11bb3387454624de8143;ms-a22fbce4503f088acb1f", + "expert_regret": 1.4533644318580627, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7241a1c25af41f4c0b5a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4533644318580627, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5466355681419373, + "restore_error": 1.1920928955078125e-07, + "score": 0.5466355681419373, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4047999382019043, + "candidate_source_group_id": "ms-0e12a6083750bfecca87;ms-f88a44616a0985aac518;ms-5a7891a58bac94796178;ms-3aa864ead19c9cb9fb49;ms-41279eb586ca5e587474;ms-8d9b2a5ccd43461f827e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a17ceb004979b99a586", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6042762994766235, + "candidate_source_group_id": "ms-d26a60e383a2e822615a;ms-4a7b774ee02339c4ca19;ms-6053d8ef243250b88f96;ms-dd4f37e032d56b692a0e;ms-5e85dc3760eef8a53a67;ms-a45ed89f5b95d1e7ab07", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a3cb33ed1e34d229773c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7445307970046997, + "candidate_source_group_id": "ms-67f602a0e4efc9984d72;ms-90464666adfd66056785;ms-30ad687dc1bc8318fa45;ms-84b677a48d338212ceb7;ms-4b1561bd0029228fdbbe;ms-4705657703da9d791fb9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-32b9c353a4890631f1bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3404419422149658, + "candidate_source_group_id": "ms-b01677be2df71c474d1f;ms-d44f5bd2488ea182132b;ms-61ac2be70a9798adeda0;ms-5fc884c238818acdde08;ms-11a2794efa24f4d93d83;ms-c4cb99b887c88c707ba9", + "expert_regret": 1.4383206367492676, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c83412fa0aa5180ad89", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4383206367492676, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5616793632507324, + "restore_error": 2.384185791015625e-07, + "score": 0.5616793632507324, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7354899644851685, + "candidate_source_group_id": "ms-9044026b69850d12d05b;ms-bcfeba2af1e844c22aed;ms-3352e05afd9065cd09bf;ms-fffe378a3bad31bbed52;ms-97140da7cf409922f6ce;ms-478b7b8b729f9212a522", + "expert_regret": 1.450435221195221, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc615957d9bf177dfe26", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.450435221195221, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.549564778804779, + "restore_error": 2.384185791015625e-07, + "score": 0.549564778804779, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.17109797894954681, + "candidate_source_group_id": "ms-81c855f8645b35f0856d;ms-2df0b9d5fa91156e430a;ms-d6305829d7ca1c68a3ce;ms-e07f80b44faf328c5e58;ms-326a7b583623d136470e;ms-ae5421846020d2765f82", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b0fd98bae1ed5d543f35", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2905842363834381, + "candidate_source_group_id": "ms-48d490ed21088bb5ba85;ms-d73a2a984d5829e884f9;ms-b671fa9fcef84dbf2a13;ms-8420ccaff5986c85063f;ms-0d1db6695acdf1ec3eaf;ms-935ff204de9424ec00a2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-57ac136bd68be6387c6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40788236260414124, + "candidate_source_group_id": "ms-23f9cca8edfca421a4a6;ms-9bcf8a1e5e7b0f7ff6f5;ms-0adce283894b0a2b7b94;ms-d824135bf97b907f7cc2;ms-ffba357213945be5f9f7;ms-bc30ca6b7675f4de5041", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a460f3c1b67817c19de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.251613974571228, + "candidate_source_group_id": "ms-a73f46824bdbdfb96238;ms-6edb3f8fe977a81f8979;ms-d19573dc65181befd83d;ms-8f241450069e74460a40;ms-478f754a15221314d15e;ms-fffe378a3bad31bbed52", + "expert_regret": 1.4668212532997131, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9ff81e54049443a0f3d3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4668212532997131, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5331787467002869, + "restore_error": 2.384185791015625e-07, + "score": 0.5331787467002869, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2551186978816986, + "candidate_source_group_id": "ms-a5775906ce2fb6556103;ms-fbea3b8005a30431cb52;ms-91ad1a5f945470b4346e;ms-578e24198ed828a74485;ms-5316151a88a3282436ca;ms-432ca73236be93cb76df", + "expert_regret": 1.445145308971405, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-80d5c509e83845ab1bc7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.445145308971405, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.554854691028595, + "restore_error": 2.384185791015625e-07, + "score": 0.554854691028595, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.422982782125473, + "candidate_source_group_id": "ms-70d994c15153752d0dce;ms-4e86b87d6e5f6ab914fe;ms-c3a1cf0e424a4f065459;ms-b4af4c8b9dcd6976546c;ms-16d5b122db1824caf92b;ms-ce2924d08bdd6c379777", + "expert_regret": 1.5022430717945099, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-746436cac05100783ad7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5022430717945099, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4977569282054901, + "restore_error": 2.384185791015625e-07, + "score": 0.4977569282054901, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 1.0080621242523193, + "candidate_source_group_id": "ms-1add4cf84fdadf5703d6;ms-b6fd2931116c15db0f0a;ms-cb16b458af723bf7cd0a;ms-0a48fbd111be17b50be5;ms-326a7b583623d136470e;ms-97a18aeeea0b34f7c606", + "expert_regret": 1.4437907934188843, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1d1969094d91fe52667d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4437907934188843, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5562092065811157, + "restore_error": 1.1920928955078125e-07, + "score": 0.5562092065811157, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5917970538139343, + "candidate_source_group_id": "ms-de709118c78966c5aff7;ms-91ad1a5f945470b4346e;ms-bfda95ffffd5d1a2683a;ms-982922e263d07c54c136;ms-0a4c4442237909d5f7b7;ms-578e24198ed828a74485", + "expert_regret": 1.4494471549987793, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e110d8ef3eb852a0f564", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4494471549987793, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5505528450012207, + "restore_error": 1.1920928955078125e-07, + "score": 0.5505528450012207, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4204464256763458, + "candidate_source_group_id": "ms-55ea22014575410563a4;ms-42895361db5578b75c0e;ms-22412b51e61621b6025b;ms-ce992c1fa0bcc38512b7;ms-4705657703da9d791fb9;ms-7be1c6c8ef67031b1f90", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11230e3aaabb1feec834", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2431471049785614, + "candidate_source_group_id": "ms-59cc3cdf6918248d7f78;ms-fa62bbb3e8416561ed69;ms-5922c28e4a71a88c6d21;ms-ddb8f148dff1db91851f;ms-96da3b7a3c2a2411fa66;ms-b36673c3905a123cbd50", + "expert_regret": 1.4426361918449402, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c0ef0ef8b493232246c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4426361918449402, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5573638081550598, + "restore_error": 1.1920928955078125e-07, + "score": 0.5573638081550598, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24976468086242676, + "candidate_source_group_id": "ms-b5deb1971bf3b3484282;ms-ebb616f9b291184677b3;ms-a1d69e0b112064914357;ms-2e5c2f75d3f6311e0a1c;ms-2cf1227610d4602f88ed;ms-1c0e2bb3a811fac6d567", + "expert_regret": 0.06330913305282593, + "expert_score": 0.6078249216079712, + "expert_success": false, + "group_id": "ms-4015c296239564108da2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4554842114448547, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5445157885551453, + "restore_error": 1.1920928955078125e-07, + "score": 0.5445157885551453, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6340851187705994, + "candidate_source_group_id": "ms-5df54a8baaceb8c73c8a;ms-de066fc4200163ebd06b;ms-1fb2f4c1e17e99767558;ms-22325628db75967cf779;ms-c425c810f7865e9564ee;ms-42edbdb8ff281fc33a99", + "expert_regret": 1.9723880533128977, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13557287cd450bc12c6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9723880533128977, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.027611946687102318, + "restore_error": 1.1920928955078125e-07, + "score": 0.027611946687102318, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.34203681349754333, + "candidate_source_group_id": "ms-ccc0326ed73cd2ea6bf6;ms-b333c5aec11dd41d37d2;ms-64e28ad134f73fdce800;ms-3352e05afd9065cd09bf;ms-910fe3f3a4cbc2d8e6f5;ms-4b94e0333251263012ec", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8beca0622be320b282c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22244642674922943, + "candidate_source_group_id": "ms-bcc70292f404cd1c7f75;ms-e1972ebf2c5587a6fdf9;ms-f39bbaa063044719a98d;ms-759ba8b7be233ca47c30;ms-ee0986397bc7267882d8;ms-9c8a90334c3b933c8976", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-166b7f66bf9f4eec432b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46339040994644165, + "candidate_source_group_id": "ms-da46296bd4e9032570df;ms-36e8cb2e7f34f8dceb05;ms-0d1db6695acdf1ec3eaf;ms-e45b5de01eafae73e492;ms-a927d1bd67068f1d9302;ms-802e63c9d42228a69c22", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e589f7d40c12eff1712e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.33810344338417053, + "candidate_source_group_id": "ms-08c39d9cc9eb7578e6e9;ms-f947dbf28ad85666e2f1;ms-739a89fb4521bc481a9f;ms-6558f35ae2a2871a4bfd;ms-1cdd36810a138190ce3c;ms-10f2865bef6da7b66423", + "expert_regret": 1.9695770386606455, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f69d6aec4ddb12d88c5b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9695770386606455, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.030422961339354515, + "restore_error": 1.1920928955078125e-07, + "score": 0.030422961339354515, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3993537127971649, + "candidate_source_group_id": "ms-7d32f6b32c14e33b1eb1;ms-c679fdafdd776a14b66f;ms-4f833710c2706ee077af;ms-7cbbc5e7dc896a803efa;ms-618c9e3c06f4879ba788;ms-6fc6a26da9fbe53dd616", + "expert_regret": 1.973481249064207, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-22675530f3a401b3fd6d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.973481249064207, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.026518750935792923, + "restore_error": 1.1920928955078125e-07, + "score": 0.026518750935792923, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5659692883491516, + "candidate_source_group_id": "ms-6133ea5e61638487dd46;ms-e441e4042cb7d77a4986;ms-d965f63e091a5d6dd6d7;ms-a145b708d79b243da21f;ms-eb48573b3e330e44504d;ms-d19c9e3ab1d7daf06344", + "expert_regret": 1.4574572443962097, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3e51a1bdc3a2cc4eb06d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4574572443962097, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5425427556037903, + "restore_error": 1.1920928955078125e-07, + "score": 0.5425427556037903, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7138901948928833, + "candidate_source_group_id": "ms-486b916e7b4ad1566788;ms-b809a8756abec7015aac;ms-4021797e9499e6aaab7a;ms-08c75f74bf7813b1c257;ms-ae6d60345612be32478c;ms-82e28eb350e21d43d3eb", + "expert_regret": 1.4369839429855347, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-867fd9318b2445dcefb5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4369839429855347, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5630160570144653, + "restore_error": 1.1920928955078125e-07, + "score": 0.5630160570144653, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5071449279785156, + "candidate_source_group_id": "ms-ad058e704a159164d7c4;ms-362ba7cebb2bab1421e8;ms-12a997dde50b7a7f35cb;ms-b786173f210fcaa65a6e;ms-c7156b26670838d40934;ms-8ccc51fb09484026ebbb", + "expert_regret": 0.0, + "expert_score": 0.5876509547233582, + "expert_success": false, + "group_id": "ms-51873059990aa55691a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.5876509547233582, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8018721342086792, + "candidate_source_group_id": "ms-1add4cf84fdadf5703d6;ms-b6fd2931116c15db0f0a;ms-0a48fbd111be17b50be5;ms-cb16b458af723bf7cd0a;ms-326a7b583623d136470e;ms-3352e05afd9065cd09bf", + "expert_regret": 1.4406368136405945, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c684df0b998b593db723", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4406368136405945, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5593631863594055, + "restore_error": 1.1920928955078125e-07, + "score": 0.5593631863594055, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7925829291343689, + "candidate_source_group_id": "ms-2649df827a3c1017ccd8;ms-a202dd8923327af132da;ms-89c0c15f7bb38eaf59e4;ms-f4fd59b4d1bce2d6b6a4;ms-b6827e38768a63212d73;ms-61b1188974f35233b883", + "expert_regret": 1.4844990372657776, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9184c93267b4bbfa4cae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4844990372657776, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5155009627342224, + "restore_error": 1.1920928955078125e-07, + "score": 0.5155009627342224, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4113105237483978, + "candidate_source_group_id": "ms-10621e1108a69d0b633e;ms-08c75f74bf7813b1c257;ms-b809a8756abec7015aac;ms-ae6d60345612be32478c;ms-4021797e9499e6aaab7a;ms-ea72196e20393870bcbb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29afe3c91faef25f1343", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2502500116825104, + "candidate_source_group_id": "ms-a509a572b3871e591d26;ms-a699ee643e76a610b444;ms-ddb4e5a1f88dfd017319;ms-78da3efba7a739dcad14;ms-ddb8f148dff1db91851f;ms-fa62bbb3e8416561ed69", + "expert_regret": 1.441695749759674, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4bc023d8d1f7748b0e12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.441695749759674, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5583042502403259, + "restore_error": 1.1920928955078125e-07, + "score": 0.5583042502403259, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4499436020851135, + "candidate_source_group_id": "ms-a76ae18568c88af1da6b;ms-8ccc51fb09484026ebbb;ms-0ec98183be760ea25a45;ms-3fae81854f4c927f1f8d;ms-547f4204888aee978bf0;ms-197fee321caebfd320f5", + "expert_regret": 0.5840626712888479, + "expert_score": 0.6015409231185913, + "expert_success": false, + "group_id": "ms-f5483f0819e0e8bc352e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5840626712888479, + "oracle_score": 0.6015409231185913, + "oracle_success": false, + "progress": 0.017478251829743385, + "restore_error": 1.1920928955078125e-07, + "score": 0.017478251829743385, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40497276186943054, + "candidate_source_group_id": "ms-912718b1f2ef92066799;ms-85eef30b36b044b33f60;ms-61781d30cb05657c5f5d;ms-8c6e41e7542bc6924a1f;ms-0b4ac5b183639ac19191;ms-2be3bf4f348678c0cc6c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3cfb09df08ad7279ef02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6932269930839539, + "candidate_source_group_id": "ms-bbad1e7f073de07fafbd;ms-0c7dab7ee052231f3f57;ms-dc965b3a72976440156c;ms-f32035837f7df88396a3;ms-045f5adce6d38ea2794f;ms-88b1a0f8f758f7956c0f", + "expert_regret": 1.4445855617523193, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1fa37879a24f0e84c275", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4445855617523193, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5554144382476807, + "restore_error": 1.1920928955078125e-07, + "score": 0.5554144382476807, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3601514995098114, + "candidate_source_group_id": "ms-a3c53708416dbfb9fbc5;ms-88e10d1be12a407b3926;ms-13b3c492538e5b3c7bdd;ms-79d500110f3723b57da8;ms-7e0ef0b7f94396bf0029;ms-fb98254adaa23dc128df", + "expert_regret": 1.4478097558021545, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7af1e453acf970f40546", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4478097558021545, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5521902441978455, + "restore_error": 1.1920928955078125e-07, + "score": 0.5521902441978455, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.616047739982605, + "candidate_source_group_id": "ms-3c458f671129e1ebe7b4;ms-732d0515ed28df031b8e;ms-28817fe297f38fd9550a;ms-87fd37bcc6b666e220ef;ms-0377c81a67d9819ab96b;ms-f682952c6ecb2b833c35", + "expert_regret": 1.893520638346672, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-17a17b212837b7f1309f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.893520638346672, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10647936165332794, + "restore_error": 1.1920928955078125e-07, + "score": 0.10647936165332794, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5796743035316467, + "candidate_source_group_id": "ms-0cfef0ba35d4e6097003;ms-8522a9364bf70311450d;ms-a949424c5fa615565d72;ms-fd225482b96686f51dc8;ms-8420ccaff5986c85063f;ms-00b9ad6a8fe73fccc6fc", + "expert_regret": 1.4429927468299866, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eff5f21c51f26a85f07c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4429927468299866, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5570072531700134, + "restore_error": 1.1920928955078125e-07, + "score": 0.5570072531700134, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5251359939575195, + "candidate_source_group_id": "ms-fd99b14bf152ebc0ef8e;ms-74868f62709b91077e27;ms-311a52ec4b0ca8d71889;ms-fa62bbb3e8416561ed69;ms-ddb8f148dff1db91851f;ms-03ed7e57992354e27896", + "expert_regret": 1.425118327140808, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a2c5c9fd35d9fda5ce9e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.425118327140808, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5748816728591919, + "restore_error": 1.1920928955078125e-07, + "score": 0.5748816728591919, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5169607400894165, + "candidate_source_group_id": "ms-5367a8bae4304851384e;ms-a13ee9983c139d34fca8;ms-a47818abd17d958ad6ca;ms-17330235d51598ebcb4e;ms-2dc8e489908f72903319;ms-2bf2f3a2444b64f8230a", + "expert_regret": 1.4407377243041992, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-128c7c43e30023e6b1a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4407377243041992, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5592622756958008, + "restore_error": 1.1920928955078125e-07, + "score": 0.5592622756958008, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4233744740486145, + "candidate_source_group_id": "ms-802e63c9d42228a69c22;ms-b671fa9fcef84dbf2a13;ms-d33444117889b5aa9cfb;ms-a927d1bd67068f1d9302;ms-da46296bd4e9032570df;ms-36e8cb2e7f34f8dceb05", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28b1f1e4380d434605de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7234172224998474, + "candidate_source_group_id": "ms-045f5adce6d38ea2794f;ms-dc965b3a72976440156c;ms-b40ee5a75332685d5cec;ms-f32035837f7df88396a3;ms-82e28eb350e21d43d3eb;ms-8315ae30e2cf041c8674", + "expert_regret": 1.432457685470581, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2f846e9f31e2b8c4965f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.432457685470581, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.567542314529419, + "restore_error": 1.1920928955078125e-07, + "score": 0.567542314529419, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5306833386421204, + "candidate_source_group_id": "ms-339ae3ec9482aa259eec;ms-a10d8368c33b56390f77;ms-fe54b45b549a55d45c0e;ms-32435d71bb817daf01d9;ms-88b1a0f8f758f7956c0f;ms-4681331b496c8a9cf14d", + "expert_regret": 1.5293186008930206, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-53cfcc878e30fc078bba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5293186008930206, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.47068139910697937, + "restore_error": 1.1920928955078125e-07, + "score": 0.47068139910697937, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.35632064938545227, + "candidate_source_group_id": "ms-6558f35ae2a2871a4bfd;ms-a509a572b3871e591d26;ms-0b7f8ba789c00b37caa0;ms-91d86cba2602d1fa780d;ms-a699ee643e76a610b444;ms-3deb9fa600781abb51c1", + "expert_regret": 1.9232720360159874, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-175375383979526d80b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9232720360159874, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0767279639840126, + "restore_error": 1.1920928955078125e-07, + "score": 0.0767279639840126, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.278912752866745, + "candidate_source_group_id": "ms-0c9c39c462522b25ef2b;ms-88bdd8987f890af7e9ea;ms-a166a9b750ec3446beea;ms-60c7d1d3b5701e7f4e48;ms-c70be4072fb4e49ac106;ms-30fe784e67f732ef9a3d", + "expert_regret": 1.4630261063575745, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b8276cb9b6cb9a9b302f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4630261063575745, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5369738936424255, + "restore_error": 1.1920928955078125e-07, + "score": 0.5369738936424255, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8007393479347229, + "candidate_source_group_id": "ms-de709118c78966c5aff7;ms-59020093d2eeaf58aa84;ms-bfda95ffffd5d1a2683a;ms-87f65c35c9d8b3ced6fc;ms-91d86cba2602d1fa780d;ms-0b7f8ba789c00b37caa0", + "expert_regret": 1.4842354655265808, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de0321d0ece4c58bc224", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4842354655265808, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5157645344734192, + "restore_error": 1.1920928955078125e-07, + "score": 0.5157645344734192, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42218270897865295, + "candidate_source_group_id": "ms-88e10d1be12a407b3926;ms-fb98254adaa23dc128df;ms-a3c53708416dbfb9fbc5;ms-53fdabb5d8ef20778214;ms-2b3e081263ed25d45dc8;ms-2a67eea0b1293de9bcf9", + "expert_regret": 1.4539957642555237, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8fdde5008d12abb7ae6a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4539957642555237, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5460042357444763, + "restore_error": 1.1920928955078125e-07, + "score": 0.5460042357444763, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6089717745780945, + "candidate_source_group_id": "ms-3737178a1f85502652ea;ms-7c76bb3c93411136f11a;ms-cf274fbe4c657d04d7c4;ms-62b597990a3d637e5a8a;ms-5c8b50523e0de37d80b8;ms-a1d69e0b112064914357", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3aaa0d68ca26b1fe6626", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7569202184677124, + "candidate_source_group_id": "ms-d3cebfccbbe54d22c561;ms-b606af28580a38cea636;ms-772768ec2f9792127251;ms-2dc828d2d76b389db4f8;ms-9783ccaf76f1b20c766e;ms-c70be4072fb4e49ac106", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-479aa7d4248a0ebd94e1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.334579735994339, + "candidate_source_group_id": "ms-17e8d6ba42404c7b7d07;ms-802e63c9d42228a69c22;ms-da46296bd4e9032570df;ms-d33444117889b5aa9cfb;ms-a927d1bd67068f1d9302;ms-9e1f3c14116ebca6164d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ece7b8c91d9d82f244b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20671069622039795, + "candidate_source_group_id": "ms-6af227c07aaf7c0f0aea;ms-3e971096794f04f325f2;ms-a1846ef1f00eb54e2d60;ms-3b0ad4f07f1813ecf670;ms-950df0830b2e57010248;ms-46f10a29b484c9461204", + "expert_regret": 1.467664122581482, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cea745484a24f376d7e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.467664122581482, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5323358774185181, + "restore_error": 1.1920928955078125e-07, + "score": 0.5323358774185181, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.531676173210144, + "candidate_source_group_id": "ms-b4af4c8b9dcd6976546c;ms-c3a1cf0e424a4f065459;ms-50f29e19c798fee5422f;ms-1451f536f2ac0df844f6;ms-67f602a0e4efc9984d72;ms-c81880a77c4d978a0b7a", + "expert_regret": 1.4078767895698547, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-49219cb8ed7dad70c897", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4078767895698547, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5921232104301453, + "restore_error": 1.1920928955078125e-07, + "score": 0.5921232104301453, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43296295404434204, + "candidate_source_group_id": "ms-55ea22014575410563a4;ms-25a8e32c071be83d913b;ms-22412b51e61621b6025b;ms-d05d9bbb98f24da55981;ms-42895361db5578b75c0e;ms-869a04e41dc5cc90916b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f8c4e700a751537ebb16", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4575501084327698, + "candidate_source_group_id": "ms-b01677be2df71c474d1f;ms-d1aac7be45644e12a976;ms-54a04864cb68a4c3caac;ms-dfc737e32df79e1fc429;ms-f1fb6cdb836269adb2cc;ms-570c074dbf28b5faae58", + "expert_regret": 1.4398059248924255, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c6beb139304a0ea6f7ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4398059248924255, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5601940751075745, + "restore_error": 1.1920928955078125e-07, + "score": 0.5601940751075745, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14884543418884277, + "candidate_source_group_id": "ms-13af3f2f8e0b8444fe68;ms-f39e1d7a2d636e39a02f;ms-61d4dd4acc03b8d30f19;ms-c9c1649478107785e9d2;ms-5e6d18ccfcf923f52f8e;ms-8c6e41e7542bc6924a1f", + "expert_regret": 0.0, + "expert_score": 0.5946909785270691, + "expert_success": false, + "group_id": "ms-309d2258d275ae304857", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.17499928176403046, + "candidate_source_group_id": "ms-3c12da28c8edab3fa554;ms-759ba8b7be233ca47c30;ms-48d490ed21088bb5ba85;ms-2c68b2b895bdbedbaa08;ms-47662cfa5e75ac8250e7;ms-e1972ebf2c5587a6fdf9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4a0ae3deadb8560fd315", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45941299200057983, + "candidate_source_group_id": "ms-cd340bca589f0cebd7da;ms-86b0447349029dfaa6ab;ms-c86956f3f1333e136186;ms-578537600f7a649c2dd5;ms-1f8e2d5d25706493821d;ms-4cd1ceea2dda2732110a", + "expert_regret": 1.4616252779960632, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7651a7f31eae24958ef0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4616252779960632, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5383747220039368, + "restore_error": 1.1920928955078125e-07, + "score": 0.5383747220039368, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.64251309633255, + "candidate_source_group_id": "ms-478b7b8b729f9212a522;ms-bcfeba2af1e844c22aed;ms-97140da7cf409922f6ce;ms-3352e05afd9065cd09bf;ms-a26c2ffdac089c72ade5;ms-10621e1108a69d0b633e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cb99eeafec52800f3b77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7505017518997192, + "candidate_source_group_id": "ms-dbcc3da47d96ceeaf9f0;ms-c3f7b780f604922f4f67;ms-4681331b496c8a9cf14d;ms-ad5ad5314850df7b0853;ms-b0aa24be399d843c9d50;ms-b90d7926b23eabbbed04", + "expert_regret": 1.4586541652679443, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-732819b0c220a4c06870", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4586541652679443, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5413458347320557, + "restore_error": 1.1920928955078125e-07, + "score": 0.5413458347320557, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.672531008720398, + "candidate_source_group_id": "ms-663aa9934c0f923cc125;ms-704fee4c9fb9941a26e7;ms-7ea16036a1dd971fc4e0;ms-c3f7b780f604922f4f67;ms-a6b029a958e91306966a;ms-b0aa24be399d843c9d50", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-350b797a531f87ad2c0f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5263814330101013, + "candidate_source_group_id": "ms-b92ca6f216624d6305c2;ms-ebacae0135af2832dfbb;ms-7dedf60ad41ea2d92ee5;ms-d73fd5fce55fb58ef8e9;ms-29ae8ff2b706fed904df;ms-36ce7b44f44c615347ab", + "expert_regret": 0.10322775691747665, + "expert_score": 0.18145142495632172, + "expert_success": false, + "group_id": "ms-003a2225c0892dcda683", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.921776331961155, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07822366803884506, + "restore_error": 1.1920928955078125e-07, + "score": 0.07822366803884506, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.9194717407226562, + "candidate_source_group_id": "ms-9acbb20bd73584f0e215;ms-6d5f6a187b61ea26c2e2;ms-652ad552ba98d2736620;ms-be0f2598cc527ad9040a;ms-12c741253e1802aad9ec;ms-f2b2b2a1aa2863c3676f", + "expert_regret": 0.19753699004650116, + "expert_score": 0.2730255424976349, + "expert_success": false, + "group_id": "ms-e6a58c859c498bb0f4d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.19753699004650116, + "oracle_score": 0.2730255424976349, + "oracle_success": false, + "progress": 0.07548855245113373, + "restore_error": 1.1920928955078125e-07, + "score": 0.07548855245113373, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8849044442176819, + "candidate_source_group_id": "ms-8551c2634431d2ade8a8;ms-e8afd0ad85d7e219a1ec;ms-eab38ab23e5fd0218632;ms-57e91ed3c8bd0299534f;ms-9fbd54f73e56e3231631;ms-4d400b68d540cebcc9e0", + "expert_regret": 0.17570988088846207, + "expert_score": 0.21716713905334473, + "expert_success": false, + "group_id": "ms-26c3a975205dfd16f076", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.17570988088846207, + "oracle_score": 0.21716713905334473, + "oracle_success": false, + "progress": 0.04145725816488266, + "restore_error": 1.1920928955078125e-07, + "score": 0.04145725816488266, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.23352491855621338, + "candidate_source_group_id": "ms-dab8307a45ebe8220c83;ms-88012aab0303554a1736;ms-e4e21b9ec2546537fff0;ms-5b513b00260d517c02d9;ms-2dc5138251afd26a040d;ms-bccd7bbe1b1b98254147", + "expert_regret": 0.0, + "expert_score": 0.12086304277181625, + "expert_success": false, + "group_id": "ms-456cdaaa617fc54fd766", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.308398574590683, + "candidate_source_group_id": "ms-cb8cbd90038493c30888;ms-d271e7de6bc331371e9c;ms-372f2ecb6685d8cae8d5;ms-02fd0338e80ef19ceec1;ms-25ab20bb3da8ba34be95;ms-7a044cb6c7bb03f3ea10", + "expert_regret": 0.0, + "expert_score": 0.07767709344625473, + "expert_success": false, + "group_id": "ms-f3f1d07cfd59b823da47", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.17124073207378387, + "oracle_success": false, + "progress": 0.1916952133178711, + "restore_error": 1.1920928955078125e-07, + "score": 0.1916952133178711, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5420222282409668, + "candidate_source_group_id": "ms-c8fa3c12dd48ffd82fcf;ms-3a4e2d080c9c4b279895;ms-e6b654653119682cf01e;ms-a96bca1ef0b74f686018;ms-dc5563c9b0dcd84e393b;ms-85f911fca087fed2caff", + "expert_regret": 1.8098716884851456, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6f425f086690b71d778", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8098716884851456, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19012831151485443, + "restore_error": 1.1920928955078125e-07, + "score": 0.19012831151485443, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6854647397994995, + "candidate_source_group_id": "ms-e9ed5d488afdfd6449d1;ms-bd90866faa10e62fce2c;ms-29f47a1dc1d9c3ec3365;ms-b8fc1568ce66c45c8d8b;ms-6388b5d2356c556c3e55;ms-3f2aed5964eed6c4936a", + "expert_regret": 0.0, + "expert_score": 0.21594193577766418, + "expert_success": false, + "group_id": "ms-ac94b48febe523da15a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2973631024360657, + "candidate_source_group_id": "ms-70549468e433100cfaa6;ms-db2c4015a0690cc80d24;ms-e3e9c08ff116ef32db75;ms-7b90f35aa521ef45ea27;ms-50e54f9608e1420ba11a;ms-7e88428497a6b13936c4", + "expert_regret": 0.0, + "expert_score": 0.13041290640830994, + "expert_success": false, + "group_id": "ms-a1b57fcae964d7b531da", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.15699544548988342, + "oracle_success": false, + "progress": 0.19149520993232727, + "restore_error": 1.1920928955078125e-07, + "score": 0.19149520993232727, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 2.0809378623962402, + "candidate_source_group_id": "ms-cebdee3fec248354033e;ms-1d3f30fae746c0b9cefc;ms-61c3c0e99a653d2a7fe2;ms-c09bd18e1017cc532aee;ms-ff129e39095c2861b522;ms-20e1efbb745fd02abc95", + "expert_regret": 0.0, + "expert_score": 0.12437069416046143, + "expert_success": false, + "group_id": "ms-84388e63928e1a30ffc4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4832541048526764, + "candidate_source_group_id": "ms-088ad33a4461de5ce0cb;ms-633308d7f0e52c013505;ms-3c223e8c7f870c807541;ms-3ed611d029d2ae0b12d8;ms-778efc20fc2ee8a3dd02;ms-2e40499cb146da6f89e7", + "expert_regret": 0.0, + "expert_score": 0.0981486439704895, + "expert_success": false, + "group_id": "ms-c5d53da10b561f402ee7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.20912069082260132, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.920226514339447, + "candidate_source_group_id": "ms-744702a88bec9222a30a;ms-4f0a59b7bc897c0d5e5e;ms-088ad33a4461de5ce0cb;ms-633308d7f0e52c013505;ms-778efc20fc2ee8a3dd02;ms-2e40499cb146da6f89e7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-53b435e197011e0d48b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6693049669265747, + "candidate_source_group_id": "ms-1cba84e4c11e030aeb3e;ms-b49043f15f4846de5b13;ms-1a4d443c5b80e0dac794;ms-b784fe769f0fb1d315e5;ms-a6a6de64c39abad45f86;ms-babaeb20129c46551281", + "expert_regret": 0.0, + "expert_score": 0.23240530490875244, + "expert_success": false, + "group_id": "ms-36f0ff5c96ebdd4644c2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4530714452266693, + "candidate_source_group_id": "ms-b7d7021b782f73816083;ms-6754ed0131c952830729;ms-9681d9cb43cc26adb0fe;ms-e87c704dfdbf7ee7f51f;ms-0dee962a5901fb8b5bbb;ms-b8c3ec3ea915c5d35b3e", + "expert_regret": 0.0, + "expert_score": 0.08866866677999496, + "expert_success": false, + "group_id": "ms-4bda8533405961380322", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13122013211250305, + "oracle_score": 0.31490015983581543, + "oracle_success": false, + "progress": 0.18368002772331238, + "restore_error": 1.1920928955078125e-07, + "score": 0.18368002772331238, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5396822094917297, + "candidate_source_group_id": "ms-f59e0d91a187e6a48299;ms-d92cec7cfd1915a30824;ms-ee30ebaf98622759d888;ms-109ea940d18ab80efabc;ms-b794f77d280289ce22a4;ms-ebacae0135af2832dfbb", + "expert_regret": 0.0857737809419632, + "expert_score": 0.17002534866333008, + "expert_success": false, + "group_id": "ms-7923b8196b397863cf4f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9157484322786331, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08425156772136688, + "restore_error": 1.1920928955078125e-07, + "score": 0.08425156772136688, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5660525560379028, + "candidate_source_group_id": "ms-6754ed0131c952830729;ms-9229ce141dd41a11fac1;ms-e87c704dfdbf7ee7f51f;ms-9681d9cb43cc26adb0fe;ms-1c2768099019b86daca7;ms-b7d7021b782f73816083", + "expert_regret": 0.03562392666935921, + "expert_score": 0.05257302522659302, + "expert_success": false, + "group_id": "ms-728b865677134d3788e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.20963937416672707, + "oracle_score": 0.22658847272396088, + "oracle_success": false, + "progress": 0.01694909855723381, + "restore_error": 1.1920928955078125e-07, + "score": 0.01694909855723381, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.697235643863678, + "candidate_source_group_id": "ms-76f27d9a935b25e15c38;ms-638d2ba1917eff4d09e0;ms-c0e3ab57fcf0d12ea4d8;ms-a8731059713697ce5e2a;ms-d535b38d768633f6d922;ms-9757fc494e79b5543bb6", + "expert_regret": 0.010791480541229248, + "expert_score": 0.2168768048286438, + "expert_success": false, + "group_id": "ms-4f7161e1beab1ab777d8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.04413801431655884, + "oracle_score": 0.2502233386039734, + "oracle_success": false, + "progress": 0.20608532428741455, + "restore_error": 1.1920928955078125e-07, + "score": 0.20608532428741455, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6201148629188538, + "candidate_source_group_id": "ms-638d2ba1917eff4d09e0;ms-c0e3ab57fcf0d12ea4d8;ms-482c5c8d208b5907a2c2;ms-a8731059713697ce5e2a;ms-1c2768099019b86daca7;ms-0fdb89ea83047c63b9b0", + "expert_regret": 0.0, + "expert_score": 0.23002704977989197, + "expert_success": false, + "group_id": "ms-4920f51977e482b3a66c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.23002704977989197, + "oracle_success": false, + "progress": 0.24234744906425476, + "restore_error": 1.1920928955078125e-07, + "score": 0.24234744906425476, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.33144256472587585, + "candidate_source_group_id": "ms-aefa917c6b1659d6edd2;ms-bce8c4ec2bf882ca0b2e;ms-3f2aed5964eed6c4936a;ms-b8fc1568ce66c45c8d8b;ms-5ecde7b64c80d2abbe1f;ms-29f47a1dc1d9c3ec3365", + "expert_regret": 0.0, + "expert_score": 0.19225573539733887, + "expert_success": false, + "group_id": "ms-267832544376e3727efb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.050395429134368896, + "oracle_score": 0.28689613938331604, + "oracle_success": false, + "progress": 0.23650071024894714, + "restore_error": 1.1920928955078125e-07, + "score": 0.23650071024894714, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.27371224761009216, + "candidate_source_group_id": "ms-ebfb82df795e73599373;ms-81f4e8858b2ba90aea2e;ms-49b9e0f9ceaf91314919;ms-a2518826fa0a816cc46f;ms-35940a55db9e3f7e6ad0;ms-e6b654653119682cf01e", + "expert_regret": 0.047328315675258636, + "expert_score": 0.12482444941997528, + "expert_success": false, + "group_id": "ms-f4a2d61f02d4224bad4f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.1754956617951393, + "oracle_score": 0.25299179553985596, + "oracle_success": false, + "progress": 0.07749613374471664, + "restore_error": 1.1920928955078125e-07, + "score": 0.07749613374471664, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.3201656341552734, + "candidate_source_group_id": "ms-dce346f7f90e29664890;ms-4143ca4fca04091084e4;ms-7eaea428dfdef7255a66;ms-57be9ae181c077e7821f;ms-067cac2e4dbeddb12239;ms-16661b2fd2c85f57a66c", + "expert_regret": 1.846969872713089, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-070184c0f6831eb39bc1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.846969872713089, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.153030127286911, + "restore_error": 1.1920928955078125e-07, + "score": 0.153030127286911, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8463976979255676, + "candidate_source_group_id": "ms-088ad33a4461de5ce0cb;ms-633308d7f0e52c013505;ms-3c223e8c7f870c807541;ms-4f0a59b7bc897c0d5e5e;ms-744702a88bec9222a30a;ms-778efc20fc2ee8a3dd02", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d915ee5030ef1ea1b0d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.616149365901947, + "candidate_source_group_id": "ms-554727d05aa9a2b32904;ms-02d160e1d5db6e544363;ms-972c5be72d0b24be7cd5;ms-340e4b5de99447fbcd5e;ms-7eaea428dfdef7255a66;ms-fa8b4ba41ecac8030271", + "expert_regret": 0.0, + "expert_score": 0.2159806191921234, + "expert_success": false, + "group_id": "ms-e84163d9ef2e7014daca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5755575299263, + "candidate_source_group_id": "ms-c31b98b3d3702c6f9c8c;ms-c2398cb80b194084dbfc;ms-bccd7bbe1b1b98254147;ms-cb5dc99d8c3b4c0c3616;ms-5ab7f487c7006dec473a;ms-394edcd961226f337ce1", + "expert_regret": 0.0032410025596618652, + "expert_score": 0.16375553607940674, + "expert_success": false, + "group_id": "ms-c8a0f64b433a541481eb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0368461012840271, + "oracle_score": 0.19736063480377197, + "oracle_success": false, + "progress": 0.16051453351974487, + "restore_error": 1.1920928955078125e-07, + "score": 0.16051453351974487, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6922501921653748, + "candidate_source_group_id": "ms-f9740a08a98cb251b761;ms-9a50730a0ff65eb93ea5;ms-45131c0aa974fa9602ad;ms-89c4edc5d083202b2443;ms-3d31ef4f467b204b8477;ms-4d400b68d540cebcc9e0", + "expert_regret": 1.9671452417969704, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ec2eec3ab528878445cd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.9671452417969704, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03285475820302963, + "restore_error": 1.1920928955078125e-07, + "score": 0.03285475820302963, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6511778235435486, + "candidate_source_group_id": "ms-dab8307a45ebe8220c83;ms-2dc5138251afd26a040d;ms-88012aab0303554a1736;ms-e4e21b9ec2546537fff0;ms-5ab7f487c7006dec473a;ms-5b513b00260d517c02d9", + "expert_regret": 0.0, + "expert_score": 0.09775444120168686, + "expert_success": false, + "group_id": "ms-284545b8610706250f3c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1140122041106224, + "oracle_success": false, + "progress": 0.1481233537197113, + "restore_error": 2.384185791015625e-07, + "score": 0.1481233537197113, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.303334355354309, + "candidate_source_group_id": "ms-714913716f5f0a287401;ms-5ecde7b64c80d2abbe1f;ms-29f47a1dc1d9c3ec3365;ms-bd90866faa10e62fce2c;ms-b8fc1568ce66c45c8d8b;ms-3f2aed5964eed6c4936a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-615d4a98352149e15ff1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.25215885043144226, + "candidate_source_group_id": "ms-57be9ae181c077e7821f;ms-62f8c18a15c566ec4b00;ms-91ad1e8602f14dada73c;ms-1f19fd22562f87bdb776;ms-dce346f7f90e29664890;ms-4143ca4fca04091084e4", + "expert_regret": 0.015604227781295776, + "expert_score": 0.2889223098754883, + "expert_success": false, + "group_id": "ms-dc26b448cce4164a23e6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7266819179058075, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2733180820941925, + "restore_error": 2.384185791015625e-07, + "score": 0.2733180820941925, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.28870540857315063, + "candidate_source_group_id": "ms-fe5a961ee9b8b8a91b44;ms-e4e21b9ec2546537fff0;ms-b8c3ec3ea915c5d35b3e;ms-9681d9cb43cc26adb0fe;ms-3f8284543efb724e8845;ms-2dc5138251afd26a040d", + "expert_regret": 0.0, + "expert_score": 0.19429567456245422, + "expert_success": false, + "group_id": "ms-8c07fff2c7a5131a141b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6683898568153381, + "candidate_source_group_id": "ms-554727d05aa9a2b32904;ms-02d160e1d5db6e544363;ms-972c5be72d0b24be7cd5;ms-340e4b5de99447fbcd5e;ms-7eaea428dfdef7255a66;ms-fa8b4ba41ecac8030271", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7b2cb5c6abcc36a362d1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3142785429954529, + "candidate_source_group_id": "ms-5ecde7b64c80d2abbe1f;ms-714913716f5f0a287401;ms-b8fc1568ce66c45c8d8b;ms-3f2aed5964eed6c4936a;ms-29f47a1dc1d9c3ec3365;ms-bd90866faa10e62fce2c", + "expert_regret": 0.0, + "expert_score": 0.16634780168533325, + "expert_success": false, + "group_id": "ms-e2f8f0ef073900703441", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5444856882095337, + "candidate_source_group_id": "ms-1c2768099019b86daca7;ms-0228f3312b428eaf7e9d;ms-d8e18d4d22b4cc73b803;ms-6a43c1f6dd61d4df80ec;ms-3d090ac2459c4b891dd1;ms-ea8382de946b98af3bf8", + "expert_regret": 0.0, + "expert_score": 0.07999710738658905, + "expert_success": false, + "group_id": "ms-ba11d52e628b2efe32ea", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0748717188835144, + "oracle_score": 0.2388150691986084, + "oracle_success": false, + "progress": 0.163943350315094, + "restore_error": 2.384185791015625e-07, + "score": 0.163943350315094, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.44861334562301636, + "candidate_source_group_id": "ms-26b69e1e596d2e3163da;ms-f40162c64827e8c44a1a;ms-e50ef9df7287938b501c;ms-3bfe7e8a312d53f966d0;ms-088ad33a4461de5ce0cb;ms-f497cc22967badd9f8b0", + "expert_regret": 0.0, + "expert_score": 0.005320350639522076, + "expert_success": false, + "group_id": "ms-b2287fbbcd2b5d8372bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.1117854118347168, + "oracle_score": 0.21861237287521362, + "oracle_success": false, + "progress": 0.10682696104049683, + "restore_error": 2.384185791015625e-07, + "score": 0.10682696104049683, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.45301222801208496, + "candidate_source_group_id": "ms-cd84deb86ca0c1f1c020;ms-575c7eef4563e02ec689;ms-b6b7052345036de1448d;ms-6388b5d2356c556c3e55;ms-b94dfc54c3bf844d5146;ms-0e1ff8d16372796dac97", + "expert_regret": 0.0, + "expert_score": 0.1568639576435089, + "expert_success": false, + "group_id": "ms-d0158d7b3df11d64095c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.21547327935695648, + "oracle_success": false, + "progress": 0.2214585840702057, + "restore_error": 1.1920928955078125e-07, + "score": 0.2214585840702057, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.26088792085647583, + "candidate_source_group_id": "ms-f5dd1c43ebc4c0cfc3f1;ms-45672e1bf3b083eb3fc3;ms-02fd0338e80ef19ceec1;ms-cb8cbd90038493c30888;ms-0dee962a5901fb8b5bbb;ms-9681d9cb43cc26adb0fe", + "expert_regret": 0.0, + "expert_score": 0.15089315176010132, + "expert_success": false, + "group_id": "ms-d81e3048f5ae278c708f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.07352279126644135, + "oracle_score": 0.23822252452373505, + "oracle_success": false, + "progress": 0.1646997332572937, + "restore_error": 1.1920928955078125e-07, + "score": 0.1646997332572937, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3255547881126404, + "candidate_source_group_id": "ms-88012aab0303554a1736;ms-dab8307a45ebe8220c83;ms-2dc5138251afd26a040d;ms-5b513b00260d517c02d9;ms-fe5a961ee9b8b8a91b44;ms-e4e21b9ec2546537fff0", + "expert_regret": 0.0, + "expert_score": 0.1233738511800766, + "expert_success": false, + "group_id": "ms-fbd73493bcf73542f735", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.25541552901268005, + "candidate_source_group_id": "ms-e8afd0ad85d7e219a1ec;ms-4d400b68d540cebcc9e0;ms-8551c2634431d2ade8a8;ms-57e91ed3c8bd0299534f;ms-eab38ab23e5fd0218632;ms-62db3d4ffad1f0e82dd8", + "expert_regret": 0.0, + "expert_score": 0.23221425712108612, + "expert_success": false, + "group_id": "ms-abf8880f672677acc931", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5864173173904419, + "candidate_source_group_id": "ms-2eabcf580547d2c133ce;ms-f4f9dd2ff38f992d4fb9;ms-6f26118aa94bacd82250;ms-4aed2a49597da545e551;ms-d402ca600d53b2db9dbe;ms-d6cc29ec9fbbc53d0f68", + "expert_regret": 0.0, + "expert_score": 0.0808674544095993, + "expert_success": false, + "group_id": "ms-c832439976a37f52d094", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.07536900043487549, + "oracle_score": 0.2594742774963379, + "oracle_success": false, + "progress": 0.1841052770614624, + "restore_error": 1.1920928955078125e-07, + "score": 0.1841052770614624, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3463180363178253, + "candidate_source_group_id": "ms-fdc8588aee7d089fca84;ms-b8c3ec3ea915c5d35b3e;ms-e4e21b9ec2546537fff0;ms-fe5a961ee9b8b8a91b44;ms-3f8284543efb724e8845;ms-9681d9cb43cc26adb0fe", + "expert_regret": 0.0, + "expert_score": 0.1861332654953003, + "expert_success": false, + "group_id": "ms-277531f5e24eeb525899", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8578768968582153, + "candidate_source_group_id": "ms-778efc20fc2ee8a3dd02;ms-2e40499cb146da6f89e7;ms-4f0a59b7bc897c0d5e5e;ms-12c741253e1802aad9ec;ms-744702a88bec9222a30a;ms-633308d7f0e52c013505", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c62736c7767014960e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6148220896720886, + "candidate_source_group_id": "ms-aab59ee607a5ba7e3bfa;ms-4db7b82d22bfbf9258b5;ms-60f0d45b604940db0058;ms-1e30e297540582d59926;ms-8a72b73ac452bc190aeb;ms-9dbf65115872ab5360e4", + "expert_regret": 0.0, + "expert_score": 0.018661757931113243, + "expert_success": false, + "group_id": "ms-3798cbeab8a36b08c295", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.24742551520466805, + "oracle_score": 0.2663142681121826, + "oracle_success": false, + "progress": 0.018888752907514572, + "restore_error": 1.1920928955078125e-07, + "score": 0.018888752907514572, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.9158782362937927, + "candidate_source_group_id": "ms-cb5dc99d8c3b4c0c3616;ms-b8c3ec3ea915c5d35b3e;ms-c2398cb80b194084dbfc;ms-5ab7f487c7006dec473a;ms-b7d7021b782f73816083;ms-e4e21b9ec2546537fff0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-62bd92bfcbc50801e008", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 2.185817241668701, + "candidate_source_group_id": "ms-f126e1cf5b3ee52a8476;ms-6661b157c41ad4d6ab85;ms-19cb10d10516bd0216a6;ms-ee4ddb148e138fce841c;ms-c083dba0e5dcc8ca1004;ms-6ad14a70593958c00a63", + "expert_regret": 0.0, + "expert_score": 0.14424000680446625, + "expert_success": false, + "group_id": "ms-344d81289be624d70b0e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.002375990152359009, + "oracle_score": 0.1725815236568451, + "oracle_success": false, + "progress": 0.17020553350448608, + "restore_error": 1.1920928955078125e-07, + "score": 0.17020553350448608, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5876073837280273, + "candidate_source_group_id": "ms-b334dd4c101f3bd0476b;ms-9229ce141dd41a11fac1;ms-7df455efd413d77e6ce3;ms-f087710511e9f9336ad6;ms-2b7ca4255af28e33db96;ms-4f0a41c8fb3caaeb9540", + "expert_regret": 0.005846301093697548, + "expert_score": 0.01563560962677002, + "expert_success": false, + "group_id": "ms-d45766ebe3a1d7f8876c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13297010399401188, + "oracle_score": 0.14275941252708435, + "oracle_success": false, + "progress": 0.009789308533072472, + "restore_error": 1.1920928955078125e-07, + "score": 0.009789308533072472, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0134583711624146, + "candidate_source_group_id": "ms-12c741253e1802aad9ec;ms-778efc20fc2ee8a3dd02;ms-2e40499cb146da6f89e7;ms-4f0a59b7bc897c0d5e5e;ms-744702a88bec9222a30a;ms-be0f2598cc527ad9040a", + "expert_regret": 1.814615085721016, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-271889c9e921f7716135", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.814615085721016, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18538491427898407, + "restore_error": 1.1920928955078125e-07, + "score": 0.18538491427898407, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5180688500404358, + "candidate_source_group_id": "ms-1cba84e4c11e030aeb3e;ms-a6a6de64c39abad45f86;ms-b0c64b4a1c04972e47a1;ms-1a4d443c5b80e0dac794;ms-babaeb20129c46551281;ms-b784fe769f0fb1d315e5", + "expert_regret": 0.0, + "expert_score": 0.17393752932548523, + "expert_success": false, + "group_id": "ms-151566379dfd7af6fe63", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.18055260181427002, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.40205833315849304, + "candidate_source_group_id": "ms-dab8307a45ebe8220c83;ms-88012aab0303554a1736;ms-2dc5138251afd26a040d;ms-fe5a961ee9b8b8a91b44;ms-e4e21b9ec2546537fff0;ms-5b513b00260d517c02d9", + "expert_regret": 0.0, + "expert_score": 0.18806186318397522, + "expert_success": false, + "group_id": "ms-06babf453b22ba8f2407", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4507524073123932, + "candidate_source_group_id": "ms-6661b157c41ad4d6ab85;ms-e7c50fae013f9728539a;ms-45fbd749d5ed3fe37c13;ms-8b603da9f857de028798;ms-082cb0ac119a83c42c2d;ms-e0c576a5a78374889088", + "expert_regret": 0.0, + "expert_score": 0.1521211564540863, + "expert_success": false, + "group_id": "ms-cc07f96f3454a4643b9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.191031813621521, + "oracle_success": false, + "progress": 0.2221594750881195, + "restore_error": 1.1920928955078125e-07, + "score": 0.2221594750881195, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.468104749917984, + "candidate_source_group_id": "ms-6661b157c41ad4d6ab85;ms-c31b98b3d3702c6f9c8c;ms-bccd7bbe1b1b98254147;ms-394edcd961226f337ce1;ms-fc87ea5245c2743bdb2d;ms-c2398cb80b194084dbfc", + "expert_regret": 0.0, + "expert_score": 0.08069789409637451, + "expert_success": false, + "group_id": "ms-223b0a8319beb051a1ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1593424528837204, + "oracle_success": false, + "progress": 0.1899843066930771, + "restore_error": 1.1920928955078125e-07, + "score": 0.1899843066930771, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.48402532935142517, + "candidate_source_group_id": "ms-7a044cb6c7bb03f3ea10;ms-0dee962a5901fb8b5bbb;ms-e87c704dfdbf7ee7f51f;ms-45672e1bf3b083eb3fc3;ms-372f2ecb6685d8cae8d5;ms-6ddecc7f074b9e267409", + "expert_regret": 0.0, + "expert_score": 0.21284407377243042, + "expert_success": false, + "group_id": "ms-45309d0bdc5e3babc17b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.015265971422195435, + "oracle_score": 0.22903120517730713, + "oracle_success": false, + "progress": 0.2137652337551117, + "restore_error": 2.3096799850463867e-07, + "score": 0.2137652337551117, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4393661320209503, + "candidate_source_group_id": "ms-7ea98b8f4d2220347ee0;ms-48178f52a96de3d1ead0;ms-89538d844f6299774906;ms-674fad0e7c042d23629e;ms-45fbd749d5ed3fe37c13;ms-9826b7a6fdcc0fd3eb69", + "expert_regret": 0.0, + "expert_score": 0.05304628610610962, + "expert_success": false, + "group_id": "ms-126eb8b36769f9ba4671", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.1985912322998047, + "oracle_success": false, + "progress": 0.20704786479473114, + "restore_error": 2.3096799850463867e-07, + "score": 0.20704786479473114, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4588485062122345, + "candidate_source_group_id": "ms-554727d05aa9a2b32904;ms-02d160e1d5db6e544363;ms-340e4b5de99447fbcd5e;ms-972c5be72d0b24be7cd5;ms-7eaea428dfdef7255a66;ms-fa8b4ba41ecac8030271", + "expert_regret": 0.014544114470481873, + "expert_score": 0.16841016709804535, + "expert_success": false, + "group_id": "ms-26751f54c657b24b4da2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.10128402709960938, + "oracle_score": 0.25515007972717285, + "oracle_success": false, + "progress": 0.15386605262756348, + "restore_error": 2.3096799850463867e-07, + "score": 0.15386605262756348, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.49257877469062805, + "candidate_source_group_id": "ms-45131c0aa974fa9602ad;ms-9a50730a0ff65eb93ea5;ms-89c4edc5d083202b2443;ms-f9740a08a98cb251b761;ms-3d31ef4f467b204b8477;ms-e8afd0ad85d7e219a1ec", + "expert_regret": 1.9588582888245583, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a04e804d3aad7b40f1ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9588582888245583, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04114171117544174, + "restore_error": 2.3096799850463867e-07, + "score": 0.04114171117544174, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3331431746482849, + "candidate_source_group_id": "ms-d8e18d4d22b4cc73b803;ms-5dbfefbfb832855ef80a;ms-0fdb89ea83047c63b9b0;ms-ea8382de946b98af3bf8;ms-482c5c8d208b5907a2c2;ms-6a43c1f6dd61d4df80ec", + "expert_regret": 0.048048511147499084, + "expert_score": 0.18874704837799072, + "expert_success": false, + "group_id": "ms-1a4979e969aa331fb126", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.13043652474880219, + "oracle_score": 0.2711350619792938, + "oracle_success": false, + "progress": 0.14069853723049164, + "restore_error": 2.3096799850463867e-07, + "score": 0.14069853723049164, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5630654096603394, + "candidate_source_group_id": "ms-ccc79c981e3a67ebeaf2;ms-d6cc29ec9fbbc53d0f68;ms-0093b06390890d181104;ms-2eabcf580547d2c133ce;ms-d402ca600d53b2db9dbe;ms-ccb8bd419b9cd771d12f", + "expert_regret": 0.04571201652288437, + "expert_score": 0.07016094774007797, + "expert_success": false, + "group_id": "ms-34726202b475d29cdf38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.22897177934646606, + "oracle_score": 0.25342071056365967, + "oracle_success": false, + "progress": 0.024448931217193604, + "restore_error": 2.3096799850463867e-07, + "score": 0.024448931217193604, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5145731568336487, + "candidate_source_group_id": "ms-48178f52a96de3d1ead0;ms-7df455efd413d77e6ce3;ms-7ea98b8f4d2220347ee0;ms-e0c576a5a78374889088;ms-38f7298184a2c5005e94;ms-2b7ca4255af28e33db96", + "expert_regret": 0.0, + "expert_score": 0.13672415912151337, + "expert_success": false, + "group_id": "ms-75da653dc43676d593ce", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.2194269299507141, + "oracle_success": false, + "progress": 0.2713845372200012, + "restore_error": 2.3096799850463867e-07, + "score": 0.2713845372200012, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5884336829185486, + "candidate_source_group_id": "ms-68b43d83b97196e0d27f;ms-465d531b9cec5bc77ed7;ms-cad6645f8175e38ad155;ms-29f47a1dc1d9c3ec3365;ms-3f2aed5964eed6c4936a;ms-b8fc1568ce66c45c8d8b", + "expert_regret": 0.0, + "expert_score": 0.16178712248802185, + "expert_success": false, + "group_id": "ms-4cc40587ec490257b1d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.9958545565605164, + "candidate_source_group_id": "ms-61c3c0e99a653d2a7fe2;ms-59d4cdcd401477b5adfc;ms-f2b2b2a1aa2863c3676f;ms-f7a54f4783da1d4129a8;ms-1d3f30fae746c0b9cefc;ms-02311c7783bc67e188b4", + "expert_regret": 1.764320433139801, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0f5ffa7a4448b22b7951", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.764320433139801, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23567956686019897, + "restore_error": 1.1920928955078125e-07, + "score": 0.23567956686019897, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6452683210372925, + "candidate_source_group_id": "ms-6661b157c41ad4d6ab85;ms-bccd7bbe1b1b98254147;ms-c31b98b3d3702c6f9c8c;ms-ee4ddb148e138fce841c;ms-394edcd961226f337ce1;ms-f126e1cf5b3ee52a8476", + "expert_regret": 0.0, + "expert_score": 0.10120099782943726, + "expert_success": false, + "group_id": "ms-1faf779e909ec0415be0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0027366429567337036, + "oracle_score": 0.15691404044628143, + "oracle_success": false, + "progress": 0.15417739748954773, + "restore_error": 1.1920928955078125e-07, + "score": 0.15417739748954773, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4478422701358795, + "candidate_source_group_id": "ms-7ea98b8f4d2220347ee0;ms-89538d844f6299774906;ms-45fbd749d5ed3fe37c13;ms-9826b7a6fdcc0fd3eb69;ms-674fad0e7c042d23629e;ms-dd7527ab9ed49f79d2ba", + "expert_regret": 0.0004937052726745605, + "expert_score": 0.1594313085079193, + "expert_success": false, + "group_id": "ms-98eb81debb5186ebbe38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.08079788088798523, + "oracle_score": 0.23973548412322998, + "oracle_success": false, + "progress": 0.15893760323524475, + "restore_error": 1.1920928955078125e-07, + "score": 0.15893760323524475, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.564146876335144, + "candidate_source_group_id": "ms-35a50d2822c2c3cc4516;ms-d81f9c2974c2d599f151;ms-dc5563c9b0dcd84e393b;ms-206099bab6bfe7c84fce;ms-9fd23a06ae1659cef27b;ms-bce8c4ec2bf882ca0b2e", + "expert_regret": 0.0, + "expert_score": 0.164321169257164, + "expert_success": false, + "group_id": "ms-8e56b0eaa2604db6749e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0404258668422699, + "oracle_score": 0.2857772707939148, + "oracle_success": false, + "progress": 0.2453514039516449, + "restore_error": 1.1920928955078125e-07, + "score": 0.2453514039516449, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.34547683596611023, + "candidate_source_group_id": "ms-482c5c8d208b5907a2c2;ms-a8731059713697ce5e2a;ms-1c2768099019b86daca7;ms-638d2ba1917eff4d09e0;ms-9919d2d2a89c5d491093;ms-c0e3ab57fcf0d12ea4d8", + "expert_regret": 0.018681704998016357, + "expert_score": 0.19676916301250458, + "expert_success": false, + "group_id": "ms-6939bfeb878a54849131", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.05263848602771759, + "oracle_score": 0.2307259440422058, + "oracle_success": false, + "progress": 0.17808745801448822, + "restore_error": 1.1920928955078125e-07, + "score": 0.17808745801448822, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5757417678833008, + "candidate_source_group_id": "ms-372f2ecb6685d8cae8d5;ms-cb8cbd90038493c30888;ms-7a044cb6c7bb03f3ea10;ms-d271e7de6bc331371e9c;ms-6ddecc7f074b9e267409;ms-45672e1bf3b083eb3fc3", + "expert_regret": 0.0, + "expert_score": 0.07837198674678802, + "expert_success": false, + "group_id": "ms-6b789356d65b3312fbae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.22781728208065033, + "oracle_success": false, + "progress": 0.29715704917907715, + "restore_error": 1.1920928955078125e-07, + "score": 0.29715704917907715, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.889521598815918, + "candidate_source_group_id": "ms-3ed611d029d2ae0b12d8;ms-3c223e8c7f870c807541;ms-633308d7f0e52c013505;ms-088ad33a4461de5ce0cb;ms-b0c64b4a1c04972e47a1;ms-a6a6de64c39abad45f86", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-620cd9e02d46b021f112", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7275859117507935, + "candidate_source_group_id": "ms-97832747def371d6de99;ms-6388b5d2356c556c3e55;ms-b6b7052345036de1448d;ms-c09bd18e1017cc532aee;ms-575c7eef4563e02ec689;ms-b6dae6677869af5f7f52", + "expert_regret": 0.0610787570476532, + "expert_score": 0.2651830017566681, + "expert_success": false, + "group_id": "ms-ac4fb33f3ab4db853995", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.795895755290985, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2041042447090149, + "restore_error": 1.1920928955078125e-07, + "score": 0.2041042447090149, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7891191244125366, + "candidate_source_group_id": "ms-dd7527ab9ed49f79d2ba;ms-9826b7a6fdcc0fd3eb69;ms-1e30e297540582d59926;ms-89538d844f6299774906;ms-7ea98b8f4d2220347ee0;ms-8a72b73ac452bc190aeb", + "expert_regret": 0.0, + "expert_score": 0.18361739814281464, + "expert_success": false, + "group_id": "ms-c79a79c1cbd7a472da65", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.18361739814281464, + "oracle_success": false, + "progress": 0.190775066614151, + "restore_error": 1.1920928955078125e-07, + "score": 0.190775066614151, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.8494288921356201, + "candidate_source_group_id": "ms-ea8382de946b98af3bf8;ms-6758deb06644a14aa722;ms-3089724d0eba0f7b5d91;ms-ee30ebaf98622759d888;ms-109ea940d18ab80efabc;ms-be219977a9db8dbb1e58", + "expert_regret": 1.8622429370880127, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fd4b2d974e51fed9536e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8622429370880127, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1377570629119873, + "restore_error": 1.1920928955078125e-07, + "score": 0.1377570629119873, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5704624056816101, + "candidate_source_group_id": "ms-4d400b68d540cebcc9e0;ms-0b63f107b0ced8009668;ms-0285f5815c210ac00bec;ms-e9d7fc13264ff1c06637;ms-9fbd54f73e56e3231631;ms-eab38ab23e5fd0218632", + "expert_regret": 1.7827239036560059, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fad04ef94fd664ff89ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7827239036560059, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21727609634399414, + "restore_error": 1.1920928955078125e-07, + "score": 0.21727609634399414, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.7522162199020386, + "candidate_source_group_id": "ms-ed375122594187ef997e;ms-d024c00b780e0df06b55;ms-d73fd5fce55fb58ef8e9;ms-7dedf60ad41ea2d92ee5;ms-8b1ed7e9f28f7a3f924d;ms-b92ca6f216624d6305c2", + "expert_regret": 1.9520369954407215, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-22638e64d6a54980bc02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9520369954407215, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04796300455927849, + "restore_error": 1.1920928955078125e-07, + "score": 0.04796300455927849, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.8642854690551758, + "candidate_source_group_id": "ms-6d5f6a187b61ea26c2e2;ms-652ad552ba98d2736620;ms-9acbb20bd73584f0e215;ms-aa45731e1b9734a493fd;ms-07215d42deb9f67c65fd;ms-be0f2598cc527ad9040a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a9747843e0fddd993263", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6202000379562378, + "candidate_source_group_id": "ms-340e4b5de99447fbcd5e;ms-7eaea428dfdef7255a66;ms-02d160e1d5db6e544363;ms-dce346f7f90e29664890;ms-554727d05aa9a2b32904;ms-972c5be72d0b24be7cd5", + "expert_regret": 1.7173007726669312, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-906dbd4dc79cb6be1e2c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7173007726669312, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.28269922733306885, + "restore_error": 1.1920928955078125e-07, + "score": 0.28269922733306885, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.4145680665969849, + "candidate_source_group_id": "ms-c083dba0e5dcc8ca1004;ms-6ad14a70593958c00a63;ms-6661b157c41ad4d6ab85;ms-f126e1cf5b3ee52a8476;ms-e2fe413566da0516273d;ms-19cb10d10516bd0216a6", + "expert_regret": 0.13455285131931305, + "expert_score": 0.26739317178726196, + "expert_success": false, + "group_id": "ms-53344c3bc69a3b0fe303", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.13455285131931305, + "oracle_score": 0.26739317178726196, + "oracle_success": false, + "progress": 0.1328403204679489, + "restore_error": 1.1920928955078125e-07, + "score": 0.1328403204679489, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.0260263681411743, + "candidate_source_group_id": "ms-9df6734b8268172ea7e5;ms-f2b2b2a1aa2863c3676f;ms-59d4cdcd401477b5adfc;ms-02311c7783bc67e188b4;ms-61c3c0e99a653d2a7fe2;ms-b784fe769f0fb1d315e5", + "expert_regret": 1.7653429210186005, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ccd3b342e4da3980c688", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7653429210186005, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23465707898139954, + "restore_error": 1.1920928955078125e-07, + "score": 0.23465707898139954, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.4751153886318207, + "candidate_source_group_id": "ms-9c6eae5aaafcbc2e7b1d;ms-4dc6f09c1beeb5314d11;ms-6f26118aa94bacd82250;ms-0093b06390890d181104;ms-ccc79c981e3a67ebeaf2;ms-f4f9dd2ff38f992d4fb9", + "expert_regret": 0.0, + "expert_score": 0.010581731796264648, + "expert_success": false, + "group_id": "ms-ec013396e4aff6170ee1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.1300228238105774, + "oracle_score": 0.24502670764923096, + "oracle_success": false, + "progress": 0.11500388383865356, + "restore_error": 1.1920928955078125e-07, + "score": 0.11500388383865356, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.3841593563556671, + "candidate_source_group_id": "ms-c96b415f083f60857334;ms-50e54f9608e1420ba11a;ms-1ca019318ddec8ce5e8a;ms-a2518826fa0a816cc46f;ms-52b4f33b924e82688187;ms-db2c4015a0690cc80d24", + "expert_regret": 0.03337840363383293, + "expert_score": 0.05565448850393295, + "expert_success": false, + "group_id": "ms-d6da14bffe59c0265db7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.09865641966462135, + "oracle_score": 0.12093250453472137, + "oracle_success": false, + "progress": 0.02227608487010002, + "restore_error": 1.1920928955078125e-07, + "score": 0.02227608487010002, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7079547643661499, + "candidate_source_group_id": "ms-8a58b518ca9ac275d8d5;ms-109ea940d18ab80efabc;ms-5e422b9487b4a1efd7af;ms-d92cec7cfd1915a30824;ms-80801b0de8334bd2bcc8;ms-be219977a9db8dbb1e58", + "expert_regret": 1.9559103026986122, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-423347f93e1045f6bdd0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9559103026986122, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04408969730138779, + "restore_error": 1.1920928955078125e-07, + "score": 0.04408969730138779, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7514201402664185, + "candidate_source_group_id": "ms-0b63f107b0ced8009668;ms-80801b0de8334bd2bcc8;ms-3d090ac2459c4b891dd1;ms-0285f5815c210ac00bec;ms-1150c257eb77fdf40f55;ms-d92cec7cfd1915a30824", + "expert_regret": 1.954742431640625, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a54d67e82a4dc1380e7b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.954742431640625, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.045257568359375, + "restore_error": 1.1920928955078125e-07, + "score": 0.045257568359375, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.529532253742218, + "candidate_source_group_id": "ms-088ad33a4461de5ce0cb;ms-3c223e8c7f870c807541;ms-633308d7f0e52c013505;ms-3ed611d029d2ae0b12d8;ms-b0c64b4a1c04972e47a1;ms-a6a6de64c39abad45f86", + "expert_regret": 0.0, + "expert_score": 0.14673510193824768, + "expert_success": false, + "group_id": "ms-6a3add21affa4796f9be", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.10000097751617432, + "oracle_score": 0.25397229194641113, + "oracle_success": false, + "progress": 0.15397131443023682, + "restore_error": 1.1920928955078125e-07, + "score": 0.15397131443023682, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.2928546965122223, + "candidate_source_group_id": "ms-fdc8588aee7d089fca84;ms-b8c3ec3ea915c5d35b3e;ms-e4e21b9ec2546537fff0;ms-9681d9cb43cc26adb0fe;ms-fe5a961ee9b8b8a91b44;ms-b7d7021b782f73816083", + "expert_regret": 0.029119372367858887, + "expert_score": 0.19101719558238983, + "expert_success": false, + "group_id": "ms-d21367899e99e3048dbe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.04234689474105835, + "oracle_score": 0.2042447179555893, + "oracle_success": false, + "progress": 0.16189782321453094, + "restore_error": 1.1920928955078125e-07, + "score": 0.16189782321453094, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6529350280761719, + "candidate_source_group_id": "ms-f7a54f4783da1d4129a8;ms-61c3c0e99a653d2a7fe2;ms-59d4cdcd401477b5adfc;ms-f2b2b2a1aa2863c3676f;ms-652ad552ba98d2736620;ms-9acbb20bd73584f0e215", + "expert_regret": 0.0, + "expert_score": 0.2637917995452881, + "expert_success": false, + "group_id": "ms-8577816da2917a2bb63d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.5349454283714294, + "candidate_source_group_id": "ms-7df455efd413d77e6ce3;ms-e0c576a5a78374889088;ms-48178f52a96de3d1ead0;ms-2b7ca4255af28e33db96;ms-9229ce141dd41a11fac1;ms-38f7298184a2c5005e94", + "expert_regret": 0.0, + "expert_score": 0.05953723192214966, + "expert_success": false, + "group_id": "ms-397e502908d16b7804b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0148545503616333, + "oracle_score": 0.13980631530284882, + "oracle_success": false, + "progress": 0.12495176494121552, + "restore_error": 1.1920928955078125e-07, + "score": 0.12495176494121552, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.6014474630355835, + "candidate_source_group_id": "ms-554727d05aa9a2b32904;ms-02d160e1d5db6e544363;ms-972c5be72d0b24be7cd5;ms-340e4b5de99447fbcd5e;ms-7eaea428dfdef7255a66;ms-fa8b4ba41ecac8030271", + "expert_regret": 0.16828763857483864, + "expert_score": 0.21256206929683685, + "expert_success": false, + "group_id": "ms-f85a653af630821f2572", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9557255692780018, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.044274430721998215, + "restore_error": 1.1920928955078125e-07, + "score": 0.044274430721998215, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.24424995481967926, + "candidate_source_group_id": "ms-883bd3738bfe11cfc192;ms-9757fc494e79b5543bb6;ms-0e1ff8d16372796dac97;ms-b94dfc54c3bf844d5146;ms-5ecde7b64c80d2abbe1f;ms-bd90866faa10e62fce2c", + "expert_regret": 0.0, + "expert_score": 0.1662796437740326, + "expert_success": false, + "group_id": "ms-1577a0922a9e53528571", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.045422136783599854, + "oracle_score": 0.2255966067314148, + "oracle_success": false, + "progress": 0.18017446994781494, + "restore_error": 1.1920928955078125e-07, + "score": 0.18017446994781494, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.13803918659687042, + "candidate_source_group_id": "ms-f4f9dd2ff38f992d4fb9;ms-2eabcf580547d2c133ce;ms-4aed2a49597da545e551;ms-d402ca600d53b2db9dbe;ms-d6cc29ec9fbbc53d0f68;ms-76f27d9a935b25e15c38", + "expert_regret": 0.0, + "expert_score": 0.04269101470708847, + "expert_success": false, + "group_id": "ms-cad33aa1136af34af6ec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.10183591395616531, + "oracle_score": 0.1830441653728485, + "oracle_success": false, + "progress": 0.0812082514166832, + "restore_error": 1.1920928955078125e-07, + "score": 0.0812082514166832, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.13111528754234314, + "candidate_source_group_id": "ms-d402ca600d53b2db9dbe;ms-2eabcf580547d2c133ce;ms-4aed2a49597da545e551;ms-76f27d9a935b25e15c38;ms-d6cc29ec9fbbc53d0f68;ms-d535b38d768633f6d922", + "expert_regret": 0.0, + "expert_score": 0.12557005882263184, + "expert_success": false, + "group_id": "ms-e30fd80adc089e9f697a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.18920521438121796, + "oracle_success": false, + "progress": 0.23618459701538086, + "restore_error": 1.1920928955078125e-07, + "score": 0.23618459701538086, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.733149528503418, + "candidate_source_group_id": "ms-9229ce141dd41a11fac1;ms-2b7ca4255af28e33db96;ms-7df455efd413d77e6ce3;ms-38f7298184a2c5005e94;ms-387e6771a55be98f1a59;ms-e0c576a5a78374889088", + "expert_regret": 0.12937398999929428, + "expert_score": 0.24371962249279022, + "expert_success": false, + "group_id": "ms-757b3e9ecfc21efc80a7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.12937398999929428, + "oracle_score": 0.24371962249279022, + "oracle_success": false, + "progress": 0.11434563249349594, + "restore_error": 1.1920928955078125e-07, + "score": 0.11434563249349594, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.33515360951423645, + "candidate_source_group_id": "ms-68b43d83b97196e0d27f;ms-e9ed5d488afdfd6449d1;ms-29f47a1dc1d9c3ec3365;ms-97832747def371d6de99;ms-6388b5d2356c556c3e55;ms-465d531b9cec5bc77ed7", + "expert_regret": 0.0, + "expert_score": 0.22809019684791565, + "expert_success": false, + "group_id": "ms-37384bede4d1c03f3b80", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": true, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.442611813545227, + "candidate_source_group_id": "ms-6d5f6a187b61ea26c2e2;ms-652ad552ba98d2736620;ms-9acbb20bd73584f0e215;ms-aa45731e1b9734a493fd;ms-be0f2598cc527ad9040a;ms-07215d42deb9f67c65fd", + "expert_regret": 1.8990296497941017, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f7f4e41613e39d53b7c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8990296497941017, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10097035020589828, + "restore_error": 1.1920928955078125e-07, + "score": 0.10097035020589828, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.23926942050457, + "candidate_source_group_id": "ms-02fd0338e80ef19ceec1;ms-cb8cbd90038493c30888;ms-25ab20bb3da8ba34be95;ms-0dee962a5901fb8b5bbb;ms-372f2ecb6685d8cae8d5;ms-7a044cb6c7bb03f3ea10", + "expert_regret": 0.0, + "expert_score": 0.03588511794805527, + "expert_success": false, + "group_id": "ms-c9f45175ee5fcafa38ec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0900292694568634, + "oracle_score": 0.21779823303222656, + "oracle_success": false, + "progress": 0.12776896357536316, + "restore_error": 1.1920928955078125e-07, + "score": 0.12776896357536316, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.6911419630050659, + "candidate_source_group_id": "ms-1f19fd22562f87bdb776;ms-62f8c18a15c566ec4b00;ms-91ad1e8602f14dada73c;ms-57be9ae181c077e7821f;ms-bd90866faa10e62fce2c;ms-5ecde7b64c80d2abbe1f", + "expert_regret": 0.1899625062942505, + "expert_score": 0.2741829752922058, + "expert_success": false, + "group_id": "ms-52f9c8427a88de8dfa6b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.1899625062942505, + "oracle_score": 0.2741829752922058, + "oracle_success": false, + "progress": 0.08422046899795532, + "restore_error": 2.3096799850463867e-07, + "score": 0.08422046899795532, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 0.7603012919425964, + "candidate_source_group_id": "ms-d6cc29ec9fbbc53d0f68;ms-d402ca600d53b2db9dbe;ms-9dbf65115872ab5360e4;ms-ccb8bd419b9cd771d12f;ms-ccc79c981e3a67ebeaf2;ms-2eabcf580547d2c133ce", + "expert_regret": 0.0, + "expert_score": 0.03382353112101555, + "expert_success": false, + "group_id": "ms-20b11e3e581c2a865096", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8098657429218292, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19013425707817078, + "restore_error": 2.3096799850463867e-07, + "score": 0.19013425707817078, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PullCube-v1", + "success": false, + "task_id": "PullCube-v1" + }, + { + "action_mse_to_best": 1.013184666633606, + "candidate_source_group_id": "ms-31372cdadd8d9da23b8d;ms-44a69da62321224c1df9;ms-f14cda80db7270dd0f86;ms-cbdf12e174c323015f38;ms-c257731ddcf5cf149393;ms-c9a00cd02aa3ea31af1c", + "expert_regret": 0.0, + "expert_score": 0.0, + "expert_success": false, + "group_id": "ms-54fdd49dc2c46e162fc6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.36830583214759827, + "candidate_source_group_id": "ms-abb9a0e2ba0163714374;ms-40bddbc4f8ee1ed19575;ms-7a5970ba19b465cd86c3;ms-97939101c75832eb62cd;ms-bb8ddc9a1e197eb7cee1;ms-2db29812d012d503054a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2377ed2b717d22203e99", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.14227892458438873, + "candidate_source_group_id": "ms-b0d0004818ae853d5bc5;ms-ae5eaf676ba740f3dc07;ms-864a932d1281c7e316af;ms-ecf6837325ac3bc3b66d;ms-2baa5b5b99121cff72c2;ms-40c0e775426e28c3afd9", + "expert_regret": 0.0, + "expert_score": 3.814697265625e-06, + "expert_success": false, + "group_id": "ms-6825a9112cb71ea137c9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5608710646629333, + "candidate_source_group_id": "ms-783ceec205863d92ef8a;ms-e7fcbe2b61632a79fe6a;ms-c57abcef044f324c2f1d;ms-3f6cd47af5e9e6781b73;ms-44e2ba085128234ef9eb;ms-90a840c7cbbfe35e8a67", + "expert_regret": 1.9384861439466476, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-269731d0630cffc1a216", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9384861439466476, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.061513856053352356, + "restore_error": 1.1920928955078125e-07, + "score": 0.061513856053352356, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5009163618087769, + "candidate_source_group_id": "ms-109d9131cce2e94f40c1;ms-147e4106b5d337cefcb2;ms-670a696bd472769ac513;ms-b5ca4a8c438aadab9ec5;ms-4c9ed894520169849bc6;ms-93cbf45c02a304a2f6dc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7fac99962876b33e8d0b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5497530102729797, + "candidate_source_group_id": "ms-0942bb0cc1143a2058f9;ms-64f98d163b6bff29332b;ms-9d943a2732771576e41d;ms-9fad82fd288e4296e354;ms-1fe4b5c84ee5c0e6fcdb;ms-966895e247be1f41daee", + "expert_regret": 1.837142437696457, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-72da580865509f75d6eb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.837142437696457, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1628575623035431, + "restore_error": 1.1920928955078125e-07, + "score": 0.1628575623035431, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.21842847764492035, + "candidate_source_group_id": "ms-ea6878cc654f7f255811;ms-8682e5b9068871041b74;ms-e4656ad3c67bd430c1a6;ms-130f96b49e1bdb7c0e7c;ms-d867fd6ed17aeaa97c2b;ms-79d2ebbe5913e3a72313", + "expert_regret": 0.0, + "expert_score": 0.01401551067829132, + "expert_success": false, + "group_id": "ms-6ffe441e29681c8f116e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6752247214317322, + "candidate_source_group_id": "ms-949bca60825f84d7b5b9;ms-608a539637578968beb3;ms-183174ef761d19fb85d9;ms-2e368b0323bc5ae1cfed;ms-e411015630dcff33d0f7;ms-8278abbc47a6efcb5b68", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-33885f2999b6dbe71f42", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3303948938846588, + "candidate_source_group_id": "ms-8293ae7689b30820278f;ms-a0863466a999b4680737;ms-3b99101d58e538cfbd6d;ms-081952a63087fc8f83cd;ms-f7db0d0ad0967af1d0c5;ms-34ea26afcb2c6fe1a1fe", + "expert_regret": 0.007241234183311462, + "expert_score": 0.12348532676696777, + "expert_success": false, + "group_id": "ms-ad5107846b45eae5a0ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8837559074163437, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11624409258365631, + "restore_error": 1.1920928955078125e-07, + "score": 0.11624409258365631, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7319757342338562, + "candidate_source_group_id": "ms-0e132f1526b2090e440e;ms-25942684dfc6d81c449a;ms-47d33f56890889e86355;ms-98d738638749a1c0999d;ms-5d646fb3dbdcd5443729;ms-2a7f05987ae1fd0fa33d", + "expert_regret": 1.958494320511818, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1f6006a647438280a273", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.958494320511818, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04150567948818207, + "restore_error": 1.1920928955078125e-07, + "score": 0.04150567948818207, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4950188100337982, + "candidate_source_group_id": "ms-edeb8cb36d3d06244421;ms-d7cbc8db5f1b69fcd9f9;ms-167bd325bc0845dcaba3;ms-97ccdc4668a995776663;ms-2b27b1ecc0284ec3a993;ms-e2a1bc3e5cd509eb08c2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5c7ab237037e9344a2ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6192970275878906, + "candidate_source_group_id": "ms-de96f1dcca4527c03814;ms-170a9228df2273649f1c;ms-82a5b63ed41420747fb9;ms-0a001f1bda12891b219f;ms-b8f5ebd4732c0274945b;ms-88c39906a4e9c32ec286", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7aaa46eaa657a3179a70", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6107285618782043, + "candidate_source_group_id": "ms-edb1d483ba0ada6fa703;ms-f7db0d0ad0967af1d0c5;ms-be8665e211c9b1cc13b4;ms-940cce8479900a244d54;ms-130188b25b236b6c13fc;ms-918efaf9527826841090", + "expert_regret": 1.9560008496046066, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29fbdaedca6b1e7d233d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9560008496046066, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04399915039539337, + "restore_error": 1.1920928955078125e-07, + "score": 0.04399915039539337, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6985872983932495, + "candidate_source_group_id": "ms-3333e935277a2e1f4e05;ms-733b04f5bd4720d79e99;ms-bc4bf52af94d1469eaee;ms-64b6e9f72ae5e2999f56;ms-14265f08eea0055edff3;ms-ec5819de002710aa5d97", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c333dcd8ec59f2ae8a3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6553367972373962, + "candidate_source_group_id": "ms-949bca60825f84d7b5b9;ms-8278abbc47a6efcb5b68;ms-551020d425c370126f59;ms-2e368b0323bc5ae1cfed;ms-608a539637578968beb3;ms-1fe4b5c84ee5c0e6fcdb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-686b6de62b641e0dba0d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6658691763877869, + "candidate_source_group_id": "ms-048c14d42c3f3b352f53;ms-8293ae7689b30820278f;ms-f7db0d0ad0967af1d0c5;ms-a0863466a999b4680737;ms-081952a63087fc8f83cd;ms-940cce8479900a244d54", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-653181f057aeaeeadfe2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6821543574333191, + "candidate_source_group_id": "ms-316e11b816e8a3495dd9;ms-90a840c7cbbfe35e8a67;ms-33e036c8224f052e6279;ms-44e2ba085128234ef9eb;ms-db2cfd3c0ce8ece8a112;ms-783ceec205863d92ef8a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e333fb7b8697ebeb474e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3525257706642151, + "candidate_source_group_id": "ms-234ce02cf98f85bda72c;ms-fd66d311a01f9c4fc825;ms-6f6c2f554a8e1c33ab32;ms-06c528eb38baee4e31b8;ms-1f195ac1f3ae4b397c71;ms-66d3cc0e17bcbfb5f36e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a699e157f311f764b46", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.3183343708515167, + "candidate_source_group_id": "ms-298fc552bfc93c2b32bf;ms-c3191d9c08e5756e90e7;ms-5dab866561f657e9aa8d;ms-f492405ef825467ddcba;ms-f52fe666ef7c9b997778;ms-10a1077a32c1abd486f7", + "expert_regret": 0.0, + "expert_score": 0.19285303354263306, + "expert_success": false, + "group_id": "ms-3c9527725515347ba7de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.31426629424095154, + "candidate_source_group_id": "ms-da66340af8ac9f3852c4;ms-0350672b45f92c437c22;ms-3589c30bbad90d19f2c4;ms-167bd325bc0845dcaba3;ms-edeb8cb36d3d06244421;ms-bb6a2f2ae3014b135b40", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2b4b951e47485c8be41", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.44710010290145874, + "candidate_source_group_id": "ms-147e4106b5d337cefcb2;ms-93cbf45c02a304a2f6dc;ms-670a696bd472769ac513;ms-2b309050ebafdd5a3482;ms-ccccd221a821803e36c5;ms-109d9131cce2e94f40c1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-998ac1af1755510c9229", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4310223460197449, + "candidate_source_group_id": "ms-4f291cdf6a62b9af9e5d;ms-cdca8a6fff0640ab7f16;ms-64b6e9f72ae5e2999f56;ms-d99360c1e4bb4bed6d50;ms-111355c28fcb5ef51167;ms-f49fbce5bf7a0a169f1e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe5a68745bbc6b4256cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.36498337984085083, + "candidate_source_group_id": "ms-7208ab12aba7b4a0da1e;ms-b2c71dc14945b7bd8a60;ms-ee72e3f1115cfb8294ee;ms-2288d0eb01482bc757e5;ms-2ca0290759891500c6bd;ms-16619fc9e4f3627b8dd1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-973f50778408dcecccdd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8584597706794739, + "candidate_source_group_id": "ms-f40f6fe1910a94971980;ms-27c9f70e97b8850cc3ab;ms-23a02f5f0c3f979684ff;ms-2423891634e7b469eed8;ms-281b1eae3c1ac42cb40c;ms-1003d1fe41aba4c8af84", + "expert_regret": 1.962943822145462, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2d9efcce135f0c9d2203", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.962943822145462, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.037056177854537964, + "restore_error": 1.1920928955078125e-07, + "score": 0.037056177854537964, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.49972453713417053, + "candidate_source_group_id": "ms-eccd5c34e1762a33f643;ms-2ba02dcefa15a9371706;ms-a012d1677923703d5a0c;ms-05f34a90fa7355262b8e;ms-864a932d1281c7e316af;ms-8a38529670b19d605663", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-25119a8a2d03c8e71300", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.24254463613033295, + "candidate_source_group_id": "ms-82a203dfa8631639ba7e;ms-f813ff3f9ae188b0259c;ms-5d4b83a1d21ee90ef69f;ms-cf8cc7e3c4481783d5f5;ms-c8593eabfdb5a6bca7bb;ms-5a0da896925f50a1d2ee", + "expert_regret": 0.0, + "expert_score": 0.2145896553993225, + "expert_success": false, + "group_id": "ms-1044e227d00afb01a5dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5704150795936584, + "candidate_source_group_id": "ms-3579b51b91daa627d195;ms-74704688fb63757619e1;ms-54346a8f79bd9dca1dfe;ms-17723f5f0806414eda67;ms-49b9fd364e000bc7d579;ms-933425ede670e8efc04e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f1b05f75f6ad032a0cd1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.439624547958374, + "candidate_source_group_id": "ms-84404222b954c48c48d8;ms-f97fbc8f36f0af9ce18c;ms-698e09998c5dbfa6b7e3;ms-e9bb31726937713db23a;ms-8efd9238ae8d6ca1cd1a;ms-a18cc16207970cd8f84d", + "expert_regret": 1.9402020871639252, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d0005f84908a87243dd6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9402020871639252, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05979791283607483, + "restore_error": 1.1920928955078125e-07, + "score": 0.05979791283607483, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7196608781814575, + "candidate_source_group_id": "ms-5884cb0ce8ef0e034fec;ms-70e24231e9bb560abb3e;ms-fbfbee34b928dbb775da;ms-c109289291b46fd832b3;ms-b4293fc495a608f8063c;ms-17723f5f0806414eda67", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fa637544793129258022", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.29846319556236267, + "candidate_source_group_id": "ms-634dce5b0ce43bfaa04e;ms-4aa2c82355bdbbb93f9d;ms-b929d6015e41aa9a9de8;ms-167bd325bc0845dcaba3;ms-97ccdc4668a995776663;ms-2b309050ebafdd5a3482", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5b5ed3d64cc0c00bac17", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6090079545974731, + "candidate_source_group_id": "ms-1f9a8bf8a8c0882b4039;ms-9d190663aa55bb434720;ms-4c8a03e5d6e3b7a13c29;ms-ce6cbc6d7664766f1285;ms-83b649656afa71ab6bde;ms-fbfbee34b928dbb775da", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ba0d059f1c55c5737e17", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.15599575638771057, + "candidate_source_group_id": "ms-17b435e93391674c7fdd;ms-67f2977ab7d070052b61;ms-b25b49e16e98af4a554c;ms-acfecece1f8160045f0a;ms-65d0541a2ba23a8478fa;ms-a5885ec43a0aa166a0e7", + "expert_regret": 0.0, + "expert_score": 0.06626647710800171, + "expert_success": false, + "group_id": "ms-7cb73c21b0db06dff162", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5596002340316772, + "candidate_source_group_id": "ms-9d1d3a7b2dcafeda3bf3;ms-3a5eaa0095953c9d6241;ms-9d82d1927529dc675bc5;ms-f261341a4a394ae06c69;ms-4dbdc6ed61dccebbfe92;ms-3cb727b6501f5c1a5a16", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69b8e0564f16c652d900", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.48306766152381897, + "candidate_source_group_id": "ms-28a10bea0cf3f917e067;ms-2867deaca7e98582620b;ms-ff08c0b84d984d3d8620;ms-cbdc087c47e35d3d93d9;ms-771e632c1b0f3181ff36;ms-f492405ef825467ddcba", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9fd5ccb16c4e5d0c4579", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7465410232543945, + "candidate_source_group_id": "ms-9915a1632fdf65172a02;ms-3d208c1e04bb84341859;ms-88de0a1035cb8f8ef16a;ms-e2058192b3065ce7dc60;ms-db2cfd3c0ce8ece8a112;ms-d593c823d7fa1cd02635", + "expert_regret": 1.9453376084566116, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a39c5eb6453fab13bb3f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9453376084566116, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05466239154338837, + "restore_error": 1.1920928955078125e-07, + "score": 0.05466239154338837, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.767401397228241, + "candidate_source_group_id": "ms-eb0a75800f4ab451b92e;ms-29788f80c9da2d2d8b4e;ms-3b99101d58e538cfbd6d;ms-889dd046ec7b0fc0a7a4;ms-048c14d42c3f3b352f53;ms-081952a63087fc8f83cd", + "expert_regret": 1.9152712970972061, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65b3fb1b7924487ebe2b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9152712970972061, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08472870290279388, + "restore_error": 1.1920928955078125e-07, + "score": 0.08472870290279388, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5749297738075256, + "candidate_source_group_id": "ms-e8a0577b3fc6f75776b3;ms-81eff749adbf328a93e1;ms-cbdf12e174c323015f38;ms-1aea30e99a4945020cc1;ms-1be8db140ae74d18596f;ms-7f0fb9edfc18e6b83b41", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68dcba1af854c06fc0e6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5700198411941528, + "candidate_source_group_id": "ms-9345a7952bca93b2be95;ms-4c74a17f4d3e6237c0e5;ms-22f6ac0312682d5358b5;ms-a6fbec34b57a97204a37;ms-c16b5cbd61b51f0b66e7;ms-7f0fb9edfc18e6b83b41", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dc6ca032f5df915c7945", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5757805705070496, + "candidate_source_group_id": "ms-7208ab12aba7b4a0da1e;ms-b2c71dc14945b7bd8a60;ms-ee72e3f1115cfb8294ee;ms-2ca0290759891500c6bd;ms-2288d0eb01482bc757e5;ms-eec1c80f2bdd990118d8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-04020456c994946d9a76", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.585867702960968, + "candidate_source_group_id": "ms-0942bb0cc1143a2058f9;ms-64f98d163b6bff29332b;ms-9d943a2732771576e41d;ms-9fad82fd288e4296e354;ms-1fe4b5c84ee5c0e6fcdb;ms-966895e247be1f41daee", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c1f8e861c7c4485c361a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.9851576089859009, + "candidate_source_group_id": "ms-be8665e211c9b1cc13b4;ms-edb1d483ba0ada6fa703;ms-1003d1fe41aba4c8af84;ms-918efaf9527826841090;ms-2423891634e7b469eed8;ms-f7db0d0ad0967af1d0c5", + "expert_regret": 1.9495478421449661, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a75d1290f292d92ca67", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9495478421449661, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.050452157855033875, + "restore_error": 2.384185791015625e-07, + "score": 0.050452157855033875, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.21768435835838318, + "candidate_source_group_id": "ms-fa20766f8a3e706a8ea1;ms-eccd5c34e1762a33f643;ms-2ba02dcefa15a9371706;ms-05f34a90fa7355262b8e;ms-a012d1677923703d5a0c;ms-864a932d1281c7e316af", + "expert_regret": 1.8660841882228851, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fa27eb61283e52488bdb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8660841882228851, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.13391581177711487, + "restore_error": 2.384185791015625e-07, + "score": 0.13391581177711487, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8163213729858398, + "candidate_source_group_id": "ms-0e132f1526b2090e440e;ms-f3b9739bcb72c30a5535;ms-98d738638749a1c0999d;ms-25942684dfc6d81c449a;ms-889dd046ec7b0fc0a7a4;ms-3b99101d58e538cfbd6d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5f722aaecb894444ac4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5248411297798157, + "candidate_source_group_id": "ms-733b04f5bd4720d79e99;ms-3333e935277a2e1f4e05;ms-64b6e9f72ae5e2999f56;ms-3ee8f778784665ea6ee0;ms-cfed5c82c6f4d1c1c3f0;ms-14265f08eea0055edff3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-33dcfa4725ad078cc898", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.818609893321991, + "candidate_source_group_id": "ms-081952a63087fc8f83cd;ms-29788f80c9da2d2d8b4e;ms-34ea26afcb2c6fe1a1fe;ms-8293ae7689b30820278f;ms-3b99101d58e538cfbd6d;ms-048c14d42c3f3b352f53", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-beb40d1c9533f7508aa5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.34244483709335327, + "candidate_source_group_id": "ms-79e8bd81bad486786dc3;ms-2b309050ebafdd5a3482;ms-634dce5b0ce43bfaa04e;ms-670a696bd472769ac513;ms-147e4106b5d337cefcb2;ms-93cbf45c02a304a2f6dc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-272972565b3a686fc999", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7124417424201965, + "candidate_source_group_id": "ms-4401ec9ab8c89fb39f58;ms-d65e80424e917743d9a4;ms-fb23602361466c57dd2d;ms-e825bdad55212cb330da;ms-933425ede670e8efc04e;ms-86909e2391a6a77883b3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-031c526a8690cad1677c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4642127454280853, + "candidate_source_group_id": "ms-940cce8479900a244d54;ms-130188b25b236b6c13fc;ms-f7db0d0ad0967af1d0c5;ms-8293ae7689b30820278f;ms-048c14d42c3f3b352f53;ms-be8665e211c9b1cc13b4", + "expert_regret": 1.90437251329422, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f6174dd8dd65bd736685", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.90437251329422, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09562748670578003, + "restore_error": 2.384185791015625e-07, + "score": 0.09562748670578003, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.729139506816864, + "candidate_source_group_id": "ms-605cecc07e3298489320;ms-44a69da62321224c1df9;ms-ca9a06f00b861bf34c4d;ms-c257731ddcf5cf149393;ms-c9a00cd02aa3ea31af1c;ms-7f22550a9f6707a45cd4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1dd7b6c07218e5e69494", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.49009111523628235, + "candidate_source_group_id": "ms-e6b0ee06238145e2a517;ms-6f6c2f554a8e1c33ab32;ms-4ed913628b5f121bbf34;ms-06c528eb38baee4e31b8;ms-fd66d311a01f9c4fc825;ms-cefef59d2909a69dd709", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d5d38df1f2dbae367af0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5235866904258728, + "candidate_source_group_id": "ms-9d190663aa55bb434720;ms-4c8a03e5d6e3b7a13c29;ms-ce6cbc6d7664766f1285;ms-83b649656afa71ab6bde;ms-1f9a8bf8a8c0882b4039;ms-fbfbee34b928dbb775da", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-238b0d92a2c0a61289b7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7029919624328613, + "candidate_source_group_id": "ms-64b6e9f72ae5e2999f56;ms-4f291cdf6a62b9af9e5d;ms-14265f08eea0055edff3;ms-cdca8a6fff0640ab7f16;ms-bc4bf52af94d1469eaee;ms-d99360c1e4bb4bed6d50", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1e15448c374f47bee884", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7034451365470886, + "candidate_source_group_id": "ms-1f9a8bf8a8c0882b4039;ms-4c8a03e5d6e3b7a13c29;ms-83b649656afa71ab6bde;ms-9d190663aa55bb434720;ms-fbfbee34b928dbb775da;ms-49731d5e69272f3bd959", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f39cb13a5942ca3317d0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5340426564216614, + "candidate_source_group_id": "ms-048c14d42c3f3b352f53;ms-a0863466a999b4680737;ms-940cce8479900a244d54;ms-f7db0d0ad0967af1d0c5;ms-8293ae7689b30820278f;ms-3b99101d58e538cfbd6d", + "expert_regret": 1.9407232105731964, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4d96769e78d7391e43f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9407232105731964, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05927678942680359, + "restore_error": 1.1920928955078125e-07, + "score": 0.05927678942680359, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8171297311782837, + "candidate_source_group_id": "ms-8293ae7689b30820278f;ms-048c14d42c3f3b352f53;ms-3b99101d58e538cfbd6d;ms-a0863466a999b4680737;ms-081952a63087fc8f83cd;ms-29788f80c9da2d2d8b4e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b2f6b95c91f5d672d3a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5001031756401062, + "candidate_source_group_id": "ms-42f077d286655b676709;ms-9574e0bf814256a11f3e;ms-86909e2391a6a77883b3;ms-b8f5ebd4732c0274945b;ms-30caf93619a0e2f94eae;ms-170a9228df2273649f1c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a631a8d6314b7547f71f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.26511549949645996, + "candidate_source_group_id": "ms-234ce02cf98f85bda72c;ms-1f195ac1f3ae4b397c71;ms-fd66d311a01f9c4fc825;ms-66d3cc0e17bcbfb5f36e;ms-351f07141fc0a8885759;ms-5816c255ea56bc8a63c3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-60a0de44d30044ef60ff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5317700505256653, + "candidate_source_group_id": "ms-847200a83b8ce5835fd9;ms-ccccd221a821803e36c5;ms-06c528eb38baee4e31b8;ms-5383e9b606cc63b724ab;ms-cefef59d2909a69dd709;ms-234ce02cf98f85bda72c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0818eb8cc217c9b3040a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6017632484436035, + "candidate_source_group_id": "ms-4c8a03e5d6e3b7a13c29;ms-83b649656afa71ab6bde;ms-1f9a8bf8a8c0882b4039;ms-fbfbee34b928dbb775da;ms-9d190663aa55bb434720;ms-49731d5e69272f3bd959", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-70dd7025d2b038824c72", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.18110279738903046, + "candidate_source_group_id": "ms-916b66e56329dbd05b29;ms-351f07141fc0a8885759;ms-39f133217cde17cf4465;ms-f83aacaa71f0151421c7;ms-66d3cc0e17bcbfb5f36e;ms-1f195ac1f3ae4b397c71", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bb9f2f5b67bbb7e0f516", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7342977523803711, + "candidate_source_group_id": "ms-9915a1632fdf65172a02;ms-cece69f5a160c40d613a;ms-db41eac14b49855e7e58;ms-a83154b77975bca93e5e;ms-d593c823d7fa1cd02635;ms-dab80e1bb7987577e33d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e31553038464afab4ec1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4468461573123932, + "candidate_source_group_id": "ms-702a28f36df5dbbbe010;ms-7a50dd49897a83a22282;ms-4711dffcd73048a3656c;ms-c3191d9c08e5756e90e7;ms-f52fe666ef7c9b997778;ms-ad4cbad05e1be65b72ad", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ffdca676bf6a4ccaf640", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5229363441467285, + "candidate_source_group_id": "ms-4dbdc6ed61dccebbfe92;ms-9d1d3a7b2dcafeda3bf3;ms-3cb727b6501f5c1a5a16;ms-d5f6186b51268063515e;ms-9d82d1927529dc675bc5;ms-09bceb938cc530125601", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-98d8d5d728ee4cff6776", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.11117972433567047, + "candidate_source_group_id": "ms-abb9a0e2ba0163714374;ms-f044b20b0f2bb0983f5a;ms-4711dffcd73048a3656c;ms-97939101c75832eb62cd;ms-84bc79aab8423997e8c4;ms-ea694828fcd81abbbc7a", + "expert_regret": 0.0, + "expert_score": 0.18189409375190735, + "expert_success": false, + "group_id": "ms-7530a944fb0979ba91e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.15758708119392395, + "candidate_source_group_id": "ms-5a0da896925f50a1d2ee;ms-f813ff3f9ae188b0259c;ms-82a203dfa8631639ba7e;ms-c8593eabfdb5a6bca7bb;ms-cf8cc7e3c4481783d5f5;ms-5d4b83a1d21ee90ef69f", + "expert_regret": 0.0, + "expert_score": 0.07371273636817932, + "expert_success": false, + "group_id": "ms-bad55a54ecb4349a5323", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6243085265159607, + "candidate_source_group_id": "ms-2db29812d012d503054a;ms-f044b20b0f2bb0983f5a;ms-ce6cbc6d7664766f1285;ms-9d190663aa55bb434720;ms-bb8ddc9a1e197eb7cee1;ms-abb9a0e2ba0163714374", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-157e8e3ee1b0de1840d3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.26468053460121155, + "candidate_source_group_id": "ms-e8a0577b3fc6f75776b3;ms-81eff749adbf328a93e1;ms-cbdf12e174c323015f38;ms-1be8db140ae74d18596f;ms-44a69da62321224c1df9;ms-b187043687d88d509fc7", + "expert_regret": 0.0, + "expert_score": 0.0793772041797638, + "expert_success": false, + "group_id": "ms-b8bfdd3e6c31bd98082d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5644981265068054, + "candidate_source_group_id": "ms-17723f5f0806414eda67;ms-a40d644441c878ac5292;ms-ce6cbc6d7664766f1285;ms-70e24231e9bb560abb3e;ms-9d190663aa55bb434720;ms-fbfbee34b928dbb775da", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2a4611f1099507f9babf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6579678654670715, + "candidate_source_group_id": "ms-5884cb0ce8ef0e034fec;ms-c109289291b46fd832b3;ms-b4293fc495a608f8063c;ms-7c72cdc319220ea76854;ms-70e24231e9bb560abb3e;ms-fbfbee34b928dbb775da", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7dd90f1575d9612c456c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.32486656308174133, + "candidate_source_group_id": "ms-ff08c0b84d984d3d8620;ms-cbdc087c47e35d3d93d9;ms-31880fb2dfed92c021ef;ms-b5f45644a5e3ed45c86d;ms-fc8084d5cd7da937fc02;ms-85a4fc6e131dacc9d839", + "expert_regret": 0.0, + "expert_score": 0.11025479435920715, + "expert_success": false, + "group_id": "ms-ec5ac79449116b0a30c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7073019742965698, + "candidate_source_group_id": "ms-cbdf12e174c323015f38;ms-e8a0577b3fc6f75776b3;ms-44a69da62321224c1df9;ms-60c02d02de5f1e91124f;ms-f14cda80db7270dd0f86;ms-87f2f63d694d8ccca7f8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01fe80a36517a246929d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4691568911075592, + "candidate_source_group_id": "ms-4f291cdf6a62b9af9e5d;ms-cdca8a6fff0640ab7f16;ms-111355c28fcb5ef51167;ms-64b6e9f72ae5e2999f56;ms-f49fbce5bf7a0a169f1e;ms-d99360c1e4bb4bed6d50", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b5dee7bdaf34270e6515", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.9018881916999817, + "candidate_source_group_id": "ms-29788f80c9da2d2d8b4e;ms-a83154b77975bca93e5e;ms-34ea26afcb2c6fe1a1fe;ms-b559638a0a726e441847;ms-db41eac14b49855e7e58;ms-cece69f5a160c40d613a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1371e0e5fe7f126bbea2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1219305768609047, + "candidate_source_group_id": "ms-ea694828fcd81abbbc7a;ms-84bc79aab8423997e8c4;ms-e63468cc3772da77cc67;ms-c84dbd2afb3321e2f43c;ms-40bddbc4f8ee1ed19575;ms-86508eb5d360c56023e1", + "expert_regret": 0.0, + "expert_score": 0.14765234291553497, + "expert_success": false, + "group_id": "ms-f985a8cb6c13af7df7ba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6779971718788147, + "candidate_source_group_id": "ms-98d738638749a1c0999d;ms-b559638a0a726e441847;ms-25942684dfc6d81c449a;ms-33e036c8224f052e6279;ms-2a7f05987ae1fd0fa33d;ms-0b13513f98f2d3def73a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e4a99e5ef340bcc181c9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.27988916635513306, + "candidate_source_group_id": "ms-fc2e1272ed035d0b9066;ms-663c7e7fdaea6a945a2b;ms-4096e2d9cf2e9d4943c7;ms-a2766876467c8fbd5379;ms-2a738f03ee216527dfa6;ms-fc8084d5cd7da937fc02", + "expert_regret": 0.046813711524009705, + "expert_score": 0.20761503279209137, + "expert_success": false, + "group_id": "ms-22cfd6a9a619133478b6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8391986787319183, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16080132126808167, + "restore_error": 1.1920928955078125e-07, + "score": 0.16080132126808167, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5117210149765015, + "candidate_source_group_id": "ms-2e237a4b84b582828c37;ms-b25b49e16e98af4a554c;ms-a5885ec43a0aa166a0e7;ms-130f96b49e1bdb7c0e7c;ms-65d0541a2ba23a8478fa;ms-e4656ad3c67bd430c1a6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b813b6035f0425892bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.33728671073913574, + "candidate_source_group_id": "ms-74f12c8d99a319a9d020;ms-9ac0a7f45996f7326682;ms-c9568dec28405d273943;ms-adf081811af7bca643a1;ms-16619fc9e4f3627b8dd1;ms-c4a78f303c7f2b1a437b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cffdaeae3b980aaeb8f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.45661047101020813, + "candidate_source_group_id": "ms-0942bb0cc1143a2058f9;ms-64f98d163b6bff29332b;ms-9d943a2732771576e41d;ms-1fe4b5c84ee5c0e6fcdb;ms-551020d425c370126f59;ms-9fad82fd288e4296e354", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d4ee30bf4815d04c391", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.436821311712265, + "candidate_source_group_id": "ms-847200a83b8ce5835fd9;ms-ccccd221a821803e36c5;ms-634dce5b0ce43bfaa04e;ms-93cbf45c02a304a2f6dc;ms-2b309050ebafdd5a3482;ms-b5ca4a8c438aadab9ec5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3e17d03f9d640185853b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5504411458969116, + "candidate_source_group_id": "ms-411a6db8809ff09857ff;ms-847200a83b8ce5835fd9;ms-39f133217cde17cf4465;ms-ccccd221a821803e36c5;ms-d97538effd225a910367;ms-234ce02cf98f85bda72c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-579eb7a700037d011e3f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.22328822314739227, + "candidate_source_group_id": "ms-f12b50fed09bbbf6c039;ms-f8a4e83bdb9d628ac483;ms-365d8c6de6de16f66744;ms-86508eb5d360c56023e1;ms-dae29d741eb65a2fc4b3;ms-0be67b60c98e4f3e692f", + "expert_regret": 0.0, + "expert_score": 0.18926367163658142, + "expert_success": false, + "group_id": "ms-07aa7d1f9c01e93d04bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.657413899898529, + "candidate_source_group_id": "ms-1f9a8bf8a8c0882b4039;ms-7a5970ba19b465cd86c3;ms-b187043687d88d509fc7;ms-ce6cbc6d7664766f1285;ms-9d190663aa55bb434720;ms-bb8ddc9a1e197eb7cee1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ab5681ebeef5851f5ceb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.8006273508071899, + "candidate_source_group_id": "ms-081952a63087fc8f83cd;ms-29788f80c9da2d2d8b4e;ms-cece69f5a160c40d613a;ms-b559638a0a726e441847;ms-0b13513f98f2d3def73a;ms-34ea26afcb2c6fe1a1fe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f2f594b2492898e947f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2921546399593353, + "candidate_source_group_id": "ms-79e8bd81bad486786dc3;ms-68054c6c805197b033a7;ms-2b309050ebafdd5a3482;ms-4a4de470c6c7cb5a3c34;ms-5df972e5e36afb67a009;ms-634dce5b0ce43bfaa04e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b6189cefdca2110b96a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5971854329109192, + "candidate_source_group_id": "ms-0942bb0cc1143a2058f9;ms-64f98d163b6bff29332b;ms-1fe4b5c84ee5c0e6fcdb;ms-551020d425c370126f59;ms-8278abbc47a6efcb5b68;ms-2e368b0323bc5ae1cfed", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-027592312fc833e8768d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.1076722964644432, + "candidate_source_group_id": "ms-234ce02cf98f85bda72c;ms-66d3cc0e17bcbfb5f36e;ms-351f07141fc0a8885759;ms-1f195ac1f3ae4b397c71;ms-39f133217cde17cf4465;ms-916b66e56329dbd05b29", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6d48ff55845b6759a8c4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.24472643435001373, + "candidate_source_group_id": "ms-b0d0004818ae853d5bc5;ms-40c0e775426e28c3afd9;ms-c16b5cbd61b51f0b66e7;ms-ecf6837325ac3bc3b66d;ms-2baa5b5b99121cff72c2;ms-ae5eaf676ba740f3dc07", + "expert_regret": 0.0, + "expert_score": 2.60770320892334e-06, + "expert_success": false, + "group_id": "ms-22f153f0d4fa656018e6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.41700097918510437, + "candidate_source_group_id": "ms-93cbf45c02a304a2f6dc;ms-147e4106b5d337cefcb2;ms-2b309050ebafdd5a3482;ms-ccccd221a821803e36c5;ms-670a696bd472769ac513;ms-109d9131cce2e94f40c1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-20bc116cad15b072a2ea", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6515932083129883, + "candidate_source_group_id": "ms-383c0d1f90c5a0b55e07;ms-c10cf873dd3f68d97755;ms-e411015630dcff33d0f7;ms-9f33c55b8e06fcb5e21e;ms-183174ef761d19fb85d9;ms-3028df2c22f4c029b533", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7f5fe657331466b2e262", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7604418992996216, + "candidate_source_group_id": "ms-29788f80c9da2d2d8b4e;ms-b559638a0a726e441847;ms-a83154b77975bca93e5e;ms-cece69f5a160c40d613a;ms-34ea26afcb2c6fe1a1fe;ms-33e036c8224f052e6279", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1188a1b8e0ac31187b3b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5113476514816284, + "candidate_source_group_id": "ms-f7db0d0ad0967af1d0c5;ms-130188b25b236b6c13fc;ms-940cce8479900a244d54;ms-3b99101d58e538cfbd6d;ms-048c14d42c3f3b352f53;ms-a0863466a999b4680737", + "expert_regret": 1.9414363652467728, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f09be6d8353d3d53a44e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9414363652467728, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.058563634753227234, + "restore_error": 1.1920928955078125e-07, + "score": 0.058563634753227234, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": false, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.39068958163261414, + "candidate_source_group_id": "ms-adf081811af7bca643a1;ms-c4a78f303c7f2b1a437b;ms-674d9e270ff9ba879886;ms-9d943a2732771576e41d;ms-fb7c4ead34050a60dbdd;ms-07321628f307d0c91b44", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e95a64701812302bd039", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2838391363620758, + "candidate_source_group_id": "ms-f97fbc8f36f0af9ce18c;ms-e9bb31726937713db23a;ms-84404222b954c48c48d8;ms-a18cc16207970cd8f84d;ms-698e09998c5dbfa6b7e3;ms-8efd9238ae8d6ca1cd1a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d23082fdeffba7cba51", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.5758516192436218, + "candidate_source_group_id": "ms-5816c255ea56bc8a63c3;ms-fd66d311a01f9c4fc825;ms-6f6c2f554a8e1c33ab32;ms-79c57793f8c7523b59fc;ms-06c528eb38baee4e31b8;ms-80269804728c7aaaf9a7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c8ffa7d45ed61e2b94d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.49823763966560364, + "candidate_source_group_id": "ms-c3191d9c08e5756e90e7;ms-4711dffcd73048a3656c;ms-10a1077a32c1abd486f7;ms-9b50c72d20e7510258b8;ms-5dab866561f657e9aa8d;ms-f52fe666ef7c9b997778", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5ae7b4d324285dfe6e80", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.7389379143714905, + "candidate_source_group_id": "ms-847200a83b8ce5835fd9;ms-5383e9b606cc63b724ab;ms-ccccd221a821803e36c5;ms-2b309050ebafdd5a3482;ms-634dce5b0ce43bfaa04e;ms-5df972e5e36afb67a009", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a102c1d0334bab9656e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.2721920311450958, + "candidate_source_group_id": "ms-7fc804389bb1de250c84;ms-8efd9238ae8d6ca1cd1a;ms-680b80c5d2872be1e66a;ms-a18cc16207970cd8f84d;ms-f97fbc8f36f0af9ce18c;ms-84404222b954c48c48d8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c8902580575f6effb241", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.6624695658683777, + "candidate_source_group_id": "ms-74704688fb63757619e1;ms-3579b51b91daa627d195;ms-49b9fd364e000bc7d579;ms-17723f5f0806414eda67;ms-54346a8f79bd9dca1dfe;ms-f044b20b0f2bb0983f5a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-79636173ebff4c91da03", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.4283698499202728, + "candidate_source_group_id": "ms-aec40fad850827331244;ms-eea4df1b36e8a31b40a3;ms-ecf6837325ac3bc3b66d;ms-b0d0004818ae853d5bc5;ms-09bceb938cc530125601;ms-fae97eb60014b2866413", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ba0ee0c9c181cdc7de9d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.28850695490837097, + "candidate_source_group_id": "ms-2ca0290759891500c6bd;ms-fc8084d5cd7da937fc02;ms-346494921f998d7a48ab;ms-4410b778c34b05366011;ms-ee72e3f1115cfb8294ee;ms-7838ea128d16b455b2f9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a649d9cf4fba45822ad9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PushCube-v1", + "success": true, + "task_id": "PushCube-v1" + }, + { + "action_mse_to_best": 0.17898061871528625, + "candidate_source_group_id": "ms-1a9e9bcd6cbae272a459;ms-d7254aa722729aa1a031;ms-96ebb8e6e71464ac9172;ms-e2f303a0d1e6017e1fc4;ms-0a4d4909900fb0bc4a9a;ms-a50b6ab3c59b1c953197", + "expert_regret": 1.1419830322265625, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-511bcece89a5ea3b849e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1419830322265625, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8580169677734375, + "restore_error": 1.1920928955078125e-07, + "score": 0.8580169677734375, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7558917999267578, + "candidate_source_group_id": "ms-bdc0e2b6d589c1d90d69;ms-546f8817db5b76b563f0;ms-edf898278a0dd01a5b37;ms-80a997bc4867e103fe34;ms-578fc3b8cbdbe6b0542f;ms-c9c7a51e43dd2c33de08", + "expert_regret": 1.1863604187965393, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5c52a7bf5a1abb1a1517", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1863604187965393, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8136395812034607, + "restore_error": 1.1920928955078125e-07, + "score": 0.8136395812034607, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.19889672100543976, + "candidate_source_group_id": "ms-7d484dd14e9d001a07b1;ms-df6a1fb4b1ccbb410b4c;ms-4dd3c4d0161d01abb6d4;ms-804705b564058a7ac34c;ms-728ce6cbfd4c82607908;ms-e95a846b4e77792e3e6f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-62601bc1741cf8792326", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.34492406249046326, + "candidate_source_group_id": "ms-0b1dd0e538b8df15a6e4;ms-dc4738f9c7a8af86722d;ms-d50a82b8770f333f1947;ms-ecb37ebbab21a506d8ca;ms-e3bbabc7ac3950eb91a2;ms-c9804ff90a86259f7149", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ba1dca497a16134eeed8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7565348744392395, + "candidate_source_group_id": "ms-f2a349cfaa6f7422237b;ms-a50b6ab3c59b1c953197;ms-e2f303a0d1e6017e1fc4;ms-9dd1ff4c297a81b13071;ms-0a4d4909900fb0bc4a9a;ms-71e32140ee4d77f3b275", + "expert_regret": 0.7611556351184845, + "expert_score": 0.78147292137146, + "expert_success": false, + "group_id": "ms-dd9b840c99c305ac1977", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.7611556351184845, + "oracle_score": 0.78147292137146, + "oracle_success": false, + "progress": 0.020317286252975464, + "restore_error": 1.1920928955078125e-07, + "score": 0.020317286252975464, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7798417210578918, + "candidate_source_group_id": "ms-95950ddf57046910494b;ms-783f5e7f8c889bef010e;ms-82b267d663e8400d19ca;ms-036f329c4a881ff59e5f;ms-3ec29a5b20bd65943255;ms-12ea343fddf9f6e6b9e8", + "expert_regret": 1.4000032544136047, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-207e9a9f9123d6c3eeb6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4000032544136047, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5999967455863953, + "restore_error": 1.1920928955078125e-07, + "score": 0.5999967455863953, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.19503512978553772, + "candidate_source_group_id": "ms-38ed02dacc133a888d3a;ms-ecc526493f8048cf4c56;ms-0c490961b934978e5b1c;ms-b6ce87522fcc35b563c7;ms-02aa62c077c9d4f86e61;ms-2c6ff8d807763f665bac", + "expert_regret": 0.6858774125576019, + "expert_score": 0.8573464751243591, + "expert_success": false, + "group_id": "ms-146ff6c3f22b3a49af3a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8285309374332428, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1714690625667572, + "restore_error": 1.1920928955078125e-07, + "score": 0.1714690625667572, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6142809987068176, + "candidate_source_group_id": "ms-77c4a01dcf26dcd8f0f3;ms-c9c7a51e43dd2c33de08;ms-edf898278a0dd01a5b37;ms-fb0e4c4b9775d8121124;ms-6bd5870eb5ff0dd76919;ms-546f8817db5b76b563f0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bf2b9cc05ccb6bce0d30", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.11001671850681305, + "candidate_source_group_id": "ms-4c788310cab7df5251e1;ms-96ebb8e6e71464ac9172;ms-dc26a7037003b94b9f93;ms-a2ee6034df65b51c4d97;ms-141aab4472db1ecc0ea2;ms-0e7f710fb5e661e71fd3", + "expert_regret": 1.186584234237671, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-499d2429a00f3cc35add", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.186584234237671, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8134157657623291, + "restore_error": 1.1920928955078125e-07, + "score": 0.8134157657623291, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5004614591598511, + "candidate_source_group_id": "ms-b75d7924ddc6f1056f17;ms-97343fa03fd05700c270;ms-1e17eb687986f7c5bc22;ms-141aab4472db1ecc0ea2;ms-e7959111ef1429bcf699;ms-a2ee6034df65b51c4d97", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d5da9bf431cb1294c82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2486201822757721, + "candidate_source_group_id": "ms-9ad3b276d9ccaf668d30;ms-f2259eac5ed12ee61c19;ms-0ea6d57781e366b578c1;ms-94b9114b294d56e3f88a;ms-9c7464444eaec0fa07c0;ms-9ae5c6c4132218ecf49e", + "expert_regret": 0.6486964225769043, + "expert_score": 0.8447976112365723, + "expert_success": false, + "group_id": "ms-1cb54e3347c49dcdf28e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.661098301410675, + "oracle_score": 0.857199490070343, + "oracle_success": false, + "progress": 0.19610118865966797, + "restore_error": 1.1920928955078125e-07, + "score": 0.19610118865966797, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6537766456604004, + "candidate_source_group_id": "ms-77c4a01dcf26dcd8f0f3;ms-733f43f6aaed1e84c020;ms-06e6e1db86d9e82e56cf;ms-6c8d06bace98a28a8e4e;ms-68067370d3b20b9bd4e2;ms-5bddb39f792f20e5e6d4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-39cea5dde6dc1718d478", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6892543435096741, + "candidate_source_group_id": "ms-02aa62c077c9d4f86e61;ms-060d5756eac8f17652ee;ms-0c490961b934978e5b1c;ms-0fce9fe598d9ed1471b1;ms-4bbd30ae37fda61aa3c2;ms-ffaf8ddbbe21af6dea95", + "expert_regret": 1.8559570610523224, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-89782a37ecf6a44d23dc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8559570610523224, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1440429389476776, + "restore_error": 1.1920928955078125e-07, + "score": 0.1440429389476776, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8554337620735168, + "candidate_source_group_id": "ms-6ab6c8a66fc509e2113e;ms-8f84a0371a7ac44c1b1a;ms-12ea343fddf9f6e6b9e8;ms-76774eb92b50132c54b6;ms-5a32c809ed679663dcb1;ms-f3f100caf89a2487faaf", + "expert_regret": 0.0, + "expert_score": 0.19744239747524261, + "expert_success": false, + "group_id": "ms-eaccbf417256e38345aa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.19744239747524261, + "oracle_success": false, + "progress": 0.5779617428779602, + "restore_error": 1.1920928955078125e-07, + "score": 0.5779617428779602, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.554486870765686, + "candidate_source_group_id": "ms-dab618f516ccc10f176e;ms-54f7cae3bd3cb84062d3;ms-b1b98e21cd4886f70563;ms-a2a546ebe0d1283df0f0;ms-3afd8959363e917591d4;ms-bb70aa617f82f530d42e", + "expert_regret": 1.2152548432350159, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cba80792e163a5084a92", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.2152548432350159, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7847451567649841, + "restore_error": 1.1920928955078125e-07, + "score": 0.7847451567649841, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4085889458656311, + "candidate_source_group_id": "ms-20976520a892ae80760a;ms-0949097d19e597fc7f63;ms-0cdb564903c69734321f;ms-58e6bcca0d74ea38d3dc;ms-76774eb92b50132c54b6;ms-01f463a409e2ec0c6c3e", + "expert_regret": 1.1645216941833496, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2e683dfff18ef7e90d7d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.1645216941833496, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8354783058166504, + "restore_error": 1.1920928955078125e-07, + "score": 0.8354783058166504, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8121731877326965, + "candidate_source_group_id": "ms-4734f618e638d42bae46;ms-7ab0027224139e5332d5;ms-741c227f6249d1c8c9f1;ms-15fc8cc6f74cf589056f;ms-8d02415bb9af319f215a;ms-ee2fcbc94d41385713d0", + "expert_regret": 1.8404345512390137, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4cab45c9b21452c1b523", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8404345512390137, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.15956544876098633, + "restore_error": 1.1920928955078125e-07, + "score": 0.15956544876098633, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.14879107475280762, + "candidate_source_group_id": "ms-554f2960f25ff627b596;ms-77536801924a2a78688e;ms-4b6cf86fc2450321163a;ms-a5eb6b813b57d14f6573;ms-88070bf04696eceac1e9;ms-63f384579c130870fde3", + "expert_regret": 0.0, + "expert_score": 0.8376391530036926, + "expert_success": false, + "group_id": "ms-49e1584a68d8f465e8e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.299485206604004, + "candidate_source_group_id": "ms-7fc5696cb3dc7b9bb9f7;ms-86b55250e01b9b6fba7e;ms-0f2cd78c21a012784e1b;ms-350716d0809bd7ef12df;ms-573ab0ef1d4166be9b54;ms-97cdb4c400ad4ae36518", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0b6ba12f99b3554c0e88", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2377147376537323, + "candidate_source_group_id": "ms-1e25b12c832314a0b015;ms-cb752f1a3b24f95b34a2;ms-fe22e55457c78877c2d9;ms-f774646335321f6c5980;ms-54b553c42a8d825beb38;ms-4c6a9b0840052fd62261", + "expert_regret": 1.803249642252922, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b3a1c65d7357ca4300b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.803249642252922, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19675035774707794, + "restore_error": 1.1920928955078125e-07, + "score": 0.19675035774707794, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9221860766410828, + "candidate_source_group_id": "ms-b651d43182be35524aad;ms-5e19aac5dcd26c992bfd;ms-0c2f2dc98424b6704c79;ms-b2b93411a16dbb5d4202;ms-9e96728c711ffe98fe69;ms-97cdb4c400ad4ae36518", + "expert_regret": 1.421859323978424, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7c300541f4986f403b47", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.421859323978424, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5781406760215759, + "restore_error": 1.1920928955078125e-07, + "score": 0.5781406760215759, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.17549775540828705, + "candidate_source_group_id": "ms-7ee2d50e0788ccf0cdec;ms-12ea343fddf9f6e6b9e8;ms-3ec29a5b20bd65943255;ms-c9edb3f445256b0d5341;ms-f9148dff7961fa66a8a1;ms-f50f1c1b673d0c96d4ce", + "expert_regret": 0.0, + "expert_score": 0.8328490257263184, + "expert_success": false, + "group_id": "ms-ed6314fb8f69f956daf6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 0.8351536393165588, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6547784805297852, + "candidate_source_group_id": "ms-185c13ec401a35f393b7;ms-20ab0b7fffdbb23e6d53;ms-3278c343e1bdece2f252;ms-b8492a3a812095651d75;ms-180d0e0a6315a06a7021;ms-4dc0defd156f4c30aaf8", + "expert_regret": 1.8318179249763489, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fffe17005e577cb2ac1c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8318179249763489, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16818207502365112, + "restore_error": 1.1920928955078125e-07, + "score": 0.16818207502365112, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.07438642531633377, + "candidate_source_group_id": "ms-6b2df24ea06ce2cdfb5e;ms-bb742574fc7cfaea26d0;ms-5c8151ea6809f3c331e5;ms-fc9523f9953b1b5bfbcd;ms-0f7cd7813265e3795e0a;ms-a3df9ead5a29798665a5", + "expert_regret": 0.04319024085998535, + "expert_score": 0.8572937250137329, + "expert_success": false, + "group_id": "ms-d368732bc01f4100cf07", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.1858965158462524, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8141034841537476, + "restore_error": 1.1920928955078125e-07, + "score": 0.8141034841537476, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7913123965263367, + "candidate_source_group_id": "ms-97e2c618a3045e0a759e;ms-f2259eac5ed12ee61c19;ms-0ea6d57781e366b578c1;ms-269815a0f9c1a1ba5a6b;ms-8c67f938fb3d0264393c;ms-d4c5d7eea19d94314e2e", + "expert_regret": 1.392128348350525, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e0e2a425cce52e820a7e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.392128348350525, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6078716516494751, + "restore_error": 1.1920928955078125e-07, + "score": 0.6078716516494751, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6226480603218079, + "candidate_source_group_id": "ms-4dd3c4d0161d01abb6d4;ms-e95a846b4e77792e3e6f;ms-7bdf9cab1f7071533bbc;ms-aa7cc7e3e5eb86e58ee9;ms-a9eb9fab62fb296d2cf3;ms-bc96a8973358d1c20ed3", + "expert_regret": 1.9459345042705536, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-797db95b24deab760f10", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9459345042705536, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.05406549572944641, + "restore_error": 1.1920928955078125e-07, + "score": 0.05406549572944641, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9369173049926758, + "candidate_source_group_id": "ms-da2f79e022bb63a2af11;ms-741c227f6249d1c8c9f1;ms-15fc8cc6f74cf589056f;ms-0ccc81e9a63663c50096;ms-a7760c53ebe20579190e;ms-8d02415bb9af319f215a", + "expert_regret": 1.81567744910717, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-65a8786e4fb1527342f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.81567744910717, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1843225508928299, + "restore_error": 1.1920928955078125e-07, + "score": 0.1843225508928299, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2548729181289673, + "candidate_source_group_id": "ms-9dd1ff4c297a81b13071;ms-7fba35a6c125e88b8f54;ms-cc52efdf7f7b9efb1f9e;ms-ce827a7939377a151af9;ms-71e32140ee4d77f3b275;ms-500ed73f6d891e237b30", + "expert_regret": 0.7210763692855835, + "expert_score": 0.8358147144317627, + "expert_success": false, + "group_id": "ms-07b479748a91a9c92b20", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8852616548538208, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1147383451461792, + "restore_error": 1.1920928955078125e-07, + "score": 0.1147383451461792, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8183842301368713, + "candidate_source_group_id": "ms-88d7cbdbd7c9636e456f;ms-efdc07c985935d871adf;ms-37d6b220ad58fb776f7b;ms-be0ca7fa48a7ea391aa8;ms-88070bf04696eceac1e9;ms-a5eb6b813b57d14f6573", + "expert_regret": 1.796819195151329, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-00ce5c82d2af61a7d7e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.796819195151329, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20318080484867096, + "restore_error": 1.1920928955078125e-07, + "score": 0.20318080484867096, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.1019788980484009, + "candidate_source_group_id": "ms-dc26a7037003b94b9f93;ms-df6a1fb4b1ccbb410b4c;ms-b1ea4f7f813ac0c87079;ms-c72d626356a30cbef93b;ms-4c788310cab7df5251e1;ms-141aab4472db1ecc0ea2", + "expert_regret": 1.1627557873725891, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-921a0cd2d5ef7e70229a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1627557873725891, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8372442126274109, + "restore_error": 1.1920928955078125e-07, + "score": 0.8372442126274109, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0522003173828125, + "candidate_source_group_id": "ms-625f1a55bfa2bcd57e24;ms-0949097d19e597fc7f63;ms-caa5773983c25018c3f8;ms-0cdb564903c69734321f;ms-571d878853654c42a521;ms-4048f8f6e047422e3c79", + "expert_regret": 1.8166356086730957, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1cba14e90a2d067bc198", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8166356086730957, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1833643913269043, + "restore_error": 1.1920928955078125e-07, + "score": 0.1833643913269043, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.41911599040031433, + "candidate_source_group_id": "ms-bb742574fc7cfaea26d0;ms-0f7cd7813265e3795e0a;ms-6b2df24ea06ce2cdfb5e;ms-5c8151ea6809f3c331e5;ms-fc9523f9953b1b5bfbcd;ms-a3df9ead5a29798665a5", + "expert_regret": 1.8152623176574707, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f6bfe2d3d8f8956091a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8152623176574707, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1847376823425293, + "restore_error": 1.1920928955078125e-07, + "score": 0.1847376823425293, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0133451223373413, + "candidate_source_group_id": "ms-4d687a60b9ce1f0f1ddd;ms-01094af881b751ef29aa;ms-bfb169ce850eae1c3995;ms-da5f2c1dbafa907d725b;ms-a50b6ab3c59b1c953197;ms-3cdc09425d5b71524854", + "expert_regret": 0.6479790359735489, + "expert_score": 0.8434419631958008, + "expert_success": false, + "group_id": "ms-44940e96c327541acf19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.6479790359735489, + "oracle_score": 0.8434419631958008, + "oracle_success": false, + "progress": 0.1954629272222519, + "restore_error": 1.1920928955078125e-07, + "score": 0.1954629272222519, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.3021562099456787, + "candidate_source_group_id": "ms-fc9523f9953b1b5bfbcd;ms-e2a5f29a9c0d835f3cd8;ms-f0fdcc26c648ce089746;ms-5c8151ea6809f3c331e5;ms-6b2df24ea06ce2cdfb5e;ms-0f7cd7813265e3795e0a", + "expert_regret": 1.4506758451461792, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc99c1baec671e7f85a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4506758451461792, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5493241548538208, + "restore_error": 1.1920928955078125e-07, + "score": 0.5493241548538208, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.0044939517974854, + "candidate_source_group_id": "ms-fe22e55457c78877c2d9;ms-4c6a9b0840052fd62261;ms-d4c5d7eea19d94314e2e;ms-269815a0f9c1a1ba5a6b;ms-7bdf9cab1f7071533bbc;ms-1e25b12c832314a0b015", + "expert_regret": 1.789390116930008, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-787b74c3c67428d63b72", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.789390116930008, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21060988306999207, + "restore_error": 1.1920928955078125e-07, + "score": 0.21060988306999207, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.163624882698059, + "candidate_source_group_id": "ms-c9804ff90a86259f7149;ms-fd2387aeed9bfc9a0d08;ms-dc4738f9c7a8af86722d;ms-a4e3e9c634e92a46fc15;ms-652234a929b7ed4d3b23;ms-a40882954ff51b61c49c", + "expert_regret": 1.8215138912200928, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-983f35821c4f83c6e4bb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8215138912200928, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17848610877990723, + "restore_error": 1.1920928955078125e-07, + "score": 0.17848610877990723, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.1892651468515396, + "candidate_source_group_id": "ms-68067370d3b20b9bd4e2;ms-63f384579c130870fde3;ms-554f2960f25ff627b596;ms-a5eb6b813b57d14f6573;ms-88070bf04696eceac1e9;ms-d1960368ef76bbb10669", + "expert_regret": 0.6704991012811661, + "expert_score": 0.8355538845062256, + "expert_success": false, + "group_id": "ms-3c87c16acc91c68c522f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.6706283837556839, + "oracle_score": 0.8356831669807434, + "oracle_success": false, + "progress": 0.1650547832250595, + "restore_error": 1.1920928955078125e-07, + "score": 0.1650547832250595, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9919771552085876, + "candidate_source_group_id": "ms-15248c64e70b0dafcb33;ms-87efe56140dec7d3ffb8;ms-2360ac84ff893ee51c5f;ms-daff16c01452c735345f;ms-05ab68d4cd79b74a45ee;ms-ce9505086ea115f86649", + "expert_regret": 1.4038568139076233, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fee86da43c17dbf07059", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4038568139076233, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5961431860923767, + "restore_error": 1.1920928955078125e-07, + "score": 0.5961431860923767, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.4429907202720642, + "candidate_source_group_id": "ms-b6ce87522fcc35b563c7;ms-b5f0f2ae74766beae291;ms-aa1da4bf5f94c6a74839;ms-ecc526493f8048cf4c56;ms-673f96236583a1925836;ms-38ed02dacc133a888d3a", + "expert_regret": 1.9169142991304398, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-03beb7dddeba28c64afa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9169142991304398, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08308570086956024, + "restore_error": 1.1920928955078125e-07, + "score": 0.08308570086956024, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.71662437915802, + "candidate_source_group_id": "ms-b86c44375ba5328a1608;ms-c80e71e55d51d8595499;ms-a4d692315fd15700e75b;ms-c72d626356a30cbef93b;ms-eb7189a4f2b0f0a5d4bd;ms-ff4c9c58b742da7135da", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-119db4f7ab55afe5b9f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6914180517196655, + "candidate_source_group_id": "ms-2fef2f43af8009bb88f1;ms-500ed73f6d891e237b30;ms-7fba35a6c125e88b8f54;ms-ce827a7939377a151af9;ms-79b745efd36e00515fa7;ms-ebf15fd96b4a62e0b393", + "expert_regret": 1.8166660368442535, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f79778f4c5ec302bbfb4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8166660368442535, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18333396315574646, + "restore_error": 1.1920928955078125e-07, + "score": 0.18333396315574646, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9015490412712097, + "candidate_source_group_id": "ms-0f2cd78c21a012784e1b;ms-7fc5696cb3dc7b9bb9f7;ms-86b55250e01b9b6fba7e;ms-97cdb4c400ad4ae36518;ms-350716d0809bd7ef12df;ms-573ab0ef1d4166be9b54", + "expert_regret": 1.8179517686367035, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c7b2b62ba170ac8133e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8179517686367035, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1820482313632965, + "restore_error": 1.1920928955078125e-07, + "score": 0.1820482313632965, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9283756613731384, + "candidate_source_group_id": "ms-d9e7096b437e7ce7cda8;ms-a13e71cca2a60d77aed4;ms-2503df67073b4c59e640;ms-0547201761e8e1873482;ms-6989f2ad4ed53dc07e1f;ms-caa5773983c25018c3f8", + "expert_regret": 0.10830330848693848, + "expert_score": 0.2056313455104828, + "expert_success": false, + "group_id": "ms-df346e952d6eaab76d40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.10830330848693848, + "oracle_score": 0.2056313455104828, + "oracle_success": false, + "progress": 0.09732803702354431, + "restore_error": 1.1920928955078125e-07, + "score": 0.09732803702354431, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7775713205337524, + "candidate_source_group_id": "ms-95950ddf57046910494b;ms-036f329c4a881ff59e5f;ms-82b267d663e8400d19ca;ms-783f5e7f8c889bef010e;ms-748baf7aee43c63797e1;ms-27d723ae87abc93a95f0", + "expert_regret": 1.4049429297447205, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-14064e79c1a1abcf10e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4049429297447205, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5950570702552795, + "restore_error": 1.1920928955078125e-07, + "score": 0.5950570702552795, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6272069215774536, + "candidate_source_group_id": "ms-f50f1c1b673d0c96d4ce;ms-1a37fdd82d982ae6dbd8;ms-801727be95e46ae5da07;ms-e297545a438d902a680e;ms-3efaacea10b7eb4adb57;ms-f9148dff7961fa66a8a1", + "expert_regret": 1.8210345804691315, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dc2e360a4876f6edce82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8210345804691315, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17896541953086853, + "restore_error": 1.1920928955078125e-07, + "score": 0.17896541953086853, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.567775309085846, + "candidate_source_group_id": "ms-0d8e00d0e73f9a7b4ce8;ms-d46da887312a51a9f2a0;ms-2da5f229550b61852483;ms-5ac1bf2d7d319955d45d;ms-48ddae21c360b2a12b8d;ms-0fb946120bcbd8ed0632", + "expert_regret": 1.4074776768684387, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0841a07e9aeb84cff70f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4074776768684387, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5925223231315613, + "restore_error": 1.1920928955078125e-07, + "score": 0.5925223231315613, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3814394772052765, + "candidate_source_group_id": "ms-5ac1bf2d7d319955d45d;ms-d6ed8683183759789495;ms-d46da887312a51a9f2a0;ms-2da5f229550b61852483;ms-0d8e00d0e73f9a7b4ce8;ms-1d7505b80dff9c229a99", + "expert_regret": 0.6538815945386887, + "expert_score": 0.8253189325332642, + "expert_success": false, + "group_id": "ms-22c36189b47df8987e8e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.6538815945386887, + "oracle_score": 0.8253189325332642, + "oracle_success": false, + "progress": 0.1714373379945755, + "restore_error": 1.1920928955078125e-07, + "score": 0.1714373379945755, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.3815767765045166, + "candidate_source_group_id": "ms-dab618f516ccc10f176e;ms-54f7cae3bd3cb84062d3;ms-720c704eeac615b41763;ms-76c9576538106cb9d5db;ms-bb70aa617f82f530d42e;ms-b1b98e21cd4886f70563", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0982ec8847911627c519", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.355217307806015, + "candidate_source_group_id": "ms-230391b47c390f51bc07;ms-0ee3134ab4e9435f2c2c;ms-cdd9ca03b64c4145587b;ms-fc68c8b1bef631b6cae9;ms-0fb946120bcbd8ed0632;ms-fe763444e70a58ff8b1e", + "expert_regret": 1.8173350542783737, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-151e5f61c8e3c2ece4e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8173350542783737, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18266494572162628, + "restore_error": 1.1920928955078125e-07, + "score": 0.18266494572162628, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.673974335193634, + "candidate_source_group_id": "ms-d8cc5ba8ab1cd4a46519;ms-a50b6ab3c59b1c953197;ms-96ebb8e6e71464ac9172;ms-829c9968f0750cd9aed6;ms-f2a349cfaa6f7422237b;ms-e2f303a0d1e6017e1fc4", + "expert_regret": 1.1472102999687195, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-54f4d544f76358c09ee9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1472102999687195, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8527897000312805, + "restore_error": 1.1920928955078125e-07, + "score": 0.8527897000312805, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.06016109138727188, + "candidate_source_group_id": "ms-4734f618e638d42bae46;ms-ee2fcbc94d41385713d0;ms-7ab0027224139e5332d5;ms-741c227f6249d1c8c9f1;ms-15fc8cc6f74cf589056f;ms-8d02415bb9af319f215a", + "expert_regret": 0.0, + "expert_score": 0.17888590693473816, + "expert_success": false, + "group_id": "ms-95028134c6e3670b89d5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8210734575986862, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.17892654240131378, + "restore_error": 1.1920928955078125e-07, + "score": 0.17892654240131378, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.484600305557251, + "candidate_source_group_id": "ms-fe22e55457c78877c2d9;ms-bc02d87b2ed5769ee484;ms-7dca31b0d7d6fab018f3;ms-54b553c42a8d825beb38;ms-4d687a60b9ce1f0f1ddd;ms-f774646335321f6c5980", + "expert_regret": 1.973147064447403, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ffc732b968c030ba1d0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.973147064447403, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.026852935552597046, + "restore_error": 1.1920928955078125e-07, + "score": 0.026852935552597046, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5601376891136169, + "candidate_source_group_id": "ms-f020e53a077d4e6bf383;ms-ab72e600d0bfb162ea80;ms-9b89af1761e33e733a56;ms-cb752f1a3b24f95b34a2;ms-fc68c8b1bef631b6cae9;ms-0ee3134ab4e9435f2c2c", + "expert_regret": 1.9311183840036392, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-00e356a462bdc3380f4f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9311183840036392, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06888161599636078, + "restore_error": 1.1920928955078125e-07, + "score": 0.06888161599636078, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8794110417366028, + "candidate_source_group_id": "ms-cdd9ca03b64c4145587b;ms-230391b47c390f51bc07;ms-fe763444e70a58ff8b1e;ms-0ee3134ab4e9435f2c2c;ms-0fb946120bcbd8ed0632;ms-2b6ab8760ea5d558797c", + "expert_regret": 1.8976535499095917, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-57ccc6bbce43f1c7c000", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8976535499095917, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10234645009040833, + "restore_error": 1.1920928955078125e-07, + "score": 0.10234645009040833, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8789531588554382, + "candidate_source_group_id": "ms-19b9e8a1108ac25f3476;ms-dd8ebc7d7211ece74e03;ms-68f53650da9a9354b58f;ms-01094af881b751ef29aa;ms-7dca31b0d7d6fab018f3;ms-aa1da4bf5f94c6a74839", + "expert_regret": 1.4109516143798828, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-325cd8b08e89bb498c82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4109516143798828, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5890483856201172, + "restore_error": 1.1920928955078125e-07, + "score": 0.5890483856201172, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.48185640573501587, + "candidate_source_group_id": "ms-ab72e600d0bfb162ea80;ms-230391b47c390f51bc07;ms-0ee3134ab4e9435f2c2c;ms-9b89af1761e33e733a56;ms-cb752f1a3b24f95b34a2;ms-cdd9ca03b64c4145587b", + "expert_regret": 1.9786370694637299, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de304cefeb20dcc17ede", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9786370694637299, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02136293053627014, + "restore_error": 1.1920928955078125e-07, + "score": 0.02136293053627014, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7630528211593628, + "candidate_source_group_id": "ms-546f8817db5b76b563f0;ms-c9c7a51e43dd2c33de08;ms-edf898278a0dd01a5b37;ms-578fc3b8cbdbe6b0542f;ms-bdc0e2b6d589c1d90d69;ms-1b50d8927c080cd97a79", + "expert_regret": 1.8003675788640976, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8e69308e5c86a307b08a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8003675788640976, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1996324211359024, + "restore_error": 1.1920928955078125e-07, + "score": 0.1996324211359024, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.461308091878891, + "candidate_source_group_id": "ms-e297545a438d902a680e;ms-571d878853654c42a521;ms-4b6cf86fc2450321163a;ms-6c8d06bace98a28a8e4e;ms-71dc14431350e581537c;ms-283f98eecc655a33d459", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f0696e3657ed996dec15", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6979286074638367, + "candidate_source_group_id": "ms-5973a2df030fcd05cd24;ms-626991ad29d003c808f8;ms-e1f9403543e48fbdde9d;ms-3afd8959363e917591d4;ms-76c9576538106cb9d5db;ms-54f7cae3bd3cb84062d3", + "expert_regret": 1.8436619937419891, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-49516a81fe99935ef15e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8436619937419891, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.15633800625801086, + "restore_error": 1.1920928955078125e-07, + "score": 0.15633800625801086, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9221586585044861, + "candidate_source_group_id": "ms-4cab292bc65fa59274ef;ms-626ac2ad9d0dd95f1a2e;ms-b04a4cfe76d719518dae;ms-edf898278a0dd01a5b37;ms-552acc881ce2bbff59f8;ms-52a2ef2f862cee509ce1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5cfbc3fb2094ad5bba6f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2046297937631607, + "candidate_source_group_id": "ms-95950ddf57046910494b;ms-783f5e7f8c889bef010e;ms-12ea343fddf9f6e6b9e8;ms-3ec29a5b20bd65943255;ms-82b267d663e8400d19ca;ms-7ee2d50e0788ccf0cdec", + "expert_regret": 0.030433237552642822, + "expert_score": 0.8212419748306274, + "expert_success": false, + "group_id": "ms-61852da845126d62ff5b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.2091912627220154, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7908087372779846, + "restore_error": 1.1920928955078125e-07, + "score": 0.7908087372779846, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.08453164994716644, + "candidate_source_group_id": "ms-720c704eeac615b41763;ms-76c9576538106cb9d5db;ms-54f7cae3bd3cb84062d3;ms-fdf4af00031d452221d9;ms-b1b98e21cd4886f70563;ms-ceb81989361d018a9e67", + "expert_regret": 0.6920850574970245, + "expert_score": 0.8584641218185425, + "expert_success": false, + "group_id": "ms-03df3e12e1d61aa9ebbf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.833620935678482, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16637906432151794, + "restore_error": 1.1920928955078125e-07, + "score": 0.16637906432151794, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.17016355693340302, + "candidate_source_group_id": "ms-20976520a892ae80760a;ms-76774eb92b50132c54b6;ms-5909e93ba4f8ed21d193;ms-58e6bcca0d74ea38d3dc;ms-0949097d19e597fc7f63;ms-9228f8295b9891cf011c", + "expert_regret": 0.016042768955230713, + "expert_score": 0.8314920663833618, + "expert_success": false, + "group_id": "ms-72777024349c2aacd5e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.184550702571869, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8154492974281311, + "restore_error": 1.1920928955078125e-07, + "score": 0.8154492974281311, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.4024503231048584, + "candidate_source_group_id": "ms-f72b64534388e443b220;ms-ecc526493f8048cf4c56;ms-38ed02dacc133a888d3a;ms-b6ce87522fcc35b563c7;ms-673f96236583a1925836;ms-0c490961b934978e5b1c", + "expert_regret": 1.9355968236923218, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-716586cf73f853a45bfd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9355968236923218, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06440317630767822, + "restore_error": 1.1920928955078125e-07, + "score": 0.06440317630767822, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9086622595787048, + "candidate_source_group_id": "ms-56a0e8e80e2e1e5645d7;ms-4bbd30ae37fda61aa3c2;ms-666f00775d4c54be1282;ms-b5f0f2ae74766beae291;ms-38ed02dacc133a888d3a;ms-ecc526493f8048cf4c56", + "expert_regret": 1.9572487771511078, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-462c1284ee1a148a7e1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9572487771511078, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04275122284889221, + "restore_error": 2.2351741790771484e-07, + "score": 0.04275122284889221, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.117099642753601, + "candidate_source_group_id": "ms-554f2960f25ff627b596;ms-77536801924a2a78688e;ms-a5eb6b813b57d14f6573;ms-b4f96b4975ceb839c5e3;ms-3945306c3b05b122fa9b;ms-4b6cf86fc2450321163a", + "expert_regret": 1.4159716963768005, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e6e8b4cdcadec645d910", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4159716963768005, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5840283036231995, + "restore_error": 2.2351741790771484e-07, + "score": 0.5840283036231995, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.497732937335968, + "candidate_source_group_id": "ms-4cab292bc65fa59274ef;ms-52a2ef2f862cee509ce1;ms-5a456ddf97d294548cf1;ms-6bd5870eb5ff0dd76919;ms-552acc881ce2bbff59f8;ms-19a3669e096e98232ec8", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f0033d0b5f4f2e160859", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.2351741790771484e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.36458152532577515, + "candidate_source_group_id": "ms-f4579acd00ff9f578098;ms-b1b98e21cd4886f70563;ms-e1bce061511b584c5381;ms-f0fdcc26c648ce089746;ms-dab618f516ccc10f176e;ms-c164dd3b3b89c546a184", + "expert_regret": 1.8068712055683136, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7bc1b098e6c696f6d4de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8068712055683136, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1931287944316864, + "restore_error": 2.2351741790771484e-07, + "score": 0.1931287944316864, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2568630278110504, + "candidate_source_group_id": "ms-f50f1c1b673d0c96d4ce;ms-3efaacea10b7eb4adb57;ms-1a37fdd82d982ae6dbd8;ms-20f3cfcf183c69853b1e;ms-f9148dff7961fa66a8a1;ms-e327fef230e956dab37c", + "expert_regret": 0.02275794744491577, + "expert_score": 0.8352580070495605, + "expert_success": false, + "group_id": "ms-04eec0abab5f55620e4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.1874999403953552, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8125000596046448, + "restore_error": 2.2351741790771484e-07, + "score": 0.8125000596046448, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7665690779685974, + "candidate_source_group_id": "ms-e887dbfa0133af46829d;ms-55e78c04643bd06fd5f8;ms-48b2c358243f84013a0c;ms-702c6c5000ad4d6424ea;ms-f3f100caf89a2487faaf;ms-6d7030c17759f787a361", + "expert_regret": 1.4147053360939026, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e71e880736efd3e42c02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4147053360939026, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5852946639060974, + "restore_error": 2.2351741790771484e-07, + "score": 0.5852946639060974, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.07042229175567627, + "candidate_source_group_id": "ms-e7959111ef1429bcf699;ms-aa7cc7e3e5eb86e58ee9;ms-7bdf9cab1f7071533bbc;ms-e95a846b4e77792e3e6f;ms-5a0e07161aefc71d4f33;ms-bc96a8973358d1c20ed3", + "expert_regret": 0.0, + "expert_score": 0.8417773246765137, + "expert_success": false, + "group_id": "ms-0b226017db7f07c5307e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.2351741790771484e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 1.090404748916626, + "candidate_source_group_id": "ms-cbc1fadecdd913c44ce5;ms-035231abc135f925e1cc;ms-3945306c3b05b122fa9b;ms-a2ee6034df65b51c4d97;ms-ff4c9c58b742da7135da;ms-141aab4472db1ecc0ea2", + "expert_regret": 1.1727250814437866, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eff3caf3c103c5232495", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.1727250814437866, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.8272749185562134, + "restore_error": 2.2351741790771484e-07, + "score": 0.8272749185562134, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6443785429000854, + "candidate_source_group_id": "ms-ba396eb71806ac992acd;ms-d4c5d7eea19d94314e2e;ms-269815a0f9c1a1ba5a6b;ms-741c227f6249d1c8c9f1;ms-da2f79e022bb63a2af11;ms-8d02415bb9af319f215a", + "expert_regret": 1.802648052573204, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-42b26451056c6dd2150e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.802648052573204, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19735194742679596, + "restore_error": 1.1920928955078125e-07, + "score": 0.19735194742679596, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.6835700273513794, + "candidate_source_group_id": "ms-cdd9ca03b64c4145587b;ms-230391b47c390f51bc07;ms-0ee3134ab4e9435f2c2c;ms-65f4ea8ed88ed5301430;ms-0fb946120bcbd8ed0632;ms-2b6ab8760ea5d558797c", + "expert_regret": 1.8139354884624481, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8bbf7fcd90b4d11db2a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.8139354884624481, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18606451153755188, + "restore_error": 1.1920928955078125e-07, + "score": 0.18606451153755188, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3961392045021057, + "candidate_source_group_id": "ms-020ab0b7cfa5045f3fc7;ms-daff16c01452c735345f;ms-a054eb19f228304d37aa;ms-ae1b8592cb57dbf2fe98;ms-97cdb4c400ad4ae36518;ms-15248c64e70b0dafcb33", + "expert_regret": 1.13912433385849, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a77b8d61c09ed6ea23a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.13912433385849, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.86087566614151, + "restore_error": 1.1920928955078125e-07, + "score": 0.86087566614151, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8418930768966675, + "candidate_source_group_id": "ms-20f3cfcf183c69853b1e;ms-e327fef230e956dab37c;ms-f50f1c1b673d0c96d4ce;ms-1a37fdd82d982ae6dbd8;ms-8b53e5dbab786b2e3b75;ms-d776afa14e6322cadedd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b30834b2c4e6b153624f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5571080446243286, + "candidate_source_group_id": "ms-5909e93ba4f8ed21d193;ms-4048f8f6e047422e3c79;ms-0949097d19e597fc7f63;ms-76774eb92b50132c54b6;ms-c9edb3f445256b0d5341;ms-8c83fb7e9f1a7a8ad58f", + "expert_regret": 1.8348049372434616, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-584d52e4f9515f695251", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8348049372434616, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1651950627565384, + "restore_error": 1.1920928955078125e-07, + "score": 0.1651950627565384, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.37842097878456116, + "candidate_source_group_id": "ms-daff16c01452c735345f;ms-60f5fff0649ceb50ab60;ms-5902e6c4037ecda77a5f;ms-97cdb4c400ad4ae36518;ms-0f2cd78c21a012784e1b;ms-87efe56140dec7d3ffb8", + "expert_regret": 1.415800392627716, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-64ff9614d692fd9dc48b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.415800392627716, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5841996073722839, + "restore_error": 1.1920928955078125e-07, + "score": 0.5841996073722839, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.07784940302371979, + "candidate_source_group_id": "ms-b6ce87522fcc35b563c7;ms-ecc526493f8048cf4c56;ms-38ed02dacc133a888d3a;ms-1cc18d88615939309d51;ms-f72b64534388e443b220;ms-2c6ff8d807763f665bac", + "expert_regret": 0.6183771193027496, + "expert_score": 0.8347060680389404, + "expert_success": false, + "group_id": "ms-016c5de39ed3c111889a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7836710512638092, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2163289487361908, + "restore_error": 1.1920928955078125e-07, + "score": 0.2163289487361908, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8489246368408203, + "candidate_source_group_id": "ms-daff16c01452c735345f;ms-15248c64e70b0dafcb33;ms-ae1b8592cb57dbf2fe98;ms-1c4ef17cdeed30bb2548;ms-020ab0b7cfa5045f3fc7;ms-13243cd92a78eba8c08b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8ccec039b839e612969b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3567885756492615, + "candidate_source_group_id": "ms-626991ad29d003c808f8;ms-3afd8959363e917591d4;ms-54f7cae3bd3cb84062d3;ms-dab618f516ccc10f176e;ms-76c9576538106cb9d5db;ms-bb70aa617f82f530d42e", + "expert_regret": 1.8300504684448242, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c52ffa349a79397da8c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8300504684448242, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16994953155517578, + "restore_error": 1.1920928955078125e-07, + "score": 0.16994953155517578, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8647618293762207, + "candidate_source_group_id": "ms-578fc3b8cbdbe6b0542f;ms-c9c7a51e43dd2c33de08;ms-edf898278a0dd01a5b37;ms-bdc0e2b6d589c1d90d69;ms-546f8817db5b76b563f0;ms-e9cb92d664266091b91d", + "expert_regret": 1.7629787474870682, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87d132d28bc30b07002b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7629787474870682, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23702125251293182, + "restore_error": 1.1920928955078125e-07, + "score": 0.23702125251293182, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.9915837645530701, + "candidate_source_group_id": "ms-c9804ff90a86259f7149;ms-fd2387aeed9bfc9a0d08;ms-e3bbabc7ac3950eb91a2;ms-dc4738f9c7a8af86722d;ms-ecb37ebbab21a506d8ca;ms-d50a82b8770f333f1947", + "expert_regret": 1.8155767321586609, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-16850056120649fcc370", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8155767321586609, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1844232678413391, + "restore_error": 1.1920928955078125e-07, + "score": 0.1844232678413391, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.3355259895324707, + "candidate_source_group_id": "ms-185c13ec401a35f393b7;ms-f5bc4935790fb8ef7b81;ms-ba396eb71806ac992acd;ms-c8706d0aa14a930236de;ms-269815a0f9c1a1ba5a6b;ms-61cb49c57a8600267d61", + "expert_regret": 1.8343620300292969, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ab5acce4dba71f19d5ad", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8343620300292969, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16563796997070312, + "restore_error": 1.1920928955078125e-07, + "score": 0.16563796997070312, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.7249022722244263, + "candidate_source_group_id": "ms-500ed73f6d891e237b30;ms-2fef2f43af8009bb88f1;ms-7fba35a6c125e88b8f54;ms-79b745efd36e00515fa7;ms-ce827a7939377a151af9;ms-d6b0d6d7c66509eb4543", + "expert_regret": 1.835062712430954, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc1ca12b92e3561b95b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.835062712430954, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.16493728756904602, + "restore_error": 1.1920928955078125e-07, + "score": 0.16493728756904602, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8368676900863647, + "candidate_source_group_id": "ms-95950ddf57046910494b;ms-783f5e7f8c889bef010e;ms-7ee2d50e0788ccf0cdec;ms-3ec29a5b20bd65943255;ms-12ea343fddf9f6e6b9e8;ms-98c0d73ae0085f97bab9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-578073df4f8fe9b936d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.19982753694057465, + "candidate_source_group_id": "ms-0cdb564903c69734321f;ms-f2509e6c3c468c4e30f0;ms-63a1574267ccbdaf6cc2;ms-4cab292bc65fa59274ef;ms-552acc881ce2bbff59f8;ms-52a2ef2f862cee509ce1", + "expert_regret": 0.0, + "expert_score": 0.8527635335922241, + "expert_success": false, + "group_id": "ms-875a4668671c02054a3c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.8932272791862488, + "candidate_source_group_id": "ms-0180bfac51ce81b2b522;ms-a13e71cca2a60d77aed4;ms-ec0b095d57014b86f5e7;ms-1b50d8927c080cd97a79;ms-c9c7a51e43dd2c33de08;ms-d9e7096b437e7ce7cda8", + "expert_regret": 1.7931569665670395, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1e4219bffa35c646ebc9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7931569665670395, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2068430334329605, + "restore_error": 1.1920928955078125e-07, + "score": 0.2068430334329605, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.2562890648841858, + "candidate_source_group_id": "ms-c8706d0aa14a930236de;ms-f5bc4935790fb8ef7b81;ms-da2f79e022bb63a2af11;ms-0ccc81e9a63663c50096;ms-ba396eb71806ac992acd;ms-185c13ec401a35f393b7", + "expert_regret": 0.6316317319869995, + "expert_score": 0.8165204524993896, + "expert_success": false, + "group_id": "ms-baba39ca95aa09893dc0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8151112794876099, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.18488872051239014, + "restore_error": 1.1920928955078125e-07, + "score": 0.18488872051239014, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": false, + "task_id": "StackCube-v1" + }, + { + "action_mse_to_best": 0.5956490635871887, + "candidate_source_group_id": "ms-b4f96b4975ceb839c5e3;ms-d1960368ef76bbb10669;ms-c4a4c6a275c817d8b03f;ms-554f2960f25ff627b596;ms-a5eb6b813b57d14f6573;ms-68067370d3b20b9bd4e2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6af11918833ace7c694", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/StackCube-v1", + "success": true, + "task_id": "StackCube-v1" + } + ], + "seed": 2, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 193, + "retrieval_residual_residual_near_miss": 81, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 84, + "retrieval_residual_residual_no_op": 81, + "retrieval_residual_residual_wrong_gripper": 136 + }, + "selected_residual_scale_counts": { + "0.35": 336, + "0.4": 72, + "0.45": 167 + }, + "selection_margin": 0.0, + "selection_mode": "retrieval_residual", + "split": "validation_groups" +} diff --git a/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_trainsplit800_oraclek4.json b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_trainsplit800_oraclek4.json new file mode 100644 index 0000000000000000000000000000000000000000..4fff2a878327b4b27f9b0fb1c43dbcc259ca15a0 --- /dev/null +++ b/scratch/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/policy_rollout_fieldonly_k6clean_dropnoopwg_b12_v1_besttransport_margin0p00_k6_srcscore_task_pick001_stack005_trainsplit800_oraclek4.json @@ -0,0 +1,74658 @@ +{ + "action_mse_to_best": 0.4317114800401032, + "backbone_model": null, + "backbone_type": "native", + "candidate_oracle_best_branch_rank": 1.755, + "candidate_oracle_best_branch_rank_counts": { + "1": 501, + "2": 102, + "3": 89, + "4": 108 + }, + "candidate_oracle_branch_progress": [ + 0.6235629161461839, + 0.5833644888550044, + 0.5708832466416061, + 0.5524450932443142 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.06394842675537803, + -0.08642966919229365, + -0.1186178221355658 + ], + "candidate_oracle_branch_scores": [ + 0.9198129161461839, + 0.8558644888550043, + 0.8333832466416061, + 0.8011950932443141 + ], + "candidate_oracle_branch_success_rates": [ + 0.29625, + 0.2725, + 0.2625, + 0.24875 + ], + "candidate_oracle_improvement_rate": 0.37375, + "candidate_oracle_progress": 0.6476086325920187, + "candidate_oracle_regret": 0.9591807244182564, + "candidate_oracle_restore_max_error": 4.76837158203125e-07, + "candidate_oracle_rollouts": 4, + "candidate_oracle_score": 0.9776086325920187, + "candidate_oracle_score_gain_over_selected": 0.05779571568709798, + "candidate_oracle_selected_branch_progress": 0.6235629161461839, + "candidate_oracle_selected_branch_success_rate": 0.29625, + "candidate_oracle_success_rate": 0.33, + "candidate_oracle_type_counts": { + "retrieval_residual_policy_residual": 282, + "retrieval_residual_residual_near_miss": 138, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 105, + "retrieval_residual_residual_no_op": 113, + "retrieval_residual_residual_wrong_gripper": 162 + }, + "candidate_oracle_unique_count": 4.0, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_sigma": 0.0, + "candidate_type_bonus_components": false, + "candidate_type_bonuses": {}, + "candidate_type_bonuses_by_task": {}, + "checkpoint": "/scratch/knguy52/dovla/experiments/dovla_h16_policy_ckpt_runs/transport_field_reground_fieldonly_k6clean_dropnoopwg_b12_v1/seed_2/best_transport.pt", + "dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection", + "expert_success_rate": 0.89875, + "field_optim_l2_penalty": 0.0, + "field_optim_step_size": 0.0, + "field_optim_steps": 0, + "field_optim_trust_radius": 0.0, + "field_rank_biases_by_task": {}, + "group_batch_size": 8, + "lattice_exclude_type_tasks": {}, + "lattice_exclude_types": [ + "residual_random_negative", + "residual_wrong_direction", + "residual_near_miss+residual_no_op", + "residual_no_op+residual_wrong_gripper" + ], + "num_candidates": 48, + "num_groups": 800, + "objective": "lattice_field", + "observation_mode": "state", + "oracle_success_rate": 0.94375, + "per_task": { + "LiftPegUpright-v1": { + "action_mse_to_best": 0.4123649851575789, + "candidate_oracle_best_branch_rank": 1.5717821782178218, + "candidate_oracle_best_branch_rank_counts": { + "1": 278, + "2": 54, + "3": 39, + "4": 33 + }, + "candidate_oracle_branch_progress": [ + 0.6308053404756702, + 0.5496136878829191, + 0.5345590829775475, + 0.5106982157224476 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.13812234444488394, + -0.15565219687500803, + -0.18941405400781347 + ], + "candidate_oracle_branch_scores": [ + 0.9105083107726999, + 0.772385965110642, + 0.7548561126805178, + 0.7210942553264079 + ], + "candidate_oracle_branch_success_rates": [ + 0.27970297029702973, + 0.22277227722772278, + 0.2202970297029703, + 0.2103960396039604 + ], + "candidate_oracle_improvement_rate": 0.3118811881188119, + "candidate_oracle_progress": 0.6533652040185315, + "candidate_oracle_regret": 0.9568225395782749, + "candidate_oracle_restore_max_error": 4.76837158203125e-07, + "candidate_oracle_score": 0.9701968871868483, + "candidate_oracle_score_gain_over_selected": 0.05968857567646716, + "candidate_oracle_selected_branch_progress": 0.6308053404756702, + "candidate_oracle_selected_branch_success_rate": 0.27970297029702973, + "candidate_oracle_success_rate": 0.31683168316831684, + "candidate_oracle_type_counts": { + "retrieval_residual_policy_residual": 217, + "retrieval_residual_residual_near_miss": 57, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 23, + "retrieval_residual_residual_no_op": 47, + "retrieval_residual_residual_wrong_gripper": 60 + }, + "candidate_oracle_unique_count": 4.0, + "expert_success_rate": 0.8539603960396039, + "num_groups": 404, + "oracle_success_rate": 0.9282178217821783, + "policy_expert_regret": 0.9341657309248896, + "policy_oracle_regret": 1.010752529274709, + "policy_rollout_progress": 0.6327095497583989, + "policy_rollout_success_rate": 0.27722772277227725, + "restore_max_error": 2.384185791015625e-07 + }, + "PickCube-v1": { + "action_mse_to_best": 0.45144881320308256, + "candidate_oracle_best_branch_rank": 1.9419191919191918, + "candidate_oracle_best_branch_rank_counts": { + "1": 223, + "2": 48, + "3": 50, + "4": 75 + }, + "candidate_oracle_branch_progress": [ + 0.6161741802140817, + 0.617797124190162, + 0.6079412317938275, + 0.5950353420292488 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.011723953917754269, + -0.015808706606898194, + -0.04639136335680807 + ], + "candidate_oracle_branch_scores": [ + 0.9293054933453948, + 0.9410294474224852, + 0.913496787349383, + 0.8829141299080367 + ], + "candidate_oracle_branch_success_rates": [ + 0.31313131313131315, + 0.32323232323232326, + 0.3055555555555556, + 0.2878787878787879 + ], + "candidate_oracle_improvement_rate": 0.43686868686868685, + "candidate_oracle_progress": 0.6417357667932532, + "candidate_oracle_regret": 0.9615865493560154, + "candidate_oracle_restore_max_error": 4.76837158203125e-07, + "candidate_oracle_score": 0.9851701102275966, + "candidate_oracle_score_gain_over_selected": 0.055864616101983976, + "candidate_oracle_selected_branch_progress": 0.6161741802140817, + "candidate_oracle_selected_branch_success_rate": 0.31313131313131315, + "candidate_oracle_success_rate": 0.3434343434343434, + "candidate_oracle_type_counts": { + "retrieval_residual_policy_residual": 65, + "retrieval_residual_residual_near_miss": 81, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 82, + "retrieval_residual_residual_no_op": 66, + "retrieval_residual_residual_wrong_gripper": 102 + }, + "candidate_oracle_unique_count": 4.0, + "expert_success_rate": 0.9444444444444444, + "num_groups": 396, + "oracle_success_rate": 0.9595959595959596, + "policy_expert_regret": 1.003264375640705, + "policy_oracle_regret": 1.0173841309292722, + "policy_rollout_progress": 0.6162412155230266, + "policy_rollout_success_rate": 0.31313131313131315, + "restore_max_error": 2.384185791015625e-07 + } + }, + "policy_expert_regret": 0.9683695600592181, + "policy_oracle_regret": 1.0140351720937177, + "policy_rollout_progress": 0.6245577243118896, + "policy_rollout_success_rate": 0.295, + "prepend_policy_candidate": false, + "proposal_lattice_types": [], + "proposal_types": [], + "restore_max_error": 2.384185791015625e-07, + "retrieval_metric": "raw", + "retrieval_neighbors": 6, + "retrieval_residual_action_l2_penalty": 0.0, + "retrieval_residual_anchor": "expert", + "retrieval_residual_challenger_margin": 0.0, + "retrieval_residual_challenger_scales": [], + "retrieval_residual_challenger_tasks": [], + "retrieval_residual_challenger_type_margins": {}, + "retrieval_residual_challenger_type_tasks": {}, + "retrieval_residual_challenger_types": [], + "retrieval_residual_composite_l2_penalty_scale": 0.0, + "retrieval_residual_consensus_penalty_scale": 0.0, + "retrieval_residual_direction": "candidate_minus_anchor", + "retrieval_residual_min_source_advantage": -1000000000.0, + "retrieval_residual_min_source_progress": 0.0, + "retrieval_residual_reduce": "compose_mean_by_type", + "retrieval_residual_scale": 1.0, + "retrieval_residual_scales": [ + 0.35, + 0.4, + 0.45 + ], + "retrieval_residual_source_advantage_bonus_scale": 0.0, + "retrieval_residual_source_progress_bonus_scale": 0.0, + "retrieval_residual_source_score_bonus_by_task": { + "*": 0.0, + "PickCube-v1": 0.01, + "StackCube-v1": 0.05 + }, + "retrieval_residual_source_score_bonus_scale": 0.0, + "retrieval_type_min_success": 0.0, + "retrieval_type_success_bonus_scale": 0.0, + "rows": [ + { + "action_mse_to_best": 1.1902285814285278, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.21294647455215454, + 0.21281474828720093, + 0.21290260553359985, + 0.208655446767807 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00013172626495361328, + -4.38690185546875e-05, + -0.004291027784347534 + ], + "candidate_oracle_branch_scores": [ + 0.21294647455215454, + 0.21281474828720093, + 0.21290260553359985, + 0.208655446767807 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.1491715908050537, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 40 + ], + "candidate_oracle_potentials": [ + -1.1491715908050537, + -1.1636922359466553, + -1.198646903038025, + -1.2181121110916138 + ], + "candidate_oracle_progress": 0.21294647455215454, + "candidate_oracle_regret": 1.7870535254478455, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 3.762543201446533e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21294647455215454, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.21294647455215454, + "candidate_oracle_selected_branch_score": 0.21294647455215454, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-83c0299c23fa800452c7;ms-4b4cd12d70c0615e0930;ms-e2a037eadb166228b1dd;ms-efb5a07185a3a1b33226;ms-251c1dfd1010906f559f;ms-de8d6051e6ee74b62fec", + "expert_regret": 1.7870533466339111, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0a8109ce7ab2ddc1bb1e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7870533466339111, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21294665336608887, + "restore_error": 2.384185791015625e-07, + "score": 0.21294665336608887, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3015851378440857, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5144432783126831, + 0.7254692316055298, + 0.7156323194503784, + 0.49354681372642517 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.21102595329284668, + 0.2011890411376953, + -0.020896464586257935 + ], + "candidate_oracle_branch_scores": [ + 0.5144432783126831, + 0.7254692316055298, + 0.7156323194503784, + 0.49354681372642517 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.146968960762024, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.761742889881134, + -1.146968960762024, + -1.2210321426391602, + -1.304219126701355 + ], + "candidate_oracle_progress": 0.7254692316055298, + "candidate_oracle_regret": 1.2745307683944702, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.762543201446533e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7254692316055298, + "candidate_oracle_score_gain_over_selected": 0.21102595329284668, + "candidate_oracle_selected_branch_progress": 0.5144432783126831, + "candidate_oracle_selected_branch_score": 0.5144432783126831, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b025d8068f740557d630;ms-55e89d326b6531345902;ms-80e3d8a34c3cb94cad65;ms-6a9c4c704edd84c21cda;ms-cf8c5d9c874edc9f000d;ms-e56b37f0e3881a70ef54", + "expert_regret": 1.5003889203071594, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-52ea0261959dfacdbcac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5003889203071594, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4996110796928406, + "restore_error": 2.384185791015625e-07, + "score": 0.4996110796928406, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.09628437459468842, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.717666506767273, + 0.7170760631561279, + 0.7132010459899902, + 0.7123779654502869 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0005904436111450195, + -0.004465460777282715, + -0.005288541316986084 + ], + "candidate_oracle_branch_scores": [ + 0.717666506767273, + 0.7170760631561279, + 0.7132010459899902, + 0.7123779654502869 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2051893472671509, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.2051893472671509, + -1.3734930753707886, + -1.4039984941482544, + -1.440284252166748 + ], + "candidate_oracle_progress": 0.717666506767273, + "candidate_oracle_regret": 1.282333493232727, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.762543201446533e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.717666506767273, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.717666506767273, + "candidate_oracle_selected_branch_score": 0.717666506767273, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5fb06efe2b4bea27cc89;ms-490e2c471adbabec6304;ms-a323215fb409ab3e9287;ms-a6cf775fbba580161c4e;ms-487d0fe2a13fb699dd7a;ms-e2a037eadb166228b1dd", + "expert_regret": 1.2825725674629211, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b8956f04f70d6eeecb07", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2825725674629211, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7174274325370789, + "restore_error": 2.384185791015625e-07, + "score": 0.7174274325370789, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5500938892364502, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7094821333885193, + 0.7059899568557739, + 0.7076119780540466, + 0.71570885181427 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0034921765327453613, + -0.0018701553344726562, + 0.006226718425750732 + ], + "candidate_oracle_branch_scores": [ + 0.7094821333885193, + 0.7059899568557739, + 0.7076119780540466, + 0.71570885181427 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.4603988826274872, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 8 + ], + "candidate_oracle_potentials": [ + 0.7726578116416931, + 0.7681916952133179, + 0.737545907497406, + 0.4603988826274872 + ], + "candidate_oracle_progress": 0.71570885181427, + "candidate_oracle_regret": 1.28429114818573, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 3.762543201446533e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.71570885181427, + "candidate_oracle_score_gain_over_selected": 0.006226718425750732, + "candidate_oracle_selected_branch_progress": 0.7094821333885193, + "candidate_oracle_selected_branch_score": 0.7094821333885193, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b383acd9844466b19579;ms-5799584ed40e211c50a5;ms-7a1b60ea1461eb460bed;ms-d8295b43b30ceea30907;ms-96e1562aaca7ef49db28;ms-d2839c13649000454a65", + "expert_regret": 1.2900577783584595, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4b3a296acc66a14476c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2900577783584595, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7099422216415405, + "restore_error": 2.384185791015625e-07, + "score": 0.7099422216415405, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.13370181620121002, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7230290174484253, + 0.7209999561309814, + 0.7216298580169678, + 0.7255229949951172 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0020290613174438477, + -0.0013991594314575195, + 0.0024939775466918945 + ], + "candidate_oracle_branch_scores": [ + 0.7230290174484253, + 0.7209999561309814, + 0.7216298580169678, + 0.7255229949951172 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.026058554649353, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.19099366664886475, + -0.7136812806129456, + -0.8696882724761963, + -1.026058554649353 + ], + "candidate_oracle_progress": 0.7255229949951172, + "candidate_oracle_regret": 1.2744770050048828, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.762543201446533e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7255229949951172, + "candidate_oracle_score_gain_over_selected": 0.0024939775466918945, + "candidate_oracle_selected_branch_progress": 0.7230290174484253, + "candidate_oracle_selected_branch_score": 0.7230290174484253, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9a72e47e2204fa794718;ms-73259d17883355f7fa88;ms-bb567fcac946f012535a;ms-8f24ad2e217963943c12;ms-575bd87a5da90963019d;ms-a40dee47c502e73949af", + "expert_regret": 1.2738524079322815, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b0302a41f75a827cd4e4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2738524079322815, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7261475920677185, + "restore_error": 2.384185791015625e-07, + "score": 0.7261475920677185, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3561383783817291, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.20969747006893158, + 0.20714834332466125, + 0.2064630687236786 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.7903025150299072, + -1.7928516864776611, + -1.793536901473999 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.20969747006893158, + 0.20714834332466125, + 0.2064630687236786 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5211206674575806, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5211206674575806, + -0.9388427138328552, + -1.038442611694336, + -1.148128867149353 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.762543201446533e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a03497f97765ffd444e;ms-9c33d4837de7d23232d6;ms-4c638b9bb924547f69cb;ms-1b8e9b173562648021f6;ms-b3d9d9570bf9b64c18fe;ms-684a66885f21739d826b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-043a17d678e610264bb8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.23589813709259033, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.20337295532226562, + 0.203683003783226, + 0.2038925737142563, + 0.19939589500427246 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0003100484609603882, + 0.0005196183919906616, + -0.003977060317993164 + ], + "candidate_oracle_branch_scores": [ + 0.20337295532226562, + 0.203683003783226, + 0.2038925737142563, + 0.19939589500427246 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.9665125608444214, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 8 + ], + "candidate_oracle_potentials": [ + -1.8919271230697632, + -1.9113575220108032, + -1.9665125608444214, + -2.042006015777588 + ], + "candidate_oracle_progress": 0.2038925737142563, + "candidate_oracle_regret": 0.5181782990694046, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 3.762543201446533e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2038925737142563, + "candidate_oracle_score_gain_over_selected": 0.0005196183919906616, + "candidate_oracle_selected_branch_progress": 0.20337295532226562, + "candidate_oracle_selected_branch_score": 0.20337295532226562, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-251c1dfd1010906f559f;ms-4b4cd12d70c0615e0930;ms-de8d6051e6ee74b62fec;ms-83c0299c23fa800452c7;ms-28835618507e7bc71227;ms-af91167a0cf15457c6ba", + "expert_regret": 0.5165283679962158, + "expert_score": 0.7199013233184814, + "expert_success": false, + "group_id": "ms-cce5ef6cfa69a08a1e05", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5186979174613953, + "oracle_score": 0.7220708727836609, + "oracle_success": false, + "progress": 0.20337295532226562, + "restore_error": 2.384185791015625e-07, + "score": 0.20337295532226562, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.24394729733467102, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.19711801409721375, + 0.19821050763130188, + 0.198454350233078, + 0.20117917656898499 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0010924935340881348, + 0.0013363361358642578, + 0.00406116247177124 + ], + "candidate_oracle_branch_scores": [ + 0.19711801409721375, + 0.19821050763130188, + 0.198454350233078, + 0.20117917656898499 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.9513757228851318, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.637419581413269, + -1.8378708362579346, + -1.8943262100219727, + -1.9513757228851318 + ], + "candidate_oracle_progress": 0.20117917656898499, + "candidate_oracle_regret": 1.798820823431015, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 3.762543201446533e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20117917656898499, + "candidate_oracle_score_gain_over_selected": 0.00406116247177124, + "candidate_oracle_selected_branch_progress": 0.19711801409721375, + "candidate_oracle_selected_branch_score": 0.19711801409721375, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5dcf9054c3c1c4e1d50;ms-64a755437c34f39cda2a;ms-b025d8068f740557d630;ms-55e89d326b6531345902;ms-cf8c5d9c874edc9f000d;ms-69785feff08dbf9a50be", + "expert_regret": 1.801687240600586, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eeeff97e2c39be877cb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.801687240600586, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19831275939941406, + "restore_error": 2.384185791015625e-07, + "score": 0.19831275939941406, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.030545402318239212, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7073860168457031, + 0.704483687877655, + 0.6874479055404663 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2926139831542969, + -1.2955162525177002, + -1.3125520944595337 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7073860168457031, + 0.704483687877655, + 0.6874479055404663 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.2871862053871155, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.2871862053871155, + -0.5424551963806152, + -0.6263982653617859, + -0.7258122563362122 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-507199452c6d42562a38;ms-0bc111c5ce4e0052716b;ms-bc29afbe2bbf00638d25;ms-076246c4c5d1ca8ccd9d;ms-684a66885f21739d826b;ms-fdb2637276b27c46c757", + "expert_regret": 0.0, + "expert_score": 0.7233090400695801, + "expert_success": false, + "group_id": "ms-c663f7e73e7e8376a05c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5277920961380005, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6987032294273376, + 0.4489838778972626, + 0.4353404641151428, + 0.4533271789550781 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.24971935153007507, + -0.2633627653121948, + -0.24537605047225952 + ], + "candidate_oracle_branch_scores": [ + 0.6987032294273376, + 0.4489838778972626, + 0.4353404641151428, + 0.4533271789550781 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9906627535820007, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9906627535820007, + -1.3973278999328613, + -1.4630409479141235, + -1.5301824808120728 + ], + "candidate_oracle_progress": 0.6987032294273376, + "candidate_oracle_regret": 1.3012967705726624, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6987032294273376, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6987032294273376, + "candidate_oracle_selected_branch_score": 0.6987032294273376, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a99d874a81bc60301007;ms-40a961867249ddccb68f;ms-b00933d2f628bc51d80a;ms-2c6000014d31fc0bb21c;ms-6d6456c45f9f3ae74b50;ms-ace117030ae44c474db1", + "expert_regret": 1.3014413118362427, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f1eb6805ec9b483bba41", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3014413118362427, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6985586881637573, + "restore_error": 1.1920928955078125e-07, + "score": 0.6985586881637573, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3288794159889221, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.52671217918396, + 0.4238935112953186, + 0.4286320209503174, + 0.34662002325057983 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.10281866788864136, + -0.09808015823364258, + -0.18009215593338013 + ], + "candidate_oracle_branch_scores": [ + 0.52671217918396, + 0.4238935112953186, + 0.4286320209503174, + 0.34662002325057983 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7952070832252502, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7952070832252502, + -1.1754547357559204, + -1.257196307182312, + -1.355129599571228 + ], + "candidate_oracle_progress": 0.52671217918396, + "candidate_oracle_regret": 1.47328782081604, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.52671217918396, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.52671217918396, + "candidate_oracle_selected_branch_score": 0.52671217918396, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b025d8068f740557d630;ms-80e3d8a34c3cb94cad65;ms-6a9c4c704edd84c21cda;ms-cf8c5d9c874edc9f000d;ms-e56b37f0e3881a70ef54;ms-55e89d326b6531345902", + "expert_regret": 1.4650056958198547, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fc9b4c94b51f8b2a521b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4650056958198547, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5349943041801453, + "restore_error": 1.1920928955078125e-07, + "score": 0.5349943041801453, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.04708472266793251, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.4793377220630646, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 40 + ], + "candidate_oracle_potentials": [ + 0.4793377220630646, + 0.4665127098560333, + 0.44330456852912903, + 0.27717405557632446 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a323215fb409ab3e9287;ms-487d0fe2a13fb699dd7a;ms-490e2c471adbabec6304;ms-dfc38c43e9a87f99ef7f;ms-5fb06efe2b4bea27cc89;ms-2436538e05fdcf8e44fc", + "expert_regret": 0.0, + "expert_score": 0.728268027305603, + "expert_success": false, + "group_id": "ms-8864796e31bbe93d7c5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.0175213273614645, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4466291069984436, + 0.255226194858551, + 0.25259262323379517, + 0.26300349831581116 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.19140291213989258, + -0.19403648376464844, + -0.18362560868263245 + ], + "candidate_oracle_branch_scores": [ + 0.4466291069984436, + 0.255226194858551, + 0.25259262323379517, + 0.26300349831581116 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.2824518084526062, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.2824518084526062, + -0.6020644903182983, + -0.6916278600692749, + -0.7612676620483398 + ], + "candidate_oracle_progress": 0.4466291069984436, + "candidate_oracle_regret": 0.27844148874282837, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4466291069984436, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4466291069984436, + "candidate_oracle_selected_branch_score": 0.4466291069984436, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5bbc4c4b1b51e2a088db;ms-a4ade4de51ca437ac432;ms-9c33d4837de7d23232d6;ms-1b8e9b173562648021f6;ms-ff3256da4e1731651937;ms-73259d17883355f7fa88", + "expert_regret": 0.28657960891723633, + "expert_score": 0.7201105356216431, + "expert_success": false, + "group_id": "ms-3e0dbff4309ecbd35d36", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.29153966903686523, + "oracle_score": 0.725070595741272, + "oracle_success": false, + "progress": 0.43353092670440674, + "restore_error": 1.1920928955078125e-07, + "score": 0.43353092670440674, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.47010353207588196, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7071747183799744, + 0.2226998209953308, + 0.22326627373695374, + 0.22145549952983856 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.48447489738464355, + -0.48390844464302063, + -0.4857192039489746 + ], + "candidate_oracle_branch_scores": [ + 0.7071747183799744, + 0.2226998209953308, + 0.22326627373695374, + 0.22145549952983856 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0163105726242065, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0163105726242065, + -1.3818581104278564, + -1.4361459016799927, + -1.4977394342422485 + ], + "candidate_oracle_progress": 0.7071747183799744, + "candidate_oracle_regret": 1.2928252816200256, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7071747183799744, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7071747183799744, + "candidate_oracle_selected_branch_score": 0.7071747183799744, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-69785feff08dbf9a50be;ms-a829d650eb9914fb2983;ms-917b0f051489227842f0;ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-b00933d2f628bc51d80a", + "expert_regret": 1.2928252816200256, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-effca6c13ef9ccfd21a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2928252816200256, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7071747183799744, + "restore_error": 1.1920928955078125e-07, + "score": 0.7071747183799744, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48123878240585327, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6074789762496948, + 0.4227343499660492, + 0.41552433371543884, + 0.36989057064056396 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.18474462628364563, + -0.19195464253425598, + -0.23758840560913086 + ], + "candidate_oracle_branch_scores": [ + 0.6074789762496948, + 0.4227343499660492, + 0.41552433371543884, + 0.36989057064056396 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7981855273246765, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7981855273246765, + -1.154739499092102, + -1.2363585233688354, + -1.3270286321640015 + ], + "candidate_oracle_progress": 0.6074789762496948, + "candidate_oracle_regret": 1.3925210237503052, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6074789762496948, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6074789762496948, + "candidate_oracle_selected_branch_score": 0.6074789762496948, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e56b37f0e3881a70ef54;ms-6a9c4c704edd84c21cda;ms-80e3d8a34c3cb94cad65;ms-cf8c5d9c874edc9f000d;ms-fb131b52f94500da894b;ms-b025d8068f740557d630", + "expert_regret": 1.4017794132232666, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2f2b16367db3db120235", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4017794132232666, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5982205867767334, + "restore_error": 1.1920928955078125e-07, + "score": 0.5982205867767334, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31301143765449524, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7004548907279968, + 0.2257928103208542, + 0.22841250896453857, + 0.23218846321105957 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.47466206550598145, + -0.47204238176345825, + -0.46826642751693726 + ], + "candidate_oracle_branch_scores": [ + 0.7004548907279968, + 0.2257928103208542, + 0.22841250896453857, + 0.23218846321105957 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4630802273750305, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4630802273750305, + -0.8745249509811401, + -0.9667651057243347, + -1.0664464235305786 + ], + "candidate_oracle_progress": 0.7004548907279968, + "candidate_oracle_regret": 1.2995451092720032, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7004548907279968, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7004548907279968, + "candidate_oracle_selected_branch_score": 0.7004548907279968, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fdb2637276b27c46c757;ms-5bbc4c4b1b51e2a088db;ms-7cd314f076bfe5c32088;ms-ff3256da4e1731651937;ms-1b8e9b173562648021f6;ms-a4ade4de51ca437ac432", + "expert_regret": 1.2862231731414795, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-457db124a2f46a06175b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2862231731414795, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7137768268585205, + "restore_error": 1.1920928955078125e-07, + "score": 0.7137768268585205, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5097067952156067, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.38885051012039185, + 0.21262118220329285, + 0.2265237271785736, + 0.22656220197677612 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.176229327917099, + -0.16232678294181824, + -0.16228830814361572 + ], + "candidate_oracle_branch_scores": [ + 0.38885051012039185, + 0.21262118220329285, + 0.2265237271785736, + 0.22656220197677612 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7793700098991394, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7793700098991394, + -1.1311341524124146, + -1.2095776796340942, + -1.2953975200653076 + ], + "candidate_oracle_progress": 0.38885051012039185, + "candidate_oracle_regret": 1.6111494898796082, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.731118679046631e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.38885051012039185, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.38885051012039185, + "candidate_oracle_selected_branch_score": 0.38885051012039185, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e56b37f0e3881a70ef54;ms-6a9c4c704edd84c21cda;ms-fb131b52f94500da894b;ms-80e3d8a34c3cb94cad65;ms-cf8c5d9c874edc9f000d;ms-01bef10a5ccfd38294fe", + "expert_regret": 1.614962249994278, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1d728ae415a4d3cb782e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.614962249994278, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.38503775000572205, + "restore_error": 1.862645149230957e-07, + "score": 0.38503775000572205, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.619424045085907, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.20424801111221313, + 0.21411161124706268, + 0.20665501058101654, + 0.2064206600189209 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.009863600134849548, + 0.0024069994688034058, + 0.0021726489067077637 + ], + "candidate_oracle_branch_scores": [ + 0.20424801111221313, + 0.21411161124706268, + 0.20665501058101654, + 0.2064206600189209 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.7137490510940552, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 33, + 17 + ], + "candidate_oracle_potentials": [ + -1.6987770795822144, + -1.7137490510940552, + -1.7178629636764526, + -1.7204643487930298 + ], + "candidate_oracle_progress": 0.21411161124706268, + "candidate_oracle_regret": 1.7858883887529373, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.731118679046631e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21411161124706268, + "candidate_oracle_score_gain_over_selected": 0.009863600134849548, + "candidate_oracle_selected_branch_progress": 0.20424801111221313, + "candidate_oracle_selected_branch_score": 0.20424801111221313, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-49c99f285560483a85ee;ms-917b0f051489227842f0;ms-ace117030ae44c474db1;ms-b00933d2f628bc51d80a;ms-a829d650eb9914fb2983;ms-2c6000014d31fc0bb21c", + "expert_regret": 1.7957526445388794, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf2603516869355b8b13", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7957526445388794, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2042473554611206, + "restore_error": 1.862645149230957e-07, + "score": 0.2042473554611206, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.367432177066803, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.705654501914978, + 0.7093974947929382, + 0.22417104244232178 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.294345498085022, + -1.290602445602417, + -1.7758289575576782 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.705654501914978, + 0.7093974947929382, + 0.22417104244232178 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.46478110551834106, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.46478110551834106, + -0.5931810736656189, + -0.631121814250946, + -0.6766480803489685 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.731118679046631e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0ef5d3238b33bdebae4d;ms-b483cac145e16ccdf42a;ms-baa36ee75ec2de550b9b;ms-675833805d1139c2f2a0;ms-b3d9d9570bf9b64c18fe;ms-760c73ea34418ce7a006", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a20322ed13a2be7a99c6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.862645149230957e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31826725602149963, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.226004958152771, + 0.46138879656791687, + 0.22791966795921326 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.773995041847229, + -1.5386111736297607, + -1.7720803022384644 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.226004958152771, + 0.46138879656791687, + 0.22791966795921326 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.47916489839553833, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.47916489839553833, + -0.8983544707298279, + -0.9407843947410583, + -0.9766660332679749 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.731118679046631e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a4ade4de51ca437ac432;ms-9c33d4837de7d23232d6;ms-5bbc4c4b1b51e2a088db;ms-1b8e9b173562648021f6;ms-73259d17883355f7fa88;ms-b3d9d9570bf9b64c18fe", + "expert_regret": 1.271680235862732, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-835bd462e505aa659d16", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.271680235862732, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7283197641372681, + "restore_error": 1.862645149230957e-07, + "score": 0.7283197641372681, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.26759910583496094, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7135738730430603, + 0.714229941368103, + 0.7140747904777527, + 0.7138909101486206 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0006560683250427246, + 0.0005009174346923828, + 0.00031703710556030273 + ], + "candidate_oracle_branch_scores": [ + 0.7135738730430603, + 0.714229941368103, + 0.7140747904777527, + 0.7138909101486206 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.2941576838493347, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.08221947401762009, + -0.2941576838493347, + -0.43094107508659363, + -0.5597506165504456 + ], + "candidate_oracle_progress": 0.714229941368103, + "candidate_oracle_regret": 1.285770058631897, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.731118679046631e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.714229941368103, + "candidate_oracle_score_gain_over_selected": 0.0006560683250427246, + "candidate_oracle_selected_branch_progress": 0.7135738730430603, + "candidate_oracle_selected_branch_score": 0.7135738730430603, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9a72e47e2204fa794718;ms-8f24ad2e217963943c12;ms-cc0b4a1deec28e53722a;ms-92070f417bd9d14d6fc7;ms-bb567fcac946f012535a;ms-ac6e78b1c56d020d0c09", + "expert_regret": 1.2862545251846313, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a1a99e83fb2868164e40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2862545251846313, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7137454748153687, + "restore_error": 1.862645149230957e-07, + "score": 0.7137454748153687, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3928961753845215, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7264302968978882, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2735697031021118, + 1.2735697031021118, + 1.2735697031021118 + ], + "candidate_oracle_branch_scores": [ + 0.7264302968978882, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.40882608294487, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 40 + ], + "candidate_oracle_potentials": [ + 0.4186480641365051, + 0.40882608294487, + 0.38082650303840637, + 0.31866511702537537 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.731118679046631e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2735697031021118, + "candidate_oracle_selected_branch_progress": 0.7264302968978882, + "candidate_oracle_selected_branch_score": 0.7264302968978882, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dfc38c43e9a87f99ef7f;ms-487d0fe2a13fb699dd7a;ms-2436538e05fdcf8e44fc;ms-a323215fb409ab3e9287;ms-e2a037eadb166228b1dd;ms-af91167a0cf15457c6ba", + "expert_regret": 1.2762535214424133, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-938b53ef53e669518a56", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2762535214424133, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7237464785575867, + "restore_error": 1.862645149230957e-07, + "score": 0.7237464785575867, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.054515719413757324, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.2141278237104416, + 0.22448968887329102, + 0.22369486093521118, + 0.2227586805820465 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.010361865162849426, + 0.009567037224769592, + 0.00863085687160492 + ], + "candidate_oracle_branch_scores": [ + 0.2141278237104416, + 0.22448968887329102, + 0.22369486093521118, + 0.2227586805820465 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.0804026126861572, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -0.959949791431427, + -1.0804026126861572, + -1.1496914625167847, + -1.2010501623153687 + ], + "candidate_oracle_progress": 0.22448968887329102, + "candidate_oracle_regret": 1.775510311126709, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.731118679046631e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.22448968887329102, + "candidate_oracle_score_gain_over_selected": 0.010361865162849426, + "candidate_oracle_selected_branch_progress": 0.2141278237104416, + "candidate_oracle_selected_branch_score": 0.2141278237104416, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d2febdb2a469fbbac4f2;ms-9f4b47c80d59166302ab;ms-0d80d6d87a27a53951fe;ms-b2d1a5e132eaeb353782;ms-27251a7c7f13bf165e21;ms-741e906eafd57d115b5d", + "expert_regret": 0.5056938230991364, + "expert_score": 0.7198216915130615, + "expert_success": false, + "group_id": "ms-b04b489f4fbad93b65ca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7858721315860748, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21412786841392517, + "restore_error": 1.862645149230957e-07, + "score": 0.21412786841392517, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.42836102843284607, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.24758237600326538, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 8, + 24 + ], + "candidate_oracle_potentials": [ + 0.24758237600326538, + 0.2431589961051941, + 0.22643890976905823, + 0.20889708399772644 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.731118679046631e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-490e2c471adbabec6304;ms-5fb06efe2b4bea27cc89;ms-a323215fb409ab3e9287;ms-e2a037eadb166228b1dd;ms-af91167a0cf15457c6ba;ms-251c1dfd1010906f559f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-73906fdb1ffcfbe4aaf4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.862645149230957e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.26079311966896057, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6906797885894775, + 0.22367924451828003, + 0.40900564193725586, + 0.22380779683589935 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4670005440711975, + -0.2816741466522217, + -0.466871976852417 + ], + "candidate_oracle_branch_scores": [ + 0.6906797885894775, + 0.22367924451828003, + 0.40900564193725586, + 0.22380779683589935 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.5256320238113403, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.5256320238113403, + -1.85214102268219, + -1.8969911336898804, + -1.9231029748916626 + ], + "candidate_oracle_progress": 0.6906797885894775, + "candidate_oracle_regret": 1.3093202114105225, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6906797885894775, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6906797885894775, + "candidate_oracle_selected_branch_score": 0.6906797885894775, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b025d8068f740557d630;ms-55e89d326b6531345902;ms-cf8c5d9c874edc9f000d;ms-64a755437c34f39cda2a;ms-80e3d8a34c3cb94cad65;ms-f5dcf9054c3c1c4e1d50", + "expert_regret": 1.3092761635780334, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cba95475cb68ea42b041", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3092761635780334, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6907238364219666, + "restore_error": 1.1920928955078125e-07, + "score": 0.6907238364219666, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4578981101512909, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4197034537792206, + 0.3466401994228363, + 0.22393879294395447, + 0.2753986418247223 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.07306325435638428, + -0.1957646608352661, + -0.1443048119544983 + ], + "candidate_oracle_branch_scores": [ + 0.4197034537792206, + 0.3466401994228363, + 0.22393879294395447, + 0.2753986418247223 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.6537160873413086, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 35, + 1 + ], + "candidate_oracle_potentials": [ + -1.6537160873413086, + -1.7801672220230103, + -1.791648268699646, + -1.8130178451538086 + ], + "candidate_oracle_progress": 0.4197034537792206, + "candidate_oracle_regret": 1.5802965462207794, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4197034537792206, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4197034537792206, + "candidate_oracle_selected_branch_score": 0.4197034537792206, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-917b0f051489227842f0;ms-a829d650eb9914fb2983;ms-49c99f285560483a85ee;ms-69785feff08dbf9a50be;ms-b00933d2f628bc51d80a;ms-ace117030ae44c474db1", + "expert_regret": 1.5809926390647888, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1955408aeb8a8a4d0847", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5809926390647888, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4190073609352112, + "restore_error": 1.1920928955078125e-07, + "score": 0.4190073609352112, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30884918570518494, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.19778048992156982, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.19778048992156982, + -0.32583189010620117, + -0.3839870095252991, + -0.461872398853302 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f6f0d14ef7c24b9e4621;ms-675833805d1139c2f2a0;ms-29027a8e3742362fd477;ms-a40dee47c502e73949af;ms-03495469257613a802b4;ms-1b8e9b173562648021f6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-31fe1d98bc7adcd515db", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.0521808862686157, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.20896780490875244, + 0.20959040522575378, + 0.21008014678955078, + 0.2034560739994049 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0006226003170013428, + 0.0011123418807983398, + -0.005511730909347534 + ], + "candidate_oracle_branch_scores": [ + 0.20896780490875244, + 0.20959040522575378, + 0.21008014678955078, + 0.2034560739994049 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.6326969861984253, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 8 + ], + "candidate_oracle_potentials": [ + -1.5945496559143066, + -1.5946344137191772, + -1.6326969861984253, + -1.7236782312393188 + ], + "candidate_oracle_progress": 0.21008014678955078, + "candidate_oracle_regret": 1.7899198532104492, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21008014678955078, + "candidate_oracle_score_gain_over_selected": 0.0011123418807983398, + "candidate_oracle_selected_branch_progress": 0.20896780490875244, + "candidate_oracle_selected_branch_score": 0.20896780490875244, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-251c1dfd1010906f559f;ms-4b4cd12d70c0615e0930;ms-af91167a0cf15457c6ba;ms-83c0299c23fa800452c7;ms-efb5a07185a3a1b33226;ms-de8d6051e6ee74b62fec", + "expert_regret": 1.7910319566726685, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-30e2d8b7825053276e0c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7910319566726685, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20896804332733154, + "restore_error": 1.1920928955078125e-07, + "score": 0.20896804332733154, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5298153758049011, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.443962037563324, + 0.4410941004753113, + 0.4440935254096985, + 0.2179042398929596 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0028679370880126953, + 0.00013148784637451172, + -0.22605779767036438 + ], + "candidate_oracle_branch_scores": [ + 0.443962037563324, + 0.4410941004753113, + 0.4440935254096985, + 0.2179042398929596 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.2567856311798096, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -2.049191951751709, + -2.2297322750091553, + -2.2567856311798096, + -2.2814178466796875 + ], + "candidate_oracle_progress": 0.4440935254096985, + "candidate_oracle_regret": 1.5559064745903015, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4440935254096985, + "candidate_oracle_score_gain_over_selected": 0.00013148784637451172, + "candidate_oracle_selected_branch_progress": 0.443962037563324, + "candidate_oracle_selected_branch_score": 0.443962037563324, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9852b3671856321cecc8;ms-13d8bae55d3c3710138f;ms-af91167a0cf15457c6ba;ms-4b4cd12d70c0615e0930;ms-28835618507e7bc71227;ms-251c1dfd1010906f559f", + "expert_regret": 1.5560463666915894, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c2b904f450b45e2a8c9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5560463666915894, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.44395363330841064, + "restore_error": 1.1920928955078125e-07, + "score": 0.44395363330841064, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2735914885997772, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.6834083795547485, + 0.5944476127624512, + 0.6893875002861023, + 0.6599181890487671 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.08896076679229736, + 0.00597912073135376, + -0.023490190505981445 + ], + "candidate_oracle_branch_scores": [ + 0.6834083795547485, + 0.5944476127624512, + 0.6893875002861023, + 0.6599181890487671 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.2574685215950012, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.19872185587882996, + -0.23680654168128967, + -0.2574685215950012, + -0.3048925995826721 + ], + "candidate_oracle_progress": 0.6893875002861023, + "candidate_oracle_regret": 1.3106124997138977, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6893875002861023, + "candidate_oracle_score_gain_over_selected": 0.00597912073135376, + "candidate_oracle_selected_branch_progress": 0.6834083795547485, + "candidate_oracle_selected_branch_score": 0.6834083795547485, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-92070f417bd9d14d6fc7;ms-cc0b4a1deec28e53722a;ms-9a72e47e2204fa794718;ms-debd7e5668e2acdf6bb0;ms-ac6e78b1c56d020d0c09;ms-9ced92cccacfe4d157b0", + "expert_regret": 1.3077775239944458, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-aee5716b3e4fc47e46ba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3077775239944458, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6922224760055542, + "restore_error": 1.1920928955078125e-07, + "score": 0.6922224760055542, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32038477063179016, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.49476370215415955, + 0.21355502307415009, + 0.21627387404441833 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.505236268043518, + -1.7864450216293335, + -1.7837260961532593 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.49476370215415955, + 0.21355502307415009, + 0.21627387404441833 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4354698956012726, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4354698956012726, + -0.872749924659729, + -0.9752741456031799, + -1.0870839357376099 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5bbc4c4b1b51e2a088db;ms-fdb2637276b27c46c757;ms-7cd314f076bfe5c32088;ms-ff3256da4e1731651937;ms-1b8e9b173562648021f6;ms-4c638b9bb924547f69cb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b4281a37b8b48a0b4c54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5343934297561646, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.4534028470516205, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 8 + ], + "candidate_oracle_potentials": [ + 0.4534028470516205, + 0.4461262822151184, + 0.39950287342071533, + 0.05725516006350517 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a323215fb409ab3e9287;ms-5fb06efe2b4bea27cc89;ms-a6cf775fbba580161c4e;ms-490e2c471adbabec6304;ms-6a9c4c704edd84c21cda;ms-487d0fe2a13fb699dd7a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4abb3dced67d5a70fa38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.030665725469589233, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.47978657484054565, + 0.4136672914028168, + 0.40684887766838074, + 0.37299203872680664 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.06611928343772888, + -0.07293769717216492, + -0.10679453611373901 + ], + "candidate_oracle_branch_scores": [ + 0.47978657484054565, + 0.4136672914028168, + 0.40684887766838074, + 0.37299203872680664 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5931392312049866, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5931392312049866, + -1.0813255310058594, + -1.2226386070251465, + -1.384689450263977 + ], + "candidate_oracle_progress": 0.47978657484054565, + "candidate_oracle_regret": 1.5202134251594543, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.47978657484054565, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.47978657484054565, + "candidate_oracle_selected_branch_score": 0.47978657484054565, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-65e9da4468e522823587;ms-6d6456c45f9f3ae74b50;ms-7ce799eb9d3b741e8960;ms-55e89d326b6531345902;ms-40a961867249ddccb68f;ms-69785feff08dbf9a50be", + "expert_regret": 0.24454903602600098, + "expert_score": 0.7242962718009949, + "expert_success": false, + "group_id": "ms-484ea653bbca2de3a4a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.520252764225006, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4797472357749939, + "restore_error": 1.1920928955078125e-07, + "score": 0.4797472357749939, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.43245729804039, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.20438890159130096, + 0.21149036288261414, + 0.21046561002731323, + 0.21042202413082123 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.007101461291313171, + 0.006076708436012268, + 0.006033122539520264 + ], + "candidate_oracle_branch_scores": [ + 0.20438890159130096, + 0.21149036288261414, + 0.21046561002731323, + 0.21042202413082123 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.8212004899978638, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.7850061655044556, + -1.8212004899978638, + -1.8341377973556519, + -1.8511818647384644 + ], + "candidate_oracle_progress": 0.21149036288261414, + "candidate_oracle_regret": 0.5172690451145172, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21149036288261414, + "candidate_oracle_score_gain_over_selected": 0.007101461291313171, + "candidate_oracle_selected_branch_progress": 0.20438890159130096, + "candidate_oracle_selected_branch_score": 0.20438890159130096, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-69785feff08dbf9a50be;ms-917b0f051489227842f0;ms-a829d650eb9914fb2983;ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-49c99f285560483a85ee", + "expert_regret": 0.5243708789348602, + "expert_score": 0.7287594079971313, + "expert_success": false, + "group_id": "ms-01926c30568d417edd91", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5243708789348602, + "oracle_score": 0.7287594079971313, + "oracle_success": false, + "progress": 0.20438852906227112, + "restore_error": 1.1920928955078125e-07, + "score": 0.20438852906227112, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35575222969055176, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.20250511169433594, + 0.20161035656929016, + 0.20256739854812622, + 0.20265460014343262 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0008947551250457764, + 6.22868537902832e-05, + 0.0001494884490966797 + ], + "candidate_oracle_branch_scores": [ + 0.20250511169433594, + 0.20161035656929016, + 0.20256739854812622, + 0.20265460014343262 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.7763657569885254, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.28164541721344, + -1.6915234327316284, + -1.7351690530776978, + -1.7763657569885254 + ], + "candidate_oracle_progress": 0.20265460014343262, + "candidate_oracle_regret": 1.7973453998565674, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20265460014343262, + "candidate_oracle_score_gain_over_selected": 0.0001494884490966797, + "candidate_oracle_selected_branch_progress": 0.20250511169433594, + "candidate_oracle_selected_branch_score": 0.20250511169433594, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-69785feff08dbf9a50be;ms-64a755437c34f39cda2a;ms-55e89d326b6531345902;ms-7ce799eb9d3b741e8960;ms-65e9da4468e522823587;ms-6d6456c45f9f3ae74b50", + "expert_regret": 1.7974196672439575, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-88f7199271947fc4c7e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7974196672439575, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20258033275604248, + "restore_error": 1.1920928955078125e-07, + "score": 0.20258033275604248, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5686038136482239, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7056058645248413, + 0.6953475475311279, + 0.68309485912323, + 0.67955082654953 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.010258316993713379, + -0.022511005401611328, + -0.02605503797531128 + ], + "candidate_oracle_branch_scores": [ + 0.7056058645248413, + 0.6953475475311279, + 0.68309485912323, + 0.67955082654953 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.051310420036316, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.051310420036316, + -1.4863334894180298, + -1.5562835931777954, + -1.6257344484329224 + ], + "candidate_oracle_progress": 0.7056058645248413, + "candidate_oracle_regret": 1.2943941354751587, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7056058645248413, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7056058645248413, + "candidate_oracle_selected_branch_score": 0.7056058645248413, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b00933d2f628bc51d80a;ms-a99d874a81bc60301007;ms-ace117030ae44c474db1;ms-40a961867249ddccb68f;ms-2c6000014d31fc0bb21c;ms-7ce799eb9d3b741e8960", + "expert_regret": 1.2944421768188477, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-639913ac0e6b3997faae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2944421768188477, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7055578231811523, + "restore_error": 1.1920928955078125e-07, + "score": 0.7055578231811523, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5151258111000061, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4185003638267517, + 0.22025161981582642, + 0.20943769812583923, + 0.2192590832710266 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1982487440109253, + -0.20906266570091248, + -0.1992412805557251 + ], + "candidate_oracle_branch_scores": [ + 0.4185003638267517, + 0.22025161981582642, + 0.20943769812583923, + 0.2192590832710266 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6462699770927429, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 4, + 19 + ], + "candidate_oracle_potentials": [ + -0.6462699770927429, + -1.2111855745315552, + -1.319010615348816, + -1.3234667778015137 + ], + "candidate_oracle_progress": 0.4185003638267517, + "candidate_oracle_regret": 1.5814996361732483, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4185003638267517, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4185003638267517, + "candidate_oracle_selected_branch_score": 0.4185003638267517, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d2febdb2a469fbbac4f2;ms-b2d1a5e132eaeb353782;ms-0d80d6d87a27a53951fe;ms-9f4b47c80d59166302ab;ms-27251a7c7f13bf165e21;ms-741e906eafd57d115b5d", + "expert_regret": 1.5815039277076721, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1a2d298bf9972ddc1a7e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5815039277076721, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4184960722923279, + "restore_error": 1.1920928955078125e-07, + "score": 0.4184960722923279, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.44471755623817444, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.2035229206085205, + 0.221669003367424, + 0.21972320973873138, + 0.21876542270183563 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.018146082758903503, + 0.016200289130210876, + 0.015242502093315125 + ], + "candidate_oracle_branch_scores": [ + 0.2035229206085205, + 0.221669003367424, + 0.21972320973873138, + 0.21876542270183563 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.7132019996643066, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.648956537246704, + -1.7132019996643066, + -1.7511781454086304, + -1.7774688005447388 + ], + "candidate_oracle_progress": 0.221669003367424, + "candidate_oracle_regret": 1.778330996632576, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.221669003367424, + "candidate_oracle_score_gain_over_selected": 0.018146082758903503, + "candidate_oracle_selected_branch_progress": 0.2035229206085205, + "candidate_oracle_selected_branch_score": 0.2035229206085205, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-917b0f051489227842f0;ms-a829d650eb9914fb2983;ms-49c99f285560483a85ee;ms-69785feff08dbf9a50be;ms-b00933d2f628bc51d80a;ms-ace117030ae44c474db1", + "expert_regret": 1.7964770793914795, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b687dc2de14c6813d44", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7964770793914795, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2035229206085205, + "restore_error": 1.1920928955078125e-07, + "score": 0.2035229206085205, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.03939112648367882, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.5628170967102051, + 0.552478015422821, + 0.5668142437934875 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.437182903289795, + -1.4475219249725342, + -1.4331858158111572 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.5628170967102051, + 0.552478015422821, + 0.5668142437934875 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7534725666046143, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7534725666046143, + -1.2424246072769165, + -1.336011290550232, + -1.4323627948760986 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-65e9da4468e522823587;ms-6d6456c45f9f3ae74b50;ms-7ce799eb9d3b741e8960;ms-40a961867249ddccb68f;ms-69785feff08dbf9a50be;ms-55e89d326b6531345902", + "expert_regret": 0.0, + "expert_score": 0.7276846170425415, + "expert_success": false, + "group_id": "ms-df961fe24a43e56d1716", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5526486039161682, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.6957873106002808, + 0.7054178714752197, + 0.7046667337417603, + 0.664348840713501 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.009630560874938965, + 0.008879423141479492, + -0.031438469886779785 + ], + "candidate_oracle_branch_scores": [ + 0.6957873106002808, + 0.7054178714752197, + 0.7046667337417603, + 0.664348840713501 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.45132333040237427, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 17, + 1, + 33, + 8 + ], + "candidate_oracle_potentials": [ + 0.46332797408103943, + 0.45132333040237427, + 0.44166964292526245, + -0.2783612608909607 + ], + "candidate_oracle_progress": 0.7054178714752197, + "candidate_oracle_regret": 1.2945821285247803, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7054178714752197, + "candidate_oracle_score_gain_over_selected": 0.009630560874938965, + "candidate_oracle_selected_branch_progress": 0.6957873106002808, + "candidate_oracle_selected_branch_score": 0.6957873106002808, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d8295b43b30ceea30907;ms-b383acd9844466b19579;ms-7a1b60ea1461eb460bed;ms-96e1562aaca7ef49db28;ms-5799584ed40e211c50a5;ms-88fb2bebd038dc786c01", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ef2d84500e27679d22d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3819398283958435, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4911946654319763, + 0.22276923060417175, + 0.2205411046743393, + 0.22159865498542786 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.26842543482780457, + -0.27065354585647583, + -0.26959601044654846 + ], + "candidate_oracle_branch_scores": [ + 0.4911946654319763, + 0.22276923060417175, + 0.2205411046743393, + 0.22159865498542786 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7372614741325378, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7372614741325378, + -1.0997248888015747, + -1.1700081825256348, + -1.2416492700576782 + ], + "candidate_oracle_progress": 0.4911946654319763, + "candidate_oracle_regret": 1.5088053345680237, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4911946654319763, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4911946654319763, + "candidate_oracle_selected_branch_score": 0.4911946654319763, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-55e89d326b6531345902;ms-69785feff08dbf9a50be;ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-65e9da4468e522823587;ms-64a755437c34f39cda2a", + "expert_regret": 1.5111806690692902, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-894cd0e5dafb2d38831d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5111806690692902, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.48881933093070984, + "restore_error": 1.1920928955078125e-07, + "score": 0.48881933093070984, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39759010076522827, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.2334963083267212, + 0.23227685689926147, + 0.232252836227417 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.7665036916732788, + -1.7677230834960938, + -1.767747163772583 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.2334963083267212, + 0.23227685689926147, + 0.232252836227417 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8668228983879089, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8668228983879089, + -1.2247898578643799, + -1.3057496547698975, + -1.3955472707748413 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e56b37f0e3881a70ef54;ms-80e3d8a34c3cb94cad65;ms-6a9c4c704edd84c21cda;ms-fb131b52f94500da894b;ms-cf8c5d9c874edc9f000d;ms-01bef10a5ccfd38294fe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8be46dac6fc06c6c928a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2966214716434479, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.19582733511924744, + 0.19859009981155396, + 0.19870685040950775, + 0.1989647001028061 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0027627646923065186, + 0.002879515290260315, + 0.003137364983558655 + ], + "candidate_oracle_branch_scores": [ + 0.19582733511924744, + 0.19859009981155396, + 0.19870685040950775, + 0.1989647001028061 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.944287657737732, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.6156491041183472, + -1.8663935661315918, + -1.9277042150497437, + -1.944287657737732 + ], + "candidate_oracle_progress": 0.1989647001028061, + "candidate_oracle_regret": 1.801035299897194, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.1989647001028061, + "candidate_oracle_score_gain_over_selected": 0.003137364983558655, + "candidate_oracle_selected_branch_progress": 0.19582733511924744, + "candidate_oracle_selected_branch_score": 0.19582733511924744, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b025d8068f740557d630;ms-64a755437c34f39cda2a;ms-f5dcf9054c3c1c4e1d50;ms-55e89d326b6531345902;ms-cf8c5d9c874edc9f000d;ms-80e3d8a34c3cb94cad65", + "expert_regret": 1.8041926175355911, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8fabc0ac20ec87ead026", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8041926175355911, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19580738246440887, + "restore_error": 1.1920928955078125e-07, + "score": 0.19580738246440887, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38641080260276794, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5201550126075745, + 0.45866936445236206, + 0.6798295974731445, + 0.4489491879940033 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0614856481552124, + 0.15967458486557007, + -0.07120582461357117 + ], + "candidate_oracle_branch_scores": [ + 0.5201550126075745, + 0.45866936445236206, + 0.6798295974731445, + 0.4489491879940033 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.171955943107605, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7839640974998474, + -1.1093673706054688, + -1.171955943107605, + -1.23795747756958 + ], + "candidate_oracle_progress": 0.6798295974731445, + "candidate_oracle_regret": 1.3201704025268555, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6798295974731445, + "candidate_oracle_score_gain_over_selected": 0.15967458486557007, + "candidate_oracle_selected_branch_progress": 0.5201550126075745, + "candidate_oracle_selected_branch_score": 0.5201550126075745, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-55e89d326b6531345902;ms-65e9da4468e522823587;ms-b025d8068f740557d630;ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-80e3d8a34c3cb94cad65", + "expert_regret": 1.4746887683868408, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d602b7370c5b90f8a439", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4746887683868408, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5253112316131592, + "restore_error": 1.1920928955078125e-07, + "score": 0.5253112316131592, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.28380435705184937, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.12091948837041855, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.12091948837041855, + -0.26970595121383667, + -0.33265891671180725, + -0.41308000683784485 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8f24ad2e217963943c12;ms-a40dee47c502e73949af;ms-73259d17883355f7fa88;ms-9c33d4837de7d23232d6;ms-5bbc4c4b1b51e2a088db;ms-ff3256da4e1731651937", + "expert_regret": 1.3089373707771301, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7334e620435d1f3545fd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3089373707771301, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6910626292228699, + "restore_error": 1.1920928955078125e-07, + "score": 0.6910626292228699, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3081762492656708, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5569461584091187, + 0.4647149443626404, + 0.46572956442832947, + 0.45243173837661743 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.09223121404647827, + -0.09121659398078918, + -0.10451442003250122 + ], + "candidate_oracle_branch_scores": [ + 0.5569461584091187, + 0.4647149443626404, + 0.46572956442832947, + 0.45243173837661743 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4608173370361328, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + -0.4608173370361328, + -0.6123660206794739, + -0.6178088784217834, + -0.6399973034858704 + ], + "candidate_oracle_progress": 0.5569461584091187, + "candidate_oracle_regret": 1.4430538415908813, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5569461584091187, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5569461584091187, + "candidate_oracle_selected_branch_score": 0.5569461584091187, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-92070f417bd9d14d6fc7;ms-ac6e78b1c56d020d0c09;ms-cc0b4a1deec28e53722a;ms-9ced92cccacfe4d157b0;ms-debd7e5668e2acdf6bb0;ms-9a72e47e2204fa794718", + "expert_regret": 1.3371731042861938, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d3377ca0da444ae9b40a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3371731042861938, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6628268957138062, + "restore_error": 1.1920928955078125e-07, + "score": 0.6628268957138062, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2729220986366272, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2806628346443176, + 0.27928459644317627, + 0.27793657779693604, + 0.26695120334625244 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0013782382011413574, + -0.002726256847381592, + -0.013711631298065186 + ], + "candidate_oracle_branch_scores": [ + 0.2806628346443176, + 0.27928459644317627, + 0.27793657779693604, + 0.26695120334625244 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0182839632034302, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0182839632034302, + -1.3774155378341675, + -1.4556912183761597, + -1.5440688133239746 + ], + "candidate_oracle_progress": 0.2806628346443176, + "candidate_oracle_regret": 1.7193371653556824, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2806628346443176, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2806628346443176, + "candidate_oracle_selected_branch_score": 0.2806628346443176, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b025d8068f740557d630;ms-80e3d8a34c3cb94cad65;ms-6a9c4c704edd84c21cda;ms-cf8c5d9c874edc9f000d;ms-e56b37f0e3881a70ef54;ms-55e89d326b6531345902", + "expert_regret": 1.7184217870235443, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3a97ee208c6be9ed8b74", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7184217870235443, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2815782129764557, + "restore_error": 1.1920928955078125e-07, + "score": 0.2815782129764557, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3180429935455322, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.20132580399513245, + 0.2029801458120346, + 0.20319657027721405, + 0.20341584086418152 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0016543418169021606, + 0.001870766282081604, + 0.0020900368690490723 + ], + "candidate_oracle_branch_scores": [ + 0.20132580399513245, + 0.2029801458120346, + 0.20319657027721405, + 0.20341584086418152 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.741414189338684, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 8, + 24, + 40 + ], + "candidate_oracle_potentials": [ + -1.5462390184402466, + -1.7364921569824219, + -1.73720121383667, + -1.741414189338684 + ], + "candidate_oracle_progress": 0.20341584086418152, + "candidate_oracle_regret": 1.7965841591358185, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20341584086418152, + "candidate_oracle_score_gain_over_selected": 0.0020900368690490723, + "candidate_oracle_selected_branch_progress": 0.20132580399513245, + "candidate_oracle_selected_branch_score": 0.20132580399513245, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cf8c5d9c874edc9f000d;ms-6a9c4c704edd84c21cda;ms-e56b37f0e3881a70ef54;ms-b025d8068f740557d630;ms-80e3d8a34c3cb94cad65;ms-01bef10a5ccfd38294fe", + "expert_regret": 1.7986742854118347, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28fe4b5a2888189c28d9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7986742854118347, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20132571458816528, + "restore_error": 1.1920928955078125e-07, + "score": 0.20132571458816528, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.18031518161296844, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.44896355271339417, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.44896355271339417, + -0.8498565554618835, + -0.9749211668968201, + -1.1120020151138306 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fdb2637276b27c46c757;ms-076246c4c5d1ca8ccd9d;ms-507199452c6d42562a38;ms-bc29afbe2bbf00638d25;ms-35babd5f83dcf1561f9a;ms-684a66885f21739d826b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-32943eea3e70cd02f313", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.07395017892122269, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.6928300857543945, + 0.6908029317855835, + 0.6945275068283081, + 0.25607454776763916 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002027153968811035, + 0.0016974210739135742, + -0.43675553798675537 + ], + "candidate_oracle_branch_scores": [ + 0.6928300857543945, + 0.6908029317855835, + 0.6945275068283081, + 0.25607454776763916 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.485130250453949, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 17, + 33, + 1, + 40 + ], + "candidate_oracle_potentials": [ + 0.5207523107528687, + 0.5190922617912292, + 0.485130250453949, + 0.214723140001297 + ], + "candidate_oracle_progress": 0.6945275068283081, + "candidate_oracle_regret": 1.305472493171692, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6945275068283081, + "candidate_oracle_score_gain_over_selected": 0.0016974210739135742, + "candidate_oracle_selected_branch_progress": 0.6928300857543945, + "candidate_oracle_selected_branch_score": 0.6928300857543945, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a323215fb409ab3e9287;ms-5fb06efe2b4bea27cc89;ms-490e2c471adbabec6304;ms-a6cf775fbba580161c4e;ms-487d0fe2a13fb699dd7a;ms-dfc38c43e9a87f99ef7f", + "expert_regret": 0.04280894994735718, + "expert_score": 0.7292043566703796, + "expert_success": false, + "group_id": "ms-dd32ce9859c365c535b4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3136045932769775, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6863954067230225, + "restore_error": 1.1920928955078125e-07, + "score": 0.6863954067230225, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.397544801235199, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5995661616325378 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.4004337787628174 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5995661616325378 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.517230749130249, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.517230749130249, + -0.6898455619812012, + -0.7254622578620911, + -0.7646682858467102 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0ef5d3238b33bdebae4d;ms-b483cac145e16ccdf42a;ms-baa36ee75ec2de550b9b;ms-b3d9d9570bf9b64c18fe;ms-760c73ea34418ce7a006;ms-675833805d1139c2f2a0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8556e974064f31ae1468", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.609860360622406, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3930566906929016, + 0.22670041024684906, + 0.22662943601608276, + 0.22415833175182343 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.16635628044605255, + -0.16642725467681885, + -0.16889835894107819 + ], + "candidate_oracle_branch_scores": [ + 0.3930566906929016, + 0.22670041024684906, + 0.22662943601608276, + 0.22415833175182343 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8317906260490417, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -0.8317906260490417, + -1.0847004652023315, + -1.1311486959457397, + -1.1896153688430786 + ], + "candidate_oracle_progress": 0.3930566906929016, + "candidate_oracle_regret": 1.6069433093070984, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3930566906929016, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3930566906929016, + "candidate_oracle_selected_branch_score": 0.3930566906929016, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9f4b47c80d59166302ab;ms-d2febdb2a469fbbac4f2;ms-0d80d6d87a27a53951fe;ms-b2d1a5e132eaeb353782;ms-27251a7c7f13bf165e21;ms-741e906eafd57d115b5d", + "expert_regret": 1.6069326400756836, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf44ae14778c60c36af0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6069326400756836, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3930673599243164, + "restore_error": 1.1920928955078125e-07, + "score": 0.3930673599243164, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32648614048957825, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7181679010391235, + 0.7058964967727661, + 0.7056905031204224, + 0.7020853757858276 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.012271404266357422, + -0.012477397918701172, + -0.0160825252532959 + ], + "candidate_oracle_branch_scores": [ + 0.7181679010391235, + 0.7058964967727661, + 0.7056905031204224, + 0.7020853757858276 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.30323031544685364, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.30323031544685364, + -0.5991732478141785, + -0.6886026859283447, + -0.794127881526947 + ], + "candidate_oracle_progress": 0.7181679010391235, + "candidate_oracle_regret": 1.2818320989608765, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7181679010391235, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7181679010391235, + "candidate_oracle_selected_branch_score": 0.7181679010391235, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7cd314f076bfe5c32088;ms-ff3256da4e1731651937;ms-1b8e9b173562648021f6;ms-5bbc4c4b1b51e2a088db;ms-03495469257613a802b4;ms-4c638b9bb924547f69cb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4dc9ab19fbe571f09699", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.18443235754966736, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.0160527303814888, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -0.0160527303814888, + -0.04152543097734451, + -0.08619897812604904, + -0.21069422364234924 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-502dba1003c09ec60ba0;ms-59bff662e0ecb913ed81;ms-96e1562aaca7ef49db28;ms-7a1b60ea1461eb460bed;ms-cc0b4a1deec28e53722a;ms-9ced92cccacfe4d157b0", + "expert_regret": 0.0, + "expert_score": 0.72175133228302, + "expert_success": false, + "group_id": "ms-f2c8835e8a162283a646", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 0.7227193117141724, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2466580867767334, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.47820553183555603, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 17, + 1, + 33, + 24 + ], + "candidate_oracle_potentials": [ + 0.47820553183555603, + 0.4700220227241516, + 0.4625855088233948, + 0.24210846424102783 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-490e2c471adbabec6304;ms-a323215fb409ab3e9287;ms-5fb06efe2b4bea27cc89;ms-487d0fe2a13fb699dd7a;ms-dfc38c43e9a87f99ef7f;ms-e2a037eadb166228b1dd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7614105b40956cc606ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3016321361064911, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7011117935180664, + 0.21727770566940308, + 0.6864633560180664, + 0.2135174572467804 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.48383408784866333, + -0.0146484375, + -0.487594336271286 + ], + "candidate_oracle_branch_scores": [ + 0.7011117935180664, + 0.21727770566940308, + 0.6864633560180664, + 0.2135174572467804 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5513103604316711, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5513103604316711, + -0.9592286944389343, + -1.0556360483169556, + -1.1580485105514526 + ], + "candidate_oracle_progress": 0.7011117935180664, + "candidate_oracle_regret": 1.2988882064819336, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7011117935180664, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7011117935180664, + "candidate_oracle_selected_branch_score": 0.7011117935180664, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b483cac145e16ccdf42a;ms-760c73ea34418ce7a006;ms-f6f0d14ef7c24b9e4621;ms-9c33d4837de7d23232d6;ms-b3d9d9570bf9b64c18fe;ms-0ef5d3238b33bdebae4d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a2c1429e7b81479b52db", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2606843411922455, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7073890566825867, + 0.7090516090393066, + 0.7087445259094238, + 0.7103697061538696 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0016625523567199707, + 0.0013554692268371582, + 0.002980649471282959 + ], + "candidate_oracle_branch_scores": [ + 0.7073890566825867, + 0.7090516090393066, + 0.7087445259094238, + 0.7103697061538696 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0204582214355469, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5217964053153992, + -0.8213209509849548, + -0.9136604070663452, + -1.0204582214355469 + ], + "candidate_oracle_progress": 0.7103697061538696, + "candidate_oracle_regret": 1.2896302938461304, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7103697061538696, + "candidate_oracle_score_gain_over_selected": 0.002980649471282959, + "candidate_oracle_selected_branch_progress": 0.7073890566825867, + "candidate_oracle_selected_branch_score": 0.7073890566825867, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-507199452c6d42562a38;ms-076246c4c5d1ca8ccd9d;ms-bc29afbe2bbf00638d25;ms-684a66885f21739d826b;ms-fdb2637276b27c46c757;ms-35babd5f83dcf1561f9a", + "expert_regret": 1.29139643907547, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c3fb1d170c1a7965ac4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.29139643907547, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.70860356092453, + "restore_error": 2.384185791015625e-07, + "score": 0.70860356092453, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5773535966873169, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.36958444118499756, + 0.30861225724220276, + 0.22092095017433167, + 0.22886011004447937 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0609721839427948, + -0.1486634910106659, + -0.1407243311405182 + ], + "candidate_oracle_branch_scores": [ + 0.36958444118499756, + 0.30861225724220276, + 0.22092095017433167, + 0.22886011004447937 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0182758569717407, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0182758569717407, + -1.2892996072769165, + -1.339218258857727, + -1.398878812789917 + ], + "candidate_oracle_progress": 0.36958444118499756, + "candidate_oracle_regret": 1.6304155588150024, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.36958444118499756, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.36958444118499756, + "candidate_oracle_selected_branch_score": 0.36958444118499756, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-40a961867249ddccb68f;ms-6d6456c45f9f3ae74b50;ms-01bef10a5ccfd38294fe;ms-a99d874a81bc60301007;ms-7ce799eb9d3b741e8960;ms-65e9da4468e522823587", + "expert_regret": 1.6303758919239044, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-acbb7db5601f93bef99d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6303758919239044, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3696241080760956, + "restore_error": 2.384185791015625e-07, + "score": 0.3696241080760956, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.20864227414131165, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.27221208810806274, + 0.2527555525302887, + 0.2528645396232605, + 0.2526111900806427 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.019456535577774048, + -0.019347548484802246, + -0.019600898027420044 + ], + "candidate_oracle_branch_scores": [ + 0.27221208810806274, + 0.2527555525302887, + 0.2528645396232605, + 0.2526111900806427 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4706307649612427, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4706307649612427, + -0.9080594182014465, + -0.990584671497345, + -1.0724823474884033 + ], + "candidate_oracle_progress": 0.27221208810806274, + "candidate_oracle_regret": 1.7277879118919373, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.27221208810806274, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.27221208810806274, + "candidate_oracle_selected_branch_score": 0.27221208810806274, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fdb2637276b27c46c757;ms-5bbc4c4b1b51e2a088db;ms-a4ade4de51ca437ac432;ms-9c33d4837de7d23232d6;ms-1b8e9b173562648021f6;ms-4c638b9bb924547f69cb", + "expert_regret": 1.7269089221954346, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01ab68aa5051226638ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7269089221954346, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.27309107780456543, + "restore_error": 2.384185791015625e-07, + "score": 0.27309107780456543, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.24249543249607086, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7289224863052368, + 0.727223813533783, + 0.7106304168701172 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2710775136947632, + -1.2727761268615723, + -1.2893695831298828 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7289224863052368, + 0.727223813533783, + 0.7106304168701172 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.1452476680278778, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.1452476680278778, + -0.2712649405002594, + -0.3266404867172241, + -0.39625799655914307 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-73259d17883355f7fa88;ms-9c33d4837de7d23232d6;ms-a4ade4de51ca437ac432;ms-5bbc4c4b1b51e2a088db;ms-f6f0d14ef7c24b9e4621;ms-1b8e9b173562648021f6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0f02ff35b7fa1234c52e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.472808837890625, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.7220651507377625, + 0.7223016619682312, + 0.722327470779419, + 0.7216091156005859 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00023651123046875, + 0.00026232004165649414, + -0.00045603513717651367 + ], + "candidate_oracle_branch_scores": [ + 0.7220651507377625, + 0.7223016619682312, + 0.722327470779419, + 0.7216091156005859 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.2401180863380432, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 3 + ], + "candidate_oracle_potentials": [ + 0.2989674210548401, + 0.27588942646980286, + 0.2401180863380432, + 0.22869452834129333 + ], + "candidate_oracle_progress": 0.722327470779419, + "candidate_oracle_regret": 1.277672529220581, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.722327470779419, + "candidate_oracle_score_gain_over_selected": 0.00026232004165649414, + "candidate_oracle_selected_branch_progress": 0.7220651507377625, + "candidate_oracle_selected_branch_score": 0.7220651507377625, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a323215fb409ab3e9287;ms-5fb06efe2b4bea27cc89;ms-490e2c471adbabec6304;ms-487d0fe2a13fb699dd7a;ms-dfc38c43e9a87f99ef7f;ms-2436538e05fdcf8e44fc", + "expert_regret": 1.2776136994361877, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10c475db809a353fa815", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2776136994361877, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7223863005638123, + "restore_error": 2.384185791015625e-07, + "score": 0.7223863005638123, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3637963831424713, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7188448905944824, + 0.4712981879711151, + 0.22252708673477173, + 0.2175655961036682 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.2475467026233673, + -0.4963178038597107, + -0.5012792944908142 + ], + "candidate_oracle_branch_scores": [ + 0.7188448905944824, + 0.4712981879711151, + 0.22252708673477173, + 0.2175655961036682 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6332641243934631, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6332641243934631, + -0.9633767008781433, + -1.037270188331604, + -1.1185580492019653 + ], + "candidate_oracle_progress": 0.7188448905944824, + "candidate_oracle_regret": 1.2811551094055176, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7188448905944824, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7188448905944824, + "candidate_oracle_selected_branch_score": 0.7188448905944824, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-55e89d326b6531345902;ms-65e9da4468e522823587;ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-b025d8068f740557d630;ms-69785feff08dbf9a50be", + "expert_regret": 1.2811551094055176, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4c72a9ad08cbf51799fb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2811551094055176, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7188448905944824, + "restore_error": 2.384185791015625e-07, + "score": 0.7188448905944824, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2592349946498871, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.3306918442249298, + 0.47196924686431885, + 0.45722493529319763, + 0.4444213807582855 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.14127740263938904, + 0.12653309106826782, + 0.11372953653335571 + ], + "candidate_oracle_branch_scores": [ + 0.3306918442249298, + 0.47196924686431885, + 0.45722493529319763, + 0.4444213807582855 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.5930895805358887, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.21151602268219, + -1.5930895805358887, + -1.671217918395996, + -1.761173129081726 + ], + "candidate_oracle_progress": 0.47196924686431885, + "candidate_oracle_regret": 1.5280307531356812, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.47196924686431885, + "candidate_oracle_score_gain_over_selected": 0.14127740263938904, + "candidate_oracle_selected_branch_progress": 0.3306918442249298, + "candidate_oracle_selected_branch_score": 0.3306918442249298, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5dcf9054c3c1c4e1d50;ms-55e89d326b6531345902;ms-b025d8068f740557d630;ms-64a755437c34f39cda2a;ms-65e9da4468e522823587;ms-69785feff08dbf9a50be", + "expert_regret": 1.6693146228790283, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0251a326271aa1cab82b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6693146228790283, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3306853771209717, + "restore_error": 2.384185791015625e-07, + "score": 0.3306853771209717, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.28745704889297485, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7014665007591248, + 0.7014006972312927, + 0.6751031279563904, + 0.6859102249145508 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -6.580352783203125e-05, + -0.026363372802734375, + -0.015556275844573975 + ], + "candidate_oracle_branch_scores": [ + 0.7014665007591248, + 0.7014006972312927, + 0.6751031279563904, + 0.6859102249145508 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.20676109194755554, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.20676109194755554, + -0.4614798426628113, + -0.48425155878067017, + -0.4936043620109558 + ], + "candidate_oracle_progress": 0.7014665007591248, + "candidate_oracle_regret": 1.2985334992408752, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7014665007591248, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7014665007591248, + "candidate_oracle_selected_branch_score": 0.7014665007591248, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-debd7e5668e2acdf6bb0;ms-92070f417bd9d14d6fc7;ms-bb567fcac946f012535a;ms-9a72e47e2204fa794718;ms-cc0b4a1deec28e53722a;ms-9ced92cccacfe4d157b0", + "expert_regret": 1.3060324788093567, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-59474486dd5cb4e5bfd5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3060324788093567, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6939675211906433, + "restore_error": 2.384185791015625e-07, + "score": 0.6939675211906433, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32836398482322693, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7230948209762573, + 0.37134289741516113, + 0.2693778872489929, + 0.25630640983581543 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.3517519235610962, + -0.4537169337272644, + -0.4667884111404419 + ], + "candidate_oracle_branch_scores": [ + 0.7230948209762573, + 0.37134289741516113, + 0.2693778872489929, + 0.25630640983581543 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.27489280700683594, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.27489280700683594, + -0.4963924288749695, + -0.5607248544692993, + -0.63516765832901 + ], + "candidate_oracle_progress": 0.7230948209762573, + "candidate_oracle_regret": 1.2769051790237427, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7230948209762573, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7230948209762573, + "candidate_oracle_selected_branch_score": 0.7230948209762573, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5bbc4c4b1b51e2a088db;ms-a4ade4de51ca437ac432;ms-1b8e9b173562648021f6;ms-9c33d4837de7d23232d6;ms-ff3256da4e1731651937;ms-03495469257613a802b4", + "expert_regret": 1.2805712223052979, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bdb04ada069c35d51e2e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2805712223052979, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7194287776947021, + "restore_error": 1.1920928955078125e-07, + "score": 0.7194287776947021, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.13350015878677368, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7171971201896667, + 0.7167612314224243, + 0.7166359424591064, + 0.7093035578727722 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00043588876724243164, + -0.0005611777305603027, + -0.007893562316894531 + ], + "candidate_oracle_branch_scores": [ + 0.7171971201896667, + 0.7167612314224243, + 0.7166359424591064, + 0.7093035578727722 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.3554246425628662, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 40 + ], + "candidate_oracle_potentials": [ + 0.3554246425628662, + 0.3266837000846863, + 0.28078460693359375, + 0.22478288412094116 + ], + "candidate_oracle_progress": 0.7171971201896667, + "candidate_oracle_regret": 1.2828028798103333, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7171971201896667, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7171971201896667, + "candidate_oracle_selected_branch_score": 0.7171971201896667, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fb329ccd569163c53415;ms-26322bd4de52dbd5743c;ms-dfc38c43e9a87f99ef7f;ms-e2950dcb50ed2b955be6;ms-487d0fe2a13fb699dd7a;ms-2436538e05fdcf8e44fc", + "expert_regret": 0.0, + "expert_score": 0.7083660364151001, + "expert_success": false, + "group_id": "ms-d80d4dc70953915f21e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.2831799983978271, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7168200016021729, + "restore_error": 1.1920928955078125e-07, + "score": 0.7168200016021729, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.33865275979042053, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7278907299041748, + 0.7259549498558044, + 0.725674033164978, + 0.7253686785697937 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0019357800483703613, + -0.0022166967391967773, + -0.0025220513343811035 + ], + "candidate_oracle_branch_scores": [ + 0.7278907299041748, + 0.7259549498558044, + 0.725674033164978, + 0.7253686785697937 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.33514121174812317, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.33514121174812317, + -0.5698978900909424, + -0.6337746977806091, + -0.7107757925987244 + ], + "candidate_oracle_progress": 0.7278907299041748, + "candidate_oracle_regret": 1.2721092700958252, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7278907299041748, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7278907299041748, + "candidate_oracle_selected_branch_score": 0.7278907299041748, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1b8e9b173562648021f6;ms-5bbc4c4b1b51e2a088db;ms-4c638b9bb924547f69cb;ms-b3d9d9570bf9b64c18fe;ms-03495469257613a802b4;ms-29027a8e3742362fd477", + "expert_regret": 1.2712648510932922, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3661d65df223386f1be9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2712648510932922, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7287351489067078, + "restore_error": 1.1920928955078125e-07, + "score": 0.7287351489067078, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5967331528663635, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.30309054255485535, + 0.29991719126701355, + 0.25340569019317627, + 0.32382428646087646 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.003173351287841797, + -0.04968485236167908, + 0.020733743906021118 + ], + "candidate_oracle_branch_scores": [ + 0.30309054255485535, + 0.29991719126701355, + 0.25340569019317627, + 0.32382428646087646 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.391525000333786, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 8, + 0 + ], + "candidate_oracle_potentials": [ + -0.34087395668029785, + -0.3696526885032654, + -0.37341004610061646, + -0.391525000333786 + ], + "candidate_oracle_progress": 0.32382428646087646, + "candidate_oracle_regret": 1.6761757135391235, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.32382428646087646, + "candidate_oracle_score_gain_over_selected": 0.020733743906021118, + "candidate_oracle_selected_branch_progress": 0.30309054255485535, + "candidate_oracle_selected_branch_score": 0.30309054255485535, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-7a1b60ea1461eb460bed;ms-92070f417bd9d14d6fc7;ms-debd7e5668e2acdf6bb0;ms-ac6e78b1c56d020d0c09;ms-cc0b4a1deec28e53722a", + "expert_regret": 1.681843340396881, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d1cc32a5c52e78aa5e39", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.681843340396881, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3181566596031189, + "restore_error": 1.1920928955078125e-07, + "score": 0.3181566596031189, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.04684712365269661, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7054983973503113, + 0.21856561303138733, + 0.2283901870250702, + 0.23070494830608368 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.48693278431892395, + -0.4771082103252411, + -0.4747934341430664 + ], + "candidate_oracle_branch_scores": [ + 0.7054983973503113, + 0.21856561303138733, + 0.2283901870250702, + 0.23070494830608368 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2060374021530151, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.2060374021530151, + -1.508596420288086, + -1.5775874853134155, + -1.6522178649902344 + ], + "candidate_oracle_progress": 0.7054983973503113, + "candidate_oracle_regret": 1.2945016026496887, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7054983973503113, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7054983973503113, + "candidate_oracle_selected_branch_score": 0.7054983973503113, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5fb06efe2b4bea27cc89;ms-490e2c471adbabec6304;ms-a323215fb409ab3e9287;ms-a6cf775fbba580161c4e;ms-de8d6051e6ee74b62fec;ms-83c0299c23fa800452c7", + "expert_regret": 0.02240055799484253, + "expert_score": 0.7288640737533569, + "expert_success": false, + "group_id": "ms-3352cd51af5ae6aac4c0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2935364842414856, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7064635157585144, + "restore_error": 1.1920928955078125e-07, + "score": 0.7064635157585144, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6120805740356445, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7284659147262573, + 0.4961623549461365, + 0.3578953742980957, + 0.23297378420829773 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.23230355978012085, + -0.3705705404281616, + -0.4954921305179596 + ], + "candidate_oracle_branch_scores": [ + 0.7284659147262573, + 0.4961623549461365, + 0.3578953742980957, + 0.23297378420829773 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8289651870727539, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8289651870727539, + -1.1515674591064453, + -1.2201834917068481, + -1.2945475578308105 + ], + "candidate_oracle_progress": 0.7284659147262573, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7284659147262573, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7284659147262573, + "candidate_oracle_selected_branch_score": 0.7284659147262573, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a9c4c704edd84c21cda;ms-80e3d8a34c3cb94cad65;ms-e56b37f0e3881a70ef54;ms-a6cf775fbba580161c4e;ms-cf8c5d9c874edc9f000d;ms-b025d8068f740557d630", + "expert_regret": 0.49933433532714844, + "expert_score": 0.7186483144760132, + "expert_success": false, + "group_id": "ms-85e3feba1c0f3084cfa0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.49933433532714844, + "oracle_score": 0.7186483144760132, + "oracle_success": false, + "progress": 0.21931397914886475, + "restore_error": 1.1920928955078125e-07, + "score": 0.21931397914886475, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2267792522907257, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7182178497314453, + 0.23374788463115692, + 0.23243765532970428, + 0.2341786026954651 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4844699501991272, + -0.48578017950057983, + -0.4840392470359802 + ], + "candidate_oracle_branch_scores": [ + 0.7182178497314453, + 0.23374788463115692, + 0.23243765532970428, + 0.2341786026954651 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.33134305477142334, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.33134305477142334, + -0.4458567500114441, + -0.4883844256401062, + -0.5421207547187805 + ], + "candidate_oracle_progress": 0.7182178497314453, + "candidate_oracle_regret": 1.2817821502685547, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7182178497314453, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7182178497314453, + "candidate_oracle_selected_branch_score": 0.7182178497314453, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-baa36ee75ec2de550b9b;ms-b483cac145e16ccdf42a;ms-0ef5d3238b33bdebae4d;ms-760c73ea34418ce7a006;ms-f6f0d14ef7c24b9e4621;ms-a4ade4de51ca437ac432", + "expert_regret": 1.2769135236740112, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-93b076203c0c65fb22be", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2769135236740112, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7230864763259888, + "restore_error": 1.1920928955078125e-07, + "score": 0.7230864763259888, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3106050193309784, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.6977795362472534, + 0.7086981534957886, + 0.7132234573364258, + 0.712674081325531 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.010918617248535156, + 0.015443921089172363, + 0.014894545078277588 + ], + "candidate_oracle_branch_scores": [ + 0.6977795362472534, + 0.7086981534957886, + 0.7132234573364258, + 0.712674081325531 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6042452454566956, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.25514334440231323, + -0.5845373272895813, + -0.6042452454566956, + -0.6059553027153015 + ], + "candidate_oracle_progress": 0.7132234573364258, + "candidate_oracle_regret": 1.2867765426635742, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7132234573364258, + "candidate_oracle_score_gain_over_selected": 0.015443921089172363, + "candidate_oracle_selected_branch_progress": 0.6977795362472534, + "candidate_oracle_selected_branch_score": 0.6977795362472534, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-debd7e5668e2acdf6bb0;ms-9a72e47e2204fa794718;ms-92070f417bd9d14d6fc7;ms-ac6e78b1c56d020d0c09;ms-9ced92cccacfe4d157b0;ms-cc0b4a1deec28e53722a", + "expert_regret": 1.2962198853492737, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61c099575bcff2de95e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2962198853492737, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7037801146507263, + "restore_error": 1.1920928955078125e-07, + "score": 0.7037801146507263, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3374508023262024, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3725307881832123, + 0.28342413902282715, + 0.2105899453163147, + 0.21097248792648315 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.08910664916038513, + -0.16194084286689758, + -0.16155830025672913 + ], + "candidate_oracle_branch_scores": [ + 0.3725307881832123, + 0.28342413902282715, + 0.2105899453163147, + 0.21097248792648315 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5540973544120789, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5540973544120789, + -0.7902660965919495, + -0.845905601978302, + -0.9069399833679199 + ], + "candidate_oracle_progress": 0.3725307881832123, + "candidate_oracle_regret": 1.6274692118167877, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3725307881832123, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3725307881832123, + "candidate_oracle_selected_branch_score": 0.3725307881832123, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-65e9da4468e522823587;ms-01bef10a5ccfd38294fe;ms-b025d8068f740557d630;ms-cf8c5d9c874edc9f000d;ms-6d6456c45f9f3ae74b50;ms-55e89d326b6531345902", + "expert_regret": 1.6274544596672058, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-69cb3fa758f707a58076", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6274544596672058, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3725455403327942, + "restore_error": 1.1920928955078125e-07, + "score": 0.3725455403327942, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2610635459423065, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.13404393196105957, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.13404393196105957, + -0.5201756358146667, + -0.6556925177574158, + -0.6612129807472229 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9a72e47e2204fa794718;ms-8f24ad2e217963943c12;ms-bb567fcac946f012535a;ms-575bd87a5da90963019d;ms-73259d17883355f7fa88;ms-a40dee47c502e73949af", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ec4accef21246e0c9213", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37757548689842224, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3979303240776062, + 0.2300236076116562, + 0.2303486317396164, + 0.2307640016078949 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.16790671646595, + -0.1675816923379898, + -0.1671663224697113 + ], + "candidate_oracle_branch_scores": [ + 0.3979303240776062, + 0.2300236076116562, + 0.2303486317396164, + 0.2307640016078949 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.595753014087677, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.595753014087677, + -0.9458245038986206, + -1.0158125162124634, + -1.0920180082321167 + ], + "candidate_oracle_progress": 0.3979303240776062, + "candidate_oracle_regret": 1.6020696759223938, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3979303240776062, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3979303240776062, + "candidate_oracle_selected_branch_score": 0.3979303240776062, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4c638b9bb924547f69cb;ms-b3d9d9570bf9b64c18fe;ms-29027a8e3742362fd477;ms-03495469257613a802b4;ms-1b8e9b173562648021f6;ms-f6f0d14ef7c24b9e4621", + "expert_regret": 1.5990699529647827, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b319cc2760d8d48f4617", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5990699529647827, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4009300470352173, + "restore_error": 1.1920928955078125e-07, + "score": 0.4009300470352173, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2999478876590729, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.20090973377227783, + 0.20098356902599335, + 0.19718323647975922, + 0.20099025964736938 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 7.383525371551514e-05, + -0.0037264972925186157, + 8.052587509155273e-05 + ], + "candidate_oracle_branch_scores": [ + 0.20090973377227783, + 0.20098356902599335, + 0.19718323647975922, + 0.20099025964736938 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.8974536657333374, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.5055514574050903, + -1.8279762268066406, + -1.8807339668273926, + -1.8974536657333374 + ], + "candidate_oracle_progress": 0.20099025964736938, + "candidate_oracle_regret": 1.7990097403526306, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20099025964736938, + "candidate_oracle_score_gain_over_selected": 8.052587509155273e-05, + "candidate_oracle_selected_branch_progress": 0.20090973377227783, + "candidate_oracle_selected_branch_score": 0.20090973377227783, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b025d8068f740557d630;ms-55e89d326b6531345902;ms-cf8c5d9c874edc9f000d;ms-64a755437c34f39cda2a;ms-65e9da4468e522823587;ms-80e3d8a34c3cb94cad65", + "expert_regret": 1.7990899235010147, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ee28aef4a7ee25ff7f7c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7990899235010147, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2009100764989853, + "restore_error": 1.1920928955078125e-07, + "score": 0.2009100764989853, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.46198898553848267, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.2009197473526001, + 0.2099381983280182, + 0.20026487112045288, + 0.20954053103923798 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00901845097541809, + -0.0006548762321472168, + 0.008620783686637878 + ], + "candidate_oracle_branch_scores": [ + 0.2009197473526001, + 0.2099381983280182, + 0.20026487112045288, + 0.20954053103923798 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.8928874731063843, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 4, + 19 + ], + "candidate_oracle_potentials": [ + -1.7787327766418457, + -1.8928874731063843, + -1.9062827825546265, + -1.9093245267868042 + ], + "candidate_oracle_progress": 0.2099381983280182, + "candidate_oracle_regret": 1.7900618016719818, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2099381983280182, + "candidate_oracle_score_gain_over_selected": 0.00901845097541809, + "candidate_oracle_selected_branch_progress": 0.2009197473526001, + "candidate_oracle_selected_branch_score": 0.2009197473526001, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-64a755437c34f39cda2a;ms-69785feff08dbf9a50be;ms-a829d650eb9914fb2983;ms-f5dcf9054c3c1c4e1d50;ms-7ce799eb9d3b741e8960;ms-55e89d326b6531345902", + "expert_regret": 1.7990836650133133, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-619d3d285d2cae3abbb9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7990836650133133, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2009163349866867, + "restore_error": 1.1920928955078125e-07, + "score": 0.2009163349866867, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.17034628987312317, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7141187191009521, + 0.6848007440567017, + 0.68463534116745, + 0.6845197677612305 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.02931797504425049, + -0.029483377933502197, + -0.02959895133972168 + ], + "candidate_oracle_branch_scores": [ + 0.7141187191009521, + 0.6848007440567017, + 0.68463534116745, + 0.6845197677612305 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7819147706031799, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7819147706031799, + -1.2306345701217651, + -1.3231297731399536, + -1.4149762392044067 + ], + "candidate_oracle_progress": 0.7141187191009521, + "candidate_oracle_regret": 1.2858812808990479, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7141187191009521, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7141187191009521, + "candidate_oracle_selected_branch_score": 0.7141187191009521, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b483cac145e16ccdf42a;ms-760c73ea34418ce7a006;ms-0ef5d3238b33bdebae4d;ms-baa36ee75ec2de550b9b;ms-b3d9d9570bf9b64c18fe;ms-f6f0d14ef7c24b9e4621", + "expert_regret": 1.2855642437934875, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3efca8ee8623914a4faf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2855642437934875, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7144357562065125, + "restore_error": 1.1920928955078125e-07, + "score": 0.7144357562065125, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.33773377537727356, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.36421748995780945, + 0.2822610139846802, + 0.21746289730072021, + 0.21326099336147308 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.08195647597312927, + -0.14675459265708923, + -0.15095649659633636 + ], + "candidate_oracle_branch_scores": [ + 0.36421748995780945, + 0.2822610139846802, + 0.21746289730072021, + 0.21326099336147308 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6425987482070923, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6425987482070923, + -0.9241778254508972, + -0.9830048680305481, + -1.047782301902771 + ], + "candidate_oracle_progress": 0.36421748995780945, + "candidate_oracle_regret": 1.6357825100421906, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.36421748995780945, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.36421748995780945, + "candidate_oracle_selected_branch_score": 0.36421748995780945, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-55e89d326b6531345902;ms-b025d8068f740557d630;ms-65e9da4468e522823587;ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.6322168707847595, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c4a08985213114fffb7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6322168707847595, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3677831292152405, + "restore_error": 1.1920928955078125e-07, + "score": 0.3677831292152405, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2618885040283203, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.6659010648727417, + 0.5966023206710815, + 0.3189356327056885 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.3340989351272583, + -1.4033976793289185, + -1.6810643672943115 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.6659010648727417, + 0.5966023206710815, + 0.3189356327056885 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.2991190552711487, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.2991190552711487, + -0.5988171696662903, + -0.6891815662384033, + -0.7469910979270935 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9c33d4837de7d23232d6;ms-5bbc4c4b1b51e2a088db;ms-73259d17883355f7fa88;ms-1b8e9b173562648021f6;ms-a4ade4de51ca437ac432;ms-b3d9d9570bf9b64c18fe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3db845076f92a16d1840", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48659569025039673, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.36839041113853455, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 40, + 24 + ], + "candidate_oracle_potentials": [ + 0.36839041113853455, + 0.3542134165763855, + 0.3296387195587158, + 0.32713955640792847 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-490e2c471adbabec6304;ms-5fb06efe2b4bea27cc89;ms-a323215fb409ab3e9287;ms-487d0fe2a13fb699dd7a;ms-dfc38c43e9a87f99ef7f;ms-e2a037eadb166228b1dd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8e23d2d44e709420e46d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38023871183395386, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.4451637864112854, + 0.7192591428756714, + 0.6930631399154663, + 0.7143985033035278 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.274095356464386, + 0.2478993535041809, + 0.26923471689224243 + ], + "candidate_oracle_branch_scores": [ + 0.4451637864112854, + 0.7192591428756714, + 0.6930631399154663, + 0.7143985033035278 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6884133815765381, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5214374661445618, + -0.6884133815765381, + -0.7246756553649902, + -0.7649495601654053 + ], + "candidate_oracle_progress": 0.7192591428756714, + "candidate_oracle_regret": 1.2807408571243286, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7192591428756714, + "candidate_oracle_score_gain_over_selected": 0.274095356464386, + "candidate_oracle_selected_branch_progress": 0.4451637864112854, + "candidate_oracle_selected_branch_score": 0.4451637864112854, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0ef5d3238b33bdebae4d;ms-b483cac145e16ccdf42a;ms-baa36ee75ec2de550b9b;ms-b3d9d9570bf9b64c18fe;ms-760c73ea34418ce7a006;ms-675833805d1139c2f2a0", + "expert_regret": 1.5507972836494446, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c3818c2c4474a784fc6b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5507972836494446, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4492027163505554, + "restore_error": 2.384185791015625e-07, + "score": 0.4492027163505554, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31996801495552063, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.31899794936180115, + 0.29636043310165405, + 0.29849594831466675, + 0.3350059688091278 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.022637516260147095, + -0.0205020010471344, + 0.01600801944732666 + ], + "candidate_oracle_branch_scores": [ + 0.31899794936180115, + 0.29636043310165405, + 0.29849594831466675, + 0.3350059688091278 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6313281655311584, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4203298091888428, + -0.5641827583312988, + -0.5961470007896423, + -0.6313281655311584 + ], + "candidate_oracle_progress": 0.3350059688091278, + "candidate_oracle_regret": 1.6649940311908722, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3350059688091278, + "candidate_oracle_score_gain_over_selected": 0.01600801944732666, + "candidate_oracle_selected_branch_progress": 0.31899794936180115, + "candidate_oracle_selected_branch_score": 0.31899794936180115, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0ef5d3238b33bdebae4d;ms-b483cac145e16ccdf42a;ms-baa36ee75ec2de550b9b;ms-760c73ea34418ce7a006;ms-b3d9d9570bf9b64c18fe;ms-675833805d1139c2f2a0", + "expert_regret": 1.6804882884025574, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9867545cf31b7f92b81f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6804882884025574, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3195117115974426, + "restore_error": 2.384185791015625e-07, + "score": 0.3195117115974426, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.46779757738113403, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.36971205472946167, + 0.3668906092643738, + 0.36050087213516235, + 0.3411339223384857 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0028214454650878906, + -0.009211182594299316, + -0.028578132390975952 + ], + "candidate_oracle_branch_scores": [ + 0.36971205472946167, + 0.3668906092643738, + 0.36050087213516235, + 0.3411339223384857 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8808489441871643, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8808489441871643, + -1.2543667554855347, + -1.320312738418579, + -1.3911809921264648 + ], + "candidate_oracle_progress": 0.36971205472946167, + "candidate_oracle_regret": 1.6302879452705383, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.36971205472946167, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.36971205472946167, + "candidate_oracle_selected_branch_score": 0.36971205472946167, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-65e9da4468e522823587;ms-40a961867249ddccb68f;ms-a99d874a81bc60301007;ms-b00933d2f628bc51d80a", + "expert_regret": 1.6302874684333801, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-18ab33df290e3919a468", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6302874684333801, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3697125315666199, + "restore_error": 2.384185791015625e-07, + "score": 0.3697125315666199, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.20308078825473785, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7010363936424255, + 0.3896763324737549, + 0.2494402974843979, + 0.25136372447013855 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.31136006116867065, + -0.45159608125686646, + -0.449672669172287 + ], + "candidate_oracle_branch_scores": [ + 0.7010363936424255, + 0.3896763324737549, + 0.2494402974843979, + 0.25136372447013855 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.22009479999542236, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.22009479999542236, + -0.449321448802948, + -0.5232045650482178, + -0.608791708946228 + ], + "candidate_oracle_progress": 0.7010363936424255, + "candidate_oracle_regret": 0.02495211362838745, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7010363936424255, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7010363936424255, + "candidate_oracle_selected_branch_score": 0.7010363936424255, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9c33d4837de7d23232d6;ms-f6f0d14ef7c24b9e4621;ms-73259d17883355f7fa88;ms-575bd87a5da90963019d;ms-a4ade4de51ca437ac432;ms-675833805d1139c2f2a0", + "expert_regret": 0.025895118713378906, + "expert_score": 0.725988507270813, + "expert_success": false, + "group_id": "ms-8d3d849234ceb98c3dc1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.025895118713378906, + "oracle_score": 0.725988507270813, + "oracle_success": false, + "progress": 0.7000933885574341, + "restore_error": 2.384185791015625e-07, + "score": 0.7000933885574341, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.2186139822006226, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.22026169300079346, + 0.21983960270881653, + 0.22042563557624817, + 0.2134755551815033 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0004220902919769287, + 0.00016394257545471191, + -0.006786137819290161 + ], + "candidate_oracle_branch_scores": [ + 0.22026169300079346, + 0.21983960270881653, + 0.22042563557624817, + 0.2134755551815033 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.1457005739212036, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 24 + ], + "candidate_oracle_potentials": [ + -1.0977133512496948, + -1.1132081747055054, + -1.1457005739212036, + -1.2830463647842407 + ], + "candidate_oracle_progress": 0.22042563557624817, + "candidate_oracle_regret": 1.7795743644237518, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.22042563557624817, + "candidate_oracle_score_gain_over_selected": 0.00016394257545471191, + "candidate_oracle_selected_branch_progress": 0.22026169300079346, + "candidate_oracle_selected_branch_score": 0.22026169300079346, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-83c0299c23fa800452c7;ms-af91167a0cf15457c6ba;ms-251c1dfd1010906f559f;ms-efb5a07185a3a1b33226;ms-4b4cd12d70c0615e0930;ms-e2a037eadb166228b1dd", + "expert_regret": 1.7797383069992065, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c910a469460f71880556", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7797383069992065, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22026169300079346, + "restore_error": 2.384185791015625e-07, + "score": 0.22026169300079346, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40638676285743713, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3305038809776306, + 0.29569581151008606, + 0.26187649369239807, + 0.25624537467956543 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.034808069467544556, + -0.06862738728523254, + -0.07425850629806519 + ], + "candidate_oracle_branch_scores": [ + 0.3305038809776306, + 0.29569581151008606, + 0.26187649369239807, + 0.25624537467956543 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8183534741401672, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8183534741401672, + -1.1378406286239624, + -1.2055665254592896, + -1.2785261869430542 + ], + "candidate_oracle_progress": 0.3305038809776306, + "candidate_oracle_regret": 1.6694961190223694, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3305038809776306, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3305038809776306, + "candidate_oracle_selected_branch_score": 0.3305038809776306, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a9c4c704edd84c21cda;ms-80e3d8a34c3cb94cad65;ms-e56b37f0e3881a70ef54;ms-cf8c5d9c874edc9f000d;ms-a6cf775fbba580161c4e;ms-b025d8068f740557d630", + "expert_regret": 1.6680540442466736, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e825996818ee6f2f7d26", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6680540442466736, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3319459557533264, + "restore_error": 2.384185791015625e-07, + "score": 0.3319459557533264, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34782376885414124, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.21692991256713867, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.21692991256713867, + -0.41098976135253906, + -0.4813399910926819, + -0.575477659702301 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-675833805d1139c2f2a0;ms-a40dee47c502e73949af;ms-f6f0d14ef7c24b9e4621;ms-bb567fcac946f012535a;ms-29027a8e3742362fd477;ms-8f24ad2e217963943c12", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e89a3ba400f81d2795f3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.07783793658018112, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5465047359466553, + 0.5572220087051392, + 0.5432485342025757, + 0.6448659896850586 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.010717272758483887, + -0.00325620174407959, + 0.09836125373840332 + ], + "candidate_oracle_branch_scores": [ + 0.5465047359466553, + 0.5572220087051392, + 0.5432485342025757, + 0.6448659896850586 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3710528612136841, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 17, + 1, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -0.1908443570137024, + -0.1930391788482666, + -0.21102100610733032, + -0.3710528612136841 + ], + "candidate_oracle_progress": 0.6448659896850586, + "candidate_oracle_regret": 1.3551340103149414, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6448659896850586, + "candidate_oracle_score_gain_over_selected": 0.09836125373840332, + "candidate_oracle_selected_branch_progress": 0.5465047359466553, + "candidate_oracle_selected_branch_score": 0.5465047359466553, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9ced92cccacfe4d157b0;ms-92070f417bd9d14d6fc7;ms-debd7e5668e2acdf6bb0;ms-cc0b4a1deec28e53722a;ms-ac6e78b1c56d020d0c09;ms-9a72e47e2204fa794718", + "expert_regret": 0.1738167405128479, + "expert_score": 0.7257392406463623, + "expert_success": false, + "group_id": "ms-6e268d1e2915740816a1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4480774998664856, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5519225001335144, + "restore_error": 1.1920928955078125e-07, + "score": 0.5519225001335144, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.60886150598526, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.21152541041374207, + 0.22241048514842987, + 0.21163195371627808 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.7884745597839355, + -1.7775895595550537, + -1.7883679866790771 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.21152541041374207, + 0.22241048514842987, + 0.21163195371627808 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8448344469070435, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 35, + 1 + ], + "candidate_oracle_potentials": [ + -0.8448344469070435, + -1.5484908819198608, + -1.5554767847061157, + -1.573431372642517 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-27251a7c7f13bf165e21;ms-0d80d6d87a27a53951fe;ms-b2d1a5e132eaeb353782;ms-741e906eafd57d115b5d;ms-d2febdb2a469fbbac4f2;ms-ace117030ae44c474db1", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d5241a32e5c9de09f2e4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41641584038734436, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.696110725402832, + 0.6968241930007935, + 0.7282482385635376 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.303889274597168, + -1.3031758069992065, + -1.2717517614364624 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.696110725402832, + 0.6968241930007935, + 0.7282482385635376 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6765130758285522, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6765130758285522, + -1.1077483892440796, + -1.2133902311325073, + -1.3289449214935303 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-69785feff08dbf9a50be;ms-65e9da4468e522823587;ms-b00933d2f628bc51d80a;ms-40a961867249ddccb68f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6959fa589edc996753d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.45490318536758423, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.8629307150840759, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 8 + ], + "candidate_oracle_potentials": [ + 0.8629307150840759, + 0.8532053232192993, + 0.8159564733505249, + 0.5038020014762878 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7a1b60ea1461eb460bed;ms-96e1562aaca7ef49db28;ms-b383acd9844466b19579;ms-5799584ed40e211c50a5;ms-9ced92cccacfe4d157b0;ms-d8295b43b30ceea30907", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-662379c2c351807b9cdf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6730116605758667, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.2931877374649048, + 0.7109352350234985, + 0.4106271266937256, + 0.6967663764953613 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.41774749755859375, + 0.1174393892288208, + 0.40357863903045654 + ], + "candidate_oracle_branch_scores": [ + 0.2931877374649048, + 0.7109352350234985, + 0.4106271266937256, + 0.6967663764953613 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6870172619819641, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 0, + 24, + 3 + ], + "candidate_oracle_potentials": [ + -0.6806356310844421, + -0.6870172619819641, + -0.7374135851860046, + -0.7657400965690613 + ], + "candidate_oracle_progress": 0.7109352350234985, + "candidate_oracle_regret": 1.2890647649765015, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7109352350234985, + "candidate_oracle_score_gain_over_selected": 0.41774749755859375, + "candidate_oracle_selected_branch_progress": 0.2931877374649048, + "candidate_oracle_selected_branch_score": 0.2931877374649048, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e2950dcb50ed2b955be6;ms-caa0a38b7df789550f8a;ms-2436538e05fdcf8e44fc;ms-26322bd4de52dbd5743c;ms-dfc38c43e9a87f99ef7f;ms-af91167a0cf15457c6ba", + "expert_regret": 1.701594203710556, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe790caba27d92511f71", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.701594203710556, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.29840579628944397, + "restore_error": 1.1920928955078125e-07, + "score": 0.29840579628944397, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22701695561408997, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.4725971817970276, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 40 + ], + "candidate_oracle_potentials": [ + 0.4725971817970276, + 0.4706893563270569, + 0.4578371047973633, + 0.3049736022949219 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-490e2c471adbabec6304;ms-a323215fb409ab3e9287;ms-5fb06efe2b4bea27cc89;ms-487d0fe2a13fb699dd7a;ms-dfc38c43e9a87f99ef7f;ms-2436538e05fdcf8e44fc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83019373a06eb384c886", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4555962383747101, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.3551757335662842, + 0.3648548722267151, + 0.3697819709777832, + 0.3918074071407318 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.009679138660430908, + 0.014606237411499023, + 0.03663167357444763 + ], + "candidate_oracle_branch_scores": [ + 0.3551757335662842, + 0.3648548722267151, + 0.3697819709777832, + 0.3918074071407318 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3029932975769043, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6009698510169983, + -1.0646048784255981, + -1.1791099309921265, + -1.3029932975769043 + ], + "candidate_oracle_progress": 0.3918074071407318, + "candidate_oracle_regret": 1.6081925928592682, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3918074071407318, + "candidate_oracle_score_gain_over_selected": 0.03663167357444763, + "candidate_oracle_selected_branch_progress": 0.3551757335662842, + "candidate_oracle_selected_branch_score": 0.3551757335662842, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-40a961867249ddccb68f;ms-a99d874a81bc60301007;ms-01bef10a5ccfd38294fe;ms-741e906eafd57d115b5d;ms-6d6456c45f9f3ae74b50;ms-0d80d6d87a27a53951fe", + "expert_regret": 1.6448196172714233, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a8eb841beb710c8fbfb1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6448196172714233, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.35518038272857666, + "restore_error": 1.1920928955078125e-07, + "score": 0.35518038272857666, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30442872643470764, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6170734167098999, + 0.22601662576198578, + 0.22569474577903748, + 0.2263309210538864 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.39105677604675293, + -0.3913786709308624, + -0.3907424807548523 + ], + "candidate_oracle_branch_scores": [ + 0.6170734167098999, + 0.22601662576198578, + 0.22569474577903748, + 0.2263309210538864 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.5040980577468872, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 24, + 8, + 40 + ], + "candidate_oracle_potentials": [ + -1.5040980577468872, + -1.7123349905014038, + -1.7135711908340454, + -1.7153428792953491 + ], + "candidate_oracle_progress": 0.6170734167098999, + "candidate_oracle_regret": 1.3829265832901, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6170734167098999, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6170734167098999, + "candidate_oracle_selected_branch_score": 0.6170734167098999, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cf8c5d9c874edc9f000d;ms-e56b37f0e3881a70ef54;ms-6a9c4c704edd84c21cda;ms-b025d8068f740557d630;ms-80e3d8a34c3cb94cad65;ms-01bef10a5ccfd38294fe", + "expert_regret": 1.382918357849121, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9257b89b9b635a0fb174", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.382918357849121, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6170816421508789, + "restore_error": 1.1920928955078125e-07, + "score": 0.6170816421508789, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1777345836162567, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7240762114524841, + 0.7290706038475037, + 0.7010166049003601 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.275923728942871, + -1.2709293365478516, + -1.2989833354949951 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7240762114524841, + 0.7290706038475037, + 0.7010166049003601 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.06919825822114944, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.06919825822114944, + -0.5542396903038025, + -0.6644609570503235, + -0.7573562264442444 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9a72e47e2204fa794718;ms-bb567fcac946f012535a;ms-a40dee47c502e73949af;ms-8f24ad2e217963943c12;ms-92070f417bd9d14d6fc7;ms-f6f0d14ef7c24b9e4621", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-118ba8926eda06ffc61e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3817742168903351, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5953050851821899, + 0.7212041616439819, + 0.685572624206543, + 0.4899100661277771 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.125899076461792, + 0.09026753902435303, + -0.10539501905441284 + ], + "candidate_oracle_branch_scores": [ + 0.5953050851821899, + 0.7212041616439819, + 0.685572624206543, + 0.4899100661277771 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2919167280197144, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.972157895565033, + -1.2919167280197144, + -1.350075125694275, + -1.4115997552871704 + ], + "candidate_oracle_progress": 0.7212041616439819, + "candidate_oracle_regret": 1.278795838356018, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7212041616439819, + "candidate_oracle_score_gain_over_selected": 0.125899076461792, + "candidate_oracle_selected_branch_progress": 0.5953050851821899, + "candidate_oracle_selected_branch_score": 0.5953050851821899, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6cf775fbba580161c4e;ms-6a9c4c704edd84c21cda;ms-80e3d8a34c3cb94cad65;ms-a323215fb409ab3e9287;ms-b025d8068f740557d630;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.3046079874038696, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7be84e650aec22374654", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3046079874038696, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6953920125961304, + "restore_error": 1.1920928955078125e-07, + "score": 0.6953920125961304, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2647222876548767, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.22794851660728455, + 0.22784385085105896, + 0.22169512510299683, + 0.2255045473575592 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00010466575622558594, + -0.00625339150428772, + -0.002443969249725342 + ], + "candidate_oracle_branch_scores": [ + 0.22794851660728455, + 0.22784385085105896, + 0.22169512510299683, + 0.2255045473575592 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.31356143951416016, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 8, + 33 + ], + "candidate_oracle_potentials": [ + 0.31356143951416016, + 0.3077000677585602, + 0.27998223900794983, + 0.21234041452407837 + ], + "candidate_oracle_progress": 0.22794851660728455, + "candidate_oracle_regret": 0.49550631642341614, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.22794851660728455, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.22794851660728455, + "candidate_oracle_selected_branch_score": 0.22794851660728455, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-490e2c471adbabec6304;ms-5fb06efe2b4bea27cc89;ms-2436538e05fdcf8e44fc;ms-caa0a38b7df789550f8a;ms-e2a037eadb166228b1dd;ms-af91167a0cf15457c6ba", + "expert_regret": 0.012042880058288574, + "expert_score": 0.7220854759216309, + "expert_success": false, + "group_id": "ms-e3c96ca4b56c4a26d40d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.013412237167358398, + "oracle_score": 0.7234548330307007, + "oracle_success": false, + "progress": 0.7100425958633423, + "restore_error": 1.1920928955078125e-07, + "score": 0.7100425958633423, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22811007499694824, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7197617888450623, + 0.7211662530899048, + 0.6936461329460144, + 0.6886214017868042 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0014044642448425293, + -0.02611565589904785, + -0.031140387058258057 + ], + "candidate_oracle_branch_scores": [ + 0.7197617888450623, + 0.7211662530899048, + 0.6936461329460144, + 0.6886214017868042 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5030542612075806, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.23656398057937622, + -0.5030542612075806, + -0.5829210877418518, + -0.6766903400421143 + ], + "candidate_oracle_progress": 0.7211662530899048, + "candidate_oracle_regret": 1.2788337469100952, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7211662530899048, + "candidate_oracle_score_gain_over_selected": 0.0014044642448425293, + "candidate_oracle_selected_branch_progress": 0.7197617888450623, + "candidate_oracle_selected_branch_score": 0.7197617888450623, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a4ade4de51ca437ac432;ms-5bbc4c4b1b51e2a088db;ms-9c33d4837de7d23232d6;ms-1b8e9b173562648021f6;ms-73259d17883355f7fa88;ms-fdb2637276b27c46c757", + "expert_regret": 1.2826743721961975, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-080e034927abe2f30d60", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2826743721961975, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7173256278038025, + "restore_error": 1.1920928955078125e-07, + "score": 0.7173256278038025, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3471158444881439, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6912741661071777, + 0.46926578879356384, + 0.42200803756713867, + 0.3688713312149048 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.2220083773136139, + -0.26926612854003906, + -0.32240283489227295 + ], + "candidate_oracle_branch_scores": [ + 0.6912741661071777, + 0.46926578879356384, + 0.42200803756713867, + 0.3688713312149048 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3434472680091858, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3434472680091858, + -0.6469366550445557, + -0.7417771220207214, + -0.8571023344993591 + ], + "candidate_oracle_progress": 0.6912741661071777, + "candidate_oracle_regret": 1.3087258338928223, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6912741661071777, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6912741661071777, + "candidate_oracle_selected_branch_score": 0.6912741661071777, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a40dee47c502e73949af;ms-8f24ad2e217963943c12;ms-bb567fcac946f012535a;ms-03495469257613a802b4;ms-29027a8e3742362fd477;ms-675833805d1139c2f2a0", + "expert_regret": 1.308515191078186, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-136f1ebebd0b697c3310", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.308515191078186, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.691484808921814, + "restore_error": 1.1920928955078125e-07, + "score": 0.691484808921814, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3673858046531677, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7190911173820496, + 0.7167431712150574, + 0.6886739134788513, + 0.45131510496139526 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0023479461669921875, + -0.030417203903198242, + -0.2677760124206543 + ], + "candidate_oracle_branch_scores": [ + 0.7190911173820496, + 0.7167431712150574, + 0.6886739134788513, + 0.45131510496139526 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4837985038757324, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4837985038757324, + -0.6537131667137146, + -0.6912927627563477, + -0.7337536215782166 + ], + "candidate_oracle_progress": 0.7190911173820496, + "candidate_oracle_regret": 1.2809088826179504, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7190911173820496, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7190911173820496, + "candidate_oracle_selected_branch_score": 0.7190911173820496, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0ef5d3238b33bdebae4d;ms-b483cac145e16ccdf42a;ms-baa36ee75ec2de550b9b;ms-760c73ea34418ce7a006;ms-b3d9d9570bf9b64c18fe;ms-675833805d1139c2f2a0", + "expert_regret": 1.2887738943099976, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e4090b0b0c1739070201", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2887738943099976, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7112261056900024, + "restore_error": 1.1920928955078125e-07, + "score": 0.7112261056900024, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16818298399448395, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.6946793794631958, + 0.6475648880004883, + 0.6321843266487122 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.3053206205368042, + -1.3524351119995117, + -1.3678157329559326 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.6946793794631958, + 0.6475648880004883, + 0.6321843266487122 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.20494568347930908, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.20494568347930908, + -0.39279159903526306, + -0.48026126623153687, + -0.590872049331665 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f6f0d14ef7c24b9e4621;ms-a4ade4de51ca437ac432;ms-9c33d4837de7d23232d6;ms-5bbc4c4b1b51e2a088db;ms-b483cac145e16ccdf42a;ms-675833805d1139c2f2a0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-051860c228aa5160d5a6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3970831334590912, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.259407103061676, + 0.23517821729183197, + 0.2352268099784851, + 0.2354138195514679 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.024228885769844055, + -0.024180293083190918, + -0.02399328351020813 + ], + "candidate_oracle_branch_scores": [ + 0.259407103061676, + 0.23517821729183197, + 0.2352268099784851, + 0.2354138195514679 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4054216742515564, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4054216742515564, + -0.8792217969894409, + -0.9858651757240295, + -1.1070362329483032 + ], + "candidate_oracle_progress": 0.259407103061676, + "candidate_oracle_regret": 1.740592896938324, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.259407103061676, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.259407103061676, + "candidate_oracle_selected_branch_score": 0.259407103061676, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-29027a8e3742362fd477;ms-a40dee47c502e73949af;ms-675833805d1139c2f2a0;ms-03495469257613a802b4;ms-4c638b9bb924547f69cb;ms-bb567fcac946f012535a", + "expert_regret": 1.739880084991455, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08dc71adea7d8efeb298", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.739880084991455, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2601199150085449, + "restore_error": 1.1920928955078125e-07, + "score": 0.2601199150085449, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.251910924911499, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.21431085467338562, + 0.2138519138097763, + 0.21457241475582123, + 0.20735928416252136 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00045894086360931396, + 0.0002615600824356079, + -0.006951570510864258 + ], + "candidate_oracle_branch_scores": [ + 0.21431085467338562, + 0.2138519138097763, + 0.21457241475582123, + 0.20735928416252136 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.5933940410614014, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 8 + ], + "candidate_oracle_potentials": [ + -1.5588269233703613, + -1.5616990327835083, + -1.5933940410614014, + -1.6988694667816162 + ], + "candidate_oracle_progress": 0.21457241475582123, + "candidate_oracle_regret": 1.7854275852441788, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21457241475582123, + "candidate_oracle_score_gain_over_selected": 0.0002615600824356079, + "candidate_oracle_selected_branch_progress": 0.21431085467338562, + "candidate_oracle_selected_branch_score": 0.21431085467338562, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-af91167a0cf15457c6ba;ms-4b4cd12d70c0615e0930;ms-251c1dfd1010906f559f;ms-13d8bae55d3c3710138f;ms-83c0299c23fa800452c7;ms-efb5a07185a3a1b33226", + "expert_regret": 1.7856892347335815, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-320d99264926ea029f95", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7856892347335815, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21431076526641846, + "restore_error": 1.1920928955078125e-07, + "score": 0.21431076526641846, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2667282521724701, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.2528177499771118, + 0.2531619668006897, + 0.25288742780685425, + 0.252587229013443 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00034421682357788086, + 6.967782974243164e-05, + -0.00023052096366882324 + ], + "candidate_oracle_branch_scores": [ + 0.2528177499771118, + 0.2531619668006897, + 0.25288742780685425, + 0.252587229013443 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.326446533203125, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0073364973068237, + -1.326446533203125, + -1.3823038339614868, + -1.4438958168029785 + ], + "candidate_oracle_progress": 0.2531619668006897, + "candidate_oracle_regret": 1.7468380331993103, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2531619668006897, + "candidate_oracle_score_gain_over_selected": 0.00034421682357788086, + "candidate_oracle_selected_branch_progress": 0.2528177499771118, + "candidate_oracle_selected_branch_score": 0.2528177499771118, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6cf775fbba580161c4e;ms-6a9c4c704edd84c21cda;ms-80e3d8a34c3cb94cad65;ms-b025d8068f740557d630;ms-a323215fb409ab3e9287;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.747392475605011, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8a8afc1963fb2220ecb6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.747392475605011, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.252607524394989, + "restore_error": 1.1920928955078125e-07, + "score": 0.252607524394989, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.47794264554977417, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.202130526304245, + 0.2104654759168625, + 0.2111763209104538, + 0.2117471545934677 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.008334949612617493, + 0.009045794606208801, + 0.009616628289222717 + ], + "candidate_oracle_branch_scores": [ + 0.202130526304245, + 0.2104654759168625, + 0.2111763209104538, + 0.2117471545934677 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.080157995223999, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 3, + 19, + 35 + ], + "candidate_oracle_potentials": [ + -2.0332400798797607, + -2.0484797954559326, + -2.0558223724365234, + -2.080157995223999 + ], + "candidate_oracle_progress": 0.2117471545934677, + "candidate_oracle_regret": 1.7882528454065323, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2117471545934677, + "candidate_oracle_score_gain_over_selected": 0.009616628289222717, + "candidate_oracle_selected_branch_progress": 0.202130526304245, + "candidate_oracle_selected_branch_score": 0.202130526304245, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-251c1dfd1010906f559f;ms-4b4cd12d70c0615e0930;ms-af91167a0cf15457c6ba;ms-9852b3671856321cecc8;ms-13d8bae55d3c3710138f;ms-83c0299c23fa800452c7", + "expert_regret": 1.797870248556137, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c0ed69f549e56aa55f3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.797870248556137, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20212975144386292, + "restore_error": 1.1920928955078125e-07, + "score": 0.20212975144386292, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.23370695114135742, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.25365057587623596, + 0.25338661670684814, + 0.2535201907157898, + 0.2536918520927429 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0002639591693878174, + -0.000130385160446167, + 4.127621650695801e-05 + ], + "candidate_oracle_branch_scores": [ + 0.25365057587623596, + 0.25338661670684814, + 0.2535201907157898, + 0.2536918520927429 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.4122289419174194, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0079137086868286, + -1.3029040098190308, + -1.355076789855957, + -1.4122289419174194 + ], + "candidate_oracle_progress": 0.2536918520927429, + "candidate_oracle_regret": 1.746308147907257, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2536918520927429, + "candidate_oracle_score_gain_over_selected": 4.127621650695801e-05, + "candidate_oracle_selected_branch_progress": 0.25365057587623596, + "candidate_oracle_selected_branch_score": 0.25365057587623596, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6cf775fbba580161c4e;ms-6a9c4c704edd84c21cda;ms-80e3d8a34c3cb94cad65;ms-a323215fb409ab3e9287;ms-b025d8068f740557d630;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.7459798455238342, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2d931673692269f11e8b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7459798455238342, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.25402015447616577, + "restore_error": 1.1920928955078125e-07, + "score": 0.25402015447616577, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.3212517499923706, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.21814726293087006, + 0.21852797269821167, + 0.21754658222198486, + 0.2102566361427307 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00038070976734161377, + -0.0006006807088851929, + -0.007890626788139343 + ], + "candidate_oracle_branch_scores": [ + 0.21814726293087006, + 0.21852797269821167, + 0.21754658222198486, + 0.2102566361427307 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.4093170166015625, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 35, + 3, + 8 + ], + "candidate_oracle_potentials": [ + -1.395241618156433, + -1.4093170166015625, + -1.4175881147384644, + -1.5719444751739502 + ], + "candidate_oracle_progress": 0.21852797269821167, + "candidate_oracle_regret": 1.7814720273017883, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21852797269821167, + "candidate_oracle_score_gain_over_selected": 0.00038070976734161377, + "candidate_oracle_selected_branch_progress": 0.21814726293087006, + "candidate_oracle_selected_branch_score": 0.21814726293087006, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-af91167a0cf15457c6ba;ms-251c1dfd1010906f559f;ms-4b4cd12d70c0615e0930;ms-efb5a07185a3a1b33226;ms-13d8bae55d3c3710138f;ms-83c0299c23fa800452c7", + "expert_regret": 1.7818525731563568, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e7573c5d29c3a1a3f228", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7818525731563568, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2181474268436432, + "restore_error": 1.1920928955078125e-07, + "score": 0.2181474268436432, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.2291638851165771, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.215238556265831, + 0.21482262015342712, + 0.2154439389705658, + 0.20581750571727753 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00041593611240386963, + 0.00020538270473480225, + -0.009421050548553467 + ], + "candidate_oracle_branch_scores": [ + 0.215238556265831, + 0.21482262015342712, + 0.2154439389705658, + 0.20581750571727753 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.2495862245559692, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 24 + ], + "candidate_oracle_potentials": [ + -1.2120517492294312, + -1.2278380393981934, + -1.2495862245559692, + -1.3989228010177612 + ], + "candidate_oracle_progress": 0.2154439389705658, + "candidate_oracle_regret": 1.7845560610294342, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2154439389705658, + "candidate_oracle_score_gain_over_selected": 0.00020538270473480225, + "candidate_oracle_selected_branch_progress": 0.215238556265831, + "candidate_oracle_selected_branch_score": 0.215238556265831, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-251c1dfd1010906f559f;ms-83c0299c23fa800452c7;ms-af91167a0cf15457c6ba;ms-4b4cd12d70c0615e0930;ms-efb5a07185a3a1b33226;ms-e2a037eadb166228b1dd", + "expert_regret": 1.784761443734169, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c8cf210aa675c5db1fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.784761443734169, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.215238556265831, + "restore_error": 1.1920928955078125e-07, + "score": 0.215238556265831, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.24297991394996643, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.19741205871105194, + 0.1971726417541504, + 0.198126420378685, + 0.1984228938817978 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0002394169569015503, + 0.0007143616676330566, + 0.0010108351707458496 + ], + "candidate_oracle_branch_scores": [ + 0.19741205871105194, + 0.1971726417541504, + 0.198126420378685, + 0.1984228938817978 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.9498090744018555, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.6444339752197266, + -1.84256112575531, + -1.8960134983062744, + -1.9498090744018555 + ], + "candidate_oracle_progress": 0.1984228938817978, + "candidate_oracle_regret": 1.8015771061182022, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.1984228938817978, + "candidate_oracle_score_gain_over_selected": 0.0010108351707458496, + "candidate_oracle_selected_branch_progress": 0.19741205871105194, + "candidate_oracle_selected_branch_score": 0.19741205871105194, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5dcf9054c3c1c4e1d50;ms-64a755437c34f39cda2a;ms-b025d8068f740557d630;ms-55e89d326b6531345902;ms-a6cf775fbba580161c4e;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.8025875091552734, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f0c6556f6c7df39ec2d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8025875091552734, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19741249084472656, + "restore_error": 1.1920928955078125e-07, + "score": 0.19741249084472656, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.15667793154716492, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6962000727653503, + 0.36863479018211365, + 0.2708531618118286, + 0.24048230051994324 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.3275652825832367, + -0.42534691095352173, + -0.4557177722454071 + ], + "candidate_oracle_branch_scores": [ + 0.6962000727653503, + 0.36863479018211365, + 0.2708531618118286, + 0.24048230051994324 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.28805071115493774, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.28805071115493774, + -0.6348485946655273, + -0.7298423647880554, + -0.837860643863678 + ], + "candidate_oracle_progress": 0.6962000727653503, + "candidate_oracle_regret": 1.3037999272346497, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6962000727653503, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6962000727653503, + "candidate_oracle_selected_branch_score": 0.6962000727653503, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a4ade4de51ca437ac432;ms-9c33d4837de7d23232d6;ms-f6f0d14ef7c24b9e4621;ms-73259d17883355f7fa88;ms-5bbc4c4b1b51e2a088db;ms-760c73ea34418ce7a006", + "expert_regret": 1.3039413690567017, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-38758efd8620a312267d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3039413690567017, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6960586309432983, + "restore_error": 1.1920928955078125e-07, + "score": 0.6960586309432983, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.33545416593551636, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.21260684728622437, + 0.20084790885448456, + 0.2005961835384369 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.7873930931091309, + -1.799152135848999, + -1.7994037866592407 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.21260684728622437, + 0.20084790885448456, + 0.2005961835384369 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6507944464683533, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6507944464683533, + -1.0786253213882446, + -1.16966712474823, + -1.266672968864441 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-55e89d326b6531345902;ms-f5dcf9054c3c1c4e1d50;ms-64a755437c34f39cda2a;ms-69785feff08dbf9a50be;ms-7ce799eb9d3b741e8960;ms-65e9da4468e522823587", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0fe90299788e1f71f98a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37822818756103516, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7219380736351013, + 0.277359277009964, + 0.25705912709236145, + 0.2330315113067627 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.44457879662513733, + -0.46487894654273987, + -0.4889065623283386 + ], + "candidate_oracle_branch_scores": [ + 0.7219380736351013, + 0.277359277009964, + 0.25705912709236145, + 0.2330315113067627 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4986051917076111, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4986051917076111, + -0.6468890309333801, + -0.6826340556144714, + -0.7237408757209778 + ], + "candidate_oracle_progress": 0.7219380736351013, + "candidate_oracle_regret": 1.2780619263648987, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7219380736351013, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7219380736351013, + "candidate_oracle_selected_branch_score": 0.7219380736351013, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0ef5d3238b33bdebae4d;ms-b483cac145e16ccdf42a;ms-baa36ee75ec2de550b9b;ms-b3d9d9570bf9b64c18fe;ms-760c73ea34418ce7a006;ms-675833805d1139c2f2a0", + "expert_regret": 1.2816329598426819, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-22aaa483f5e7d381b63d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2816329598426819, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7183670401573181, + "restore_error": 1.1920928955078125e-07, + "score": 0.7183670401573181, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 2.255566358566284, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.24434316158294678, + 0.24226491153240204, + 0.24171432852745056, + 0.23673312366008759 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0020782500505447388, + -0.002628833055496216, + -0.007610037922859192 + ], + "candidate_oracle_branch_scores": [ + 0.24434316158294678, + 0.24226491153240204, + 0.24171432852745056, + 0.23673312366008759 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.3463897705078125, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -1.3463897705078125, + -1.6351357698440552, + -1.9563974142074585, + -2.2915143966674805 + ], + "candidate_oracle_progress": 0.24434316158294678, + "candidate_oracle_regret": 1.7556568384170532, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.24434316158294678, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.24434316158294678, + "candidate_oracle_selected_branch_score": 0.24434316158294678, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0bc111c5ce4e0052716b;ms-f5dcf9054c3c1c4e1d50;ms-69785feff08dbf9a50be;ms-a829d650eb9914fb2983;ms-64a755437c34f39cda2a;ms-917b0f051489227842f0", + "expert_regret": 1.7567820698022842, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-057132b6fc7922013391", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7567820698022842, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.24321793019771576, + "restore_error": 1.1920928955078125e-07, + "score": 0.24321793019771576, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.030868452042341232, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.4873054027557373, + 0.5541254281997681, + 0.6305277347564697, + 0.5144226551055908 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.06682002544403076, + 0.14322233200073242, + 0.027117252349853516 + ], + "candidate_oracle_branch_scores": [ + 0.4873054027557373, + 0.5541254281997681, + 0.6305277347564697, + 0.5144226551055908 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0739411115646362, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6894670724868774, + -1.006077527999878, + -1.0739411115646362, + -1.1480854749679565 + ], + "candidate_oracle_progress": 0.6305277347564697, + "candidate_oracle_regret": 1.3694722652435303, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6305277347564697, + "candidate_oracle_score_gain_over_selected": 0.14322233200073242, + "candidate_oracle_selected_branch_progress": 0.4873054027557373, + "candidate_oracle_selected_branch_score": 0.4873054027557373, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-baa36ee75ec2de550b9b;ms-0ef5d3238b33bdebae4d;ms-35babd5f83dcf1561f9a;ms-b483cac145e16ccdf42a;ms-a5a56eefeb2de0abe600;ms-b3d9d9570bf9b64c18fe", + "expert_regret": 0.023615896701812744, + "expert_score": 0.7287395000457764, + "expert_success": false, + "group_id": "ms-74c9fc741b846b5019af", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2948763966560364, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7051236033439636, + "restore_error": 1.1920928955078125e-07, + "score": 0.7051236033439636, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5679380297660828, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7136454582214355, + 0.229392871260643, + 0.23035559058189392, + 0.2309543788433075 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.48425257205963135, + -0.4832898676395416, + -0.48269107937812805 + ], + "candidate_oracle_branch_scores": [ + 0.7136454582214355, + 0.229392871260643, + 0.23035559058189392, + 0.2309543788433075 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9758986830711365, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9758986830711365, + -1.328895092010498, + -1.4020415544509888, + -1.4856842756271362 + ], + "candidate_oracle_progress": 0.7136454582214355, + "candidate_oracle_regret": 1.2863545417785645, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7136454582214355, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7136454582214355, + "candidate_oracle_selected_branch_score": 0.7136454582214355, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fb131b52f94500da894b;ms-01bef10a5ccfd38294fe;ms-e56b37f0e3881a70ef54;ms-40a961867249ddccb68f;ms-a99d874a81bc60301007;ms-65e9da4468e522823587", + "expert_regret": 1.2866216897964478, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8054283375aeefc8f2c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2866216897964478, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7133783102035522, + "restore_error": 1.1920928955078125e-07, + "score": 0.7133783102035522, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7707799077033997, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.20122092962265015, + 0.20117050409317017, + 0.20490144193172455, + 0.2010652720928192 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -5.042552947998047e-05, + 0.003680512309074402, + -0.00015565752983093262 + ], + "candidate_oracle_branch_scores": [ + 0.20122092962265015, + 0.20117050409317017, + 0.20490144193172455, + 0.2010652720928192 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.5556122064590454, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 24, + 3, + 8 + ], + "candidate_oracle_potentials": [ + -1.50411856174469, + -1.530563473701477, + -1.5556122064590454, + -1.5679776668548584 + ], + "candidate_oracle_progress": 0.20490144193172455, + "candidate_oracle_regret": 0.512866273522377, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20490144193172455, + "candidate_oracle_score_gain_over_selected": 0.003680512309074402, + "candidate_oracle_selected_branch_progress": 0.20122092962265015, + "candidate_oracle_selected_branch_score": 0.20122092962265015, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-de8d6051e6ee74b62fec;ms-e2a037eadb166228b1dd;ms-251c1dfd1010906f559f;ms-83c0299c23fa800452c7;ms-4b4cd12d70c0615e0930;ms-efb5a07185a3a1b33226", + "expert_regret": 0.5165467858314514, + "expert_score": 0.7177677154541016, + "expert_success": false, + "group_id": "ms-e6478d71ed92dae06539", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.5165467858314514, + "oracle_score": 0.7177677154541016, + "oracle_success": false, + "progress": 0.20122092962265015, + "restore_error": 1.1920928955078125e-07, + "score": 0.20122092962265015, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3084907531738281, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3911147117614746, + 0.37427663803100586, + 0.29650166630744934, + 0.2781662940979004 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.01683807373046875, + -0.09461304545402527, + -0.11294841766357422 + ], + "candidate_oracle_branch_scores": [ + 0.3911147117614746, + 0.37427663803100586, + 0.29650166630744934, + 0.2781662940979004 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9416281580924988, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9416281580924988, + -1.2629008293151855, + -1.3221975564956665, + -1.3850634098052979 + ], + "candidate_oracle_progress": 0.3911147117614746, + "candidate_oracle_regret": 1.6088852882385254, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3911147117614746, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3911147117614746, + "candidate_oracle_selected_branch_score": 0.3911147117614746, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6cf775fbba580161c4e;ms-6a9c4c704edd84c21cda;ms-80e3d8a34c3cb94cad65;ms-b025d8068f740557d630;ms-a323215fb409ab3e9287;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.6110846996307373, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c146ea1c89beb683b6fd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6110846996307373, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3889153003692627, + "restore_error": 1.1920928955078125e-07, + "score": 0.3889153003692627, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.18570910394191742, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.0695829838514328, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.0695829838514328, + -0.15518194437026978, + -0.20511659979820251, + -0.26938000321388245 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f6f0d14ef7c24b9e4621;ms-a4ade4de51ca437ac432;ms-73259d17883355f7fa88;ms-9c33d4837de7d23232d6;ms-5bbc4c4b1b51e2a088db;ms-a40dee47c502e73949af", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4a86d570dabb0916f020", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38762181997299194, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7069095969200134, + 0.6855236291885376, + 0.6894179582595825, + 0.6894702315330505 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.02138596773147583, + -0.017491638660430908, + -0.01743936538696289 + ], + "candidate_oracle_branch_scores": [ + 0.7069095969200134, + 0.6855236291885376, + 0.6894179582595825, + 0.6894702315330505 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5429827570915222, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5429827570915222, + -1.09177827835083, + -1.2387999296188354, + -1.3866784572601318 + ], + "candidate_oracle_progress": 0.7069095969200134, + "candidate_oracle_regret": 1.2930904030799866, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7069095969200134, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7069095969200134, + "candidate_oracle_selected_branch_score": 0.7069095969200134, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-01bef10a5ccfd38294fe;ms-40a961867249ddccb68f;ms-a99d874a81bc60301007;ms-fb131b52f94500da894b;ms-741e906eafd57d115b5d;ms-9f4b47c80d59166302ab", + "expert_regret": 1.2930777668952942, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0fe7053483f72737eaec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2930777668952942, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7069222331047058, + "restore_error": 1.1920928955078125e-07, + "score": 0.7069222331047058, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6422080993652344, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.027711108326911926, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 8, + 40, + 0 + ], + "candidate_oracle_potentials": [ + -0.027711108326911926, + -0.03480406850576401, + -0.05736430734395981, + -0.06001109629869461 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-caa0a38b7df789550f8a;ms-2436538e05fdcf8e44fc;ms-e2a037eadb166228b1dd;ms-af91167a0cf15457c6ba;ms-4b4cd12d70c0615e0930;ms-efb5a07185a3a1b33226", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bdc14f3225a9c9f26513", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.29869726300239563, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.6717067956924438, + 0.6712355613708496, + 0.6754917502403259, + 0.23054949939250946 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0004712343215942383, + 0.00378495454788208, + -0.4411572813987732 + ], + "candidate_oracle_branch_scores": [ + 0.6717067956924438, + 0.6712355613708496, + 0.6754917502403259, + 0.23054949939250946 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.4571104943752289, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 17, + 1, + 33, + 40 + ], + "candidate_oracle_potentials": [ + 0.47419601678848267, + 0.4641914367675781, + 0.4571104943752289, + 0.20416244864463806 + ], + "candidate_oracle_progress": 0.6754917502403259, + "candidate_oracle_regret": 1.324508249759674, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6754917502403259, + "candidate_oracle_score_gain_over_selected": 0.00378495454788208, + "candidate_oracle_selected_branch_progress": 0.6717067956924438, + "candidate_oracle_selected_branch_score": 0.6717067956924438, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a323215fb409ab3e9287;ms-5fb06efe2b4bea27cc89;ms-490e2c471adbabec6304;ms-487d0fe2a13fb699dd7a;ms-dfc38c43e9a87f99ef7f;ms-a6cf775fbba580161c4e", + "expert_regret": 1.3397791385650635, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c6c7803c56c24c460c7f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3397791385650635, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6602208614349365, + "restore_error": 1.1920928955078125e-07, + "score": 0.6602208614349365, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5229801535606384, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4431847333908081, + 0.2090073823928833, + 0.20861509442329407, + 0.20808963477611542 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.2341773509979248, + -0.23456963896751404, + -0.2350950986146927 + ], + "candidate_oracle_branch_scores": [ + 0.4431847333908081, + 0.2090073823928833, + 0.20861509442329407, + 0.20808963477611542 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.7761774063110352, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.7761774063110352, + -1.856130838394165, + -1.8629182577133179, + -1.884942889213562 + ], + "candidate_oracle_progress": 0.4431847333908081, + "candidate_oracle_regret": 0.28535032272338867, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4431847333908081, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4431847333908081, + "candidate_oracle_selected_branch_score": 0.4431847333908081, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13d8bae55d3c3710138f;ms-af91167a0cf15457c6ba;ms-4b4cd12d70c0615e0930;ms-251c1dfd1010906f559f;ms-9852b3671856321cecc8;ms-28835618507e7bc71227", + "expert_regret": 0.28535401821136475, + "expert_score": 0.7285350561141968, + "expert_success": false, + "group_id": "ms-33a0bdb4bcee42c79a2b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.28535401821136475, + "oracle_score": 0.7285350561141968, + "oracle_success": false, + "progress": 0.44318103790283203, + "restore_error": 1.1920928955078125e-07, + "score": 0.44318103790283203, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6840682625770569, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.2994704842567444, + 0.6976823806762695, + 0.44855988025665283, + 0.5538949966430664 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.39821189641952515, + 0.14908939599990845, + 0.254424512386322 + ], + "candidate_oracle_branch_scores": [ + 0.2994704842567444, + 0.6976823806762695, + 0.44855988025665283, + 0.5538949966430664 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6156631112098694, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 0, + 24, + 8 + ], + "candidate_oracle_potentials": [ + -0.5903981328010559, + -0.6156631112098694, + -0.6656751036643982, + -0.7579753398895264 + ], + "candidate_oracle_progress": 0.6976823806762695, + "candidate_oracle_regret": 1.3023176193237305, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6976823806762695, + "candidate_oracle_score_gain_over_selected": 0.39821189641952515, + "candidate_oracle_selected_branch_progress": 0.2994704842567444, + "candidate_oracle_selected_branch_score": 0.2994704842567444, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e2950dcb50ed2b955be6;ms-26322bd4de52dbd5743c;ms-2436538e05fdcf8e44fc;ms-dfc38c43e9a87f99ef7f;ms-fb329ccd569163c53415;ms-487d0fe2a13fb699dd7a", + "expert_regret": 1.6914873123168945, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f56672eac1c00e9c2b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.6914873123168945, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.30851268768310547, + "restore_error": 1.1920928955078125e-07, + "score": 0.30851268768310547, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.2233396768569946, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.2269851565361023, + 0.2279791682958603, + 0.22884413599967957, + 0.2262134850025177 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0009940117597579956, + 0.0018589794635772705, + -0.0007716715335845947 + ], + "candidate_oracle_branch_scores": [ + 0.2269851565361023, + 0.2279791682958603, + 0.22884413599967957, + 0.2262134850025177 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.4404510259628296, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -1.381482720375061, + -1.406216025352478, + -1.4404510259628296, + -1.6854966878890991 + ], + "candidate_oracle_progress": 0.22884413599967957, + "candidate_oracle_regret": 0.0054520368576049805, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.22884413599967957, + "candidate_oracle_score_gain_over_selected": 0.0018589794635772705, + "candidate_oracle_selected_branch_progress": 0.2269851565361023, + "candidate_oracle_selected_branch_score": 0.2269851565361023, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-69785feff08dbf9a50be;ms-55e89d326b6531345902;ms-f5dcf9054c3c1c4e1d50;ms-a829d650eb9914fb2983;ms-64a755437c34f39cda2a;ms-7ce799eb9d3b741e8960", + "expert_regret": 0.007311016321182251, + "expert_score": 0.23429617285728455, + "expert_success": false, + "group_id": "ms-a932cbf7e2b5755db22e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.007311016321182251, + "oracle_score": 0.23429617285728455, + "oracle_success": false, + "progress": 0.2269851565361023, + "restore_error": 1.1920928955078125e-07, + "score": 0.2269851565361023, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.271760106086731, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.21425770223140717, + 0.21428868174552917, + 0.21403221786022186, + 0.21043813228607178 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 3.097951412200928e-05, + -0.00022548437118530273, + -0.003819569945335388 + ], + "candidate_oracle_branch_scores": [ + 0.21425770223140717, + 0.21428868174552917, + 0.21403221786022186, + 0.21043813228607178 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.099246859550476, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 40 + ], + "candidate_oracle_potentials": [ + -1.085099697113037, + -1.099246859550476, + -1.1398884057998657, + -1.1916117668151855 + ], + "candidate_oracle_progress": 0.21428868174552917, + "candidate_oracle_regret": 1.7857113182544708, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21428868174552917, + "candidate_oracle_score_gain_over_selected": 3.097951412200928e-05, + "candidate_oracle_selected_branch_progress": 0.21425770223140717, + "candidate_oracle_selected_branch_score": 0.21425770223140717, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-efb5a07185a3a1b33226;ms-4b4cd12d70c0615e0930;ms-83c0299c23fa800452c7;ms-e2a037eadb166228b1dd;ms-af91167a0cf15457c6ba;ms-de8d6051e6ee74b62fec", + "expert_regret": 1.7857422828674316, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e48a13af39db4a58bbc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7857422828674316, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21425771713256836, + "restore_error": 1.1920928955078125e-07, + "score": 0.21425771713256836, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.313904732465744, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.721338152885437, + 1.0, + 1.0, + 0.7050656080245972 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.278661847114563, + 1.278661847114563, + -0.016272544860839844 + ], + "candidate_oracle_branch_scores": [ + 0.721338152885437, + 2.0, + 2.0, + 0.7050656080245972 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5373155474662781, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4043831527233124, + -0.5373155474662781, + -0.5709775686264038, + -0.6085948348045349 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.278661847114563, + "candidate_oracle_selected_branch_progress": 0.721338152885437, + "candidate_oracle_selected_branch_score": 0.721338152885437, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0ef5d3238b33bdebae4d;ms-b483cac145e16ccdf42a;ms-baa36ee75ec2de550b9b;ms-760c73ea34418ce7a006;ms-b3d9d9570bf9b64c18fe;ms-675833805d1139c2f2a0", + "expert_regret": 1.2780991196632385, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2b59042e27453aff03a7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2780991196632385, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7219008803367615, + "restore_error": 1.1920928955078125e-07, + "score": 0.7219008803367615, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3812926113605499, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.5700276494026184, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 40 + ], + "candidate_oracle_potentials": [ + 0.5700276494026184, + 0.5612819790840149, + 0.5255972743034363, + 0.36436983942985535 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a323215fb409ab3e9287;ms-490e2c471adbabec6304;ms-5fb06efe2b4bea27cc89;ms-487d0fe2a13fb699dd7a;ms-dfc38c43e9a87f99ef7f;ms-e2a037eadb166228b1dd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-794706690fbf8c028bda", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.46013954281806946, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.3988493084907532, + 0.7067732214927673, + 0.6994402408599854, + 0.20918306708335876 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.30792391300201416, + 0.3005909323692322, + -0.1896662414073944 + ], + "candidate_oracle_branch_scores": [ + 0.3988493084907532, + 0.7067732214927673, + 0.6994402408599854, + 0.20918306708335876 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.7628579139709473, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.6043031215667725, + -1.7628579139709473, + -1.8151551485061646, + -1.8189938068389893 + ], + "candidate_oracle_progress": 0.7067732214927673, + "candidate_oracle_regret": 1.2932267785072327, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7067732214927673, + "candidate_oracle_score_gain_over_selected": 0.30792391300201416, + "candidate_oracle_selected_branch_progress": 0.3988493084907532, + "candidate_oracle_selected_branch_score": 0.3988493084907532, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-917b0f051489227842f0;ms-a829d650eb9914fb2983;ms-69785feff08dbf9a50be;ms-49c99f285560483a85ee;ms-b00933d2f628bc51d80a;ms-ace117030ae44c474db1", + "expert_regret": 1.601090669631958, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b15f77ad3436ac282ba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.601090669631958, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.398909330368042, + "restore_error": 1.1920928955078125e-07, + "score": 0.398909330368042, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.317443311214447, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3765157163143158, + 0.3062050938606262, + 0.3109414577484131, + 0.29121994972229004 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.07031062245368958, + -0.06557425856590271, + -0.08529576659202576 + ], + "candidate_oracle_branch_scores": [ + 0.3765157163143158, + 0.3062050938606262, + 0.3109414577484131, + 0.29121994972229004 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9666492342948914, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9666492342948914, + -1.2824327945709229, + -1.339412808418274, + -1.3989535570144653 + ], + "candidate_oracle_progress": 0.3765157163143158, + "candidate_oracle_regret": 1.6234842836856842, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3765157163143158, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3765157163143158, + "candidate_oracle_selected_branch_score": 0.3765157163143158, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6cf775fbba580161c4e;ms-6a9c4c704edd84c21cda;ms-80e3d8a34c3cb94cad65;ms-b025d8068f740557d630;ms-cf8c5d9c874edc9f000d;ms-e56b37f0e3881a70ef54", + "expert_regret": 1.6447234153747559, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-227f2e245df67a5ef5ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6447234153747559, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.35527658462524414, + "restore_error": 1.1920928955078125e-07, + "score": 0.35527658462524414, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6987015008926392, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.08200738579034805, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 8, + 0 + ], + "candidate_oracle_potentials": [ + -0.08200738579034805, + -0.15701022744178772, + -0.26733851432800293, + -0.34965959191322327 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fb329ccd569163c53415;ms-dfc38c43e9a87f99ef7f;ms-26322bd4de52dbd5743c;ms-e2950dcb50ed2b955be6;ms-2436538e05fdcf8e44fc;ms-487d0fe2a13fb699dd7a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e3f38594991aafbffc23", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.140878677368164, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.20973214507102966, + 0.20942877233028412, + 0.20988252758979797, + 0.20478755235671997 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00030337274074554443, + 0.00015038251876831055, + -0.004944592714309692 + ], + "candidate_oracle_branch_scores": [ + 0.20973214507102966, + 0.20942877233028412, + 0.20988252758979797, + 0.20478755235671997 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.2958811521530151, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 40 + ], + "candidate_oracle_potentials": [ + -1.2429718971252441, + -1.2515408992767334, + -1.2958811521530151, + -1.3434653282165527 + ], + "candidate_oracle_progress": 0.20988252758979797, + "candidate_oracle_regret": 1.790117472410202, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20988252758979797, + "candidate_oracle_score_gain_over_selected": 0.00015038251876831055, + "candidate_oracle_selected_branch_progress": 0.20973214507102966, + "candidate_oracle_selected_branch_score": 0.20973214507102966, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-83c0299c23fa800452c7;ms-e2a037eadb166228b1dd;ms-4b4cd12d70c0615e0930;ms-251c1dfd1010906f559f;ms-de8d6051e6ee74b62fec;ms-efb5a07185a3a1b33226", + "expert_regret": 1.7902677357196808, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-44a607bf50304347ead8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7902677357196808, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2097322642803192, + "restore_error": 1.1920928955078125e-07, + "score": 0.2097322642803192, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4798949658870697, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3677407503128052, + 0.22779063880443573, + 0.22679339349269867, + 0.22902600467205048 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.13995011150836945, + -0.1409473568201065, + -0.1387147456407547 + ], + "candidate_oracle_branch_scores": [ + 0.3677407503128052, + 0.22779063880443573, + 0.22679339349269867, + 0.22902600467205048 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.017238974571228, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.017238974571228, + -1.3201265335083008, + -1.359992265701294, + -1.4057881832122803 + ], + "candidate_oracle_progress": 0.3677407503128052, + "candidate_oracle_regret": 1.6322592496871948, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3677407503128052, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3677407503128052, + "candidate_oracle_selected_branch_score": 0.3677407503128052, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-69785feff08dbf9a50be;ms-a829d650eb9914fb2983;ms-7ce799eb9d3b741e8960;ms-917b0f051489227842f0;ms-6d6456c45f9f3ae74b50;ms-55e89d326b6531345902", + "expert_regret": 1.6322592496871948, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9f844e24c570295e0497", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6322592496871948, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3677407503128052, + "restore_error": 1.1920928955078125e-07, + "score": 0.3677407503128052, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30083295702934265, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4511743485927582, + 0.37068745493888855, + 0.34133559465408325, + 0.3153911232948303 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.08048689365386963, + -0.10983875393867493, + -0.13578322529792786 + ], + "candidate_oracle_branch_scores": [ + 0.4511743485927582, + 0.37068745493888855, + 0.34133559465408325, + 0.3153911232948303 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7845380902290344, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7845380902290344, + -1.2357293367385864, + -1.343286156654358, + -1.4547703266143799 + ], + "candidate_oracle_progress": 0.4511743485927582, + "candidate_oracle_regret": 1.5488256514072418, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4511743485927582, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4511743485927582, + "candidate_oracle_selected_branch_score": 0.4511743485927582, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-076246c4c5d1ca8ccd9d;ms-507199452c6d42562a38;ms-684a66885f21739d826b;ms-a5a56eefeb2de0abe600;ms-bc29afbe2bbf00638d25;ms-35babd5f83dcf1561f9a", + "expert_regret": 1.5357368290424347, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-777412474251e64d7e24", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5357368290424347, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4642631709575653, + "restore_error": 1.1920928955078125e-07, + "score": 0.4642631709575653, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4626147150993347, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6867729425430298, + 0.23463737964630127, + 0.2347637265920639, + 0.23485343158245087 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4521355628967285, + -0.4520092010498047, + -0.4519194960594177 + ], + "candidate_oracle_branch_scores": [ + 0.6867729425430298, + 0.23463737964630127, + 0.2347637265920639, + 0.23485343158245087 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.013037085533142, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.013037085533142, + -1.2791112661361694, + -1.3188121318817139, + -1.3633084297180176 + ], + "candidate_oracle_progress": 0.6867729425430298, + "candidate_oracle_regret": 1.3132270574569702, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6867729425430298, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6867729425430298, + "candidate_oracle_selected_branch_score": 0.6867729425430298, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6d6456c45f9f3ae74b50;ms-7ce799eb9d3b741e8960;ms-40a961867249ddccb68f;ms-65e9da4468e522823587;ms-a99d874a81bc60301007;ms-2c6000014d31fc0bb21c", + "expert_regret": 1.3134238719940186, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6684504de2fc8756f44f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3134238719940186, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6865761280059814, + "restore_error": 1.1920928955078125e-07, + "score": 0.6865761280059814, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.09671838581562042, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.0213455930352211, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 8 + ], + "candidate_oracle_potentials": [ + 0.0213455930352211, + 0.0184440016746521, + 0.012825217097997665, + -0.04557063430547714 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-490e2c471adbabec6304;ms-5fb06efe2b4bea27cc89;ms-a323215fb409ab3e9287;ms-487d0fe2a13fb699dd7a;ms-e2a037eadb166228b1dd;ms-af91167a0cf15457c6ba", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9551db96b60a51ccf62a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1302207112312317, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6917760372161865, + 0.6863480806350708, + 0.6854292154312134, + 0.6847890615463257 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.005427956581115723, + -0.0063468217849731445, + -0.00698697566986084 + ], + "candidate_oracle_branch_scores": [ + 0.6917760372161865, + 0.6863480806350708, + 0.6854292154312134, + 0.6847890615463257 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7258402705192566, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.7258402705192566, + -1.2203192710876465, + -1.2260347604751587, + -1.2357913255691528 + ], + "candidate_oracle_progress": 0.6917760372161865, + "candidate_oracle_regret": 1.3082239627838135, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6917760372161865, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6917760372161865, + "candidate_oracle_selected_branch_score": 0.6917760372161865, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cc0b4a1deec28e53722a;ms-9ced92cccacfe4d157b0;ms-9a72e47e2204fa794718;ms-92070f417bd9d14d6fc7;ms-ac6e78b1c56d020d0c09;ms-575bd87a5da90963019d", + "expert_regret": 1.3096325397491455, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7272e1e33d4ecc07470c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3096325397491455, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6903674602508545, + "restore_error": 1.1920928955078125e-07, + "score": 0.6903674602508545, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7175275683403015, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.20546208322048187, + 0.2054625153541565, + 0.20546254515647888, + 0.20814356207847595 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 4.3213367462158203e-07, + 4.6193599700927734e-07, + 0.0026814788579940796 + ], + "candidate_oracle_branch_scores": [ + 0.20546208322048187, + 0.2054625153541565, + 0.20546254515647888, + 0.20814356207847595 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.054192543029785, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 35 + ], + "candidate_oracle_potentials": [ + -1.7624424695968628, + -1.9861685037612915, + -2.0279297828674316, + -2.054192543029785 + ], + "candidate_oracle_progress": 0.20814356207847595, + "candidate_oracle_regret": 1.791856437921524, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20814356207847595, + "candidate_oracle_score_gain_over_selected": 0.0026814788579940796, + "candidate_oracle_selected_branch_progress": 0.20546208322048187, + "candidate_oracle_selected_branch_score": 0.20546208322048187, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13d8bae55d3c3710138f;ms-28835618507e7bc71227;ms-9852b3671856321cecc8;ms-4b4cd12d70c0615e0930;ms-af91167a0cf15457c6ba;ms-251c1dfd1010906f559f", + "expert_regret": 1.794537901878357, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-36d1128e3bd512cffe18", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.794537901878357, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20546209812164307, + "restore_error": 1.1920928955078125e-07, + "score": 0.20546209812164307, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.45902544260025024, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5145851969718933, + 0.22958612442016602, + 0.23089203238487244, + 0.22816762328147888 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.2849990725517273, + -0.2836931645870209, + -0.28641757369041443 + ], + "candidate_oracle_branch_scores": [ + 0.5145851969718933, + 0.22958612442016602, + 0.23089203238487244, + 0.22816762328147888 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0677763223648071, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0677763223648071, + -1.3362072706222534, + -1.37995445728302, + -1.4351146221160889 + ], + "candidate_oracle_progress": 0.5145851969718933, + "candidate_oracle_regret": 1.4854148030281067, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5145851969718933, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5145851969718933, + "candidate_oracle_selected_branch_score": 0.5145851969718933, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7ce799eb9d3b741e8960;ms-69785feff08dbf9a50be;ms-6d6456c45f9f3ae74b50;ms-b00933d2f628bc51d80a;ms-917b0f051489227842f0;ms-2c6000014d31fc0bb21c", + "expert_regret": 1.4754397869110107, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ee12f14646b925adf51", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4754397869110107, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5245602130889893, + "restore_error": 1.1920928955078125e-07, + "score": 0.5245602130889893, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4768955409526825, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3753502368927002, + 0.36996328830718994, + 0.29584965109825134, + 0.22402089834213257 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.005386948585510254, + -0.07950058579444885, + -0.15132933855056763 + ], + "candidate_oracle_branch_scores": [ + 0.3753502368927002, + 0.36996328830718994, + 0.29584965109825134, + 0.22402089834213257 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5173599720001221, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 35 + ], + "candidate_oracle_potentials": [ + -0.5173599720001221, + -1.361883521080017, + -1.4787402153015137, + -1.4790266752243042 + ], + "candidate_oracle_progress": 0.3753502368927002, + "candidate_oracle_regret": 1.6246497631072998, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3753502368927002, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3753502368927002, + "candidate_oracle_selected_branch_score": 0.3753502368927002, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b2d1a5e132eaeb353782;ms-0d80d6d87a27a53951fe;ms-27251a7c7f13bf165e21;ms-d2febdb2a469fbbac4f2;ms-9f4b47c80d59166302ab;ms-741e906eafd57d115b5d", + "expert_regret": 1.62465301156044, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6f03b16858c35025503e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.62465301156044, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.37534698843955994, + "restore_error": 1.1920928955078125e-07, + "score": 0.37534698843955994, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3387201428413391, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7058124542236328, + 0.6889507174491882, + 0.6932605504989624, + 0.707460880279541 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.01686173677444458, + -0.01255190372467041, + 0.0016484260559082031 + ], + "candidate_oracle_branch_scores": [ + 0.7058124542236328, + 0.6889507174491882, + 0.6932605504989624, + 0.707460880279541 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.4185613989830017, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.15448904037475586, + -0.2933478355407715, + -0.34794557094573975, + -0.4185613989830017 + ], + "candidate_oracle_progress": 0.707460880279541, + "candidate_oracle_regret": 1.292539119720459, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.707460880279541, + "candidate_oracle_score_gain_over_selected": 0.0016484260559082031, + "candidate_oracle_selected_branch_progress": 0.7058124542236328, + "candidate_oracle_selected_branch_score": 0.7058124542236328, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9c33d4837de7d23232d6;ms-f6f0d14ef7c24b9e4621;ms-73259d17883355f7fa88;ms-1b8e9b173562648021f6;ms-a40dee47c502e73949af;ms-8f24ad2e217963943c12", + "expert_regret": 1.3167616128921509, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-25195d526c9adb43ac79", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3167616128921509, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6832383871078491, + "restore_error": 1.1920928955078125e-07, + "score": 0.6832383871078491, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.23444321751594543, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7133228778839111, + 0.6917440891265869, + 0.6942779421806335, + 0.6940882205963135 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.02157878875732422, + -0.019044935703277588, + -0.019234657287597656 + ], + "candidate_oracle_branch_scores": [ + 0.7133228778839111, + 0.6917440891265869, + 0.6942779421806335, + 0.6940882205963135 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.40070319175720215, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.40070319175720215, + -0.816889226436615, + -0.9389836192131042, + -1.076007604598999 + ], + "candidate_oracle_progress": 0.7133228778839111, + "candidate_oracle_regret": 1.2866771221160889, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7133228778839111, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7133228778839111, + "candidate_oracle_selected_branch_score": 0.7133228778839111, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-507199452c6d42562a38;ms-076246c4c5d1ca8ccd9d;ms-fdb2637276b27c46c757;ms-bc29afbe2bbf00638d25;ms-684a66885f21739d826b;ms-35babd5f83dcf1561f9a", + "expert_regret": 1.2871037721633911, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d30b515ab0ee174afa58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2871037721633911, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7128962278366089, + "restore_error": 1.1920928955078125e-07, + "score": 0.7128962278366089, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3407861292362213, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.700371503829956, + 0.6614903211593628, + 0.6634728312492371, + 0.6085114479064941 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.03888118267059326, + -0.036898672580718994, + -0.09186005592346191 + ], + "candidate_oracle_branch_scores": [ + 0.700371503829956, + 0.6614903211593628, + 0.6634728312492371, + 0.6085114479064941 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9427066445350647, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9427066445350647, + -1.2591712474822998, + -1.3190447092056274, + -1.381588101387024 + ], + "candidate_oracle_progress": 0.700371503829956, + "candidate_oracle_regret": 1.299628496170044, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.700371503829956, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.700371503829956, + "candidate_oracle_selected_branch_score": 0.700371503829956, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a9c4c704edd84c21cda;ms-80e3d8a34c3cb94cad65;ms-a6cf775fbba580161c4e;ms-e56b37f0e3881a70ef54;ms-cf8c5d9c874edc9f000d;ms-b025d8068f740557d630", + "expert_regret": 1.2996575832366943, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6ca37421eb5405e1a9a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2996575832366943, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7003424167633057, + "restore_error": 1.1920928955078125e-07, + "score": 0.7003424167633057, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2984304130077362, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4672808051109314, + 0.3090269863605499, + 0.21925142407417297, + 0.21189278364181519 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.15825381875038147, + -0.24802938103675842, + -0.2553880214691162 + ], + "candidate_oracle_branch_scores": [ + 0.4672808051109314, + 0.3090269863605499, + 0.21925142407417297, + 0.21189278364181519 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5574236512184143, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5574236512184143, + -0.8396889567375183, + -0.9140142202377319, + -1.0014584064483643 + ], + "candidate_oracle_progress": 0.4672808051109314, + "candidate_oracle_regret": 1.5327191948890686, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4672808051109314, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4672808051109314, + "candidate_oracle_selected_branch_score": 0.4672808051109314, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-55e89d326b6531345902;ms-65e9da4468e522823587;ms-6d6456c45f9f3ae74b50;ms-7ce799eb9d3b741e8960;ms-b025d8068f740557d630;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.5327044129371643, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2590f9fd91265598fb45", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5327044129371643, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4672955870628357, + "restore_error": 1.1920928955078125e-07, + "score": 0.4672955870628357, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5031071305274963, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.6947375535964966, + 0.6614299416542053, + 0.704282283782959, + 0.7052810192108154 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.03330761194229126, + 0.009544730186462402, + 0.010543465614318848 + ], + "candidate_oracle_branch_scores": [ + 0.6947375535964966, + 0.6614299416542053, + 0.704282283782959, + 0.7052810192108154 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.436968207359314, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.1105149984359741, + -1.3435403108596802, + -1.384873390197754, + -1.436968207359314 + ], + "candidate_oracle_progress": 0.7052810192108154, + "candidate_oracle_regret": 1.2947189807891846, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7052810192108154, + "candidate_oracle_score_gain_over_selected": 0.010543465614318848, + "candidate_oracle_selected_branch_progress": 0.6947375535964966, + "candidate_oracle_selected_branch_score": 0.6947375535964966, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-b00933d2f628bc51d80a;ms-69785feff08dbf9a50be;ms-2c6000014d31fc0bb21c;ms-40a961867249ddccb68f", + "expert_regret": 1.3051881790161133, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1e0634dc4c3b94220950", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3051881790161133, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6948118209838867, + "restore_error": 1.1920928955078125e-07, + "score": 0.6948118209838867, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3843212127685547, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5945820808410645, + 0.6877263784408569, + 0.6932390928268433, + 0.6921430826187134 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.09314429759979248, + 0.09865701198577881, + 0.09756100177764893 + ], + "candidate_oracle_branch_scores": [ + 0.5945820808410645, + 0.6877263784408569, + 0.6932390928268433, + 0.6921430826187134 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0166826248168945, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5968011617660522, + -0.9335684180259705, + -1.0166826248168945, + -1.1091946363449097 + ], + "candidate_oracle_progress": 0.6932390928268433, + "candidate_oracle_regret": 1.3067609071731567, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6932390928268433, + "candidate_oracle_score_gain_over_selected": 0.09865701198577881, + "candidate_oracle_selected_branch_progress": 0.5945820808410645, + "candidate_oracle_selected_branch_score": 0.5945820808410645, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-08ab006a923f5fdae198;ms-6a03497f97765ffd444e;ms-0ef5d3238b33bdebae4d;ms-b483cac145e16ccdf42a;ms-a5a56eefeb2de0abe600;ms-baa36ee75ec2de550b9b", + "expert_regret": 1.3345265984535217, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d229ac64c91c9bb6ce88", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3345265984535217, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6654734015464783, + "restore_error": 1.1920928955078125e-07, + "score": 0.6654734015464783, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48076412081718445, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.2083507627248764, + 0.20819918811321259, + 0.20868927240371704 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.7916492223739624, + -1.791800856590271, + -1.7913107872009277 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.2083507627248764, + 0.20819918811321259, + 0.20868927240371704 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.03359854221344, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.03359854221344, + -1.4508334398269653, + -1.5287110805511475, + -1.6125489473342896 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-69785feff08dbf9a50be;ms-b00933d2f628bc51d80a;ms-7ce799eb9d3b741e8960;ms-917b0f051489227842f0;ms-a829d650eb9914fb2983;ms-6d6456c45f9f3ae74b50", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-73c99a7a25cd025e5f2d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.2363089323043823, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.212866872549057, + 0.21252886950969696, + 0.2130209505558014, + 0.20722739398479462 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0003380030393600464, + 0.00015407800674438477, + -0.00563947856426239 + ], + "candidate_oracle_branch_scores": [ + 0.212866872549057, + 0.21252886950969696, + 0.2130209505558014, + 0.20722739398479462 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.1254884004592896, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 24 + ], + "candidate_oracle_potentials": [ + -1.0742661952972412, + -1.0897148847579956, + -1.1254884004592896, + -1.2462135553359985 + ], + "candidate_oracle_progress": 0.2130209505558014, + "candidate_oracle_regret": 1.7869790494441986, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2130209505558014, + "candidate_oracle_score_gain_over_selected": 0.00015407800674438477, + "candidate_oracle_selected_branch_progress": 0.212866872549057, + "candidate_oracle_selected_branch_score": 0.212866872549057, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-efb5a07185a3a1b33226;ms-e2a037eadb166228b1dd;ms-251c1dfd1010906f559f;ms-af91167a0cf15457c6ba;ms-4b4cd12d70c0615e0930;ms-83c0299c23fa800452c7", + "expert_regret": 1.787133127450943, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-89520c3ac8779d9e81e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.787133127450943, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.212866872549057, + "restore_error": 1.1920928955078125e-07, + "score": 0.212866872549057, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6075200438499451, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2789660692214966, + 0.27317118644714355, + 0.2730686068534851, + 0.25330957770347595 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.005794882774353027, + -0.005897462368011475, + -0.02565649151802063 + ], + "candidate_oracle_branch_scores": [ + 0.2789660692214966, + 0.27317118644714355, + 0.2730686068534851, + 0.25330957770347595 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.40955474972724915, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 8 + ], + "candidate_oracle_potentials": [ + -0.40955474972724915, + -0.4160039722919464, + -0.4401918351650238, + -0.4631901979446411 + ], + "candidate_oracle_progress": 0.2789660692214966, + "candidate_oracle_regret": 1.7210339307785034, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2789660692214966, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2789660692214966, + "candidate_oracle_selected_branch_score": 0.2789660692214966, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-7a1b60ea1461eb460bed;ms-92070f417bd9d14d6fc7;ms-ac6e78b1c56d020d0c09;ms-debd7e5668e2acdf6bb0;ms-cc0b4a1deec28e53722a", + "expert_regret": 1.6994920670986176, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-89feb4366865cfaf2273", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.6994920670986176, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.30050793290138245, + "restore_error": 1.1920928955078125e-07, + "score": 0.30050793290138245, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16561833024024963, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.2818678021430969, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 40 + ], + "candidate_oracle_potentials": [ + 0.2818678021430969, + 0.26341351866722107, + 0.2447987198829651, + 0.21303454041481018 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-487d0fe2a13fb699dd7a;ms-a323215fb409ab3e9287;ms-490e2c471adbabec6304;ms-5fb06efe2b4bea27cc89;ms-dfc38c43e9a87f99ef7f;ms-2436538e05fdcf8e44fc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83c62951219e6599b630", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.49998125433921814, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7084779739379883, + 0.23324665427207947, + 0.23298680782318115, + 0.23256027698516846 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4752313196659088, + -0.47549116611480713, + -0.4759176969528198 + ], + "candidate_oracle_branch_scores": [ + 0.7084779739379883, + 0.23324665427207947, + 0.23298680782318115, + 0.23256027698516846 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9194998145103455, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9194998145103455, + -1.2849220037460327, + -1.3661710023880005, + -1.4571784734725952 + ], + "candidate_oracle_progress": 0.7084779739379883, + "candidate_oracle_regret": 1.2915220260620117, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7084779739379883, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7084779739379883, + "candidate_oracle_selected_branch_score": 0.7084779739379883, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fb131b52f94500da894b;ms-e56b37f0e3881a70ef54;ms-01bef10a5ccfd38294fe;ms-80e3d8a34c3cb94cad65;ms-6a9c4c704edd84c21cda;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.2908714413642883, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-261f6f6b578cee63be20", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2908714413642883, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7091285586357117, + "restore_error": 1.1920928955078125e-07, + "score": 0.7091285586357117, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.23618507385253906, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.203450545668602, + 0.20383451879024506, + 0.20412993431091309, + 0.19547139108181 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0003839731216430664, + 0.0006793886423110962, + -0.007979154586791992 + ], + "candidate_oracle_branch_scores": [ + 0.203450545668602, + 0.20383451879024506, + 0.20412993431091309, + 0.19547139108181 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.1387243270874023, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 0 + ], + "candidate_oracle_potentials": [ + -2.0927951335906982, + -2.1049487590789795, + -2.1387243270874023, + -2.184406280517578 + ], + "candidate_oracle_progress": 0.20412993431091309, + "candidate_oracle_regret": 1.795870065689087, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20412993431091309, + "candidate_oracle_score_gain_over_selected": 0.0006793886423110962, + "candidate_oracle_selected_branch_progress": 0.203450545668602, + "candidate_oracle_selected_branch_score": 0.203450545668602, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4b4cd12d70c0615e0930;ms-251c1dfd1010906f559f;ms-83c0299c23fa800452c7;ms-de8d6051e6ee74b62fec;ms-28835618507e7bc71227;ms-9852b3671856321cecc8", + "expert_regret": 0.52204729616642, + "expert_score": 0.725497841835022, + "expert_success": false, + "group_id": "ms-0660d5f65df5fc4b6132", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.796549454331398, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.203450545668602, + "restore_error": 1.1920928955078125e-07, + "score": 0.203450545668602, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.19744287431240082, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.29345643520355225, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 8, + 24, + 17 + ], + "candidate_oracle_potentials": [ + 0.29345643520355225, + 0.2896950840950012, + 0.2867310047149658, + 0.28243565559387207 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-caa0a38b7df789550f8a;ms-490e2c471adbabec6304;ms-2436538e05fdcf8e44fc;ms-e2a037eadb166228b1dd;ms-af91167a0cf15457c6ba;ms-4b4cd12d70c0615e0930", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-36f204d04ec4c4af3169", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5330786108970642, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.43620046973228455, + 0.2178352177143097, + 0.21278898417949677, + 0.21300601959228516 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.21836525201797485, + -0.22341148555278778, + -0.2231944501399994 + ], + "candidate_oracle_branch_scores": [ + 0.43620046973228455, + 0.2178352177143097, + 0.21278898417949677, + 0.21300601959228516 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.5919479131698608, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.5919479131698608, + -1.6871150732040405, + -1.7014342546463013, + -1.7080104351043701 + ], + "candidate_oracle_progress": 0.43620046973228455, + "candidate_oracle_regret": 1.5637995302677155, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.43620046973228455, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.43620046973228455, + "candidate_oracle_selected_branch_score": 0.43620046973228455, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-49c99f285560483a85ee;ms-917b0f051489227842f0;ms-ace117030ae44c474db1;ms-2c6000014d31fc0bb21c;ms-27251a7c7f13bf165e21;ms-b00933d2f628bc51d80a", + "expert_regret": 1.563793957233429, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e2f90eb6c79dfd9ce6fd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.563793957233429, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.43620604276657104, + "restore_error": 1.1920928955078125e-07, + "score": 0.43620604276657104, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1615751087665558, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7058373689651489, + 0.690767228603363, + 0.6925579309463501, + 0.694115161895752 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.015070140361785889, + -0.013279438018798828, + -0.011722207069396973 + ], + "candidate_oracle_branch_scores": [ + 0.7058373689651489, + 0.690767228603363, + 0.6925579309463501, + 0.694115161895752 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8680169582366943, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + -0.8680169582366943, + -0.8845896124839783, + -0.8854965567588806, + -0.8954799771308899 + ], + "candidate_oracle_progress": 0.7058373689651489, + "candidate_oracle_regret": 1.294162631034851, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7058373689651489, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7058373689651489, + "candidate_oracle_selected_branch_score": 0.7058373689651489, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-59bff662e0ecb913ed81;ms-502dba1003c09ec60ba0;ms-ac6e78b1c56d020d0c09;ms-cc0b4a1deec28e53722a;ms-9ced92cccacfe4d157b0;ms-575bd87a5da90963019d", + "expert_regret": 1.2959978580474854, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3d862f2a32d3404926c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2959978580474854, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7040021419525146, + "restore_error": 1.1920928955078125e-07, + "score": 0.7040021419525146, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36507290601730347, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.42660531401634216, + 0.3975723683834076, + 0.37132295966148376, + 0.27489152550697327 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.02903294563293457, + -0.0552823543548584, + -0.1517137885093689 + ], + "candidate_oracle_branch_scores": [ + 0.42660531401634216, + 0.3975723683834076, + 0.37132295966148376, + 0.27489152550697327 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8905574083328247, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8905574083328247, + -1.2028716802597046, + -1.2652215957641602, + -1.3314015865325928 + ], + "candidate_oracle_progress": 0.42660531401634216, + "candidate_oracle_regret": 1.5733946859836578, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.42660531401634216, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.42660531401634216, + "candidate_oracle_selected_branch_score": 0.42660531401634216, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a9c4c704edd84c21cda;ms-a6cf775fbba580161c4e;ms-80e3d8a34c3cb94cad65;ms-e56b37f0e3881a70ef54;ms-b025d8068f740557d630;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.5674291253089905, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-577341cca32521f4045e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5674291253089905, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4325708746910095, + "restore_error": 1.1920928955078125e-07, + "score": 0.4325708746910095, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1258944720029831, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.05401790887117386, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 33, + 24, + 17 + ], + "candidate_oracle_potentials": [ + 0.05401790887117386, + 0.03995053470134735, + 0.03176557272672653, + -0.004662841558456421 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fb329ccd569163c53415;ms-26322bd4de52dbd5743c;ms-e2950dcb50ed2b955be6;ms-dfc38c43e9a87f99ef7f;ms-2436538e05fdcf8e44fc;ms-487d0fe2a13fb699dd7a", + "expert_regret": 0.0, + "expert_score": 0.6909128427505493, + "expert_success": false, + "group_id": "ms-9156a9a9c1b829b742ad", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.02573450282216072, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7170183062553406, + 0.7212454676628113, + 0.690098226070404, + 0.689745306968689 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.004227161407470703, + -0.026920080184936523, + -0.02727299928665161 + ], + "candidate_oracle_branch_scores": [ + 0.7170183062553406, + 0.7212454676628113, + 0.690098226070404, + 0.689745306968689 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5701307654380798, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.2815268039703369, + -0.5701307654380798, + -0.6568095088005066, + -0.7580564022064209 + ], + "candidate_oracle_progress": 0.7212454676628113, + "candidate_oracle_regret": 1.2787545323371887, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7212454676628113, + "candidate_oracle_score_gain_over_selected": 0.004227161407470703, + "candidate_oracle_selected_branch_progress": 0.7170183062553406, + "candidate_oracle_selected_branch_score": 0.7170183062553406, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9c33d4837de7d23232d6;ms-5bbc4c4b1b51e2a088db;ms-a4ade4de51ca437ac432;ms-f6f0d14ef7c24b9e4621;ms-1b8e9b173562648021f6;ms-b3d9d9570bf9b64c18fe", + "expert_regret": 0.006397843360900879, + "expert_score": 0.7210851907730103, + "expert_success": false, + "group_id": "ms-988537a36edfece3d073", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2853126525878906, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7146873474121094, + "restore_error": 1.1920928955078125e-07, + "score": 0.7146873474121094, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6700974702835083, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.24195611476898193, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 33, + 8 + ], + "candidate_oracle_potentials": [ + 0.24195611476898193, + 0.2390803098678589, + 0.235734760761261, + 0.21132147312164307 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a323215fb409ab3e9287;ms-490e2c471adbabec6304;ms-5fb06efe2b4bea27cc89;ms-487d0fe2a13fb699dd7a;ms-dfc38c43e9a87f99ef7f;ms-2436538e05fdcf8e44fc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-62b88f5cbc4f137e3bba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1737096756696701, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.04226470738649368, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.04226470738649368, + -0.18582683801651, + -0.25851112604141235, + -0.3471528887748718 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-73259d17883355f7fa88;ms-f6f0d14ef7c24b9e4621;ms-a40dee47c502e73949af;ms-bb567fcac946f012535a;ms-a4ade4de51ca437ac432;ms-675833805d1139c2f2a0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-becd2ffef1c49174810a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6880813241004944, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.6843266487121582, + 0.696908175945282, + 0.6815826296806335, + 0.2555803656578064 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.01258152723312378, + -0.002744019031524658, + -0.4287462830543518 + ], + "candidate_oracle_branch_scores": [ + 0.6843266487121582, + 0.696908175945282, + 0.6815826296806335, + 0.2555803656578064 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.23975929617881775, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 17, + 1, + 33, + 8 + ], + "candidate_oracle_potentials": [ + -0.2379525899887085, + -0.23975929617881775, + -0.25948718190193176, + -0.3160596787929535 + ], + "candidate_oracle_progress": 0.696908175945282, + "candidate_oracle_regret": 1.303091824054718, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.696908175945282, + "candidate_oracle_score_gain_over_selected": 0.01258152723312378, + "candidate_oracle_selected_branch_progress": 0.6843266487121582, + "candidate_oracle_selected_branch_score": 0.6843266487121582, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7a1b60ea1461eb460bed;ms-96e1562aaca7ef49db28;ms-b383acd9844466b19579;ms-5799584ed40e211c50a5;ms-debd7e5668e2acdf6bb0;ms-92070f417bd9d14d6fc7", + "expert_regret": 1.3142856359481812, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2e4ca0e2534ef8ea8bb4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3142856359481812, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6857143640518188, + "restore_error": 2.384185791015625e-07, + "score": 0.6857143640518188, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.25513818860054016, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.21341019868850708, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.21341019868850708, + -0.4241877496242523, + -0.4975227117538452, + -0.5848259329795837 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a4ade4de51ca437ac432;ms-5bbc4c4b1b51e2a088db;ms-fdb2637276b27c46c757;ms-9c33d4837de7d23232d6;ms-1b8e9b173562648021f6;ms-ff3256da4e1731651937", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f0d2ffde521e268efc83", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30745214223861694, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5780096650123596 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.4219903945922852 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5780096650123596 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5939430594444275, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5939430594444275, + -0.9416528940200806, + -1.02151620388031, + -1.1122177839279175 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-65e9da4468e522823587;ms-6d6456c45f9f3ae74b50;ms-7ce799eb9d3b741e8960;ms-55e89d326b6531345902;ms-01bef10a5ccfd38294fe;ms-b025d8068f740557d630", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6939f3ecafd5e0a4bfee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2652103006839752, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7013438940048218, + 0.5714729428291321, + 0.5012975931167603, + 0.4132717549800873 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1298709511756897, + -0.20004630088806152, + -0.2880721390247345 + ], + "candidate_oracle_branch_scores": [ + 0.7013438940048218, + 0.5714729428291321, + 0.5012975931167603, + 0.4132717549800873 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4495360553264618, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4495360553264618, + -0.8634634017944336, + -0.9660068154335022, + -1.080013632774353 + ], + "candidate_oracle_progress": 0.7013438940048218, + "candidate_oracle_regret": 1.2986561059951782, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7013438940048218, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7013438940048218, + "candidate_oracle_selected_branch_score": 0.7013438940048218, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-684a66885f21739d826b;ms-08ab006a923f5fdae198;ms-507199452c6d42562a38;ms-bc29afbe2bbf00638d25;ms-6a03497f97765ffd444e;ms-a5a56eefeb2de0abe600", + "expert_regret": 1.2966576218605042, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-780ea60ea0255941e6c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2966576218605042, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7033423781394958, + "restore_error": 2.384185791015625e-07, + "score": 0.7033423781394958, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16279791295528412, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.07375187426805496, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.07375187426805496, + -0.2726144790649414, + -0.35312190651893616, + -0.4473550319671631 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f6f0d14ef7c24b9e4621;ms-675833805d1139c2f2a0;ms-73259d17883355f7fa88;ms-b483cac145e16ccdf42a;ms-b3d9d9570bf9b64c18fe;ms-bb567fcac946f012535a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-690f52acc6ead9c7c078", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.19073517620563507, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7215712070465088, + 0.7013870477676392, + 0.6425125598907471, + 0.6887136697769165 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.02018415927886963, + -0.07905864715576172, + -0.032857537269592285 + ], + "candidate_oracle_branch_scores": [ + 0.7215712070465088, + 0.7013870477676392, + 0.6425125598907471, + 0.6887136697769165 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.21402794122695923, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.21402794122695923, + -0.4013822078704834, + -0.4842936396598816, + -0.588612973690033 + ], + "candidate_oracle_progress": 0.7215712070465088, + "candidate_oracle_regret": 1.2784287929534912, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7215712070465088, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7215712070465088, + "candidate_oracle_selected_branch_score": 0.7215712070465088, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a4ade4de51ca437ac432;ms-5bbc4c4b1b51e2a088db;ms-f6f0d14ef7c24b9e4621;ms-9c33d4837de7d23232d6;ms-1b8e9b173562648021f6;ms-73259d17883355f7fa88", + "expert_regret": 1.2785649299621582, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1145e0f6add300eee9bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2785649299621582, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7214350700378418, + "restore_error": 2.384185791015625e-07, + "score": 0.7214350700378418, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.02433847263455391, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.39001959562301636, + 0.29973524808883667, + 0.2823863923549652, + 0.26754507422447205 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.09028434753417969, + -0.10763320326805115, + -0.12247452139854431 + ], + "candidate_oracle_branch_scores": [ + 0.39001959562301636, + 0.29973524808883667, + 0.2823863923549652, + 0.26754507422447205 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6902123689651489, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6902123689651489, + -1.061074137687683, + -1.1577409505844116, + -1.2687604427337646 + ], + "candidate_oracle_progress": 0.39001959562301636, + "candidate_oracle_regret": 1.6099804043769836, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.384185791015625e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.39001959562301636, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.39001959562301636, + "candidate_oracle_selected_branch_score": 0.39001959562301636, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-076246c4c5d1ca8ccd9d;ms-507199452c6d42562a38;ms-bc29afbe2bbf00638d25;ms-684a66885f21739d826b;ms-35babd5f83dcf1561f9a;ms-a5a56eefeb2de0abe600", + "expert_regret": 0.34185510873794556, + "expert_score": 0.7288997173309326, + "expert_success": false, + "group_id": "ms-efbde8652e75274fbd69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.612955391407013, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.38704460859298706, + "restore_error": 2.384185791015625e-07, + "score": 0.38704460859298706, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3655150234699249, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7069928646087646, + 0.681830644607544, + 0.6465886831283569, + 0.522312343120575 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.025162220001220703, + -0.060404181480407715, + -0.1846805214881897 + ], + "candidate_oracle_branch_scores": [ + 0.7069928646087646, + 0.681830644607544, + 0.6465886831283569, + 0.522312343120575 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7996028065681458, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7996028065681458, + -1.153983235359192, + -1.2338181734085083, + -1.3208650350570679 + ], + "candidate_oracle_progress": 0.7069928646087646, + "candidate_oracle_regret": 1.2930071353912354, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7069928646087646, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7069928646087646, + "candidate_oracle_selected_branch_score": 0.7069928646087646, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a9c4c704edd84c21cda;ms-80e3d8a34c3cb94cad65;ms-e56b37f0e3881a70ef54;ms-cf8c5d9c874edc9f000d;ms-b025d8068f740557d630;ms-fb131b52f94500da894b", + "expert_regret": 1.3010559678077698, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a195f05e99bccc48907e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3010559678077698, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6989440321922302, + "restore_error": 1.1920928955078125e-07, + "score": 0.6989440321922302, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.072344422340393, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.20931574702262878, + 0.2088356465101242, + 0.20965169370174408, + 0.2035268247127533 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00048010051250457764, + 0.0003359466791152954, + -0.005788922309875488 + ], + "candidate_oracle_branch_scores": [ + 0.20931574702262878, + 0.2088356465101242, + 0.20965169370174408, + 0.2035268247127533 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.3983622789382935, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 40 + ], + "candidate_oracle_potentials": [ + -1.3385800123214722, + -1.341687560081482, + -1.3983622789382935, + -1.4204028844833374 + ], + "candidate_oracle_progress": 0.20965169370174408, + "candidate_oracle_regret": 1.790348306298256, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20965169370174408, + "candidate_oracle_score_gain_over_selected": 0.0003359466791152954, + "candidate_oracle_selected_branch_progress": 0.20931574702262878, + "candidate_oracle_selected_branch_score": 0.20931574702262878, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-de8d6051e6ee74b62fec;ms-4b4cd12d70c0615e0930;ms-83c0299c23fa800452c7;ms-e2a037eadb166228b1dd;ms-251c1dfd1010906f559f;ms-efb5a07185a3a1b33226", + "expert_regret": 1.790684312582016, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3af721139694f7f3ec04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.790684312582016, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.209315687417984, + "restore_error": 1.1920928955078125e-07, + "score": 0.209315687417984, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4327682852745056, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4194176197052002, + 0.23362287878990173, + 0.23204383254051208, + 0.2348296344280243 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.18579474091529846, + -0.1873737871646881, + -0.1845879852771759 + ], + "candidate_oracle_branch_scores": [ + 0.4194176197052002, + 0.23362287878990173, + 0.23204383254051208, + 0.2348296344280243 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.932725191116333, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.932725191116333, + -1.298215627670288, + -1.376817226409912, + -1.4667870998382568 + ], + "candidate_oracle_progress": 0.4194176197052002, + "candidate_oracle_regret": 1.5805823802947998, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4194176197052002, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4194176197052002, + "candidate_oracle_selected_branch_score": 0.4194176197052002, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fb131b52f94500da894b;ms-e56b37f0e3881a70ef54;ms-80e3d8a34c3cb94cad65;ms-01bef10a5ccfd38294fe;ms-6a9c4c704edd84c21cda;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.4053375720977783, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-35d84da6eb1afcf8a811", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4053375720977783, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5946624279022217, + "restore_error": 1.1920928955078125e-07, + "score": 0.5946624279022217, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.13708104193210602, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.45153236389160156, + 0.20078623294830322, + 0.20077943801879883, + 0.2077571600675583 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.25074613094329834, + -0.25075292587280273, + -0.24377520382404327 + ], + "candidate_oracle_branch_scores": [ + 0.45153236389160156, + 0.20078623294830322, + 0.20077943801879883, + 0.2077571600675583 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.0126304626464844, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 19 + ], + "candidate_oracle_potentials": [ + -2.0126304626464844, + -2.153193950653076, + -2.1820766925811768, + -2.1851696968078613 + ], + "candidate_oracle_progress": 0.45153236389160156, + "candidate_oracle_regret": 1.5484676361083984, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.45153236389160156, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.45153236389160156, + "candidate_oracle_selected_branch_score": 0.45153236389160156, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13d8bae55d3c3710138f;ms-9852b3671856321cecc8;ms-4b4cd12d70c0615e0930;ms-251c1dfd1010906f559f;ms-28835618507e7bc71227;ms-af91167a0cf15457c6ba", + "expert_regret": 0.2756396234035492, + "expert_score": 0.727162778377533, + "expert_success": false, + "group_id": "ms-ec2e4afb34b439731136", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5484768450260162, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.45152315497398376, + "restore_error": 1.1920928955078125e-07, + "score": 0.45152315497398376, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.24104079604148865, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.381064772605896, + 0.2318083494901657, + 0.2319563329219818, + 0.34982573986053467 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.14925642311573029, + -0.14910843968391418, + -0.031239032745361328 + ], + "candidate_oracle_branch_scores": [ + 0.381064772605896, + 0.2318083494901657, + 0.2319563329219818, + 0.34982573986053467 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.6794694662094116, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.6794694662094116, + -1.856031060218811, + -1.9083220958709717, + -1.965657353401184 + ], + "candidate_oracle_progress": 0.381064772605896, + "candidate_oracle_regret": 1.618935227394104, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.381064772605896, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.381064772605896, + "candidate_oracle_selected_branch_score": 0.381064772605896, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5dcf9054c3c1c4e1d50;ms-64a755437c34f39cda2a;ms-b025d8068f740557d630;ms-55e89d326b6531345902;ms-69785feff08dbf9a50be;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.618930160999298, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b4af9d7c922b1676e516", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.618930160999298, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3810698390007019, + "restore_error": 1.1920928955078125e-07, + "score": 0.3810698390007019, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7201610207557678, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.14341029524803162, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 8, + 0 + ], + "candidate_oracle_potentials": [ + -0.14341029524803162, + -0.20662426948547363, + -0.29738572239875793, + -0.38422659039497375 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2436538e05fdcf8e44fc;ms-dfc38c43e9a87f99ef7f;ms-487d0fe2a13fb699dd7a;ms-26322bd4de52dbd5743c;ms-e2950dcb50ed2b955be6;ms-caa0a38b7df789550f8a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-34f60c9a263bd0a5641f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1970635950565338, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5115232467651367, + 0.42912280559539795, + 0.4516581892967224, + 0.4674476981163025 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.08240044116973877, + -0.05986505746841431, + -0.04407554864883423 + ], + "candidate_oracle_branch_scores": [ + 0.5115232467651367, + 0.42912280559539795, + 0.4516581892967224, + 0.4674476981163025 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4231785535812378, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + -0.4231785535812378, + -0.746399462223053, + -0.7543833255767822, + -0.7656153440475464 + ], + "candidate_oracle_progress": 0.5115232467651367, + "candidate_oracle_regret": 1.4884767532348633, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5115232467651367, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5115232467651367, + "candidate_oracle_selected_branch_score": 0.5115232467651367, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-92070f417bd9d14d6fc7;ms-cc0b4a1deec28e53722a;ms-9a72e47e2204fa794718;ms-9ced92cccacfe4d157b0;ms-bb567fcac946f012535a;ms-ac6e78b1c56d020d0c09", + "expert_regret": 1.4925320148468018, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6a4398375c43dbf887b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4925320148468018, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5074679851531982, + "restore_error": 1.1920928955078125e-07, + "score": 0.5074679851531982, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31695714592933655, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.3278657793998718, + 0.3757365345954895, + 0.3148080110549927, + 0.2901434302330017 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.047870755195617676, + -0.01305776834487915, + -0.03772234916687012 + ], + "candidate_oracle_branch_scores": [ + 0.3278657793998718, + 0.3757365345954895, + 0.3148080110549927, + 0.2901434302330017 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2743182182312012, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9583064913749695, + -1.2743182182312012, + -1.3316766023635864, + -1.3918384313583374 + ], + "candidate_oracle_progress": 0.3757365345954895, + "candidate_oracle_regret": 1.6242634654045105, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3757365345954895, + "candidate_oracle_score_gain_over_selected": 0.047870755195617676, + "candidate_oracle_selected_branch_progress": 0.3278657793998718, + "candidate_oracle_selected_branch_score": 0.3278657793998718, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6cf775fbba580161c4e;ms-6a9c4c704edd84c21cda;ms-80e3d8a34c3cb94cad65;ms-b025d8068f740557d630;ms-a323215fb409ab3e9287;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.673921823501587, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2286d9cf8d88e878c4d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.673921823501587, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3260781764984131, + "restore_error": 1.1920928955078125e-07, + "score": 0.3260781764984131, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4146080017089844, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.42043402791023254, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 17, + 33, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.42043402791023254, + -0.42790454626083374, + -0.4301547110080719, + -0.44114869832992554 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9ced92cccacfe4d157b0;ms-cc0b4a1deec28e53722a;ms-92070f417bd9d14d6fc7;ms-9a72e47e2204fa794718;ms-ac6e78b1c56d020d0c09;ms-debd7e5668e2acdf6bb0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-145f60d5fff285e7d05b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31620654463768005, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.716408371925354, + 0.6922978758811951, + 0.6916796565055847, + 0.6875882148742676 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.024110496044158936, + -0.024728715419769287, + -0.028820157051086426 + ], + "candidate_oracle_branch_scores": [ + 0.716408371925354, + 0.6922978758811951, + 0.6916796565055847, + 0.6875882148742676 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.20850306749343872, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.20850306749343872, + -0.3864629566669464, + -0.45971423387527466, + -0.55497807264328 + ], + "candidate_oracle_progress": 0.716408371925354, + "candidate_oracle_regret": 1.283591628074646, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.716408371925354, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.716408371925354, + "candidate_oracle_selected_branch_score": 0.716408371925354, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a40dee47c502e73949af;ms-03495469257613a802b4;ms-8f24ad2e217963943c12;ms-f6f0d14ef7c24b9e4621;ms-1b8e9b173562648021f6;ms-bb567fcac946f012535a", + "expert_regret": 1.2985838651657104, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-510cafd84de611de3909", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2985838651657104, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7014161348342896, + "restore_error": 2.384185791015625e-07, + "score": 0.7014161348342896, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2673848271369934, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.23310761153697968, + 0.2334914654493332, + 0.23358845710754395 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.766892433166504, + -1.7665085792541504, + -1.766411542892456 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.23310761153697968, + 0.2334914654493332, + 0.23358845710754395 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4031446576118469, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4031446576118469, + -0.530667245388031, + -0.5743934512138367, + -0.6277807354927063 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-baa36ee75ec2de550b9b;ms-0ef5d3238b33bdebae4d;ms-b483cac145e16ccdf42a;ms-760c73ea34418ce7a006;ms-b3d9d9570bf9b64c18fe;ms-675833805d1139c2f2a0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d9ed0a9faf86ca5f5caa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4009742736816406, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7114710807800293, + 0.7149360179901123, + 0.711854100227356, + 0.7133664488792419 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.003464937210083008, + 0.00038301944732666016, + 0.0018953680992126465 + ], + "candidate_oracle_branch_scores": [ + 0.7114710807800293, + 0.7149360179901123, + 0.711854100227356, + 0.7133664488792419 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5019309520721436, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3720993995666504, + -0.5019309520721436, + -0.5431395173072815, + -0.5967597365379333 + ], + "candidate_oracle_progress": 0.7149360179901123, + "candidate_oracle_regret": 1.2850639820098877, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7149360179901123, + "candidate_oracle_score_gain_over_selected": 0.003464937210083008, + "candidate_oracle_selected_branch_progress": 0.7114710807800293, + "candidate_oracle_selected_branch_score": 0.7114710807800293, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0bc111c5ce4e0052716b;ms-507199452c6d42562a38;ms-bc29afbe2bbf00638d25;ms-076246c4c5d1ca8ccd9d;ms-684a66885f21739d826b;ms-fdb2637276b27c46c757", + "expert_regret": 1.2858331203460693, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b37738e210bf33a45a1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2858331203460693, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7141668796539307, + "restore_error": 2.384185791015625e-07, + "score": 0.7141668796539307, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3189156949520111, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.45920905470848083, + 0.46558570861816406, + 0.4535263478755951, + 0.4165935218334198 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0063766539096832275, + -0.005682706832885742, + -0.042615532875061035 + ], + "candidate_oracle_branch_scores": [ + 0.45920905470848083, + 0.46558570861816406, + 0.4535263478755951, + 0.4165935218334198 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.736488938331604, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5464156866073608, + -0.736488938331604, + -0.801967442035675, + -0.8771992325782776 + ], + "candidate_oracle_progress": 0.46558570861816406, + "candidate_oracle_regret": 1.534414291381836, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.46558570861816406, + "candidate_oracle_score_gain_over_selected": 0.0063766539096832275, + "candidate_oracle_selected_branch_progress": 0.45920905470848083, + "candidate_oracle_selected_branch_score": 0.45920905470848083, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-baa36ee75ec2de550b9b;ms-684a66885f21739d826b;ms-35babd5f83dcf1561f9a;ms-a5a56eefeb2de0abe600;ms-076246c4c5d1ca8ccd9d;ms-b483cac145e16ccdf42a", + "expert_regret": 1.4075555205345154, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-508d1ea98eb9c78acd16", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4075555205345154, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5924444794654846, + "restore_error": 2.384185791015625e-07, + "score": 0.5924444794654846, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5987715125083923, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.21232983469963074, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 8, + 33 + ], + "candidate_oracle_potentials": [ + 0.21232983469963074, + 0.17682379484176636, + 0.11770708858966827, + 0.08035968244075775 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2436538e05fdcf8e44fc;ms-dfc38c43e9a87f99ef7f;ms-487d0fe2a13fb699dd7a;ms-af91167a0cf15457c6ba;ms-e2a037eadb166228b1dd;ms-4b4cd12d70c0615e0930", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-785fb44f1371895f7721", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4549679160118103, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7283706665039062, + 1.0, + 0.7286185026168823, + 0.7222700119018555 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2716293334960938, + 0.0002478361129760742, + -0.006100654602050781 + ], + "candidate_oracle_branch_scores": [ + 0.7283706665039062, + 2.0, + 0.7286185026168823, + 0.7222700119018555 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3063615560531616, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8856996893882751, + -1.3063615560531616, + -1.3845545053482056, + -1.4670177698135376 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2716293334960938, + "candidate_oracle_selected_branch_progress": 0.7283706665039062, + "candidate_oracle_selected_branch_score": 0.7283706665039062, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-69785feff08dbf9a50be;ms-b00933d2f628bc51d80a;ms-40a961867249ddccb68f;ms-65e9da4468e522823587", + "expert_regret": 1.2796485424041748, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-483520829af0d733cb2a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2796485424041748, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7203514575958252, + "restore_error": 2.384185791015625e-07, + "score": 0.7203514575958252, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3670523762702942, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7133811712265015, + 0.21201038360595703, + 0.2155890166759491, + 0.21415194869041443 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.5013707876205444, + -0.49779215455055237, + -0.49922922253608704 + ], + "candidate_oracle_branch_scores": [ + 0.7133811712265015, + 0.21201038360595703, + 0.2155890166759491, + 0.21415194869041443 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4843783974647522, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4843783974647522, + -0.7458487153053284, + -0.8273305296897888, + -0.9220942258834839 + ], + "candidate_oracle_progress": 0.7133811712265015, + "candidate_oracle_regret": 1.2866188287734985, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7133811712265015, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7133811712265015, + "candidate_oracle_selected_branch_score": 0.7133811712265015, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-675833805d1139c2f2a0;ms-b483cac145e16ccdf42a;ms-0ef5d3238b33bdebae4d;ms-b3d9d9570bf9b64c18fe;ms-f6f0d14ef7c24b9e4621;ms-29027a8e3742362fd477", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-77b33fec5c6c627dbda5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5048269033432007, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.2078678458929062, + 0.20822960138320923, + 0.2080828994512558, + 0.20778696238994598 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00036175549030303955, + 0.00021505355834960938, + -8.088350296020508e-05 + ], + "candidate_oracle_branch_scores": [ + 0.2078678458929062, + 0.20822960138320923, + 0.2080828994512558, + 0.20778696238994598 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.4783334732055664, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8303561210632324, + -1.4783334732055664, + -1.5857341289520264, + -1.6920326948165894 + ], + "candidate_oracle_progress": 0.20822960138320923, + "candidate_oracle_regret": 1.7917703986167908, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20822960138320923, + "candidate_oracle_score_gain_over_selected": 0.00036175549030303955, + "candidate_oracle_selected_branch_progress": 0.2078678458929062, + "candidate_oracle_selected_branch_score": 0.2078678458929062, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2c6000014d31fc0bb21c;ms-40a961867249ddccb68f;ms-6d6456c45f9f3ae74b50;ms-65e9da4468e522823587;ms-a99d874a81bc60301007;ms-7ce799eb9d3b741e8960", + "expert_regret": 1.7921319156885147, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-02663903d88aa84c9c10", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7921319156885147, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2078680843114853, + "restore_error": 2.384185791015625e-07, + "score": 0.2078680843114853, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3895041048526764, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.6939589381217957, + 0.7053449153900146, + 0.678193986415863 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.3060410022735596, + -1.2946550846099854, + -1.3218059539794922 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.6939589381217957, + 0.7053449153900146, + 0.678193986415863 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8056544661521912, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.8056544661521912, + -1.2251564264297485, + -1.310662865638733, + -1.343847632408142 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a9c4c704edd84c21cda;ms-80e3d8a34c3cb94cad65;ms-e56b37f0e3881a70ef54;ms-b025d8068f740557d630;ms-cf8c5d9c874edc9f000d;ms-fb131b52f94500da894b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d8f42ed6b0b686d819ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.24346067011356354, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7215673923492432, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2784326076507568, + 1.2784326076507568, + 1.2784326076507568 + ], + "candidate_oracle_branch_scores": [ + 0.7215673923492432, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.38522958755493164, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.2370975911617279, + -0.38522958755493164, + -0.4452371597290039, + -0.5205168724060059 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2784326076507568, + "candidate_oracle_selected_branch_progress": 0.7215673923492432, + "candidate_oracle_selected_branch_score": 0.7215673923492432, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a4ade4de51ca437ac432;ms-5bbc4c4b1b51e2a088db;ms-1b8e9b173562648021f6;ms-9c33d4837de7d23232d6;ms-f6f0d14ef7c24b9e4621;ms-fdb2637276b27c46c757", + "expert_regret": 1.274130940437317, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-13aa39b96923ad8c913a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.274130940437317, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7258690595626831, + "restore_error": 2.384185791015625e-07, + "score": 0.7258690595626831, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.43535274267196655, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.3900144696235657, + 0.43507540225982666, + 0.22092251479625702, + 0.20425695180892944 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.045060932636260986, + -0.16909195482730865, + -0.18575751781463623 + ], + "candidate_oracle_branch_scores": [ + 0.3900144696235657, + 0.43507540225982666, + 0.22092251479625702, + 0.20425695180892944 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.6455787420272827, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 35, + 20 + ], + "candidate_oracle_potentials": [ + -1.1565849781036377, + -1.6455787420272827, + -1.7337979078292847, + -1.7375611066818237 + ], + "candidate_oracle_progress": 0.43507540225982666, + "candidate_oracle_regret": 1.5649245977401733, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.43507540225982666, + "candidate_oracle_score_gain_over_selected": 0.045060932636260986, + "candidate_oracle_selected_branch_progress": 0.3900144696235657, + "candidate_oracle_selected_branch_score": 0.3900144696235657, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ace117030ae44c474db1;ms-2c6000014d31fc0bb21c;ms-49c99f285560483a85ee;ms-b00933d2f628bc51d80a;ms-40a961867249ddccb68f;ms-a99d874a81bc60301007", + "expert_regret": 1.6098167300224304, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-67b6e4d62036c13cc466", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6098167300224304, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3901832699775696, + "restore_error": 2.384185791015625e-07, + "score": 0.3901832699775696, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4624022841453552, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.680467963218689, + 0.7037070989608765, + 0.6907414793968201, + 0.663217306137085 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0232391357421875, + 0.010273516178131104, + -0.017250657081604004 + ], + "candidate_oracle_branch_scores": [ + 0.680467963218689, + 0.7037070989608765, + 0.6907414793968201, + 0.663217306137085 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8754681944847107, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5817317962646484, + -0.8754681944847107, + -0.9438995718955994, + -1.0168020725250244 + ], + "candidate_oracle_progress": 0.7037070989608765, + "candidate_oracle_regret": 1.2962929010391235, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7037070989608765, + "candidate_oracle_score_gain_over_selected": 0.0232391357421875, + "candidate_oracle_selected_branch_progress": 0.680467963218689, + "candidate_oracle_selected_branch_score": 0.680467963218689, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a03497f97765ffd444e;ms-684a66885f21739d826b;ms-bc29afbe2bbf00638d25;ms-0ef5d3238b33bdebae4d;ms-507199452c6d42562a38;ms-baa36ee75ec2de550b9b", + "expert_regret": 1.3121482133865356, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1e41619ab39cf51b7822", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3121482133865356, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6878517866134644, + "restore_error": 2.384185791015625e-07, + "score": 0.6878517866134644, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.419199138879776, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.4794303774833679, + 0.49604886770248413, + 0.5090530514717102, + 0.5110942125320435 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.01661849021911621, + 0.029622673988342285, + 0.03166383504867554 + ], + "candidate_oracle_branch_scores": [ + 0.4794303774833679, + 0.49604886770248413, + 0.5090530514717102, + 0.5110942125320435 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9626192450523376, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.551827609539032, + -0.8052347898483276, + -0.8773319125175476, + -0.9626192450523376 + ], + "candidate_oracle_progress": 0.5110942125320435, + "candidate_oracle_regret": 1.4889057874679565, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5110942125320435, + "candidate_oracle_score_gain_over_selected": 0.03166383504867554, + "candidate_oracle_selected_branch_progress": 0.4794303774833679, + "candidate_oracle_selected_branch_score": 0.4794303774833679, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a03497f97765ffd444e;ms-684a66885f21739d826b;ms-08ab006a923f5fdae198;ms-0ef5d3238b33bdebae4d;ms-bc29afbe2bbf00638d25;ms-baa36ee75ec2de550b9b", + "expert_regret": 1.521285206079483, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-252706fc0657a82ba5a4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.521285206079483, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.47871479392051697, + "restore_error": 2.384185791015625e-07, + "score": 0.47871479392051697, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5536938309669495, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.3557453453540802, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.3557453453540802, + -0.3618062734603882, + -0.37766170501708984, + -0.4768015742301941 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-59bff662e0ecb913ed81;ms-cc0b4a1deec28e53722a;ms-502dba1003c09ec60ba0;ms-ac6e78b1c56d020d0c09;ms-92070f417bd9d14d6fc7;ms-575bd87a5da90963019d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5cc5e6359fc006559eae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.3223812580108643, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.21224366128444672, + 0.2108178734779358, + 0.20932823419570923, + 0.20673905313014984 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0014257878065109253, + -0.002915427088737488, + -0.005504608154296875 + ], + "candidate_oracle_branch_scores": [ + 0.21224366128444672, + 0.2108178734779358, + 0.20932823419570923, + 0.20673905313014984 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.6870793104171753, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + -1.6870793104171753, + -1.7206408977508545, + -1.7517244815826416, + -1.8206243515014648 + ], + "candidate_oracle_progress": 0.21224366128444672, + "candidate_oracle_regret": 1.7877563387155533, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.6193599700927734e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21224366128444672, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.21224366128444672, + "candidate_oracle_selected_branch_score": 0.21224366128444672, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-917b0f051489227842f0;ms-a829d650eb9914fb2983;ms-69785feff08dbf9a50be;ms-49c99f285560483a85ee;ms-b00933d2f628bc51d80a;ms-ace117030ae44c474db1", + "expert_regret": 1.7877564430236816, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-17a5e9b7bd8c1f255307", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7877564430236816, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21224355697631836, + "restore_error": 2.384185791015625e-07, + "score": 0.21224355697631836, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32300689816474915, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.6770344972610474, + 0.21649186313152313, + 0.2141939103603363 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.3229655027389526, + -1.7835081815719604, + -1.7858060598373413 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.6770344972610474, + 0.21649186313152313, + 0.2141939103603363 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3825768232345581, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3825768232345581, + -0.7962585091590881, + -0.8948736190795898, + -1.0039891004562378 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fdb2637276b27c46c757;ms-5bbc4c4b1b51e2a088db;ms-7cd314f076bfe5c32088;ms-ff3256da4e1731651937;ms-1b8e9b173562648021f6;ms-4c638b9bb924547f69cb", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-340913cb08bfca09a4e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31241273880004883, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7154440879821777, + 0.6908084750175476, + 0.648959755897522, + 0.5805106163024902 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.024635612964630127, + -0.06648433208465576, + -0.1349334716796875 + ], + "candidate_oracle_branch_scores": [ + 0.7154440879821777, + 0.6908084750175476, + 0.648959755897522, + 0.5805106163024902 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6877945065498352, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6877945065498352, + -1.026194453239441, + -1.1193432807922363, + -1.2205556631088257 + ], + "candidate_oracle_progress": 0.7154440879821777, + "candidate_oracle_regret": 1.2845559120178223, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7154440879821777, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7154440879821777, + "candidate_oracle_selected_branch_score": 0.7154440879821777, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-35babd5f83dcf1561f9a;ms-a5a56eefeb2de0abe600;ms-684a66885f21739d826b;ms-076246c4c5d1ca8ccd9d;ms-6a03497f97765ffd444e;ms-bc29afbe2bbf00638d25", + "expert_regret": 1.2854982018470764, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7c812bb98308442d95b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2854982018470764, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7145017981529236, + "restore_error": 1.1920928955078125e-07, + "score": 0.7145017981529236, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5005746483802795, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7120853662490845, + 0.6867489218711853, + 0.683520495891571, + 0.6958116292953491 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.02533644437789917, + -0.028564870357513428, + -0.01627373695373535 + ], + "candidate_oracle_branch_scores": [ + 0.7120853662490845, + 0.6867489218711853, + 0.683520495891571, + 0.6958116292953491 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.0181832313537598, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 36, + 0 + ], + "candidate_oracle_potentials": [ + -2.0181832313537598, + -2.0226454734802246, + -2.0286264419555664, + -2.0315346717834473 + ], + "candidate_oracle_progress": 0.7120853662490845, + "candidate_oracle_regret": 0.01833665370941162, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7120853662490845, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7120853662490845, + "candidate_oracle_selected_branch_score": 0.7120853662490845, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-caa0a38b7df789550f8a;ms-dfc111660c0d1c7b7e04;ms-2436538e05fdcf8e44fc;ms-efb5a07185a3a1b33226;ms-28835618507e7bc71227;ms-af91167a0cf15457c6ba", + "expert_regret": 0.01502901315689087, + "expert_score": 0.7304220199584961, + "expert_success": false, + "group_id": "ms-0bf60eaed682d2ca149f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.01502901315689087, + "oracle_score": 0.7304220199584961, + "oracle_success": false, + "progress": 0.7153930068016052, + "restore_error": 1.1920928955078125e-07, + "score": 0.7153930068016052, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.3245235681533813, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.22029781341552734, + 0.21845465898513794, + 0.21665894985198975, + 0.2014058232307434 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0018431544303894043, + -0.0036388635635375977, + -0.018891990184783936 + ], + "candidate_oracle_branch_scores": [ + 0.22029781341552734, + 0.21845465898513794, + 0.21665894985198975, + 0.2014058232307434 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.7210057973861694, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -1.7210057973861694, + -1.7503060102462769, + -1.773128628730774, + -1.777880311012268 + ], + "candidate_oracle_progress": 0.22029781341552734, + "candidate_oracle_regret": 1.7797021865844727, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.22029781341552734, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.22029781341552734, + "candidate_oracle_selected_branch_score": 0.22029781341552734, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-917b0f051489227842f0;ms-a829d650eb9914fb2983;ms-69785feff08dbf9a50be;ms-49c99f285560483a85ee;ms-b00933d2f628bc51d80a;ms-ace117030ae44c474db1", + "expert_regret": 1.7797021269798279, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-50b9f93dd246400d20c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7797021269798279, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22029787302017212, + "restore_error": 1.1920928955078125e-07, + "score": 0.22029787302017212, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.01942465640604496, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6921758651733398, + 0.6787995100021362, + 0.6298918128013611, + 0.2236756682395935 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.013376355171203613, + -0.06228405237197876, + -0.46850019693374634 + ], + "candidate_oracle_branch_scores": [ + 0.6921758651733398, + 0.6787995100021362, + 0.6298918128013611, + 0.2236756682395935 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5424864888191223, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5424864888191223, + -0.9877158999443054, + -1.0817803144454956, + -1.1797910928726196 + ], + "candidate_oracle_progress": 0.6921758651733398, + "candidate_oracle_regret": 1.3078241348266602, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6921758651733398, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6921758651733398, + "candidate_oracle_selected_branch_score": 0.6921758651733398, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4c638b9bb924547f69cb;ms-1b8e9b173562648021f6;ms-ff3256da4e1731651937;ms-7cd314f076bfe5c32088;ms-5bbc4c4b1b51e2a088db;ms-9c33d4837de7d23232d6", + "expert_regret": 0.030907750129699707, + "expert_score": 0.7187107801437378, + "expert_success": false, + "group_id": "ms-caeb4c3d358f256799a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.312196969985962, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6878030300140381, + "restore_error": 1.1920928955078125e-07, + "score": 0.6878030300140381, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.27641424536705017, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.4705282747745514, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 40 + ], + "candidate_oracle_potentials": [ + 0.4705282747745514, + 0.46713149547576904, + 0.4498072862625122, + 0.3047768771648407 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a323215fb409ab3e9287;ms-490e2c471adbabec6304;ms-5fb06efe2b4bea27cc89;ms-487d0fe2a13fb699dd7a;ms-dfc38c43e9a87f99ef7f;ms-e2a037eadb166228b1dd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5ebbab81506fa27fc6d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.19300325214862823, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7224320769309998, + 0.234808087348938, + 0.23587332665920258, + 0.23824970424175262 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.48762398958206177, + -0.486558735370636, + -0.48418235778808594 + ], + "candidate_oracle_branch_scores": [ + 0.7224320769309998, + 0.234808087348938, + 0.23587332665920258, + 0.23824970424175262 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.34739530086517334, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.34739530086517334, + -0.4937134385108948, + -0.5512885451316833, + -0.6243258118629456 + ], + "candidate_oracle_progress": 0.7224320769309998, + "candidate_oracle_regret": 1.2775679230690002, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7224320769309998, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7224320769309998, + "candidate_oracle_selected_branch_score": 0.7224320769309998, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-baa36ee75ec2de550b9b;ms-b483cac145e16ccdf42a;ms-0ef5d3238b33bdebae4d;ms-760c73ea34418ce7a006;ms-b3d9d9570bf9b64c18fe;ms-f6f0d14ef7c24b9e4621", + "expert_regret": 1.2777096033096313, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9fd14cc61816c2d4360e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2777096033096313, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7222903966903687, + "restore_error": 1.1920928955078125e-07, + "score": 0.7222903966903687, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.3312994241714478, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.21553823351860046, + 0.21590463817119598, + 0.21499896049499512, + 0.21414583921432495 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00036640465259552, + -0.0005392730236053467, + -0.0013923943042755127 + ], + "candidate_oracle_branch_scores": [ + 0.21553823351860046, + 0.21590463817119598, + 0.21499896049499512, + 0.21414583921432495 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.048034906387329, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 40 + ], + "candidate_oracle_potentials": [ + -1.0431588888168335, + -1.048034906387329, + -1.1182036399841309, + -1.123782753944397 + ], + "candidate_oracle_progress": 0.21590463817119598, + "candidate_oracle_regret": 1.784095361828804, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21590463817119598, + "candidate_oracle_score_gain_over_selected": 0.00036640465259552, + "candidate_oracle_selected_branch_progress": 0.21553823351860046, + "candidate_oracle_selected_branch_score": 0.21553823351860046, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-efb5a07185a3a1b33226;ms-e2a037eadb166228b1dd;ms-83c0299c23fa800452c7;ms-af91167a0cf15457c6ba;ms-4b4cd12d70c0615e0930;ms-251c1dfd1010906f559f", + "expert_regret": 1.784461796283722, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-288ce929957d627c569c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.784461796283722, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21553820371627808, + "restore_error": 1.1920928955078125e-07, + "score": 0.21553820371627808, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6506900191307068, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.26224929094314575, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 33, + 24, + 8 + ], + "candidate_oracle_potentials": [ + 0.26224929094314575, + 0.25928738713264465, + 0.2542822062969208, + 0.22761183977127075 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-487d0fe2a13fb699dd7a;ms-dfc38c43e9a87f99ef7f;ms-2436538e05fdcf8e44fc;ms-e2950dcb50ed2b955be6;ms-fb329ccd569163c53415;ms-26322bd4de52dbd5743c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5003e0cda1e13bd4850a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.28861016035079956, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.22601763904094696, + 0.22649405896663666, + 0.22783470153808594, + 0.2248086780309677 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00047641992568969727, + 0.001817062497138977, + -0.001208961009979248 + ], + "candidate_oracle_branch_scores": [ + 0.22601763904094696, + 0.22649405896663666, + 0.22783470153808594, + 0.2248086780309677 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.5428112745285034, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -1.4693604707717896, + -1.5002539157867432, + -1.5428112745285034, + -1.7644788026809692 + ], + "candidate_oracle_progress": 0.22783470153808594, + "candidate_oracle_regret": 0.0070419758558273315, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.22783470153808594, + "candidate_oracle_score_gain_over_selected": 0.001817062497138977, + "candidate_oracle_selected_branch_progress": 0.22601763904094696, + "candidate_oracle_selected_branch_score": 0.22601763904094696, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-69785feff08dbf9a50be;ms-f5dcf9054c3c1c4e1d50;ms-a829d650eb9914fb2983;ms-64a755437c34f39cda2a;ms-55e89d326b6531345902;ms-917b0f051489227842f0", + "expert_regret": 0.0070960670709609985, + "expert_score": 0.23311088979244232, + "expert_success": false, + "group_id": "ms-a67a1ab4d96d811cec77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.008861854672431946, + "oracle_score": 0.23487667739391327, + "oracle_success": false, + "progress": 0.22601482272148132, + "restore_error": 2.384185791015625e-07, + "score": 0.22601482272148132, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2835906445980072, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.1990939974784851, + 0.19912752509117126, + 0.19954746961593628, + 0.19911770522594452 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 3.3527612686157227e-05, + 0.0004534721374511719, + 2.370774745941162e-05 + ], + "candidate_oracle_branch_scores": [ + 0.1990939974784851, + 0.19912752509117126, + 0.19954746961593628, + 0.19911770522594452 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.848076343536377, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -1.3945680856704712, + -1.80170476436615, + -1.848076343536377, + -1.8480883836746216 + ], + "candidate_oracle_progress": 0.19954746961593628, + "candidate_oracle_regret": 1.8004525303840637, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.19954746961593628, + "candidate_oracle_score_gain_over_selected": 0.0004534721374511719, + "candidate_oracle_selected_branch_progress": 0.1990939974784851, + "candidate_oracle_selected_branch_score": 0.1990939974784851, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5dcf9054c3c1c4e1d50;ms-64a755437c34f39cda2a;ms-69785feff08dbf9a50be;ms-55e89d326b6531345902;ms-a829d650eb9914fb2983;ms-7ce799eb9d3b741e8960", + "expert_regret": 1.8009013831615448, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7677b8f230103dd3c51", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8009013831615448, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1990986168384552, + "restore_error": 2.384185791015625e-07, + "score": 0.1990986168384552, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.26662972569465637, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5681713819503784, + 0.44345611333847046, + 0.4411390423774719, + 0.4049634635448456 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.12471526861190796, + -0.1270323395729065, + -0.16320791840553284 + ], + "candidate_oracle_branch_scores": [ + 0.5681713819503784, + 0.44345611333847046, + 0.4411390423774719, + 0.4049634635448456 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6612061858177185, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6612061858177185, + -1.0052720308303833, + -1.0869187116622925, + -1.1808236837387085 + ], + "candidate_oracle_progress": 0.5681713819503784, + "candidate_oracle_regret": 1.4318286180496216, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5681713819503784, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5681713819503784, + "candidate_oracle_selected_branch_score": 0.5681713819503784, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-55e89d326b6531345902;ms-65e9da4468e522823587;ms-b025d8068f740557d630;ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.4366943836212158, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-09b2d832d7823c11fd22", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4366943836212158, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5633056163787842, + "restore_error": 2.384185791015625e-07, + "score": 0.5633056163787842, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3086581826210022, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.19416356086730957, + 0.1961018443107605, + 0.19650845229625702, + 0.1968805193901062 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0019382834434509277, + 0.0023448914289474487, + 0.002716958522796631 + ], + "candidate_oracle_branch_scores": [ + 0.19416356086730957, + 0.1961018443107605, + 0.19650845229625702, + 0.1968805193901062 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.416492462158203, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 3, + 19, + 35 + ], + "candidate_oracle_potentials": [ + -2.30224871635437, + -2.4092326164245605, + -2.4116079807281494, + -2.416492462158203 + ], + "candidate_oracle_progress": 0.1968805193901062, + "candidate_oracle_regret": 1.8031194806098938, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.1968805193901062, + "candidate_oracle_score_gain_over_selected": 0.002716958522796631, + "candidate_oracle_selected_branch_progress": 0.19416356086730957, + "candidate_oracle_selected_branch_score": 0.19416356086730957, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-de8d6051e6ee74b62fec;ms-251c1dfd1010906f559f;ms-28835618507e7bc71227;ms-4b4cd12d70c0615e0930;ms-83c0299c23fa800452c7;ms-13d8bae55d3c3710138f", + "expert_regret": 1.805836707353592, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4e825dd3ade30a42e899", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.805836707353592, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19416329264640808, + "restore_error": 2.384185791015625e-07, + "score": 0.19416329264640808, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2274181842803955, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.721172034740448, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2788279056549072, + 1.2788279056549072, + 1.2788279056549072 + ], + "candidate_oracle_branch_scores": [ + 0.721172034740448, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.35883378982543945, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.21531468629837036, + -0.35883378982543945, + -0.4267917573451996, + -0.5140891075134277 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2788279056549072, + "candidate_oracle_selected_branch_progress": 0.721172034740448, + "candidate_oracle_selected_branch_score": 0.721172034740448, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a4ade4de51ca437ac432;ms-5bbc4c4b1b51e2a088db;ms-f6f0d14ef7c24b9e4621;ms-1b8e9b173562648021f6;ms-9c33d4837de7d23232d6;ms-4c638b9bb924547f69cb", + "expert_regret": 1.2815533876419067, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8fcf4d9d042de2f74d76", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2815533876419067, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7184466123580933, + "restore_error": 2.384185791015625e-07, + "score": 0.7184466123580933, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.40924352407455444, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6875969171524048, + 0.46331948041915894, + 0.4440508782863617, + 0.42863044142723083 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.22427743673324585, + -0.2435460388660431, + -0.25896647572517395 + ], + "candidate_oracle_branch_scores": [ + 0.6875969171524048, + 0.46331948041915894, + 0.4440508782863617, + 0.42863044142723083 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5154154896736145, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5154154896736145, + -0.7423467040061951, + -0.8011564016342163, + -0.8685534596443176 + ], + "candidate_oracle_progress": 0.6875969171524048, + "candidate_oracle_regret": 1.3124030828475952, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6875969171524048, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6875969171524048, + "candidate_oracle_selected_branch_score": 0.6875969171524048, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a03497f97765ffd444e;ms-0ef5d3238b33bdebae4d;ms-b483cac145e16ccdf42a;ms-baa36ee75ec2de550b9b;ms-684a66885f21739d826b;ms-760c73ea34418ce7a006", + "expert_regret": 1.3132719993591309, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e6ca7414c5035e80d0ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3132719993591309, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6867280006408691, + "restore_error": 2.384185791015625e-07, + "score": 0.6867280006408691, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.9037100076675415, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.2053876519203186, + 0.20582610368728638, + 0.20080861449241638, + 0.20614424347877502 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00043845176696777344, + -0.004579037427902222, + 0.0007565915584564209 + ], + "candidate_oracle_branch_scores": [ + 0.2053876519203186, + 0.20582610368728638, + 0.20080861449241638, + 0.20614424347877502 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.655009150505066, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 40, + 35 + ], + "candidate_oracle_potentials": [ + -1.5575871467590332, + -1.5770331621170044, + -1.6475681066513062, + -1.655009150505066 + ], + "candidate_oracle_progress": 0.20614424347877502, + "candidate_oracle_regret": 1.793855756521225, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20614424347877502, + "candidate_oracle_score_gain_over_selected": 0.0007565915584564209, + "candidate_oracle_selected_branch_progress": 0.2053876519203186, + "candidate_oracle_selected_branch_score": 0.2053876519203186, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-de8d6051e6ee74b62fec;ms-83c0299c23fa800452c7;ms-4b4cd12d70c0615e0930;ms-251c1dfd1010906f559f;ms-e2a037eadb166228b1dd;ms-efb5a07185a3a1b33226", + "expert_regret": 1.794611930847168, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a43b35c03282fe0c8464", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.794611930847168, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20538806915283203, + "restore_error": 2.384185791015625e-07, + "score": 0.20538806915283203, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22722670435905457, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.07872671633958817, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 8, + 24 + ], + "candidate_oracle_potentials": [ + -0.07872671633958817, + -0.10708671063184738, + -0.11940328031778336, + -0.1343870460987091 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a323215fb409ab3e9287;ms-5fb06efe2b4bea27cc89;ms-490e2c471adbabec6304;ms-487d0fe2a13fb699dd7a;ms-dfc38c43e9a87f99ef7f;ms-af91167a0cf15457c6ba", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cbd6cc8b2708d5e3e4a9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5199616551399231, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6706074476242065, + 0.38282105326652527, + 0.3345271050930023, + 0.41721111536026 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.2877863943576813, + -0.3360803425312042, + -0.25339633226394653 + ], + "candidate_oracle_branch_scores": [ + 0.6706074476242065, + 0.38282105326652527, + 0.3345271050930023, + 0.41721111536026 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8420026898384094, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.8420026898384094, + -1.2344492673873901, + -1.3487226963043213, + -1.4777454137802124 + ], + "candidate_oracle_progress": 0.6706074476242065, + "candidate_oracle_regret": 1.3293925523757935, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6706074476242065, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6706074476242065, + "candidate_oracle_selected_branch_score": 0.6706074476242065, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a9c4c704edd84c21cda;ms-a6cf775fbba580161c4e;ms-80e3d8a34c3cb94cad65;ms-e56b37f0e3881a70ef54;ms-a323215fb409ab3e9287;ms-de8d6051e6ee74b62fec", + "expert_regret": 1.2976983189582825, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11e34e842b9154f34d56", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2976983189582825, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7023016810417175, + "restore_error": 1.1920928955078125e-07, + "score": 0.7023016810417175, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16755303740501404, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.47132834792137146, + 0.2463991641998291, + 0.24685333669185638, + 0.4348949193954468 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.22492918372154236, + -0.22447501122951508, + -0.03643342852592468 + ], + "candidate_oracle_branch_scores": [ + 0.47132834792137146, + 0.2463991641998291, + 0.24685333669185638, + 0.4348949193954468 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.14271801710128784, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.14271801710128784, + -0.5170583724975586, + -0.6466408371925354, + -0.7231354117393494 + ], + "candidate_oracle_progress": 0.47132834792137146, + "candidate_oracle_regret": 1.5286716520786285, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.47132834792137146, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.47132834792137146, + "candidate_oracle_selected_branch_score": 0.47132834792137146, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9a72e47e2204fa794718;ms-575bd87a5da90963019d;ms-8f24ad2e217963943c12;ms-cc0b4a1deec28e53722a;ms-73259d17883355f7fa88;ms-bb567fcac946f012535a", + "expert_regret": 1.5178378820419312, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28c139f34a954b692962", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5178378820419312, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.48216211795806885, + "restore_error": 1.1920928955078125e-07, + "score": 0.48216211795806885, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32585495710372925, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.3049347400665283, + 0.43042343854904175, + 0.7072650790214539, + 0.6735181212425232 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.12548869848251343, + 0.40233033895492554, + 0.3685833811759949 + ], + "candidate_oracle_branch_scores": [ + 0.3049347400665283, + 0.43042343854904175, + 0.7072650790214539, + 0.6735181212425232 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.322534441947937, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9381709694862366, + -1.2638963460922241, + -1.322534441947937, + -1.3844984769821167 + ], + "candidate_oracle_progress": 0.7072650790214539, + "candidate_oracle_regret": 1.2927349209785461, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7072650790214539, + "candidate_oracle_score_gain_over_selected": 0.40233033895492554, + "candidate_oracle_selected_branch_progress": 0.3049347400665283, + "candidate_oracle_selected_branch_score": 0.3049347400665283, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6cf775fbba580161c4e;ms-6a9c4c704edd84c21cda;ms-80e3d8a34c3cb94cad65;ms-a323215fb409ab3e9287;ms-b025d8068f740557d630;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.6864375174045563, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-af25c332ad54eee6e1c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6864375174045563, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3135624825954437, + "restore_error": 1.1920928955078125e-07, + "score": 0.3135624825954437, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2862192988395691, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5431259870529175, + 0.46562883257865906, + 0.40575021505355835, + 0.5330512523651123 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.07749715447425842, + -0.13737577199935913, + -0.010074734687805176 + ], + "candidate_oracle_branch_scores": [ + 0.5431259870529175, + 0.46562883257865906, + 0.40575021505355835, + 0.5330512523651123 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9472029805183411, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.9472029805183411, + -1.274107813835144, + -1.3333109617233276, + -1.3871842622756958 + ], + "candidate_oracle_progress": 0.5431259870529175, + "candidate_oracle_regret": 1.4568740129470825, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5431259870529175, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5431259870529175, + "candidate_oracle_selected_branch_score": 0.5431259870529175, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6cf775fbba580161c4e;ms-6a9c4c704edd84c21cda;ms-80e3d8a34c3cb94cad65;ms-b025d8068f740557d630;ms-a323215fb409ab3e9287;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.4470988512039185, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-074b26fed4c4a9dd3449", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4470988512039185, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5529011487960815, + "restore_error": 1.1920928955078125e-07, + "score": 0.5529011487960815, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.8058129549026489, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.19834601879119873, + 0.19876794517040253, + 0.1991354525089264, + 0.19473318755626678 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0004219263792037964, + 0.0007894337177276611, + -0.003612831234931946 + ], + "candidate_oracle_branch_scores": [ + 0.19834601879119873, + 0.19876794517040253, + 0.1991354525089264, + 0.19473318755626678 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.2904207706451416, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 8 + ], + "candidate_oracle_potentials": [ + -2.238245964050293, + -2.254974365234375, + -2.2904207706451416, + -2.33339786529541 + ], + "candidate_oracle_progress": 0.1991354525089264, + "candidate_oracle_regret": 1.8008645474910736, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.1991354525089264, + "candidate_oracle_score_gain_over_selected": 0.0007894337177276611, + "candidate_oracle_selected_branch_progress": 0.19834601879119873, + "candidate_oracle_selected_branch_score": 0.19834601879119873, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-de8d6051e6ee74b62fec;ms-251c1dfd1010906f559f;ms-4b4cd12d70c0615e0930;ms-83c0299c23fa800452c7;ms-28835618507e7bc71227;ms-af91167a0cf15457c6ba", + "expert_regret": 1.8016539812088013, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c550bf52d7bf91f4ca2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8016539812088013, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.19834601879119873, + "restore_error": 1.1920928955078125e-07, + "score": 0.19834601879119873, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6074048280715942, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.6753720641136169, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 17, + 1, + 33, + 8 + ], + "candidate_oracle_potentials": [ + 0.6753720641136169, + 0.6648178696632385, + 0.6535924077033997, + -0.0036630257964134216 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-7a1b60ea1461eb460bed;ms-d8295b43b30ceea30907;ms-502dba1003c09ec60ba0;ms-b383acd9844466b19579;ms-59bff662e0ecb913ed81", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fa077183f74add357112", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1946619749069214, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.08561266213655472, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.08561266213655472, + -0.1369744837284088, + -0.17437124252319336, + -0.22656568884849548 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-73259d17883355f7fa88;ms-f6f0d14ef7c24b9e4621;ms-a4ade4de51ca437ac432;ms-5bbc4c4b1b51e2a088db;ms-9c33d4837de7d23232d6;ms-a40dee47c502e73949af", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bbefdf03d0471be60f8f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.303016722202301, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7288819551467896, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2711180448532104, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7288819551467896, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7378512024879456, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7378512024879456, + -1.1372333765029907, + -1.2174279689788818, + -1.3046694993972778 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.0174851417541504e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-55e89d326b6531345902;ms-65e9da4468e522823587;ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-b025d8068f740557d630;ms-69785feff08dbf9a50be", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5b24bcde90348f24bb19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.02074321173131466, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.1810254454612732, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.1810254454612732, + -0.41137218475341797, + -0.489196240901947, + -0.587493896484375 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.0174851417541504e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8f24ad2e217963943c12;ms-ff3256da4e1731651937;ms-a40dee47c502e73949af;ms-73259d17883355f7fa88;ms-5bbc4c4b1b51e2a088db;ms-9c33d4837de7d23232d6", + "expert_regret": 0.0, + "expert_score": 0.712003231048584, + "expert_success": false, + "group_id": "ms-8bc7aa419d17368d81b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.203180193901062, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.2832011580467224, + 0.2526244521141052, + 0.25307029485702515 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.7167987823486328, + -1.74737548828125, + -1.74692964553833 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.2832011580467224, + 0.2526244521141052, + 0.25307029485702515 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.2749866545200348, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.2749866545200348, + -0.4711182713508606, + -0.538559079170227, + -0.6187755465507507 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.0174851417541504e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-760c73ea34418ce7a006;ms-b483cac145e16ccdf42a;ms-0ef5d3238b33bdebae4d;ms-baa36ee75ec2de550b9b;ms-b3d9d9570bf9b64c18fe;ms-f6f0d14ef7c24b9e4621", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3aa33c0fda88e08e75fa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4502120614051819, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.7243120074272156 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.2756879329681396 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.7243120074272156 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.8759167194366455, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 8 + ], + "candidate_oracle_potentials": [ + 0.8759167194366455, + 0.8541646003723145, + 0.8103375434875488, + 0.5526337623596191 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 3.0174851417541504e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7a1b60ea1461eb460bed;ms-96e1562aaca7ef49db28;ms-b383acd9844466b19579;ms-5799584ed40e211c50a5;ms-d8295b43b30ceea30907;ms-9ced92cccacfe4d157b0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a40abdebe8a9c17de878", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.45550426840782166, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.7056767344474792, + 0.705051839351654, + 0.7074589133262634, + 0.6834745407104492 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0006248950958251953, + 0.0017821788787841797, + -0.02220219373703003 + ], + "candidate_oracle_branch_scores": [ + 0.7056767344474792, + 0.705051839351654, + 0.7074589133262634, + 0.6834745407104492 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7666817903518677, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.41800376772880554, + -0.7018570303916931, + -0.7666817903518677, + -0.8403533101081848 + ], + "candidate_oracle_progress": 0.7074589133262634, + "candidate_oracle_regret": 1.2925410866737366, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.0174851417541504e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7074589133262634, + "candidate_oracle_score_gain_over_selected": 0.0017821788787841797, + "candidate_oracle_selected_branch_progress": 0.7056767344474792, + "candidate_oracle_selected_branch_score": 0.7056767344474792, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-29027a8e3742362fd477;ms-b3d9d9570bf9b64c18fe;ms-0ef5d3238b33bdebae4d;ms-675833805d1139c2f2a0;ms-4c638b9bb924547f69cb;ms-03495469257613a802b4", + "expert_regret": 1.2756653428077698, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-295dab0e1d105e758827", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2756653428077698, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7243346571922302, + "restore_error": 2.384185791015625e-07, + "score": 0.7243346571922302, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5373144745826721, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3563094735145569, + 0.2944868206977844, + 0.2742532789707184, + 0.3136656582355499 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.06182265281677246, + -0.0820561945438385, + -0.04264381527900696 + ], + "candidate_oracle_branch_scores": [ + 0.3563094735145569, + 0.2944868206977844, + 0.2742532789707184, + 0.3136656582355499 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9541314244270325, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.9541314244270325, + -1.3360581398010254, + -1.4200040102005005, + -1.488242268562317 + ], + "candidate_oracle_progress": 0.3563094735145569, + "candidate_oracle_regret": 1.6436905264854431, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 3.0174851417541504e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3563094735145569, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3563094735145569, + "candidate_oracle_selected_branch_score": 0.3563094735145569, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fb131b52f94500da894b;ms-e56b37f0e3881a70ef54;ms-01bef10a5ccfd38294fe;ms-80e3d8a34c3cb94cad65;ms-65e9da4468e522823587;ms-6d6456c45f9f3ae74b50", + "expert_regret": 1.64281564950943, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-48db1178206eee52434a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.64281564950943, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.35718435049057007, + "restore_error": 2.384185791015625e-07, + "score": 0.35718435049057007, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.02409876324236393, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7161029577255249, + 1.0, + 0.7002654075622559, + 0.6953903436660767 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.283897042274475, + -0.015837550163269043, + -0.020712614059448242 + ], + "candidate_oracle_branch_scores": [ + 0.7161029577255249, + 2.0, + 0.7002654075622559, + 0.6953903436660767 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.38913851976394653, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.22220611572265625, + -0.38913851976394653, + -0.45163142681121826, + -0.5300655961036682 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.0174851417541504e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.283897042274475, + "candidate_oracle_selected_branch_progress": 0.7161029577255249, + "candidate_oracle_selected_branch_score": 0.7161029577255249, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b3d9d9570bf9b64c18fe;ms-f6f0d14ef7c24b9e4621;ms-9c33d4837de7d23232d6;ms-760c73ea34418ce7a006;ms-a4ade4de51ca437ac432;ms-73259d17883355f7fa88", + "expert_regret": 0.0, + "expert_score": 0.7242826819419861, + "expert_success": false, + "group_id": "ms-491aad3896ede89ea0dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0032045841217041016, + "oracle_score": 0.7278990745544434, + "oracle_success": false, + "progress": 0.7246944904327393, + "restore_error": 2.384185791015625e-07, + "score": 0.7246944904327393, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30823373794555664, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.2626327574253082, + 0.3006475567817688, + 0.3299376368522644, + 0.3438586890697479 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.03801479935646057, + 0.06730487942695618, + 0.0812259316444397 + ], + "candidate_oracle_branch_scores": [ + 0.2626327574253082, + 0.3006475567817688, + 0.3299376368522644, + 0.3438586890697479 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3757591247558594, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9321731328964233, + -1.2556335926055908, + -1.314223289489746, + -1.3757591247558594 + ], + "candidate_oracle_progress": 0.3438586890697479, + "candidate_oracle_regret": 1.656141310930252, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.0174851417541504e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3438586890697479, + "candidate_oracle_score_gain_over_selected": 0.0812259316444397, + "candidate_oracle_selected_branch_progress": 0.2626327574253082, + "candidate_oracle_selected_branch_score": 0.2626327574253082, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6cf775fbba580161c4e;ms-6a9c4c704edd84c21cda;ms-80e3d8a34c3cb94cad65;ms-a323215fb409ab3e9287;ms-b025d8068f740557d630;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.7389449775218964, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4a845dab9503bc4eba04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7389449775218964, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.26105502247810364, + "restore_error": 2.384185791015625e-07, + "score": 0.26105502247810364, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41572433710098267, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7046390771865845, + 0.717343807220459, + 0.717568039894104, + 0.7184779644012451 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.012704730033874512, + 0.012928962707519531, + 0.013838887214660645 + ], + "candidate_oracle_branch_scores": [ + 0.7046390771865845, + 0.717343807220459, + 0.717568039894104, + 0.7184779644012451 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9180721640586853, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.47739332914352417, + -0.750164270401001, + -0.8267954587936401, + -0.9180721640586853 + ], + "candidate_oracle_progress": 0.7184779644012451, + "candidate_oracle_regret": 1.2815220355987549, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7184779644012451, + "candidate_oracle_score_gain_over_selected": 0.013838887214660645, + "candidate_oracle_selected_branch_progress": 0.7046390771865845, + "candidate_oracle_selected_branch_score": 0.7046390771865845, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a03497f97765ffd444e;ms-684a66885f21739d826b;ms-bc29afbe2bbf00638d25;ms-507199452c6d42562a38;ms-08ab006a923f5fdae198;ms-a5a56eefeb2de0abe600", + "expert_regret": 1.2991281747817993, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e9a43adf4bba03b65d5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2991281747817993, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7008718252182007, + "restore_error": 1.1920928955078125e-07, + "score": 0.7008718252182007, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2471504658460617, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7035651206970215, + 0.6657291054725647, + 0.6660016775131226, + 0.5733903646469116 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.03783601522445679, + -0.037563443183898926, + -0.13017475605010986 + ], + "candidate_oracle_branch_scores": [ + 0.7035651206970215, + 0.6657291054725647, + 0.6660016775131226, + 0.5733903646469116 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7993473410606384, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7993473410606384, + -1.1962530612945557, + -1.2661840915679932, + -1.3423651456832886 + ], + "candidate_oracle_progress": 0.7035651206970215, + "candidate_oracle_regret": 1.2964348793029785, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7035651206970215, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7035651206970215, + "candidate_oracle_selected_branch_score": 0.7035651206970215, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-55e89d326b6531345902;ms-b025d8068f740557d630;ms-65e9da4468e522823587;ms-64a755437c34f39cda2a;ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50", + "expert_regret": 1.296434760093689, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-04cc31b72a8dc8a91911", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.296434760093689, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.703565239906311, + "restore_error": 1.1920928955078125e-07, + "score": 0.703565239906311, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.15452289581298828, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.20072638988494873, + 0.2004830539226532, + 0.20041263103485107, + 0.20039427280426025 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00024333596229553223, + -0.00031375885009765625, + -0.00033211708068847656 + ], + "candidate_oracle_branch_scores": [ + 0.20072638988494873, + 0.2004830539226532, + 0.20041263103485107, + 0.20039427280426025 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0037603378295898, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0037603378295898, + -1.5082272291183472, + -1.5962504148483276, + -1.6951879262924194 + ], + "candidate_oracle_progress": 0.20072638988494873, + "candidate_oracle_regret": 0.5304117798805237, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20072638988494873, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.20072638988494873, + "candidate_oracle_selected_branch_score": 0.20072638988494873, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-01bef10a5ccfd38294fe;ms-fb131b52f94500da894b;ms-e56b37f0e3881a70ef54;ms-cf8c5d9c874edc9f000d;ms-65e9da4468e522823587;ms-80e3d8a34c3cb94cad65", + "expert_regret": 0.5261926352977753, + "expert_score": 0.7269299030303955, + "expert_success": false, + "group_id": "ms-125287f805d320b2eff7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5304009020328522, + "oracle_score": 0.7311381697654724, + "oracle_success": false, + "progress": 0.20073726773262024, + "restore_error": 1.1920928955078125e-07, + "score": 0.20073726773262024, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.024016426876187325, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.3996400237083435, + 0.40909039974212646, + 0.40815386176109314, + 0.3971775472164154 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.009450376033782959, + 0.008513838052749634, + -0.0024624764919281006 + ], + "candidate_oracle_branch_scores": [ + 0.3996400237083435, + 0.40909039974212646, + 0.40815386176109314, + 0.3971775472164154 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7273357510566711, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.41504576802253723, + -0.7273357510566711, + -0.8189874291419983, + -0.9229076504707336 + ], + "candidate_oracle_progress": 0.40909039974212646, + "candidate_oracle_regret": 1.5909096002578735, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.40909039974212646, + "candidate_oracle_score_gain_over_selected": 0.009450376033782959, + "candidate_oracle_selected_branch_progress": 0.3996400237083435, + "candidate_oracle_selected_branch_score": 0.3996400237083435, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-35babd5f83dcf1561f9a;ms-6a03497f97765ffd444e;ms-a5a56eefeb2de0abe600;ms-684a66885f21739d826b;ms-4c638b9bb924547f69cb;ms-bc29afbe2bbf00638d25", + "expert_regret": 0.3263787627220154, + "expert_score": 0.7271513342857361, + "expert_success": false, + "group_id": "ms-062addb9da32a0c2ea97", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5992274284362793, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4007725715637207, + "restore_error": 1.1920928955078125e-07, + "score": 0.4007725715637207, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16319148242473602, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.713943600654602, + 0.410078763961792, + 0.3761022090911865, + 0.7006402015686035 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.30386483669281006, + -0.3378413915634155, + -0.013303399085998535 + ], + "candidate_oracle_branch_scores": [ + 0.713943600654602, + 0.410078763961792, + 0.3761022090911865, + 0.7006402015686035 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.29038548469543457, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.29038548469543457, + -1.0045865774154663, + -1.1591118574142456, + -1.1748300790786743 + ], + "candidate_oracle_progress": 0.713943600654602, + "candidate_oracle_regret": 1.286056399345398, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.713943600654602, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.713943600654602, + "candidate_oracle_selected_branch_score": 0.713943600654602, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9a72e47e2204fa794718;ms-575bd87a5da90963019d;ms-bb567fcac946f012535a;ms-73259d17883355f7fa88;ms-8f24ad2e217963943c12;ms-cc0b4a1deec28e53722a", + "expert_regret": 1.2884137630462646, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-aa46bb6dc8e6274963b6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2884137630462646, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7115862369537354, + "restore_error": 1.1920928955078125e-07, + "score": 0.7115862369537354, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2637189030647278, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.2454422414302826, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.2454422414302826, + -0.36025911569595337, + -0.40969839692115784, + -0.4707803726196289 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a4ade4de51ca437ac432;ms-5bbc4c4b1b51e2a088db;ms-1b8e9b173562648021f6;ms-9c33d4837de7d23232d6;ms-f6f0d14ef7c24b9e4621;ms-fdb2637276b27c46c757", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7dfc3684b46df95070e2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.03178318589925766, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.24530468881130219, + 0.24651186168193817, + 0.24501118063926697, + 0.2428951859474182 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0012071728706359863, + -0.0002935081720352173, + -0.002409502863883972 + ], + "candidate_oracle_branch_scores": [ + 0.24530468881130219, + 0.24651186168193817, + 0.24501118063926697, + 0.2428951859474182 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.947903037071228, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.3718113303184509, + -0.947903037071228, + -1.085295557975769, + -1.0892635583877563 + ], + "candidate_oracle_progress": 0.24651186168193817, + "candidate_oracle_regret": 1.7534881383180618, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.24651186168193817, + "candidate_oracle_score_gain_over_selected": 0.0012071728706359863, + "candidate_oracle_selected_branch_progress": 0.24530468881130219, + "candidate_oracle_selected_branch_score": 0.24530468881130219, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-575bd87a5da90963019d;ms-9a72e47e2204fa794718;ms-cc0b4a1deec28e53722a;ms-8f24ad2e217963943c12;ms-ac6e78b1c56d020d0c09;ms-92070f417bd9d14d6fc7", + "expert_regret": 0.48098310828208923, + "expert_score": 0.7262760400772095, + "expert_success": false, + "group_id": "ms-99f263cb3f383b1f6243", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7547070682048798, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.24529293179512024, + "restore_error": 1.1920928955078125e-07, + "score": 0.24529293179512024, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35543423891067505, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7028501033782959, + 0.25287583470344543, + 0.2417391538619995, + 0.2442249059677124 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.44997426867485046, + -0.4611109495162964, + -0.4586251974105835 + ], + "candidate_oracle_branch_scores": [ + 0.7028501033782959, + 0.25287583470344543, + 0.2417391538619995, + 0.2442249059677124 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.31377679109573364, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.31377679109573364, + -0.6232574582099915, + -0.7173622846603394, + -0.8362424373626709 + ], + "candidate_oracle_progress": 0.7028501033782959, + "candidate_oracle_regret": 1.297149896621704, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7028501033782959, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7028501033782959, + "candidate_oracle_selected_branch_score": 0.7028501033782959, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-675833805d1139c2f2a0;ms-f6f0d14ef7c24b9e4621;ms-29027a8e3742362fd477;ms-bb567fcac946f012535a;ms-a40dee47c502e73949af;ms-b3d9d9570bf9b64c18fe", + "expert_regret": 1.299494743347168, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-074cb86179cdd7f52737", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.299494743347168, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.700505256652832, + "restore_error": 1.1920928955078125e-07, + "score": 0.700505256652832, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.2350454330444336, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.2147398442029953, + 0.21422168612480164, + 0.21507367491722107, + 0.2075440138578415 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0005181580781936646, + 0.00033383071422576904, + -0.007195830345153809 + ], + "candidate_oracle_branch_scores": [ + 0.2147398442029953, + 0.21422168612480164, + 0.21507367491722107, + 0.2075440138578415 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.3413008451461792, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 24 + ], + "candidate_oracle_potentials": [ + -1.3157973289489746, + -1.3387103080749512, + -1.3413008451461792, + -1.50975501537323 + ], + "candidate_oracle_progress": 0.21507367491722107, + "candidate_oracle_regret": 0.5134157240390778, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21507367491722107, + "candidate_oracle_score_gain_over_selected": 0.00033383071422576904, + "candidate_oracle_selected_branch_progress": 0.2147398442029953, + "candidate_oracle_selected_branch_score": 0.2147398442029953, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4b4cd12d70c0615e0930;ms-83c0299c23fa800452c7;ms-251c1dfd1010906f559f;ms-af91167a0cf15457c6ba;ms-de8d6051e6ee74b62fec;ms-efb5a07185a3a1b33226", + "expert_regret": 0.5137493908405304, + "expert_score": 0.7284893989562988, + "expert_success": false, + "group_id": "ms-1bbd61ce613ae75c8bb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5137493908405304, + "oracle_score": 0.7284893989562988, + "oracle_success": false, + "progress": 0.21474000811576843, + "restore_error": 1.1920928955078125e-07, + "score": 0.21474000811576843, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39950326085090637, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7015302181243896, + 0.7027227878570557, + 0.6893510818481445 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2984697818756104, + -1.2972772121429443, + -1.3106489181518555 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7015302181243896, + 0.7027227878570557, + 0.6893510818481445 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9779101014137268, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.9779101014137268, + -1.5412211418151855, + -1.6395752429962158, + -1.7053899765014648 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2c6000014d31fc0bb21c;ms-ace117030ae44c474db1;ms-6d6456c45f9f3ae74b50;ms-7ce799eb9d3b741e8960;ms-40a961867249ddccb68f;ms-b00933d2f628bc51d80a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f63a0e43f0923369edc3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35162219405174255, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4254853129386902, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 17, + 1, + 33 + ], + "candidate_oracle_potentials": [ + -0.4254853129386902, + -0.4310406446456909, + -0.4414578676223755, + -0.44459134340286255 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ac6e78b1c56d020d0c09;ms-92070f417bd9d14d6fc7;ms-cc0b4a1deec28e53722a;ms-debd7e5668e2acdf6bb0;ms-9ced92cccacfe4d157b0;ms-502dba1003c09ec60ba0", + "expert_regret": 0.0, + "expert_score": 0.726958692073822, + "expert_success": false, + "group_id": "ms-7a0330e9e3189ff035d3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.726958692073822, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2711336016654968, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.7060474157333374, + 0.7072471976280212, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0011997818946838379, + 1.2939525842666626, + 1.2939525842666626 + ], + "candidate_oracle_branch_scores": [ + 0.7060474157333374, + 0.7072471976280212, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + true + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.9742369055747986, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.4629904627799988, + -0.9669670462608337, + -0.9742369055747986, + -0.9750528931617737 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2939525842666626, + "candidate_oracle_selected_branch_progress": 0.7060474157333374, + "candidate_oracle_selected_branch_score": 0.7060474157333374, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ac6e78b1c56d020d0c09;ms-cc0b4a1deec28e53722a;ms-92070f417bd9d14d6fc7;ms-9a72e47e2204fa794718;ms-9ced92cccacfe4d157b0;ms-575bd87a5da90963019d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b18ea4e0982a1352696", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16468317806720734, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.2164772003889084, + 0.21488207578659058, + 0.40719375014305115, + 0.2073911428451538 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00159512460231781, + 0.19071654975414276, + -0.009086057543754578 + ], + "candidate_oracle_branch_scores": [ + 0.2164772003889084, + 0.21488207578659058, + 0.40719375014305115, + 0.2073911428451538 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -2.3602511882781982, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 3 + ], + "candidate_oracle_potentials": [ + -2.356259822845459, + -2.3578970432281494, + -2.3602511882781982, + -2.376898765563965 + ], + "candidate_oracle_progress": 0.40719375014305115, + "candidate_oracle_regret": 1.5928062498569489, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.40719375014305115, + "candidate_oracle_score_gain_over_selected": 0.19071654975414276, + "candidate_oracle_selected_branch_progress": 0.2164772003889084, + "candidate_oracle_selected_branch_score": 0.2164772003889084, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-de8d6051e6ee74b62fec;ms-83c0299c23fa800452c7;ms-4b4cd12d70c0615e0930;ms-efb5a07185a3a1b33226;ms-251c1dfd1010906f559f;ms-af91167a0cf15457c6ba", + "expert_regret": 0.508968785405159, + "expert_score": 0.7233109474182129, + "expert_success": false, + "group_id": "ms-8f3d4e1d07bb5dcc7c57", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.785657837986946, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2143421620130539, + "restore_error": 1.1920928955078125e-07, + "score": 0.2143421620130539, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.28169068694114685, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7221848964691162, + 0.6966931819915771, + 0.2241893857717514, + 0.19765004515647888 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.025491714477539062, + -0.4979954957962036, + -0.5245348215103149 + ], + "candidate_oracle_branch_scores": [ + 0.7221848964691162, + 0.6966931819915771, + 0.2241893857717514, + 0.19765004515647888 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.695791482925415, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.695791482925415, + -1.1966965198516846, + -1.3004661798477173, + -1.4141048192977905 + ], + "candidate_oracle_progress": 0.7221848964691162, + "candidate_oracle_regret": 1.2778151035308838, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7221848964691162, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7221848964691162, + "candidate_oracle_selected_branch_score": 0.7221848964691162, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-55e89d326b6531345902;ms-f5dcf9054c3c1c4e1d50;ms-64a755437c34f39cda2a;ms-69785feff08dbf9a50be;ms-b025d8068f740557d630;ms-7ce799eb9d3b741e8960", + "expert_regret": 1.2778151035308838, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e705fef3e4caa4c49718", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2778151035308838, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7221848964691162, + "restore_error": 1.1920928955078125e-07, + "score": 0.7221848964691162, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5312833786010742, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.8748157620429993, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 17, + 1, + 33, + 8 + ], + "candidate_oracle_potentials": [ + 0.8748157620429993, + 0.8747254014015198, + 0.8443472981452942, + 0.4107517600059509 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-7a1b60ea1461eb460bed;ms-b383acd9844466b19579;ms-9ced92cccacfe4d157b0;ms-5799584ed40e211c50a5;ms-92070f417bd9d14d6fc7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ed30f8fbb80b2cf46fbc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3395386338233948, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6577215194702148, + 0.6151542663574219, + 0.6104283928871155, + 0.6116750240325928 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.04256725311279297, + -0.047293126583099365, + -0.04604649543762207 + ], + "candidate_oracle_branch_scores": [ + 0.6577215194702148, + 0.6151542663574219, + 0.6104283928871155, + 0.6116750240325928 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.31975382566452026, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 8, + 17 + ], + "candidate_oracle_potentials": [ + -0.31975382566452026, + -0.5301516652107239, + -0.5583664774894714, + -0.5657176971435547 + ], + "candidate_oracle_progress": 0.6577215194702148, + "candidate_oracle_regret": 1.3422784805297852, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6577215194702148, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6577215194702148, + "candidate_oracle_selected_branch_score": 0.6577215194702148, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-debd7e5668e2acdf6bb0;ms-92070f417bd9d14d6fc7;ms-ac6e78b1c56d020d0c09;ms-cc0b4a1deec28e53722a;ms-9ced92cccacfe4d157b0;ms-9a72e47e2204fa794718", + "expert_regret": 1.312668800354004, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7aeb0835d3396e6666b6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.312668800354004, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6873311996459961, + "restore_error": 1.1920928955078125e-07, + "score": 0.6873311996459961, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34732818603515625, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7223349809646606, + 0.6907033920288086, + 0.6755098104476929, + 0.6803512573242188 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.03163158893585205, + -0.04682517051696777, + -0.041983723640441895 + ], + "candidate_oracle_branch_scores": [ + 0.7223349809646606, + 0.6907033920288086, + 0.6755098104476929, + 0.6803512573242188 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.42159801721572876, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.42159801721572876, + -0.6882171034812927, + -0.7621423602104187, + -0.8511188626289368 + ], + "candidate_oracle_progress": 0.7223349809646606, + "candidate_oracle_regret": 1.2776650190353394, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7223349809646606, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7223349809646606, + "candidate_oracle_selected_branch_score": 0.7223349809646606, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-684a66885f21739d826b;ms-507199452c6d42562a38;ms-bc29afbe2bbf00638d25;ms-6a03497f97765ffd444e;ms-08ab006a923f5fdae198;ms-076246c4c5d1ca8ccd9d", + "expert_regret": 1.2784362435340881, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b0861c414f8690d62a82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2784362435340881, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7215637564659119, + "restore_error": 1.1920928955078125e-07, + "score": 0.7215637564659119, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.416351318359375, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6892255544662476, + 0.6353473663330078, + 0.5730838775634766, + 0.5422755479812622 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.053878188133239746, + -0.116141676902771, + -0.14695000648498535 + ], + "candidate_oracle_branch_scores": [ + 0.6892255544662476, + 0.6353473663330078, + 0.5730838775634766, + 0.5422755479812622 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5712422728538513, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5712422728538513, + -0.8556912541389465, + -0.9246821999549866, + -1.0019536018371582 + ], + "candidate_oracle_progress": 0.6892255544662476, + "candidate_oracle_regret": 1.3107744455337524, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6892255544662476, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6892255544662476, + "candidate_oracle_selected_branch_score": 0.6892255544662476, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a03497f97765ffd444e;ms-b483cac145e16ccdf42a;ms-0ef5d3238b33bdebae4d;ms-684a66885f21739d826b;ms-760c73ea34418ce7a006;ms-baa36ee75ec2de550b9b", + "expert_regret": 1.3023972511291504, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5b0141f336d28927cf31", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3023972511291504, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6976027488708496, + "restore_error": 1.1920928955078125e-07, + "score": 0.6976027488708496, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6448022127151489, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.20978957414627075, + 0.21610689163208008, + 0.21522174775600433, + 0.21426928043365479 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.006317317485809326, + 0.0054321736097335815, + 0.004479706287384033 + ], + "candidate_oracle_branch_scores": [ + 0.20978957414627075, + 0.21610689163208008, + 0.21522174775600433, + 0.21426928043365479 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.0221199989318848, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -0.897494375705719, + -1.0221199989318848, + -1.0783782005310059, + -1.1291124820709229 + ], + "candidate_oracle_progress": 0.21610689163208008, + "candidate_oracle_regret": 1.78389310836792, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21610689163208008, + "candidate_oracle_score_gain_over_selected": 0.006317317485809326, + "candidate_oracle_selected_branch_progress": 0.20978957414627075, + "candidate_oracle_selected_branch_score": 0.20978957414627075, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9f4b47c80d59166302ab;ms-b2d1a5e132eaeb353782;ms-0d80d6d87a27a53951fe;ms-d2febdb2a469fbbac4f2;ms-27251a7c7f13bf165e21;ms-741e906eafd57d115b5d", + "expert_regret": 1.790211871266365, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0a57aa04002f1b843856", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.790211871266365, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20978812873363495, + "restore_error": 1.1920928955078125e-07, + "score": 0.20978812873363495, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4671323895454407, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.42458587884902954, + 0.21854881942272186, + 0.21751932799816132, + 0.2164326012134552 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.20603705942630768, + -0.20706655085086823, + -0.20815327763557434 + ], + "candidate_oracle_branch_scores": [ + 0.42458587884902954, + 0.21854881942272186, + 0.21751932799816132, + 0.2164326012134552 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6112921833992004, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -0.6112921833992004, + -1.2231985330581665, + -1.3163230419158936, + -1.3887935876846313 + ], + "candidate_oracle_progress": 0.42458587884902954, + "candidate_oracle_regret": 1.5754141211509705, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.42458587884902954, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.42458587884902954, + "candidate_oracle_selected_branch_score": 0.42458587884902954, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b2d1a5e132eaeb353782;ms-0d80d6d87a27a53951fe;ms-2c6000014d31fc0bb21c;ms-27251a7c7f13bf165e21;ms-741e906eafd57d115b5d;ms-9f4b47c80d59166302ab", + "expert_regret": 1.5754171907901764, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b60078e9e6ea9c26dedc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5754171907901764, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4245828092098236, + "restore_error": 1.1920928955078125e-07, + "score": 0.4245828092098236, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3908151090145111, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.7069997191429138, + 0.5962453484535217, + 0.7086911201477051, + 0.2142535299062729 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.11075437068939209, + 0.0016914010047912598, + -0.49274617433547974 + ], + "candidate_oracle_branch_scores": [ + 0.7069997191429138, + 0.5962453484535217, + 0.7086911201477051, + 0.2142535299062729 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0423005819320679, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.49208831787109375, + -0.9427620768547058, + -1.0423005819320679, + -1.1476210355758667 + ], + "candidate_oracle_progress": 0.7086911201477051, + "candidate_oracle_regret": 1.291308879852295, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7086911201477051, + "candidate_oracle_score_gain_over_selected": 0.0016914010047912598, + "candidate_oracle_selected_branch_progress": 0.7069997191429138, + "candidate_oracle_selected_branch_score": 0.7069997191429138, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ff3256da4e1731651937;ms-7cd314f076bfe5c32088;ms-5bbc4c4b1b51e2a088db;ms-1b8e9b173562648021f6;ms-4c638b9bb924547f69cb;ms-03495469257613a802b4", + "expert_regret": 1.279471516609192, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ef8de99d917753ec603c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.279471516609192, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7205284833908081, + "restore_error": 1.1920928955078125e-07, + "score": 0.7205284833908081, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7064999341964722, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5966175198554993, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 0, + 3 + ], + "candidate_oracle_potentials": [ + -0.5966175198554993, + -0.6545591354370117, + -0.7327538132667542, + -0.7330652475357056 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e2950dcb50ed2b955be6;ms-26322bd4de52dbd5743c;ms-2436538e05fdcf8e44fc;ms-caa0a38b7df789550f8a;ms-dfc38c43e9a87f99ef7f;ms-487d0fe2a13fb699dd7a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-faeff0379a053e9ea351", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.49617332220077515, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.21224606037139893, + 0.21247312426567078, + 0.21258249878883362 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.787753939628601, + -1.7875268459320068, + -1.7874175310134888 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.21224606037139893, + 0.21247312426567078, + 0.21258249878883362 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0626400709152222, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0626400709152222, + -1.3309416770935059, + -1.3849871158599854, + -1.4518603086471558 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-de8d6051e6ee74b62fec;ms-efb5a07185a3a1b33226;ms-83c0299c23fa800452c7;ms-af91167a0cf15457c6ba;ms-251c1dfd1010906f559f;ms-4b4cd12d70c0615e0930", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-84d10acd6db571034f10", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2498084306716919, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6984065771102905, + 0.654148280620575, + 0.6571722626686096, + 0.643832266330719 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.044258296489715576, + -0.04123431444168091, + -0.05457431077957153 + ], + "candidate_oracle_branch_scores": [ + 0.6984065771102905, + 0.654148280620575, + 0.6571722626686096, + 0.643832266330719 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9791483283042908, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.9791483283042908, + -1.3006600141525269, + -1.3668575286865234, + -1.417080283164978 + ], + "candidate_oracle_progress": 0.6984065771102905, + "candidate_oracle_regret": 1.3015934228897095, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6984065771102905, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6984065771102905, + "candidate_oracle_selected_branch_score": 0.6984065771102905, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6cf775fbba580161c4e;ms-6a9c4c704edd84c21cda;ms-a323215fb409ab3e9287;ms-b025d8068f740557d630;ms-80e3d8a34c3cb94cad65;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.300197184085846, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fdf18cd6260d82226927", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.300197184085846, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.699802815914154, + "restore_error": 1.1920928955078125e-07, + "score": 0.699802815914154, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5202789902687073, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6817524433135986, + 0.22336244583129883, + 0.3052608072757721, + 0.20656809210777283 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4583899974822998, + -0.37649163603782654, + -0.4751843512058258 + ], + "candidate_oracle_branch_scores": [ + 0.6817524433135986, + 0.22336244583129883, + 0.3052608072757721, + 0.20656809210777283 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.685145378112793, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 1, + 4 + ], + "candidate_oracle_potentials": [ + -1.685145378112793, + -1.7554516792297363, + -1.8062564134597778, + -1.8074108362197876 + ], + "candidate_oracle_progress": 0.6817524433135986, + "candidate_oracle_regret": 1.3182475566864014, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6817524433135986, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6817524433135986, + "candidate_oracle_selected_branch_score": 0.6817524433135986, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-917b0f051489227842f0;ms-a829d650eb9914fb2983;ms-49c99f285560483a85ee;ms-69785feff08dbf9a50be;ms-b00933d2f628bc51d80a;ms-ace117030ae44c474db1", + "expert_regret": 1.3182369470596313, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8a9e7d69f7ade362fe40", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3182369470596313, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6817630529403687, + "restore_error": 1.1920928955078125e-07, + "score": 0.6817630529403687, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.957487940788269, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.20975062251091003, + 0.20908717811107635, + 0.210269495844841, + 0.19749335944652557 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0006634443998336792, + 0.0005188733339309692, + -0.01225726306438446 + ], + "candidate_oracle_branch_scores": [ + 0.20975062251091003, + 0.20908717811107635, + 0.210269495844841, + 0.19749335944652557 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.5494384765625, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 40 + ], + "candidate_oracle_potentials": [ + -1.5024667978286743, + -1.5057682991027832, + -1.5494384765625, + -1.6515772342681885 + ], + "candidate_oracle_progress": 0.210269495844841, + "candidate_oracle_regret": 1.789730504155159, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.210269495844841, + "candidate_oracle_score_gain_over_selected": 0.0005188733339309692, + "candidate_oracle_selected_branch_progress": 0.20975062251091003, + "candidate_oracle_selected_branch_score": 0.20975062251091003, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-de8d6051e6ee74b62fec;ms-251c1dfd1010906f559f;ms-4b4cd12d70c0615e0930;ms-83c0299c23fa800452c7;ms-e2a037eadb166228b1dd;ms-af91167a0cf15457c6ba", + "expert_regret": 1.7902494370937347, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-35c12c467fb8a54f89f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7902494370937347, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20975056290626526, + "restore_error": 1.1920928955078125e-07, + "score": 0.20975056290626526, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5269691944122314, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7009372711181641, + 0.21637748181819916, + 0.23045043647289276, + 0.3049519658088684 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4845597743988037, + -0.4704868197441101, + -0.39598530530929565 + ], + "candidate_oracle_branch_scores": [ + 0.7009372711181641, + 0.21637748181819916, + 0.23045043647289276, + 0.3049519658088684 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6535503268241882, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 35, + 1 + ], + "candidate_oracle_potentials": [ + -0.6535503268241882, + -1.4458335638046265, + -1.5321248769760132, + -1.5342514514923096 + ], + "candidate_oracle_progress": 0.7009372711181641, + "candidate_oracle_regret": 1.299062728881836, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7009372711181641, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7009372711181641, + "candidate_oracle_selected_branch_score": 0.7009372711181641, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b2d1a5e132eaeb353782;ms-0d80d6d87a27a53951fe;ms-27251a7c7f13bf165e21;ms-741e906eafd57d115b5d;ms-d2febdb2a469fbbac4f2;ms-9f4b47c80d59166302ab", + "expert_regret": 1.2990911602973938, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6ceb341dfa656e485a13", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2990911602973938, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7009088397026062, + "restore_error": 1.1920928955078125e-07, + "score": 0.7009088397026062, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.8893152475357056, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.21278516948223114, + 0.2095477432012558, + 0.21238897740840912, + 0.2092326283454895 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.003237426280975342, + -0.0003961920738220215, + -0.003552541136741638 + ], + "candidate_oracle_branch_scores": [ + 0.21278516948223114, + 0.2095477432012558, + 0.21238897740840912, + 0.2092326283454895 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.125583291053772, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 33, + 24, + 8 + ], + "candidate_oracle_potentials": [ + -1.125583291053772, + -1.1288812160491943, + -1.1397756338119507, + -1.1676570177078247 + ], + "candidate_oracle_progress": 0.21278516948223114, + "candidate_oracle_regret": 1.7872148305177689, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21278516948223114, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.21278516948223114, + "candidate_oracle_selected_branch_score": 0.21278516948223114, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-01bef10a5ccfd38294fe;ms-fb131b52f94500da894b;ms-40a961867249ddccb68f;ms-65e9da4468e522823587;ms-a99d874a81bc60301007;ms-6d6456c45f9f3ae74b50", + "expert_regret": 1.7872158586978912, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-30e4ae59842091fe16b2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7872158586978912, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21278414130210876, + "restore_error": 1.1920928955078125e-07, + "score": 0.21278414130210876, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.325258731842041, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7261778116226196, + 0.5535528659820557, + 0.3754678964614868, + 0.35632526874542236 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.17262494564056396, + -0.3507099151611328, + -0.36985254287719727 + ], + "candidate_oracle_branch_scores": [ + 0.7261778116226196, + 0.5535528659820557, + 0.3754678964614868, + 0.35632526874542236 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4316972494125366, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4316972494125366, + -0.5603792071342468, + -0.5963891744613647, + -0.6389862298965454 + ], + "candidate_oracle_progress": 0.7261778116226196, + "candidate_oracle_regret": 1.2738221883773804, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7261778116226196, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7261778116226196, + "candidate_oracle_selected_branch_score": 0.7261778116226196, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0ef5d3238b33bdebae4d;ms-b483cac145e16ccdf42a;ms-baa36ee75ec2de550b9b;ms-760c73ea34418ce7a006;ms-b3d9d9570bf9b64c18fe;ms-675833805d1139c2f2a0", + "expert_regret": 1.2749271988868713, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3a09e411ee6c882ef7df", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2749271988868713, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7250728011131287, + "restore_error": 1.1920928955078125e-07, + "score": 0.7250728011131287, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.31255391240119934, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.44325006008148193, + 0.2748848795890808, + 0.260793536901474, + 0.25784093141555786 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.16836518049240112, + -0.18245652318000793, + -0.18540912866592407 + ], + "candidate_oracle_branch_scores": [ + 0.44325006008148193, + 0.2748848795890808, + 0.260793536901474, + 0.25784093141555786 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4269283711910248, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4269283711910248, + -0.8201406598091125, + -0.9171937108039856, + -1.024454116821289 + ], + "candidate_oracle_progress": 0.44325006008148193, + "candidate_oracle_regret": 1.556749939918518, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.44325006008148193, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.44325006008148193, + "candidate_oracle_selected_branch_score": 0.44325006008148193, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1b8e9b173562648021f6;ms-7cd314f076bfe5c32088;ms-5bbc4c4b1b51e2a088db;ms-ff3256da4e1731651937;ms-9c33d4837de7d23232d6;ms-b3d9d9570bf9b64c18fe", + "expert_regret": 1.5568654537200928, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-502c195c0e4810814bac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5568654537200928, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4431345462799072, + "restore_error": 1.1920928955078125e-07, + "score": 0.4431345462799072, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16312220692634583, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.1523670256137848, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.1523670256137848, + -0.3501407504081726, + -0.4381631314754486, + -0.5452634692192078 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-73259d17883355f7fa88;ms-f6f0d14ef7c24b9e4621;ms-9c33d4837de7d23232d6;ms-a4ade4de51ca437ac432;ms-5bbc4c4b1b51e2a088db;ms-a40dee47c502e73949af", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1cb9edbe8bd7ed4106c1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3315548896789551, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7241858839988708, + 0.7256371378898621, + 0.701889157295227 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2758140563964844, + -1.2743628025054932, + -1.298110842704773 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7241858839988708, + 0.7256371378898621, + 0.701889157295227 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.37780600786209106, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.37780600786209106, + -0.809436559677124, + -0.9151502251625061, + -1.039223313331604 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8f24ad2e217963943c12;ms-a40dee47c502e73949af;ms-bb567fcac946f012535a;ms-9c33d4837de7d23232d6;ms-675833805d1139c2f2a0;ms-03495469257613a802b4", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b461b0929537fbc1d41", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.29955536127090454, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.7264105677604675, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.2735893726348877, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.7264105677604675, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.38002291321754456, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.38002291321754456, + -0.7035701274871826, + -0.7955235838890076, + -0.90006023645401 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b483cac145e16ccdf42a;ms-675833805d1139c2f2a0;ms-760c73ea34418ce7a006;ms-0ef5d3238b33bdebae4d;ms-b3d9d9570bf9b64c18fe;ms-f6f0d14ef7c24b9e4621", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ab10d34780322326aa3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.8135427236557007, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.20282910764217377, + 0.2025901973247528, + 0.2023443579673767, + 0.20046153664588928 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00023891031742095947, + -0.0004847496747970581, + -0.002367570996284485 + ], + "candidate_oracle_branch_scores": [ + 0.20282910764217377, + 0.2025901973247528, + 0.2023443579673767, + 0.20046153664588928 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3347634077072144, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 8, + 0 + ], + "candidate_oracle_potentials": [ + -1.3347634077072144, + -1.3439456224441528, + -1.3637562990188599, + -1.3647936582565308 + ], + "candidate_oracle_progress": 0.20282910764217377, + "candidate_oracle_regret": 1.7971708923578262, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20282910764217377, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.20282910764217377, + "candidate_oracle_selected_branch_score": 0.20282910764217377, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-01bef10a5ccfd38294fe;ms-cf8c5d9c874edc9f000d;ms-e56b37f0e3881a70ef54;ms-fb131b52f94500da894b;ms-80e3d8a34c3cb94cad65;ms-6a9c4c704edd84c21cda", + "expert_regret": 1.7971709370613098, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a905b84bd3ab703c025f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7971709370613098, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20282906293869019, + "restore_error": 1.1920928955078125e-07, + "score": 0.20282906293869019, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5080855488777161, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.2067151963710785, + 0.22567133605480194, + 0.22370406985282898, + 0.2217617928981781 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.01895613968372345, + 0.01698887348175049, + 0.01504659652709961 + ], + "candidate_oracle_branch_scores": [ + 0.2067151963710785, + 0.22567133605480194, + 0.22370406985282898, + 0.2217617928981781 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.626915693283081, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.5421751737594604, + -1.626915693283081, + -1.685937762260437, + -1.7323731184005737 + ], + "candidate_oracle_progress": 0.22567133605480194, + "candidate_oracle_regret": 1.774328663945198, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.22567133605480194, + "candidate_oracle_score_gain_over_selected": 0.01895613968372345, + "candidate_oracle_selected_branch_progress": 0.2067151963710785, + "candidate_oracle_selected_branch_score": 0.2067151963710785, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-49c99f285560483a85ee;ms-917b0f051489227842f0;ms-ace117030ae44c474db1;ms-b00933d2f628bc51d80a;ms-2c6000014d31fc0bb21c;ms-a829d650eb9914fb2983", + "expert_regret": 1.7932807207107544, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-40392e5aeef63551f9ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7932807207107544, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2067192792892456, + "restore_error": 1.1920928955078125e-07, + "score": 0.2067192792892456, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3525698482990265, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7287760972976685, + 0.7276595830917358, + 0.7280091643333435 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2712239027023315, + -1.2723404169082642, + -1.2719907760620117 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7287760972976685, + 0.7276595830917358, + 0.7280091643333435 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.36582452058792114, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.36582452058792114, + -0.689788281917572, + -0.7790284156799316, + -0.8884919285774231 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-675833805d1139c2f2a0;ms-f6f0d14ef7c24b9e4621;ms-29027a8e3742362fd477;ms-bb567fcac946f012535a;ms-a40dee47c502e73949af;ms-b3d9d9570bf9b64c18fe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c1e7b47135487435fc1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38244178891181946, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.48509371280670166, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.48509371280670166, + -0.6644806861877441, + -0.705045759677887, + -0.7490666508674622 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0ef5d3238b33bdebae4d;ms-b483cac145e16ccdf42a;ms-baa36ee75ec2de550b9b;ms-b3d9d9570bf9b64c18fe;ms-760c73ea34418ce7a006;ms-6a03497f97765ffd444e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dd94921779f12b249579", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5662323236465454, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.2151741087436676, + 0.22615408897399902, + 0.22523128986358643, + 0.21899794042110443 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.010979980230331421, + 0.010057181119918823, + 0.0038238316774368286 + ], + "candidate_oracle_branch_scores": [ + 0.2151741087436676, + 0.22615408897399902, + 0.22523128986358643, + 0.21899794042110443 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.115670084953308, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 1 + ], + "candidate_oracle_potentials": [ + -0.8362271189689636, + -1.115670084953308, + -1.172399878501892, + -1.2274118661880493 + ], + "candidate_oracle_progress": 0.22615408897399902, + "candidate_oracle_regret": 1.773845911026001, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.22615408897399902, + "candidate_oracle_score_gain_over_selected": 0.010979980230331421, + "candidate_oracle_selected_branch_progress": 0.2151741087436676, + "candidate_oracle_selected_branch_score": 0.2151741087436676, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9f4b47c80d59166302ab;ms-d2febdb2a469fbbac4f2;ms-0d80d6d87a27a53951fe;ms-b2d1a5e132eaeb353782;ms-27251a7c7f13bf165e21;ms-741e906eafd57d115b5d", + "expert_regret": 1.7848258912563324, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-851d25e7a1dde4242f33", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7848258912563324, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2151741087436676, + "restore_error": 1.1920928955078125e-07, + "score": 0.2151741087436676, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2591410279273987, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7144522070884705, + 1.0, + 0.7026943564414978, + 0.6933153867721558 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2855477333068848, + -0.011757850646972656, + -0.021136820316314697 + ], + "candidate_oracle_branch_scores": [ + 0.7144522070884705, + 2.0, + 0.7026943564414978, + 0.6933153867721558 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9567148089408875, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4240303337574005, + -0.9567148089408875, + -1.0760105848312378, + -1.2005836963653564 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2855477333068848, + "candidate_oracle_selected_branch_progress": 0.7144522070884705, + "candidate_oracle_selected_branch_score": 0.7144522070884705, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fdb2637276b27c46c757;ms-507199452c6d42562a38;ms-bc29afbe2bbf00638d25;ms-076246c4c5d1ca8ccd9d;ms-684a66885f21739d826b;ms-35babd5f83dcf1561f9a", + "expert_regret": 1.2858375310897827, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2e7fc6c97e5ce1f024e5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2858375310897827, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7141624689102173, + "restore_error": 1.1920928955078125e-07, + "score": 0.7141624689102173, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6980025172233582, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.20666387677192688, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 8, + 33 + ], + "candidate_oracle_potentials": [ + 0.20666387677192688, + 0.19032981991767883, + 0.1447620689868927, + 0.00895610824227333 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dfc38c43e9a87f99ef7f;ms-487d0fe2a13fb699dd7a;ms-2436538e05fdcf8e44fc;ms-26322bd4de52dbd5743c;ms-e2950dcb50ed2b955be6;ms-fb329ccd569163c53415", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-067e0fe46e4e9483e2a1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.19040322303771973, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.31681713461875916, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 40 + ], + "candidate_oracle_potentials": [ + 0.31681713461875916, + 0.3023894727230072, + 0.29093489050865173, + 0.2610343098640442 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-487d0fe2a13fb699dd7a;ms-dfc38c43e9a87f99ef7f;ms-2436538e05fdcf8e44fc;ms-fb329ccd569163c53415;ms-26322bd4de52dbd5743c;ms-e2950dcb50ed2b955be6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-14dabc3ac1e1a339ebe4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4076719880104065, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3463871479034424, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3463871479034424, + -0.579811155796051, + -0.6451537013053894, + -0.7231541872024536 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-03495469257613a802b4;ms-1b8e9b173562648021f6;ms-29027a8e3742362fd477;ms-4c638b9bb924547f69cb;ms-ff3256da4e1731651937;ms-5bbc4c4b1b51e2a088db", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4906f3adfda6dace862d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.3141744136810303, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2185879647731781, + 0.2167893946170807, + 0.21504667401313782, + 0.20470260083675385 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0017985701560974121, + -0.003541290760040283, + -0.013885363936424255 + ], + "candidate_oracle_branch_scores": [ + 0.2185879647731781, + 0.2167893946170807, + 0.21504667401313782, + 0.20470260083675385 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.719319462776184, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -1.719319462776184, + -1.7462551593780518, + -1.7661466598510742, + -1.7902612686157227 + ], + "candidate_oracle_progress": 0.2185879647731781, + "candidate_oracle_regret": 1.781412035226822, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2185879647731781, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2185879647731781, + "candidate_oracle_selected_branch_score": 0.2185879647731781, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a829d650eb9914fb2983;ms-917b0f051489227842f0;ms-69785feff08dbf9a50be;ms-49c99f285560483a85ee;ms-b00933d2f628bc51d80a;ms-ace117030ae44c474db1", + "expert_regret": 1.7814117223024368, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-85fcc6b4797417c3473f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7814117223024368, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21858827769756317, + "restore_error": 1.1920928955078125e-07, + "score": 0.21858827769756317, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41040298342704773, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7243179678916931, + 0.22967283427715302, + 0.22831466794013977, + 0.22737833857536316 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4946451187133789, + -0.49600329995155334, + -0.49693962931632996 + ], + "candidate_oracle_branch_scores": [ + 0.7243179678916931, + 0.22967283427715302, + 0.22831466794013977, + 0.22737833857536316 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9109171032905579, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9109171032905579, + -1.211769700050354, + -1.262712001800537, + -1.3172571659088135 + ], + "candidate_oracle_progress": 0.7243179678916931, + "candidate_oracle_regret": 1.2756820321083069, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7243179678916931, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7243179678916931, + "candidate_oracle_selected_branch_score": 0.7243179678916931, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-55e89d326b6531345902;ms-65e9da4468e522823587;ms-6d6456c45f9f3ae74b50;ms-7ce799eb9d3b741e8960;ms-01bef10a5ccfd38294fe;ms-e56b37f0e3881a70ef54", + "expert_regret": 1.2765730023384094, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-324a58dd51dfecb51fa8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2765730023384094, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7234269976615906, + "restore_error": 1.1920928955078125e-07, + "score": 0.7234269976615906, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.39116621017456055, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7065191268920898, + 0.7021300792694092, + 0.696517825126648, + 0.6781293749809265 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.004389047622680664, + -0.010001301765441895, + -0.02838975191116333 + ], + "candidate_oracle_branch_scores": [ + 0.7065191268920898, + 0.7021300792694092, + 0.696517825126648, + 0.6781293749809265 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4400412440299988, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4400412440299988, + -0.6823129057884216, + -0.7534219026565552, + -0.8367498517036438 + ], + "candidate_oracle_progress": 0.7065191268920898, + "candidate_oracle_regret": 1.2934808731079102, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7065191268920898, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7065191268920898, + "candidate_oracle_selected_branch_score": 0.7065191268920898, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-684a66885f21739d826b;ms-507199452c6d42562a38;ms-bc29afbe2bbf00638d25;ms-6a03497f97765ffd444e;ms-076246c4c5d1ca8ccd9d;ms-35babd5f83dcf1561f9a", + "expert_regret": 1.2860006093978882, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-aedc3dee6e275342eb8f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2860006093978882, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7139993906021118, + "restore_error": 1.1920928955078125e-07, + "score": 0.7139993906021118, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3945900499820709, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.49396300315856934, + 0.4602081775665283, + 0.44636011123657227, + 0.38274991512298584 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.033754825592041016, + -0.04760289192199707, + -0.1112130880355835 + ], + "candidate_oracle_branch_scores": [ + 0.49396300315856934, + 0.4602081775665283, + 0.44636011123657227, + 0.38274991512298584 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7909049391746521, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7909049391746521, + -1.1335124969482422, + -1.2079435586929321, + -1.2953563928604126 + ], + "candidate_oracle_progress": 0.49396300315856934, + "candidate_oracle_regret": 1.5060369968414307, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.49396300315856934, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.49396300315856934, + "candidate_oracle_selected_branch_score": 0.49396300315856934, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a9c4c704edd84c21cda;ms-e56b37f0e3881a70ef54;ms-80e3d8a34c3cb94cad65;ms-cf8c5d9c874edc9f000d;ms-fb131b52f94500da894b;ms-b025d8068f740557d630", + "expert_regret": 1.503007411956787, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-84264ef080ec4f3631df", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.503007411956787, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4969925880432129, + "restore_error": 1.1920928955078125e-07, + "score": 0.4969925880432129, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3558278977870941, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7255272269248962, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.274472713470459, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7255272269248962, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + false, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9156597852706909, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9156597852706909, + -1.2962661981582642, + -1.3718796968460083, + -1.452680230140686 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-80e3d8a34c3cb94cad65;ms-6a9c4c704edd84c21cda;ms-e56b37f0e3881a70ef54;ms-cf8c5d9c874edc9f000d;ms-b025d8068f740557d630;ms-fb131b52f94500da894b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ff012c1c8597c8db3cc7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.32984229922294617, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7292792797088623, + 0.6741458177566528, + 0.20943772792816162, + 0.20923790335655212 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.05513346195220947, + -0.5198415517807007, + -0.5200413465499878 + ], + "candidate_oracle_branch_scores": [ + 0.7292792797088623, + 0.6741458177566528, + 0.20943772792816162, + 0.20923790335655212 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4540629982948303, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4540629982948303, + -0.8244657516479492, + -0.9544405341148376, + -1.1111825704574585 + ], + "candidate_oracle_progress": 0.7292792797088623, + "candidate_oracle_regret": 1.2707207202911377, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7292792797088623, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7292792797088623, + "candidate_oracle_selected_branch_score": 0.7292792797088623, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-40a961867249ddccb68f;ms-65e9da4468e522823587;ms-01bef10a5ccfd38294fe;ms-6d6456c45f9f3ae74b50;ms-a99d874a81bc60301007;ms-2c6000014d31fc0bb21c", + "expert_regret": 1.2707693576812744, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9756d07ed207e9ab1d53", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2707693576812744, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7292306423187256, + "restore_error": 1.1920928955078125e-07, + "score": 0.7292306423187256, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.20917129516601562, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7187870740890503, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2812129259109497, + 1.2812129259109497, + 1.2812129259109497 + ], + "candidate_oracle_branch_scores": [ + 0.7187870740890503, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.42238321900367737, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.2592606544494629, + -0.42238321900367737, + -0.49186885356903076, + -0.5786464214324951 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2812129259109497, + "candidate_oracle_selected_branch_progress": 0.7187870740890503, + "candidate_oracle_selected_branch_score": 0.7187870740890503, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b483cac145e16ccdf42a;ms-f6f0d14ef7c24b9e4621;ms-760c73ea34418ce7a006;ms-0ef5d3238b33bdebae4d;ms-b3d9d9570bf9b64c18fe;ms-baa36ee75ec2de550b9b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a242f1d12ebfcd82de05", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.054732609540224075, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.49985724687576294, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 3 + ], + "candidate_oracle_potentials": [ + 0.49985724687576294, + 0.465923011302948, + 0.38421016931533813, + -0.1791326105594635 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d2839c13649000454a65;ms-b383acd9844466b19579;ms-5799584ed40e211c50a5;ms-d8295b43b30ceea30907;ms-96e1562aaca7ef49db28;ms-7a1b60ea1461eb460bed", + "expert_regret": 0.043010711669921875, + "expert_score": 0.7112311720848083, + "expert_success": false, + "group_id": "ms-fae3c6a2f1b575ddc3f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3317795395851135, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6682204604148865, + "restore_error": 1.1920928955078125e-07, + "score": 0.6682204604148865, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2987721860408783, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6838743090629578, + 0.2245987355709076, + 0.21125221252441406, + 0.20781587064266205 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.45927557349205017, + -0.4726220965385437, + -0.4760584235191345 + ], + "candidate_oracle_branch_scores": [ + 0.6838743090629578, + 0.2245987355709076, + 0.21125221252441406, + 0.20781587064266205 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7111136317253113, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7111136317253113, + -1.2174750566482544, + -1.3271775245666504, + -1.4440654516220093 + ], + "candidate_oracle_progress": 0.6838743090629578, + "candidate_oracle_regret": 1.3161256909370422, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6838743090629578, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6838743090629578, + "candidate_oracle_selected_branch_score": 0.6838743090629578, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-01bef10a5ccfd38294fe;ms-fb131b52f94500da894b;ms-65e9da4468e522823587;ms-40a961867249ddccb68f;ms-e56b37f0e3881a70ef54;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.3161497116088867, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5fc588b9c9d52034f4c4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3161497116088867, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6838502883911133, + "restore_error": 1.1920928955078125e-07, + "score": 0.6838502883911133, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5478112101554871, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.4669233560562134, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 40 + ], + "candidate_oracle_potentials": [ + 0.4669233560562134, + 0.45641207695007324, + 0.4240501821041107, + 0.3024698495864868 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a323215fb409ab3e9287;ms-487d0fe2a13fb699dd7a;ms-5fb06efe2b4bea27cc89;ms-dfc38c43e9a87f99ef7f;ms-490e2c471adbabec6304;ms-2436538e05fdcf8e44fc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dbad4f4d0df3c19c7bbb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7734692692756653, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.704458475112915, + 0.6998790502548218, + 0.7137305736541748, + 0.6987509727478027 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.004579424858093262, + 0.009272098541259766, + -0.005707502365112305 + ], + "candidate_oracle_branch_scores": [ + 0.704458475112915, + 0.6998790502548218, + 0.7137305736541748, + 0.6987509727478027 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.40568435192108154, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 33, + 35 + ], + "candidate_oracle_potentials": [ + 0.45602595806121826, + 0.4198729991912842, + 0.40568435192108154, + 0.39467769861221313 + ], + "candidate_oracle_progress": 0.7137305736541748, + "candidate_oracle_regret": 1.2862694263458252, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7137305736541748, + "candidate_oracle_score_gain_over_selected": 0.009272098541259766, + "candidate_oracle_selected_branch_progress": 0.704458475112915, + "candidate_oracle_selected_branch_score": 0.704458475112915, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5fb06efe2b4bea27cc89;ms-a323215fb409ab3e9287;ms-490e2c471adbabec6304;ms-487d0fe2a13fb699dd7a;ms-dfc38c43e9a87f99ef7f;ms-a6cf775fbba580161c4e", + "expert_regret": 1.3035415410995483, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-761ab1e423462aa44e3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.3035415410995483, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6964584589004517, + "restore_error": 1.1920928955078125e-07, + "score": 0.6964584589004517, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5162757635116577, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7105058431625366, + 0.6906698942184448, + 0.691649317741394, + 0.6931244730949402 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.019835948944091797, + -0.018856525421142578, + -0.017381370067596436 + ], + "candidate_oracle_branch_scores": [ + 0.7105058431625366, + 0.6906698942184448, + 0.691649317741394, + 0.6931244730949402 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.898788332939148, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.898788332939148, + -1.3767471313476562, + -1.4575740098953247, + -1.5383377075195312 + ], + "candidate_oracle_progress": 0.7105058431625366, + "candidate_oracle_regret": 1.2894941568374634, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7105058431625366, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7105058431625366, + "candidate_oracle_selected_branch_score": 0.7105058431625366, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a99d874a81bc60301007;ms-40a961867249ddccb68f;ms-b00933d2f628bc51d80a;ms-2c6000014d31fc0bb21c;ms-ace117030ae44c474db1;ms-741e906eafd57d115b5d", + "expert_regret": 1.2894941568374634, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f97bd60d5430c32f9494", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2894941568374634, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7105058431625366, + "restore_error": 1.1920928955078125e-07, + "score": 0.7105058431625366, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.294325590133667, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.42111414670944214, + 0.31891846656799316, + 0.2995222806930542, + 0.28076106309890747 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.10219568014144897, + -0.12159186601638794, + -0.14035308361053467 + ], + "candidate_oracle_branch_scores": [ + 0.42111414670944214, + 0.31891846656799316, + 0.2995222806930542, + 0.28076106309890747 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6310026049613953, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6310026049613953, + -0.9640652537345886, + -1.0643776655197144, + -1.1805397272109985 + ], + "candidate_oracle_progress": 0.42111414670944214, + "candidate_oracle_regret": 1.5788858532905579, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.42111414670944214, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.42111414670944214, + "candidate_oracle_selected_branch_score": 0.42111414670944214, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-507199452c6d42562a38;ms-076246c4c5d1ca8ccd9d;ms-bc29afbe2bbf00638d25;ms-684a66885f21739d826b;ms-35babd5f83dcf1561f9a;ms-a5a56eefeb2de0abe600", + "expert_regret": 1.5756663084030151, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-73e3079ce5eb7cd14ec8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5756663084030151, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.42433369159698486, + "restore_error": 1.1920928955078125e-07, + "score": 0.42433369159698486, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37938395142555237, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7119674682617188, + 0.7146449089050293, + 0.6887049674987793, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.002677440643310547, + -0.023262500762939453, + 1.2880325317382812 + ], + "candidate_oracle_branch_scores": [ + 0.7119674682617188, + 0.7146449089050293, + 0.6887049674987793, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5084629654884338, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.23607578873634338, + -0.3909192383289337, + -0.44398409128189087, + -0.5084629654884338 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2880325317382812, + "candidate_oracle_selected_branch_progress": 0.7119674682617188, + "candidate_oracle_selected_branch_score": 0.7119674682617188, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9c33d4837de7d23232d6;ms-f6f0d14ef7c24b9e4621;ms-5bbc4c4b1b51e2a088db;ms-1b8e9b173562648021f6;ms-a4ade4de51ca437ac432;ms-b3d9d9570bf9b64c18fe", + "expert_regret": 1.2876370549201965, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cdbfe4d3b05f4ed12db3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2876370549201965, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7123629450798035, + "restore_error": 1.1920928955078125e-07, + "score": 0.7123629450798035, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.43744659423828125, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.39198291301727295, + 0.29481232166290283, + 0.3029419183731079, + 0.2936083674430847 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.09717059135437012, + -0.08904099464416504, + -0.09837454557418823 + ], + "candidate_oracle_branch_scores": [ + 0.39198291301727295, + 0.29481232166290283, + 0.3029419183731079, + 0.2936083674430847 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.50839763879776, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.50839763879776, + -0.668090283870697, + -0.7005064487457275, + -0.7358687520027161 + ], + "candidate_oracle_progress": 0.39198291301727295, + "candidate_oracle_regret": 1.608017086982727, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.39198291301727295, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.39198291301727295, + "candidate_oracle_selected_branch_score": 0.39198291301727295, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0ef5d3238b33bdebae4d;ms-b483cac145e16ccdf42a;ms-760c73ea34418ce7a006;ms-baa36ee75ec2de550b9b;ms-b3d9d9570bf9b64c18fe;ms-675833805d1139c2f2a0", + "expert_regret": 1.611641675233841, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3fd410dabe0c3ef8dc1a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.611641675233841, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.38835832476615906, + "restore_error": 1.1920928955078125e-07, + "score": 0.38835832476615906, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3349589705467224, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.2057057023048401, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.2057057023048401, + -0.7226574420928955, + -0.8286269307136536, + -0.8459721207618713 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bb567fcac946f012535a;ms-92070f417bd9d14d6fc7;ms-debd7e5668e2acdf6bb0;ms-9a72e47e2204fa794718;ms-a40dee47c502e73949af;ms-9ced92cccacfe4d157b0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6e2b02ee71a4a44bc325", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6201794743537903, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4032340943813324, + 0.35692083835601807, + 0.22289717197418213, + 0.23011112213134766 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.04631325602531433, + -0.18033692240715027, + -0.17312297224998474 + ], + "candidate_oracle_branch_scores": [ + 0.4032340943813324, + 0.35692083835601807, + 0.22289717197418213, + 0.23011112213134766 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1095240116119385, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.1095240116119385, + -1.345786213874817, + -1.3948005437850952, + -1.4546900987625122 + ], + "candidate_oracle_progress": 0.4032340943813324, + "candidate_oracle_regret": 1.5967659056186676, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4032340943813324, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4032340943813324, + "candidate_oracle_selected_branch_score": 0.4032340943813324, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-40a961867249ddccb68f;ms-a99d874a81bc60301007;ms-6d6456c45f9f3ae74b50;ms-7ce799eb9d3b741e8960;ms-01bef10a5ccfd38294fe;ms-65e9da4468e522823587", + "expert_regret": 1.5967028141021729, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f7169e27b3743aa48e77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5967028141021729, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.40329718589782715, + "restore_error": 1.1920928955078125e-07, + "score": 0.40329718589782715, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3186861574649811, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.38833051919937134, + 0.2841307520866394, + 0.3289918899536133, + 0.31657469272613525 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.10419976711273193, + -0.05933862924575806, + -0.07175582647323608 + ], + "candidate_oracle_branch_scores": [ + 0.38833051919937134, + 0.2841307520866394, + 0.3289918899536133, + 0.31657469272613525 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9244351983070374, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9244351983070374, + -1.2430542707443237, + -1.3031364679336548, + -1.3658795356750488 + ], + "candidate_oracle_progress": 0.38833051919937134, + "candidate_oracle_regret": 1.6116694808006287, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.38833051919937134, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.38833051919937134, + "candidate_oracle_selected_branch_score": 0.38833051919937134, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a9c4c704edd84c21cda;ms-a6cf775fbba580161c4e;ms-80e3d8a34c3cb94cad65;ms-b025d8068f740557d630;ms-e56b37f0e3881a70ef54;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.6089912950992584, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-da28f7d135db8979d5b8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6089912950992584, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3910087049007416, + "restore_error": 1.1920928955078125e-07, + "score": 0.3910087049007416, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4275677800178528, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.0968986377120018, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + 0.0968986377120018, + 0.07870623469352722, + 0.028057128190994263, + -0.17906731367111206 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cc0b4a1deec28e53722a;ms-ac6e78b1c56d020d0c09;ms-9a72e47e2204fa794718;ms-92070f417bd9d14d6fc7;ms-575bd87a5da90963019d;ms-59bff662e0ecb913ed81", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cc5f2a24e2571cb23050", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.383531779050827, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7266436815261841, + 0.70695561170578, + 0.7174886465072632, + 0.7181574106216431 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.019688069820404053, + -0.009155035018920898, + -0.008486270904541016 + ], + "candidate_oracle_branch_scores": [ + 0.7266436815261841, + 0.70695561170578, + 0.7174886465072632, + 0.7181574106216431 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5479960441589355, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 17, + 1, + 33 + ], + "candidate_oracle_potentials": [ + -0.5479960441589355, + -0.9040250182151794, + -0.9082739949226379, + -0.9180781841278076 + ], + "candidate_oracle_progress": 0.7266436815261841, + "candidate_oracle_regret": 1.273356318473816, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7266436815261841, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7266436815261841, + "candidate_oracle_selected_branch_score": 0.7266436815261841, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-debd7e5668e2acdf6bb0;ms-92070f417bd9d14d6fc7;ms-bb567fcac946f012535a;ms-9ced92cccacfe4d157b0;ms-ac6e78b1c56d020d0c09;ms-a40dee47c502e73949af", + "expert_regret": 1.2767799496650696, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b439839ee4165bac92a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2767799496650696, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7232200503349304, + "restore_error": 1.1920928955078125e-07, + "score": 0.7232200503349304, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.24096547067165375, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.507318913936615, + 0.601706326007843, + 0.6647363901138306, + 0.35980141162872314 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.09438741207122803, + 0.15741747617721558, + -0.14751750230789185 + ], + "candidate_oracle_branch_scores": [ + 0.507318913936615, + 0.601706326007843, + 0.6647363901138306, + 0.35980141162872314 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.363855242729187, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0164183378219604, + -1.3099009990692139, + -1.363855242729187, + -1.4257843494415283 + ], + "candidate_oracle_progress": 0.6647363901138306, + "candidate_oracle_regret": 1.3352636098861694, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6647363901138306, + "candidate_oracle_score_gain_over_selected": 0.15741747617721558, + "candidate_oracle_selected_branch_progress": 0.507318913936615, + "candidate_oracle_selected_branch_score": 0.507318913936615, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6cf775fbba580161c4e;ms-6a9c4c704edd84c21cda;ms-a323215fb409ab3e9287;ms-80e3d8a34c3cb94cad65;ms-b025d8068f740557d630;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.4868115186691284, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de68dbb7daad3e3a71fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4868115186691284, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5131884813308716, + "restore_error": 1.1920928955078125e-07, + "score": 0.5131884813308716, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4803171157836914, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7228220701217651, + 0.4482826590538025, + 0.372871458530426 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2771779298782349, + -1.5517172813415527, + -1.6271286010742188 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7228220701217651, + 0.4482826590538025, + 0.372871458530426 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8217968344688416, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8217968344688416, + -1.1724332571029663, + -1.2418752908706665, + -1.3244720697402954 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-65e9da4468e522823587;ms-40a961867249ddccb68f;ms-55e89d326b6531345902;ms-a99d874a81bc60301007", + "expert_regret": 1.2744356393814087, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f539c5c30da21c875657", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2744356393814087, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7255643606185913, + "restore_error": 1.1920928955078125e-07, + "score": 0.7255643606185913, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.311943382024765, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4092763364315033, + 0.23312781751155853, + 0.23261658847332, + 0.23253534734249115 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.17614851891994476, + -0.1766597479581833, + -0.17674098908901215 + ], + "candidate_oracle_branch_scores": [ + 0.4092763364315033, + 0.23312781751155853, + 0.23261658847332, + 0.23253534734249115 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8338271975517273, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8338271975517273, + -1.3949376344680786, + -1.5070290565490723, + -1.621247410774231 + ], + "candidate_oracle_progress": 0.4092763364315033, + "candidate_oracle_regret": 1.5907236635684967, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.905726432800293e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4092763364315033, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4092763364315033, + "candidate_oracle_selected_branch_score": 0.4092763364315033, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-01bef10a5ccfd38294fe;ms-cf8c5d9c874edc9f000d;ms-e56b37f0e3881a70ef54;ms-fb131b52f94500da894b;ms-80e3d8a34c3cb94cad65;ms-6a9c4c704edd84c21cda", + "expert_regret": 1.590708076953888, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d799435b5f6b8fae2ffb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.590708076953888, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.40929192304611206, + "restore_error": 1.862645149230957e-07, + "score": 0.40929192304611206, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6883740425109863, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.5723634362220764, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 3 + ], + "candidate_oracle_potentials": [ + 0.5723634362220764, + 0.5468375086784363, + 0.48463213443756104, + 0.053660593926906586 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 2.905726432800293e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d8295b43b30ceea30907;ms-88fb2bebd038dc786c01;ms-d2839c13649000454a65;ms-b383acd9844466b19579;ms-5799584ed40e211c50a5;ms-7a1b60ea1461eb460bed", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-957002faf092f769aa8e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.862645149230957e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3270222544670105, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.40558481216430664, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 17, + 33, + 1, + 40 + ], + "candidate_oracle_potentials": [ + 0.40558481216430664, + 0.40506207942962646, + 0.38506215810775757, + 0.2832314372062683 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 2.905726432800293e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-490e2c471adbabec6304;ms-5fb06efe2b4bea27cc89;ms-a323215fb409ab3e9287;ms-487d0fe2a13fb699dd7a;ms-e2a037eadb166228b1dd;ms-af91167a0cf15457c6ba", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-91710558482886874dd7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.862645149230957e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1699678897857666, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7183997631072998, + 0.7018119096755981, + 0.700957715511322, + 0.6829761266708374 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.01658785343170166, + -0.017442047595977783, + -0.0354236364364624 + ], + "candidate_oracle_branch_scores": [ + 0.7183997631072998, + 0.7018119096755981, + 0.700957715511322, + 0.6829761266708374 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.22753232717514038, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.22753232717514038, + -0.48296016454696655, + -0.5758667588233948, + -0.6891193389892578 + ], + "candidate_oracle_progress": 0.7183997631072998, + "candidate_oracle_regret": 1.2816002368927002, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.905726432800293e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7183997631072998, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7183997631072998, + "candidate_oracle_selected_branch_score": 0.7183997631072998, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f6f0d14ef7c24b9e4621;ms-a4ade4de51ca437ac432;ms-9c33d4837de7d23232d6;ms-5bbc4c4b1b51e2a088db;ms-73259d17883355f7fa88;ms-1b8e9b173562648021f6", + "expert_regret": 1.280419647693634, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc56601ca069f65cd08f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.280419647693634, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.719580352306366, + "restore_error": 1.862645149230957e-07, + "score": 0.719580352306366, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3697674572467804, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6844677925109863, + 0.6594802141189575, + 0.6483376622200012, + 0.6319189071655273 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.02498757839202881, + -0.03613013029098511, + -0.052548885345458984 + ], + "candidate_oracle_branch_scores": [ + 0.6844677925109863, + 0.6594802141189575, + 0.6483376622200012, + 0.6319189071655273 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4998527765274048, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4998527765274048, + -0.791769802570343, + -0.8758075833320618, + -0.975268542766571 + ], + "candidate_oracle_progress": 0.6844677925109863, + "candidate_oracle_regret": 1.3155322074890137, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.905726432800293e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6844677925109863, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6844677925109863, + "candidate_oracle_selected_branch_score": 0.6844677925109863, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a03497f97765ffd444e;ms-684a66885f21739d826b;ms-a5a56eefeb2de0abe600;ms-35babd5f83dcf1561f9a;ms-bc29afbe2bbf00638d25;ms-4c638b9bb924547f69cb", + "expert_regret": 1.3117188215255737, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-88f748134c3fd27fcf72", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3117188215255737, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6882811784744263, + "restore_error": 1.862645149230957e-07, + "score": 0.6882811784744263, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5155148506164551, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6831592321395874, + 0.21622171998023987, + 0.34051764011383057, + 0.2301531434059143 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.46693751215934753, + -0.34264159202575684, + -0.4530060887336731 + ], + "candidate_oracle_branch_scores": [ + 0.6831592321395874, + 0.21622171998023987, + 0.34051764011383057, + 0.2301531434059143 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8195434212684631, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.8195434212684631, + -1.2561744451522827, + -1.344794750213623, + -1.3448821306228638 + ], + "candidate_oracle_progress": 0.6831592321395874, + "candidate_oracle_regret": 1.3168407678604126, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 2.905726432800293e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6831592321395874, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6831592321395874, + "candidate_oracle_selected_branch_score": 0.6831592321395874, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e56b37f0e3881a70ef54;ms-fb131b52f94500da894b;ms-80e3d8a34c3cb94cad65;ms-01bef10a5ccfd38294fe;ms-6a9c4c704edd84c21cda;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.3185126781463623, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e91b824c3841686ed053", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3185126781463623, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6814873218536377, + "restore_error": 1.862645149230957e-07, + "score": 0.6814873218536377, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3462833762168884, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5206328630447388, + 0.25914162397384644, + 0.257069855928421, + 0.25511327385902405 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.26149123907089233, + -0.26356300711631775, + -0.2655195891857147 + ], + "candidate_oracle_branch_scores": [ + 0.5206328630447388, + 0.25914162397384644, + 0.257069855928421, + 0.25511327385902405 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.38516491651535034, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.38516491651535034, + -0.756788432598114, + -0.8590837717056274, + -0.9735711216926575 + ], + "candidate_oracle_progress": 0.5206328630447388, + "candidate_oracle_regret": 1.4793671369552612, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.905726432800293e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5206328630447388, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5206328630447388, + "candidate_oracle_selected_branch_score": 0.5206328630447388, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1b8e9b173562648021f6;ms-9c33d4837de7d23232d6;ms-b3d9d9570bf9b64c18fe;ms-5bbc4c4b1b51e2a088db;ms-4c638b9bb924547f69cb;ms-ff3256da4e1731651937", + "expert_regret": 1.458734393119812, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9f993a6e9bb26846d4f4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.458734393119812, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.541265606880188, + "restore_error": 1.862645149230957e-07, + "score": 0.541265606880188, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.44652536511421204, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3917970359325409, + 0.19575417041778564, + 0.2262609601020813, + 0.22391991317272186 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.19604286551475525, + -0.1655360758304596, + -0.16787712275981903 + ], + "candidate_oracle_branch_scores": [ + 0.3917970359325409, + 0.19575417041778564, + 0.2262609601020813, + 0.22391991317272186 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.013037085533142, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.013037085533142, + -1.317183256149292, + -1.3640068769454956, + -1.4156025648117065 + ], + "candidate_oracle_progress": 0.3917970359325409, + "candidate_oracle_regret": 1.608202964067459, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.905726432800293e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3917970359325409, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3917970359325409, + "candidate_oracle_selected_branch_score": 0.3917970359325409, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-69785feff08dbf9a50be;ms-65e9da4468e522823587;ms-b00933d2f628bc51d80a;ms-55e89d326b6531345902", + "expert_regret": 1.6072702407836914, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-98c8fcf4c9f098cebe8d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6072702407836914, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3927297592163086, + "restore_error": 1.862645149230957e-07, + "score": 0.3927297592163086, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4444904327392578, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6934494972229004, + 0.35531753301620483, + 0.32395899295806885, + 0.25618940591812134 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.33813196420669556, + -0.36949050426483154, + -0.43726009130477905 + ], + "candidate_oracle_branch_scores": [ + 0.6934494972229004, + 0.35531753301620483, + 0.32395899295806885, + 0.25618940591812134 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8211910128593445, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8211910128593445, + -1.1784420013427734, + -1.2585033178329468, + -1.3537636995315552 + ], + "candidate_oracle_progress": 0.6934494972229004, + "candidate_oracle_regret": 1.3065505027770996, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6934494972229004, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6934494972229004, + "candidate_oracle_selected_branch_score": 0.6934494972229004, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e56b37f0e3881a70ef54;ms-6a9c4c704edd84c21cda;ms-80e3d8a34c3cb94cad65;ms-fb131b52f94500da894b;ms-cf8c5d9c874edc9f000d;ms-b025d8068f740557d630", + "expert_regret": 1.3002530336380005, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-01a86e5f5731af7002ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3002530336380005, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6997469663619995, + "restore_error": 1.1920928955078125e-07, + "score": 0.6997469663619995, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5272243618965149, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2525720000267029, + 0.23328255116939545, + 0.2335200011730194, + 0.2334003746509552 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.019289448857307434, + -0.01905199885368347, + -0.01917162537574768 + ], + "candidate_oracle_branch_scores": [ + 0.2525720000267029, + 0.23328255116939545, + 0.2335200011730194, + 0.2334003746509552 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6515854001045227, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6515854001045227, + -1.0016815662384033, + -1.052780032157898, + -1.1029313802719116 + ], + "candidate_oracle_progress": 0.2525720000267029, + "candidate_oracle_regret": 1.7474279999732971, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2525720000267029, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2525720000267029, + "candidate_oracle_selected_branch_score": 0.2525720000267029, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-675833805d1139c2f2a0;ms-b483cac145e16ccdf42a;ms-baa36ee75ec2de550b9b;ms-0ef5d3238b33bdebae4d;ms-f6f0d14ef7c24b9e4621;ms-760c73ea34418ce7a006", + "expert_regret": 1.7474183142185211, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-76c7efad95ae67dba1ca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7474183142185211, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2525816857814789, + "restore_error": 1.1920928955078125e-07, + "score": 0.2525816857814789, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.35222870111465454, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6994801759719849, + 0.6084780097007751, + 0.551735520362854, + 0.5107526779174805 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.09100216627120972, + -0.14774465560913086, + -0.1887274980545044 + ], + "candidate_oracle_branch_scores": [ + 0.6994801759719849, + 0.6084780097007751, + 0.551735520362854, + 0.5107526779174805 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4133814871311188, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4133814871311188, + -0.7703543901443481, + -0.8617194294929504, + -0.9624575972557068 + ], + "candidate_oracle_progress": 0.6994801759719849, + "candidate_oracle_regret": 1.3005198240280151, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6994801759719849, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6994801759719849, + "candidate_oracle_selected_branch_score": 0.6994801759719849, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b3d9d9570bf9b64c18fe;ms-b483cac145e16ccdf42a;ms-0ef5d3238b33bdebae4d;ms-675833805d1139c2f2a0;ms-29027a8e3742362fd477;ms-9c33d4837de7d23232d6", + "expert_regret": 1.3016234040260315, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f1529c9d823325056e8d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3016234040260315, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6983765959739685, + "restore_error": 1.1920928955078125e-07, + "score": 0.6983765959739685, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4637485444545746, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.686008632183075 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.3139913082122803 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.686008632183075 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.821306586265564, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.821306586265564, + -1.1670440435409546, + -1.2533892393112183, + -1.3495749235153198 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e56b37f0e3881a70ef54;ms-80e3d8a34c3cb94cad65;ms-6a9c4c704edd84c21cda;ms-fb131b52f94500da894b;ms-cf8c5d9c874edc9f000d;ms-b025d8068f740557d630", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7a3daad6772d2384ea66", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41823166608810425, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.20400504767894745, + 0.21848216652870178, + 0.1985023319721222, + 0.21550968289375305 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.014477118849754333, + -0.005502715706825256, + 0.011504635214805603 + ], + "candidate_oracle_branch_scores": [ + 0.20400504767894745, + 0.21848216652870178, + 0.1985023319721222, + 0.21550968289375305 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.7900466918945312, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 4, + 19 + ], + "candidate_oracle_potentials": [ + -1.4999381303787231, + -1.7900466918945312, + -1.794739842414856, + -1.8119739294052124 + ], + "candidate_oracle_progress": 0.21848216652870178, + "candidate_oracle_regret": 1.7815178334712982, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21848216652870178, + "candidate_oracle_score_gain_over_selected": 0.014477118849754333, + "candidate_oracle_selected_branch_progress": 0.20400504767894745, + "candidate_oracle_selected_branch_score": 0.20400504767894745, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-69785feff08dbf9a50be;ms-a829d650eb9914fb2983;ms-917b0f051489227842f0;ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-b00933d2f628bc51d80a", + "expert_regret": 1.7959952354431152, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-57dc9349b8f2c9c49105", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7959952354431152, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20400476455688477, + "restore_error": 1.1920928955078125e-07, + "score": 0.20400476455688477, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.29785633087158203, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7263689041137695, + 0.7186861038208008, + 0.6437317132949829, + 0.500098466873169 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00768280029296875, + -0.08263719081878662, + -0.22627043724060059 + ], + "candidate_oracle_branch_scores": [ + 0.7263689041137695, + 0.7186861038208008, + 0.6437317132949829, + 0.500098466873169 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.24087336659431458, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.24087336659431458, + -0.47974246740341187, + -0.5523037910461426, + -0.642982542514801 + ], + "candidate_oracle_progress": 0.7263689041137695, + "candidate_oracle_regret": 1.2736310958862305, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7263689041137695, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7263689041137695, + "candidate_oracle_selected_branch_score": 0.7263689041137695, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-675833805d1139c2f2a0;ms-f6f0d14ef7c24b9e4621;ms-b3d9d9570bf9b64c18fe;ms-9c33d4837de7d23232d6;ms-29027a8e3742362fd477;ms-b483cac145e16ccdf42a", + "expert_regret": 1.2831314206123352, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8bab784ae53525967763", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2831314206123352, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7168685793876648, + "restore_error": 1.1920928955078125e-07, + "score": 0.7168685793876648, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.07748053967952728, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.19317731261253357, + 0.19601576030254364, + 0.19624054431915283, + 0.1964225172996521 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.002838447690010071, + 0.0030632317066192627, + 0.0032452046871185303 + ], + "candidate_oracle_branch_scores": [ + 0.19317731261253357, + 0.19601576030254364, + 0.19624054431915283, + 0.1964225172996521 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.4189722537994385, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 3, + 19, + 35 + ], + "candidate_oracle_potentials": [ + -2.357707977294922, + -2.3902523517608643, + -2.3999428749084473, + -2.4189722537994385 + ], + "candidate_oracle_progress": 0.1964225172996521, + "candidate_oracle_regret": 0.5312299132347107, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.1964225172996521, + "candidate_oracle_score_gain_over_selected": 0.0032452046871185303, + "candidate_oracle_selected_branch_progress": 0.19317731261253357, + "candidate_oracle_selected_branch_score": 0.19317731261253357, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-de8d6051e6ee74b62fec;ms-251c1dfd1010906f559f;ms-4b4cd12d70c0615e0930;ms-28835618507e7bc71227;ms-83c0299c23fa800452c7;ms-9852b3671856321cecc8", + "expert_regret": 0.5276407599449158, + "expert_score": 0.720818042755127, + "expert_success": false, + "group_id": "ms-c2c265f2f5013746eaa1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5344751477241516, + "oracle_score": 0.7276524305343628, + "oracle_success": false, + "progress": 0.19317728281021118, + "restore_error": 1.1920928955078125e-07, + "score": 0.19317728281021118, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4871689975261688, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7145070433616638, + 0.22915232181549072, + 0.22808420658111572, + 0.22818896174430847 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4853547215461731, + -0.4864228367805481, + -0.48631808161735535 + ], + "candidate_oracle_branch_scores": [ + 0.7145070433616638, + 0.22915232181549072, + 0.22808420658111572, + 0.22818896174430847 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1087323427200317, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.1087323427200317, + -1.4169570207595825, + -1.4728537797927856, + -1.5298479795455933 + ], + "candidate_oracle_progress": 0.7145070433616638, + "candidate_oracle_regret": 1.2854929566383362, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7145070433616638, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7145070433616638, + "candidate_oracle_selected_branch_score": 0.7145070433616638, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a829d650eb9914fb2983;ms-69785feff08dbf9a50be;ms-917b0f051489227842f0;ms-7ce799eb9d3b741e8960;ms-49c99f285560483a85ee;ms-b00933d2f628bc51d80a", + "expert_regret": 1.2857810258865356, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ce7b349699ed248bb67c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2857810258865356, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7142189741134644, + "restore_error": 1.1920928955078125e-07, + "score": 0.7142189741134644, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7148809432983398, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.6979557871818542, + 0.6978287100791931, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0001270771026611328, + 1.302044153213501, + 1.302044153213501 + ], + "candidate_oracle_branch_scores": [ + 0.6979557871818542, + 0.6978287100791931, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8161985278129578, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 24, + 8, + 3 + ], + "candidate_oracle_potentials": [ + -0.7473830580711365, + -0.7655524611473083, + -0.8161985278129578, + -0.8753889203071594 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.302044153213501, + "candidate_oracle_selected_branch_progress": 0.6979557871818542, + "candidate_oracle_selected_branch_score": 0.6979557871818542, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-caa0a38b7df789550f8a;ms-e2950dcb50ed2b955be6;ms-2436538e05fdcf8e44fc;ms-26322bd4de52dbd5743c;ms-dfc111660c0d1c7b7e04;ms-af91167a0cf15457c6ba", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2f1164357c9732e059d4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30234524607658386, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.6959478855133057, + 0.6449669003486633, + 0.6649220585823059, + 0.7096531391143799 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.050980985164642334, + -0.031025826930999756, + 0.013705253601074219 + ], + "candidate_oracle_branch_scores": [ + 0.6959478855133057, + 0.6449669003486633, + 0.6649220585823059, + 0.7096531391143799 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.2601725459098816, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 8, + 36 + ], + "candidate_oracle_potentials": [ + -0.13011521100997925, + -0.2421061396598816, + -0.25255286693573, + -0.2601725459098816 + ], + "candidate_oracle_progress": 0.7096531391143799, + "candidate_oracle_regret": 1.2903468608856201, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7096531391143799, + "candidate_oracle_score_gain_over_selected": 0.013705253601074219, + "candidate_oracle_selected_branch_progress": 0.6959478855133057, + "candidate_oracle_selected_branch_score": 0.6959478855133057, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ac6e78b1c56d020d0c09;ms-debd7e5668e2acdf6bb0;ms-cc0b4a1deec28e53722a;ms-92070f417bd9d14d6fc7;ms-9a72e47e2204fa794718;ms-9ced92cccacfe4d157b0", + "expert_regret": 1.3365509510040283, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-54b1042de0891da7c07e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3365509510040283, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6634490489959717, + "restore_error": 1.1920928955078125e-07, + "score": 0.6634490489959717, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.25544634461402893, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.4988543391227722, + 0.5281650424003601, + 0.6642074584960938, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.02931070327758789, + 0.16535311937332153, + 1.501145601272583 + ], + "candidate_oracle_branch_scores": [ + 0.4988543391227722, + 0.5281650424003601, + 0.6642074584960938, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.4568895101547241, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0325326919555664, + -1.349180817604065, + -1.4016200304031372, + -1.4568895101547241 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.501145601272583, + "candidate_oracle_selected_branch_progress": 0.4988543391227722, + "candidate_oracle_selected_branch_score": 0.4988543391227722, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6cf775fbba580161c4e;ms-6a9c4c704edd84c21cda;ms-80e3d8a34c3cb94cad65;ms-a323215fb409ab3e9287;ms-b025d8068f740557d630;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.4021785259246826, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-40fb8acb1e648bf3b617", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4021785259246826, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5978214740753174, + "restore_error": 1.1920928955078125e-07, + "score": 0.5978214740753174, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4857149124145508, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.43158063292503357, + 0.21902748942375183, + 0.21164897084236145, + 0.21171927452087402 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.21255314350128174, + -0.21993166208267212, + -0.21986135840415955 + ], + "candidate_oracle_branch_scores": [ + 0.43158063292503357, + 0.21902748942375183, + 0.21164897084236145, + 0.21171927452087402 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.7135825157165527, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.7135825157165527, + -1.7215214967727661, + -1.735735297203064, + -1.736160397529602 + ], + "candidate_oracle_progress": 0.43158063292503357, + "candidate_oracle_regret": 1.5684193670749664, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.43158063292503357, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.43158063292503357, + "candidate_oracle_selected_branch_score": 0.43158063292503357, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-49c99f285560483a85ee;ms-917b0f051489227842f0;ms-ace117030ae44c474db1;ms-a829d650eb9914fb2983;ms-2c6000014d31fc0bb21c;ms-b00933d2f628bc51d80a", + "expert_regret": 1.5683836042881012, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c0142e4a5d15dd8d647a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5683836042881012, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4316163957118988, + "restore_error": 1.1920928955078125e-07, + "score": 0.4316163957118988, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5713120102882385, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.20861749351024628, + 0.20777755975723267, + 0.21234938502311707, + 0.21381321549415588 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0008399337530136108, + 0.0037318915128707886, + 0.005195721983909607 + ], + "candidate_oracle_branch_scores": [ + 0.20861749351024628, + 0.20777755975723267, + 0.21234938502311707, + 0.21381321549415588 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.8263378143310547, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.5020265579223633, + -1.7868732213974, + -1.8043864965438843, + -1.8263378143310547 + ], + "candidate_oracle_progress": 0.21381321549415588, + "candidate_oracle_regret": 1.7861867845058441, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21381321549415588, + "candidate_oracle_score_gain_over_selected": 0.005195721983909607, + "candidate_oracle_selected_branch_progress": 0.20861749351024628, + "candidate_oracle_selected_branch_score": 0.20861749351024628, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b00933d2f628bc51d80a;ms-49c99f285560483a85ee;ms-917b0f051489227842f0;ms-ace117030ae44c474db1;ms-69785feff08dbf9a50be;ms-a829d650eb9914fb2983", + "expert_regret": 1.7913808971643448, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bbaa576369a59660ecdd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7913808971643448, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2086191028356552, + "restore_error": 1.1920928955078125e-07, + "score": 0.2086191028356552, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.176554799079895, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.21211406588554382, + 0.2117052674293518, + 0.21235144138336182, + 0.2034228891134262 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0004087984561920166, + 0.00023737549781799316, + -0.008691176772117615 + ], + "candidate_oracle_branch_scores": [ + 0.21211406588554382, + 0.2117052674293518, + 0.21235144138336182, + 0.2034228891134262 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.3671232461929321, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 40 + ], + "candidate_oracle_potentials": [ + -1.3104811906814575, + -1.3160465955734253, + -1.3671232461929321, + -1.4128493070602417 + ], + "candidate_oracle_progress": 0.21235144138336182, + "candidate_oracle_regret": 0.5102618932723999, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21235144138336182, + "candidate_oracle_score_gain_over_selected": 0.00023737549781799316, + "candidate_oracle_selected_branch_progress": 0.21211406588554382, + "candidate_oracle_selected_branch_score": 0.21211406588554382, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-83c0299c23fa800452c7;ms-de8d6051e6ee74b62fec;ms-e2a037eadb166228b1dd;ms-251c1dfd1010906f559f;ms-efb5a07185a3a1b33226;ms-4b4cd12d70c0615e0930", + "expert_regret": 0.5104992687702179, + "expert_score": 0.7226133346557617, + "expert_success": false, + "group_id": "ms-a103dfbc0567d05ade6e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5104992687702179, + "oracle_score": 0.7226133346557617, + "oracle_success": false, + "progress": 0.21211406588554382, + "restore_error": 1.1920928955078125e-07, + "score": 0.21211406588554382, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3899590075016022, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.6566747426986694, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 8 + ], + "candidate_oracle_potentials": [ + 0.6566747426986694, + 0.645870566368103, + 0.6088922619819641, + 0.37112346291542053 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5fb06efe2b4bea27cc89;ms-490e2c471adbabec6304;ms-a323215fb409ab3e9287;ms-a5a56eefeb2de0abe600;ms-08ab006a923f5fdae198;ms-a6cf775fbba580161c4e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f237f72fe3db2b4f8e12", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.12383858114480972, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.29151076078414917, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 33, + 8 + ], + "candidate_oracle_potentials": [ + 0.29151076078414917, + 0.263107031583786, + 0.22751092910766602, + 0.20838230848312378 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dfc38c43e9a87f99ef7f;ms-487d0fe2a13fb699dd7a;ms-fb329ccd569163c53415;ms-a323215fb409ab3e9287;ms-2436538e05fdcf8e44fc;ms-26322bd4de52dbd5743c", + "expert_regret": 0.0, + "expert_score": 0.7073621153831482, + "expert_success": false, + "group_id": "ms-1b24faaf0d032ad20017", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4082498848438263, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.409140944480896, + 0.34913668036460876, + 0.3143049478530884, + 0.3015853762626648 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.06000426411628723, + -0.09483599662780762, + -0.1075555682182312 + ], + "candidate_oracle_branch_scores": [ + 0.409140944480896, + 0.34913668036460876, + 0.3143049478530884, + 0.3015853762626648 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6911839842796326, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6911839842796326, + -1.0374523401260376, + -1.1119357347488403, + -1.1923121213912964 + ], + "candidate_oracle_progress": 0.409140944480896, + "candidate_oracle_regret": 1.590859055519104, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.409140944480896, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.409140944480896, + "candidate_oracle_selected_branch_score": 0.409140944480896, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7ce799eb9d3b741e8960;ms-55e89d326b6531345902;ms-6d6456c45f9f3ae74b50;ms-65e9da4468e522823587;ms-69785feff08dbf9a50be;ms-40a961867249ddccb68f", + "expert_regret": 1.5915142893791199, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7b1a03be4a61ba27261c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5915142893791199, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4084857106208801, + "restore_error": 1.1920928955078125e-07, + "score": 0.4084857106208801, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.106490969657898, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.22360563278198242, + 0.22039608657360077, + 0.22241774201393127, + 0.22232258319854736 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.003209546208381653, + -0.0011878907680511475, + -0.0012830495834350586 + ], + "candidate_oracle_branch_scores": [ + 0.22360563278198242, + 0.22039608657360077, + 0.22241774201393127, + 0.22232258319854736 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.149886131286621, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 40, + 24, + 17 + ], + "candidate_oracle_potentials": [ + -1.149886131286621, + -1.1553417444229126, + -1.1623449325561523, + -1.1668096780776978 + ], + "candidate_oracle_progress": 0.22360563278198242, + "candidate_oracle_regret": 1.7763943672180176, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.22360563278198242, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.22360563278198242, + "candidate_oracle_selected_branch_score": 0.22360563278198242, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-efb5a07185a3a1b33226;ms-af91167a0cf15457c6ba;ms-83c0299c23fa800452c7;ms-e2a037eadb166228b1dd;ms-4b4cd12d70c0615e0930;ms-251c1dfd1010906f559f", + "expert_regret": 1.77638840675354, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-95264bfdaa3892cf66ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.77638840675354, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.22361159324645996, + "restore_error": 1.1920928955078125e-07, + "score": 0.22361159324645996, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.180977001786232, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.7288398146629333, + 0.7294409275054932, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0006011128425598145, + 1.2711601257324219, + 1.2711601257324219 + ], + "candidate_oracle_branch_scores": [ + 0.7288398146629333, + 0.7294409275054932, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.23261690139770508, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.0899900421500206, + -0.18088150024414062, + -0.23261690139770508, + -0.3003499507904053 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2711601257324219, + "candidate_oracle_selected_branch_progress": 0.7288398146629333, + "candidate_oracle_selected_branch_score": 0.7288398146629333, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-73259d17883355f7fa88;ms-f6f0d14ef7c24b9e4621;ms-a4ade4de51ca437ac432;ms-5bbc4c4b1b51e2a088db;ms-9c33d4837de7d23232d6;ms-a40dee47c502e73949af", + "expert_regret": 1.2710754871368408, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-832f0e966173abd16c34", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2710754871368408, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7289245128631592, + "restore_error": 1.1920928955078125e-07, + "score": 0.7289245128631592, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3022196590900421, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6701457500457764, + 0.590009331703186, + 0.594063937664032, + 0.5833768844604492 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.08013641834259033, + -0.07608181238174438, + -0.08676886558532715 + ], + "candidate_oracle_branch_scores": [ + 0.6701457500457764, + 0.590009331703186, + 0.594063937664032, + 0.5833768844604492 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5888609886169434, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + -0.5888609886169434, + -0.6371236443519592, + -0.6476573348045349, + -0.6786218285560608 + ], + "candidate_oracle_progress": 0.6701457500457764, + "candidate_oracle_regret": 1.3298542499542236, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6701457500457764, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6701457500457764, + "candidate_oracle_selected_branch_score": 0.6701457500457764, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-92070f417bd9d14d6fc7;ms-ac6e78b1c56d020d0c09;ms-9ced92cccacfe4d157b0;ms-debd7e5668e2acdf6bb0;ms-cc0b4a1deec28e53722a;ms-96e1562aaca7ef49db28", + "expert_regret": 1.3291174173355103, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9ac2c188beb33e70f98", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3291174173355103, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6708825826644897, + "restore_error": 1.1920928955078125e-07, + "score": 0.6708825826644897, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6190751194953918, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.2926698923110962, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 33, + 24, + 17 + ], + "candidate_oracle_potentials": [ + 0.2926698923110962, + 0.28777769207954407, + 0.27050063014030457, + 0.2489323616027832 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dfc38c43e9a87f99ef7f;ms-487d0fe2a13fb699dd7a;ms-2436538e05fdcf8e44fc;ms-26322bd4de52dbd5743c;ms-e2950dcb50ed2b955be6;ms-fb329ccd569163c53415", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-908213fef55ccf1dfda6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.9170348048210144, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.2077581286430359, + 0.2084379494190216, + 0.20106182992458344, + 0.2090037316083908 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0006798207759857178, + -0.006696298718452454, + 0.0012456029653549194 + ], + "candidate_oracle_branch_scores": [ + 0.2077581286430359, + 0.2084379494190216, + 0.20106182992458344, + 0.2090037316083908 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.649922251701355, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 40, + 35 + ], + "candidate_oracle_potentials": [ + -1.554159164428711, + -1.5711232423782349, + -1.6407896280288696, + -1.649922251701355 + ], + "candidate_oracle_progress": 0.2090037316083908, + "candidate_oracle_regret": 1.7909962683916092, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2090037316083908, + "candidate_oracle_score_gain_over_selected": 0.0012456029653549194, + "candidate_oracle_selected_branch_progress": 0.2077581286430359, + "candidate_oracle_selected_branch_score": 0.2077581286430359, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-83c0299c23fa800452c7;ms-de8d6051e6ee74b62fec;ms-251c1dfd1010906f559f;ms-4b4cd12d70c0615e0930;ms-e2a037eadb166228b1dd;ms-af91167a0cf15457c6ba", + "expert_regret": 1.7922418713569641, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68c63442972f322789b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7922418713569641, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2077581286430359, + "restore_error": 1.1920928955078125e-07, + "score": 0.2077581286430359, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2962396442890167, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2580932378768921, + 0.2564930319786072, + 0.25591355562210083, + 0.25507521629333496 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0016002058982849121, + -0.0021796822547912598, + -0.003018021583557129 + ], + "candidate_oracle_branch_scores": [ + 0.2580932378768921, + 0.2564930319786072, + 0.25591355562210083, + 0.25507521629333496 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8231131434440613, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8231131434440613, + -1.1973953247070312, + -1.290474534034729, + -1.3846385478973389 + ], + "candidate_oracle_progress": 0.2580932378768921, + "candidate_oracle_regret": 1.741906762123108, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2580932378768921, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2580932378768921, + "candidate_oracle_selected_branch_score": 0.2580932378768921, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-35babd5f83dcf1561f9a;ms-a5a56eefeb2de0abe600;ms-076246c4c5d1ca8ccd9d;ms-684a66885f21739d826b;ms-bc29afbe2bbf00638d25;ms-507199452c6d42562a38", + "expert_regret": 1.7422413229942322, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97c28a7584b35207bf84", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7422413229942322, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2577586770057678, + "restore_error": 1.1920928955078125e-07, + "score": 0.2577586770057678, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38612884283065796, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2576344907283783, + 0.2544369101524353, + 0.25419187545776367, + 0.2532646059989929 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.003197580575942993, + -0.003442615270614624, + -0.004369884729385376 + ], + "candidate_oracle_branch_scores": [ + 0.2576344907283783, + 0.2544369101524353, + 0.25419187545776367, + 0.2532646059989929 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8361807465553284, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8361807465553284, + -1.1549811363220215, + -1.2219690084457397, + -1.294009804725647 + ], + "candidate_oracle_progress": 0.2576344907283783, + "candidate_oracle_regret": 1.7423655092716217, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2576344907283783, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2576344907283783, + "candidate_oracle_selected_branch_score": 0.2576344907283783, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a9c4c704edd84c21cda;ms-80e3d8a34c3cb94cad65;ms-e56b37f0e3881a70ef54;ms-a6cf775fbba580161c4e;ms-cf8c5d9c874edc9f000d;ms-b025d8068f740557d630", + "expert_regret": 1.7439867854118347, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c7bbc80458fce91a1ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7439867854118347, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2560132145881653, + "restore_error": 1.1920928955078125e-07, + "score": 0.2560132145881653, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.48161622881889343, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.42302632331848145, + 0.3630095422267914, + 0.3637581467628479, + 0.3620718717575073 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.060016781091690063, + -0.059268176555633545, + -0.06095445156097412 + ], + "candidate_oracle_branch_scores": [ + 0.42302632331848145, + 0.3630095422267914, + 0.3637581467628479, + 0.3620718717575073 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8167418837547302, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8167418837547302, + -1.2497862577438354, + -1.3314837217330933, + -1.423348069190979 + ], + "candidate_oracle_progress": 0.42302632331848145, + "candidate_oracle_regret": 1.5769736766815186, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.42302632331848145, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.42302632331848145, + "candidate_oracle_selected_branch_score": 0.42302632331848145, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6d6456c45f9f3ae74b50;ms-7ce799eb9d3b741e8960;ms-40a961867249ddccb68f;ms-a99d874a81bc60301007;ms-b00933d2f628bc51d80a;ms-2c6000014d31fc0bb21c", + "expert_regret": 1.57382932305336, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dd0fad10ce064047d62e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.57382932305336, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.42617067694664, + "restore_error": 1.1920928955078125e-07, + "score": 0.42617067694664, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.2553151845932007, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.21483324468135834, + 0.21371540427207947, + 0.20825651288032532, + 0.21591350436210632 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0011178404092788696, + -0.00657673180103302, + 0.0010802596807479858 + ], + "candidate_oracle_branch_scores": [ + 0.21483324468135834, + 0.21371540427207947, + 0.20825651288032532, + 0.21591350436210632 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.0091806650161743, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 3, + 33, + 35 + ], + "candidate_oracle_potentials": [ + -0.9081589579582214, + -0.9512324333190918, + -0.9894952178001404, + -1.0091806650161743 + ], + "candidate_oracle_progress": 0.21591350436210632, + "candidate_oracle_regret": 1.7840864956378937, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21591350436210632, + "candidate_oracle_score_gain_over_selected": 0.0010802596807479858, + "candidate_oracle_selected_branch_progress": 0.21483324468135834, + "candidate_oracle_selected_branch_score": 0.21483324468135834, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-01bef10a5ccfd38294fe;ms-fb131b52f94500da894b;ms-40a961867249ddccb68f;ms-a99d874a81bc60301007;ms-65e9da4468e522823587;ms-2c6000014d31fc0bb21c", + "expert_regret": 1.7851667702198029, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-14a2c3eb293175cb76f3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7851667702198029, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21483322978019714, + "restore_error": 1.1920928955078125e-07, + "score": 0.21483322978019714, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30951711535453796, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3338335156440735, + 0.27314209938049316, + 0.2764524817466736, + 0.2830731272697449 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.06069141626358032, + -0.0573810338973999, + -0.05076038837432861 + ], + "candidate_oracle_branch_scores": [ + 0.3338335156440735, + 0.27314209938049316, + 0.2764524817466736, + 0.2830731272697449 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5997864603996277, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + -0.5997864603996277, + -0.9888566136360168, + -0.9953611493110657, + -1.012452483177185 + ], + "candidate_oracle_progress": 0.3338335156440735, + "candidate_oracle_regret": 1.6661664843559265, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3338335156440735, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3338335156440735, + "candidate_oracle_selected_branch_score": 0.3338335156440735, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-92070f417bd9d14d6fc7;ms-bb567fcac946f012535a;ms-debd7e5668e2acdf6bb0;ms-675833805d1139c2f2a0;ms-9ced92cccacfe4d157b0;ms-5799584ed40e211c50a5", + "expert_regret": 1.6440170407295227, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d68051ee4e3b8a5c9a4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6440170407295227, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3559829592704773, + "restore_error": 1.1920928955078125e-07, + "score": 0.3559829592704773, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2508566081523895, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.09296653419733047, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.09296653419733047, + -0.13971400260925293, + -0.17744070291519165, + -0.23054206371307373 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f6f0d14ef7c24b9e4621;ms-73259d17883355f7fa88;ms-a4ade4de51ca437ac432;ms-1b8e9b173562648021f6;ms-5bbc4c4b1b51e2a088db;ms-675833805d1139c2f2a0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0a6bff8326e7e32702f3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5054559707641602, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.4326658248901367, + 0.4410570561885834, + 0.44105610251426697, + 0.20671240985393524 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.008391231298446655, + 0.008390277624130249, + -0.22595341503620148 + ], + "candidate_oracle_branch_scores": [ + 0.4326658248901367, + 0.4410570561885834, + 0.44105610251426697, + 0.20671240985393524 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.208993673324585, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -2.0447771549224854, + -2.208993673324585, + -2.237077236175537, + -2.2630579471588135 + ], + "candidate_oracle_progress": 0.4410570561885834, + "candidate_oracle_regret": 1.5589429438114166, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4410570561885834, + "candidate_oracle_score_gain_over_selected": 0.008391231298446655, + "candidate_oracle_selected_branch_progress": 0.4326658248901367, + "candidate_oracle_selected_branch_score": 0.4326658248901367, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9852b3671856321cecc8;ms-13d8bae55d3c3710138f;ms-4b4cd12d70c0615e0930;ms-af91167a0cf15457c6ba;ms-28835618507e7bc71227;ms-251c1dfd1010906f559f", + "expert_regret": 1.5673390626907349, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29a11d7bdcf49c86bd7a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5673390626907349, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.43266093730926514, + "restore_error": 1.1920928955078125e-07, + "score": 0.43266093730926514, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5137168169021606, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.4881395101547241, + 0.7048484086990356, + 0.7070438861846924, + 0.7122706770896912 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.21670889854431152, + 0.21890437602996826, + 0.22413116693496704 + ], + "candidate_oracle_branch_scores": [ + 0.4881395101547241, + 0.7048484086990356, + 0.7070438861846924, + 0.7122706770896912 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9317916035652161, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6329273581504822, + -0.8442886471748352, + -0.8867039084434509, + -0.9317916035652161 + ], + "candidate_oracle_progress": 0.7122706770896912, + "candidate_oracle_regret": 1.2877293229103088, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7122706770896912, + "candidate_oracle_score_gain_over_selected": 0.22413116693496704, + "candidate_oracle_selected_branch_progress": 0.4881395101547241, + "candidate_oracle_selected_branch_score": 0.4881395101547241, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0ef5d3238b33bdebae4d;ms-b483cac145e16ccdf42a;ms-b3d9d9570bf9b64c18fe;ms-baa36ee75ec2de550b9b;ms-760c73ea34418ce7a006;ms-675833805d1139c2f2a0", + "expert_regret": 1.4786688089370728, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83199198e5f952f8dd69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4786688089370728, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5213311910629272, + "restore_error": 1.1920928955078125e-07, + "score": 0.5213311910629272, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.36049386858940125, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.20298883318901062, + 0.20583462715148926, + 0.20554903149604797, + 0.20525148510932922 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0028457939624786377, + 0.0025601983070373535, + 0.0022626519203186035 + ], + "candidate_oracle_branch_scores": [ + 0.20298883318901062, + 0.20583462715148926, + 0.20554903149604797, + 0.20525148510932922 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.683881163597107, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 40, + 24, + 8 + ], + "candidate_oracle_potentials": [ + -1.4253216981887817, + -1.683881163597107, + -1.6866363286972046, + -1.6888359785079956 + ], + "candidate_oracle_progress": 0.20583462715148926, + "candidate_oracle_regret": 1.7941653728485107, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20583462715148926, + "candidate_oracle_score_gain_over_selected": 0.0028457939624786377, + "candidate_oracle_selected_branch_progress": 0.20298883318901062, + "candidate_oracle_selected_branch_score": 0.20298883318901062, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cf8c5d9c874edc9f000d;ms-01bef10a5ccfd38294fe;ms-e56b37f0e3881a70ef54;ms-fb131b52f94500da894b;ms-80e3d8a34c3cb94cad65;ms-6a9c4c704edd84c21cda", + "expert_regret": 1.7970112711191177, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9554f100dd5be3a4fa47", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7970112711191177, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20298872888088226, + "restore_error": 1.1920928955078125e-07, + "score": 0.20298872888088226, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3321042060852051, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.3027394115924835, + 0.3196789026260376, + 0.35043686628341675, + 0.6622523069381714 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.016939491033554077, + 0.04769745469093323, + 0.35951289534568787 + ], + "candidate_oracle_branch_scores": [ + 0.3027394115924835, + 0.3196789026260376, + 0.35043686628341675, + 0.6622523069381714 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.505967140197754, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.9976946711540222, + -1.3766425848007202, + -1.4344476461410522, + -1.505967140197754 + ], + "candidate_oracle_progress": 0.6622523069381714, + "candidate_oracle_regret": 1.3377476930618286, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6622523069381714, + "candidate_oracle_score_gain_over_selected": 0.35951289534568787, + "candidate_oracle_selected_branch_progress": 0.3027394115924835, + "candidate_oracle_selected_branch_score": 0.3027394115924835, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a6cf775fbba580161c4e;ms-6a9c4c704edd84c21cda;ms-80e3d8a34c3cb94cad65;ms-a323215fb409ab3e9287;ms-cf8c5d9c874edc9f000d;ms-e56b37f0e3881a70ef54", + "expert_regret": 1.6964544653892517, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-929e1dd2134a8952111c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6964544653892517, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3035455346107483, + "restore_error": 1.1920928955078125e-07, + "score": 0.3035455346107483, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6494610905647278, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7198089957237244, + 0.22111395001411438, + 0.22959229350090027, + 0.23058632016181946 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.49869504570961, + -0.4902167022228241, + -0.4892226755619049 + ], + "candidate_oracle_branch_scores": [ + 0.7198089957237244, + 0.22111395001411438, + 0.22959229350090027, + 0.23058632016181946 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5558745265007019, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 33 + ], + "candidate_oracle_potentials": [ + -0.5558745265007019, + -1.224141240119934, + -1.3412302732467651, + -1.366202473640442 + ], + "candidate_oracle_progress": 0.7198089957237244, + "candidate_oracle_regret": 0.00712275505065918, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7198089957237244, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7198089957237244, + "candidate_oracle_selected_branch_score": 0.7198089957237244, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9f4b47c80d59166302ab;ms-0d80d6d87a27a53951fe;ms-b2d1a5e132eaeb353782;ms-741e906eafd57d115b5d;ms-27251a7c7f13bf165e21;ms-d2febdb2a469fbbac4f2", + "expert_regret": 0.007571876049041748, + "expert_score": 0.7269317507743835, + "expert_success": false, + "group_id": "ms-c9e0182d4090ddaa991c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.007571876049041748, + "oracle_score": 0.7269317507743835, + "oracle_success": false, + "progress": 0.7193598747253418, + "restore_error": 2.384185791015625e-07, + "score": 0.7193598747253418, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.023529184982180595, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7150555849075317, + 0.65338534116745, + 0.5831927061080933, + 0.5870686769485474 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.06167024374008179, + -0.13186287879943848, + -0.12798690795898438 + ], + "candidate_oracle_branch_scores": [ + 0.7150555849075317, + 0.65338534116745, + 0.5831927061080933, + 0.5870686769485474 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8541515469551086, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.8541515469551086, + -1.2356730699539185, + -1.3092050552368164, + -1.3470491170883179 + ], + "candidate_oracle_progress": 0.7150555849075317, + "candidate_oracle_regret": 0.012343883514404297, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7150555849075317, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7150555849075317, + "candidate_oracle_selected_branch_score": 0.7150555849075317, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a9c4c704edd84c21cda;ms-80e3d8a34c3cb94cad65;ms-a6cf775fbba580161c4e;ms-b025d8068f740557d630;ms-cf8c5d9c874edc9f000d;ms-e56b37f0e3881a70ef54", + "expert_regret": 0.0011838078498840332, + "expert_score": 0.7218565344810486, + "expert_success": false, + "group_id": "ms-ec4c6be448348c8021a9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.006726741790771484, + "oracle_score": 0.727399468421936, + "oracle_success": false, + "progress": 0.7206727266311646, + "restore_error": 2.384185791015625e-07, + "score": 0.7206727266311646, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4686874747276306, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.27992963790893555, + 0.2543695271015167, + 0.23225359618663788, + 0.23134061694145203 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.025560110807418823, + -0.04767604172229767, + -0.04858902096748352 + ], + "candidate_oracle_branch_scores": [ + 0.27992963790893555, + 0.2543695271015167, + 0.23225359618663788, + 0.23134061694145203 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.430298775434494, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.430298775434494, + -0.7334703803062439, + -0.8121469020843506, + -0.9026389718055725 + ], + "candidate_oracle_progress": 0.27992963790893555, + "candidate_oracle_regret": 1.7200703620910645, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.27992963790893555, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.27992963790893555, + "candidate_oracle_selected_branch_score": 0.27992963790893555, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-29027a8e3742362fd477;ms-03495469257613a802b4;ms-b3d9d9570bf9b64c18fe;ms-1b8e9b173562648021f6;ms-675833805d1139c2f2a0;ms-4c638b9bb924547f69cb", + "expert_regret": 1.7249909341335297, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-131a98e2d4a78a9645f8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7249909341335297, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.27500906586647034, + "restore_error": 2.384185791015625e-07, + "score": 0.27500906586647034, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30847296118736267, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.275254487991333, + 0.25259965658187866, + 0.25259944796562195, + 0.2537875175476074 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.022654831409454346, + -0.02265504002571106, + -0.021466970443725586 + ], + "candidate_oracle_branch_scores": [ + 0.275254487991333, + 0.25259965658187866, + 0.25259944796562195, + 0.2537875175476074 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.943131685256958, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.943131685256958, + -1.2755082845687866, + -1.3366831541061401, + -1.4047647714614868 + ], + "candidate_oracle_progress": 0.275254487991333, + "candidate_oracle_regret": 1.724745512008667, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.275254487991333, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.275254487991333, + "candidate_oracle_selected_branch_score": 0.275254487991333, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a9c4c704edd84c21cda;ms-80e3d8a34c3cb94cad65;ms-a6cf775fbba580161c4e;ms-b025d8068f740557d630;ms-e56b37f0e3881a70ef54;ms-cf8c5d9c874edc9f000d", + "expert_regret": 1.7077219486236572, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e467ecc93a4793286423", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7077219486236572, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2922780513763428, + "restore_error": 2.384185791015625e-07, + "score": 0.2922780513763428, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1829322725534439, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.6977872848510742, + 0.6978229880332947, + 0.7167591452598572 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.3022127151489258, + -1.3021769523620605, + -1.283240795135498 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.6977872848510742, + 0.6978229880332947, + 0.7167591452598572 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.1637987196445465, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.1637987196445465, + -0.8405994772911072, + -0.999250590801239, + -1.1063233613967896 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9a72e47e2204fa794718;ms-575bd87a5da90963019d;ms-bb567fcac946f012535a;ms-8f24ad2e217963943c12;ms-73259d17883355f7fa88;ms-cc0b4a1deec28e53722a", + "expert_regret": 0.0, + "expert_score": 0.714394211769104, + "expert_success": false, + "group_id": "ms-c76aba3db8d4ce0062bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.714394211769104, + "oracle_success": false, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.9301968812942505, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.21809601783752441, + 0.22520849108695984, + 0.22516769170761108, + 0.22435012459754944 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.007112473249435425, + 0.00707167387008667, + 0.006254106760025024 + ], + "candidate_oracle_branch_scores": [ + 0.21809601783752441, + 0.22520849108695984, + 0.22516769170761108, + 0.22435012459754944 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.0783700942993164, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -0.802139163017273, + -1.0783700942993164, + -1.1266288757324219, + -1.1937659978866577 + ], + "candidate_oracle_progress": 0.22520849108695984, + "candidate_oracle_regret": 0.021870464086532593, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.22520849108695984, + "candidate_oracle_score_gain_over_selected": 0.007112473249435425, + "candidate_oracle_selected_branch_progress": 0.21809601783752441, + "candidate_oracle_selected_branch_score": 0.21809601783752441, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9f4b47c80d59166302ab;ms-0d80d6d87a27a53951fe;ms-b2d1a5e132eaeb353782;ms-d2febdb2a469fbbac4f2;ms-27251a7c7f13bf165e21;ms-741e906eafd57d115b5d", + "expert_regret": 0.002232074737548828, + "expert_score": 0.22032809257507324, + "expert_success": false, + "group_id": "ms-a5bd3a36c6fe41cd0b35", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.028982937335968018, + "oracle_score": 0.24707895517349243, + "oracle_success": false, + "progress": 0.21809601783752441, + "restore_error": 2.384185791015625e-07, + "score": 0.21809601783752441, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.43734389543533325, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3639664351940155, + 0.21592043340206146, + 0.2178109586238861, + 0.21655970811843872 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.14804600179195404, + -0.1461554765701294, + -0.14740672707557678 + ], + "candidate_oracle_branch_scores": [ + 0.3639664351940155, + 0.21592043340206146, + 0.2178109586238861, + 0.21655970811843872 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.7759946584701538, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.7759946584701538, + -1.7999573945999146, + -1.8261054754257202, + -1.8421574831008911 + ], + "candidate_oracle_progress": 0.3639664351940155, + "candidate_oracle_regret": 1.6360335648059845, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3639664351940155, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3639664351940155, + "candidate_oracle_selected_branch_score": 0.3639664351940155, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-69785feff08dbf9a50be;ms-a829d650eb9914fb2983;ms-917b0f051489227842f0;ms-64a755437c34f39cda2a;ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50", + "expert_regret": 1.6360256671905518, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-40eb8d19498413d4e730", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6360256671905518, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.36397433280944824, + "restore_error": 2.384185791015625e-07, + "score": 0.36397433280944824, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2796541750431061, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.20963498950004578, + 0.20925500988960266, + 0.20986753702163696, + 0.20431452989578247 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00037997961044311523, + 0.00023254752159118652, + -0.005320459604263306 + ], + "candidate_oracle_branch_scores": [ + 0.20963498950004578, + 0.20925500988960266, + 0.20986753702163696, + 0.20431452989578247 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.5572007894515991, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 24 + ], + "candidate_oracle_potentials": [ + -1.5153764486312866, + -1.5188087224960327, + -1.5572007894515991, + -1.6626323461532593 + ], + "candidate_oracle_progress": 0.20986753702163696, + "candidate_oracle_regret": 0.5183112025260925, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20986753702163696, + "candidate_oracle_score_gain_over_selected": 0.00023254752159118652, + "candidate_oracle_selected_branch_progress": 0.20963498950004578, + "candidate_oracle_selected_branch_score": 0.20963498950004578, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4b4cd12d70c0615e0930;ms-251c1dfd1010906f559f;ms-83c0299c23fa800452c7;ms-de8d6051e6ee74b62fec;ms-af91167a0cf15457c6ba;ms-efb5a07185a3a1b33226", + "expert_regret": 0.5149297118186951, + "expert_score": 0.7245650291442871, + "expert_success": false, + "group_id": "ms-e12808f670338ca180c6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5185434222221375, + "oracle_score": 0.7281787395477295, + "oracle_success": false, + "progress": 0.20963531732559204, + "restore_error": 2.384185791015625e-07, + "score": 0.20963531732559204, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2582148611545563, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.7166125178337097 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.2833874225616455 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.7166125178337097 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8103043437004089, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8103043437004089, + -0.8927837014198303, + -0.9190868735313416, + -0.9483720660209656 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a323215fb409ab3e9287;ms-5fb06efe2b4bea27cc89;ms-490e2c471adbabec6304;ms-487d0fe2a13fb699dd7a;ms-dfc38c43e9a87f99ef7f;ms-e2a037eadb166228b1dd", + "expert_regret": 0.0, + "expert_score": 0.699689507484436, + "expert_success": false, + "group_id": "ms-33294c8fed5a847bf149", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2833808064460754, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7166191935539246, + "restore_error": 1.1920928955078125e-07, + "score": 0.7166191935539246, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4095432460308075, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.20406639575958252, + 0.21820509433746338, + 0.21654623746871948, + 0.214228555560112 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.01413869857788086, + 0.012479841709136963, + 0.01016215980052948 + ], + "candidate_oracle_branch_scores": [ + 0.20406639575958252, + 0.21820509433746338, + 0.21654623746871948, + 0.214228555560112 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.8070586919784546, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.5875253677368164, + -1.8070586919784546, + -1.825848937034607, + -1.835829496383667 + ], + "candidate_oracle_progress": 0.21820509433746338, + "candidate_oracle_regret": 1.7817949056625366, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21820509433746338, + "candidate_oracle_score_gain_over_selected": 0.01413869857788086, + "candidate_oracle_selected_branch_progress": 0.20406639575958252, + "candidate_oracle_selected_branch_score": 0.20406639575958252, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-69785feff08dbf9a50be;ms-a829d650eb9914fb2983;ms-917b0f051489227842f0;ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-b00933d2f628bc51d80a", + "expert_regret": 1.7958248406648636, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a74a87e26362d09598fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7958248406648636, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2041751593351364, + "restore_error": 1.1920928955078125e-07, + "score": 0.2041751593351364, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22296269237995148, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.199540376663208, + 0.19953761994838715, + 0.1995375156402588, + 0.19953787326812744 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -2.7567148208618164e-06, + -2.86102294921875e-06, + -2.5033950805664062e-06 + ], + "candidate_oracle_branch_scores": [ + 0.199540376663208, + 0.19953761994838715, + 0.1995375156402588, + 0.19953787326812744 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.064399242401123, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -2.064399242401123, + -2.276728868484497, + -2.304025173187256, + -2.328608751296997 + ], + "candidate_oracle_progress": 0.199540376663208, + "candidate_oracle_regret": 1.800459623336792, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.199540376663208, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.199540376663208, + "candidate_oracle_selected_branch_score": 0.199540376663208, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13d8bae55d3c3710138f;ms-9852b3671856321cecc8;ms-28835618507e7bc71227;ms-af91167a0cf15457c6ba;ms-4b4cd12d70c0615e0930;ms-efb5a07185a3a1b33226", + "expert_regret": 0.5287876129150391, + "expert_score": 0.728327751159668, + "expert_success": false, + "group_id": "ms-e1b6bcb41532a800d3cb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.800459861755371, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1995401382446289, + "restore_error": 1.1920928955078125e-07, + "score": 0.1995401382446289, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.20684830844402313, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2579888105392456, + 0.25272971391677856, + 0.25275713205337524, + 0.2526787221431732 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.005259096622467041, + -0.005231678485870361, + -0.005310088396072388 + ], + "candidate_oracle_branch_scores": [ + 0.2579888105392456, + 0.25272971391677856, + 0.25275713205337524, + 0.2526787221431732 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5183354020118713, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5183354020118713, + -0.8643374443054199, + -0.9762818217277527, + -1.1007987260818481 + ], + "candidate_oracle_progress": 0.2579888105392456, + "candidate_oracle_regret": 1.7420111894607544, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2579888105392456, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2579888105392456, + "candidate_oracle_selected_branch_score": 0.2579888105392456, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-35babd5f83dcf1561f9a;ms-a5a56eefeb2de0abe600;ms-fdb2637276b27c46c757;ms-076246c4c5d1ca8ccd9d;ms-f6f0d14ef7c24b9e4621;ms-a4ade4de51ca437ac432", + "expert_regret": 1.7411566972732544, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c7f34ae8218aa0952c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7411566972732544, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2588433027267456, + "restore_error": 1.1920928955078125e-07, + "score": 0.2588433027267456, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5380750894546509, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.589537501335144, + 0.6994969844818115, + 0.2141713798046112, + 0.2948934733867645 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.10995948314666748, + -0.37536612153053284, + -0.2946440279483795 + ], + "candidate_oracle_branch_scores": [ + 0.589537501335144, + 0.6994969844818115, + 0.2141713798046112, + 0.2948934733867645 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.4027942419052124, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.8357635140419006, + -1.4027942419052124, + -1.5114033222198486, + -1.5310989618301392 + ], + "candidate_oracle_progress": 0.6994969844818115, + "candidate_oracle_regret": 1.3005030155181885, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6994969844818115, + "candidate_oracle_score_gain_over_selected": 0.10995948314666748, + "candidate_oracle_selected_branch_progress": 0.589537501335144, + "candidate_oracle_selected_branch_score": 0.589537501335144, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-741e906eafd57d115b5d;ms-a99d874a81bc60301007;ms-27251a7c7f13bf165e21;ms-ace117030ae44c474db1;ms-40a961867249ddccb68f;ms-0d80d6d87a27a53951fe", + "expert_regret": 1.4099445939064026, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-87fa87e06dc88c28a44f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4099445939064026, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5900554060935974, + "restore_error": 1.1920928955078125e-07, + "score": 0.5900554060935974, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.33024173974990845, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.717879056930542, + 0.72215735912323, + 0.6899039149284363, + 0.6863612532615662 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.004278302192687988, + -0.027975142002105713, + -0.03151780366897583 + ], + "candidate_oracle_branch_scores": [ + 0.717879056930542, + 0.72215735912323, + 0.6899039149284363, + 0.6863612532615662 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.40379711985588074, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.27341920137405396, + -0.40379711985588074, + -0.4494696855545044, + -0.5055680871009827 + ], + "candidate_oracle_progress": 0.72215735912323, + "candidate_oracle_regret": 1.27784264087677, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.72215735912323, + "candidate_oracle_score_gain_over_selected": 0.004278302192687988, + "candidate_oracle_selected_branch_progress": 0.717879056930542, + "candidate_oracle_selected_branch_score": 0.717879056930542, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5bbc4c4b1b51e2a088db;ms-1b8e9b173562648021f6;ms-4c638b9bb924547f69cb;ms-29027a8e3742362fd477;ms-a4ade4de51ca437ac432;ms-f6f0d14ef7c24b9e4621", + "expert_regret": 1.2969310283660889, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c871c1157a16e19e6150", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2969310283660889, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7030689716339111, + "restore_error": 1.1920928955078125e-07, + "score": 0.7030689716339111, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4800381660461426, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6976568698883057, + 0.6238459944725037, + 0.6251990795135498, + 0.623609185218811 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.073810875415802, + -0.07245779037475586, + -0.07404768466949463 + ], + "candidate_oracle_branch_scores": [ + 0.6976568698883057, + 0.6238459944725037, + 0.6251990795135498, + 0.623609185218811 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0335191488265991, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0335191488265991, + -1.36896550655365, + -1.4271440505981445, + -1.493395209312439 + ], + "candidate_oracle_progress": 0.6976568698883057, + "candidate_oracle_regret": 1.3023431301116943, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6976568698883057, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6976568698883057, + "candidate_oracle_selected_branch_score": 0.6976568698883057, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b00933d2f628bc51d80a;ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-40a961867249ddccb68f;ms-2c6000014d31fc0bb21c;ms-a99d874a81bc60301007", + "expert_regret": 1.3023563623428345, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cf7bdf0776c928ee2342", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3023563623428345, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6976436376571655, + "restore_error": 1.1920928955078125e-07, + "score": 0.6976436376571655, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4298272132873535, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.2007593810558319, + 0.22158873081207275, + 0.21965764462947845, + 0.21778887510299683 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.020829349756240845, + 0.018898263573646545, + 0.017029494047164917 + ], + "candidate_oracle_branch_scores": [ + 0.2007593810558319, + 0.22158873081207275, + 0.21965764462947845, + 0.21778887510299683 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.6906378269195557, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.68260657787323, + -1.6906378269195557, + -1.729803442955017, + -1.7594112157821655 + ], + "candidate_oracle_progress": 0.22158873081207275, + "candidate_oracle_regret": 1.7784112691879272, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.22158873081207275, + "candidate_oracle_score_gain_over_selected": 0.020829349756240845, + "candidate_oracle_selected_branch_progress": 0.2007593810558319, + "candidate_oracle_selected_branch_score": 0.2007593810558319, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-917b0f051489227842f0;ms-49c99f285560483a85ee;ms-a829d650eb9914fb2983;ms-69785feff08dbf9a50be;ms-b00933d2f628bc51d80a;ms-ace117030ae44c474db1", + "expert_regret": 1.7993393689393997, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-524ae7618ed9b6a272ae", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.7993393689393997, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.20066063106060028, + "restore_error": 1.1920928955078125e-07, + "score": 0.20066063106060028, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.37930870056152344, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7292444109916687, + 0.7268540859222412, + 0.6951753497123718 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2707555294036865, + -1.2731459140777588, + -1.3048245906829834 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7292444109916687, + 0.7268540859222412, + 0.6951753497123718 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8260788321495056, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8260788321495056, + -1.1663596630096436, + -1.2392253875732422, + -1.320120096206665 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a9c4c704edd84c21cda;ms-80e3d8a34c3cb94cad65;ms-e56b37f0e3881a70ef54;ms-cf8c5d9c874edc9f000d;ms-b025d8068f740557d630;ms-fb131b52f94500da894b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b55ca348be8b64323714", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6852017045021057, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.7193150520324707 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.2806849479675293 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.7193150520324707 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.36733829975128174, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 3 + ], + "candidate_oracle_potentials": [ + 0.36733829975128174, + 0.3464028239250183, + 0.28652194142341614, + 0.2084001898765564 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5fb06efe2b4bea27cc89;ms-490e2c471adbabec6304;ms-a323215fb409ab3e9287;ms-a6cf775fbba580161c4e;ms-487d0fe2a13fb699dd7a;ms-dfc38c43e9a87f99ef7f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f601aab1d8f7e4f1b97f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.29245954751968384, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7183274030685425, + 0.7244836091995239, + 0.7180923223495483 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2816725969314575, + -1.275516390800476, + -1.2819076776504517 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7183274030685425, + 0.7244836091995239, + 0.7180923223495483 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.25512930750846863, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.25512930750846863, + -0.5790615081787109, + -0.6770136952400208, + -0.7961825132369995 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9c33d4837de7d23232d6;ms-8f24ad2e217963943c12;ms-f6f0d14ef7c24b9e4621;ms-675833805d1139c2f2a0;ms-a40dee47c502e73949af;ms-bb567fcac946f012535a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ad7b7d5d7fb25961859f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.26897355914115906, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7176033854484558, + 0.7068462371826172, + 0.6951450705528259, + 0.22885367274284363 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.010757148265838623, + -0.022458314895629883, + -0.4887497127056122 + ], + "candidate_oracle_branch_scores": [ + 0.7176033854484558, + 0.7068462371826172, + 0.6951450705528259, + 0.22885367274284363 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6246311068534851, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6246311068534851, + -0.9911555647850037, + -1.0728801488876343, + -1.1650710105895996 + ], + "candidate_oracle_progress": 0.7176033854484558, + "candidate_oracle_regret": 1.2823966145515442, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7176033854484558, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7176033854484558, + "candidate_oracle_selected_branch_score": 0.7176033854484558, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-65e9da4468e522823587;ms-55e89d326b6531345902;ms-6d6456c45f9f3ae74b50;ms-7ce799eb9d3b741e8960;ms-b025d8068f740557d630;ms-01bef10a5ccfd38294fe", + "expert_regret": 1.2824041843414307, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3f6e7085c865144a7408", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2824041843414307, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7175958156585693, + "restore_error": 1.1920928955078125e-07, + "score": 0.7175958156585693, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1100785881280899, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7054342031478882, + 0.6957052946090698, + 0.6988518238067627, + 0.696259617805481 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00972890853881836, + -0.006582379341125488, + -0.009174585342407227 + ], + "candidate_oracle_branch_scores": [ + 0.7054342031478882, + 0.6957052946090698, + 0.6988518238067627, + 0.696259617805481 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4147811532020569, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 17, + 1, + 33 + ], + "candidate_oracle_potentials": [ + -0.4147811532020569, + -0.7947252988815308, + -0.7969780564308167, + -0.808479368686676 + ], + "candidate_oracle_progress": 0.7054342031478882, + "candidate_oracle_regret": 1.2945657968521118, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7054342031478882, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7054342031478882, + "candidate_oracle_selected_branch_score": 0.7054342031478882, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-92070f417bd9d14d6fc7;ms-debd7e5668e2acdf6bb0;ms-bb567fcac946f012535a;ms-9ced92cccacfe4d157b0;ms-cc0b4a1deec28e53722a;ms-9a72e47e2204fa794718", + "expert_regret": 0.0018337368965148926, + "expert_score": 0.7104858756065369, + "expert_success": false, + "group_id": "ms-20cd6d8ccbf13e36dcdb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.291347861289978, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.708652138710022, + "restore_error": 1.1920928955078125e-07, + "score": 0.708652138710022, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3921310603618622, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4724733233451843, + 0.4394659399986267, + 0.45301756262779236, + 0.4176097512245178 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.03300738334655762, + -0.019455760717391968, + -0.054863572120666504 + ], + "candidate_oracle_branch_scores": [ + 0.4724733233451843, + 0.4394659399986267, + 0.45301756262779236, + 0.4176097512245178 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8526435494422913, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8526435494422913, + -1.1529884338378906, + -1.2070986032485962, + -1.2716253995895386 + ], + "candidate_oracle_progress": 0.4724733233451843, + "candidate_oracle_regret": 1.5275266766548157, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4724733233451843, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4724733233451843, + "candidate_oracle_selected_branch_score": 0.4724733233451843, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-55e89d326b6531345902;ms-65e9da4468e522823587;ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-b025d8068f740557d630;ms-40a961867249ddccb68f", + "expert_regret": 1.5295571386814117, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3996b923bb25440c29e3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5295571386814117, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.47044286131858826, + "restore_error": 1.1920928955078125e-07, + "score": 0.47044286131858826, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2910241186618805, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.4715498685836792, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 17, + 33, + 1, + 40 + ], + "candidate_oracle_potentials": [ + 0.4715498685836792, + 0.4673578143119812, + 0.44734013080596924, + 0.2221076786518097 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a323215fb409ab3e9287;ms-490e2c471adbabec6304;ms-5fb06efe2b4bea27cc89;ms-487d0fe2a13fb699dd7a;ms-dfc38c43e9a87f99ef7f;ms-e2a037eadb166228b1dd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5b4f2522663bec742b02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.19671259820461273, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.38767534494400024, + 0.2312597930431366, + 0.23130850493907928, + 0.23149967193603516 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.15641555190086365, + -0.15636684000492096, + -0.1561756730079651 + ], + "candidate_oracle_branch_scores": [ + 0.38767534494400024, + 0.2312597930431366, + 0.23130850493907928, + 0.23149967193603516 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7040250301361084, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.7040250301361084, + -1.1826409101486206, + -1.3033214807510376, + -1.4471694231033325 + ], + "candidate_oracle_progress": 0.38767534494400024, + "candidate_oracle_regret": 1.6123246550559998, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.38767534494400024, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.38767534494400024, + "candidate_oracle_selected_branch_score": 0.38767534494400024, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cf8c5d9c874edc9f000d;ms-b025d8068f740557d630;ms-80e3d8a34c3cb94cad65;ms-6a9c4c704edd84c21cda;ms-e56b37f0e3881a70ef54;ms-55e89d326b6531345902", + "expert_regret": 1.6124293208122253, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3176a570b75767d1d729", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6124293208122253, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.38757067918777466, + "restore_error": 1.1920928955078125e-07, + "score": 0.38757067918777466, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4028778076171875, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.2480117529630661, + 0.19829873740673065, + 0.20039568841457367, + 0.19781750440597534 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.04971301555633545, + -0.04761606454849243, + -0.05019424855709076 + ], + "candidate_oracle_branch_scores": [ + 0.2480117529630661, + 0.19829873740673065, + 0.20039568841457367, + 0.19781750440597534 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.241556167602539, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 3, + 20 + ], + "candidate_oracle_potentials": [ + -2.241556167602539, + -2.3500189781188965, + -2.367314338684082, + -2.3731460571289062 + ], + "candidate_oracle_progress": 0.2480117529630661, + "candidate_oracle_regret": 0.47863318026065826, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2480117529630661, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.2480117529630661, + "candidate_oracle_selected_branch_score": 0.2480117529630661, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9852b3671856321cecc8;ms-4b4cd12d70c0615e0930;ms-28835618507e7bc71227;ms-251c1dfd1010906f559f;ms-de8d6051e6ee74b62fec;ms-13d8bae55d3c3710138f", + "expert_regret": 0.47854335606098175, + "expert_score": 0.7266449332237244, + "expert_success": false, + "group_id": "ms-68d9596217cc37c949c4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.47854335606098175, + "oracle_score": 0.7266449332237244, + "oracle_success": false, + "progress": 0.24810157716274261, + "restore_error": 2.384185791015625e-07, + "score": 0.24810157716274261, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.06954072415828705, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.7281238436698914, + 0.7222779989242554, + 0.7100198268890381, + 0.7286330461502075 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.005845844745635986, + -0.01810401678085327, + 0.0005092024803161621 + ], + "candidate_oracle_branch_scores": [ + 0.7281238436698914, + 0.7222779989242554, + 0.7100198268890381, + 0.7286330461502075 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.7574292421340942, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.3067746162414551, + -0.5970504283905029, + -0.6805722117424011, + -0.7574292421340942 + ], + "candidate_oracle_progress": 0.7286330461502075, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7286330461502075, + "candidate_oracle_score_gain_over_selected": 0.0005092024803161621, + "candidate_oracle_selected_branch_progress": 0.7281238436698914, + "candidate_oracle_selected_branch_score": 0.7281238436698914, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9c33d4837de7d23232d6;ms-5bbc4c4b1b51e2a088db;ms-a4ade4de51ca437ac432;ms-b3d9d9570bf9b64c18fe;ms-1b8e9b173562648021f6;ms-73259d17883355f7fa88", + "expert_regret": 0.0, + "expert_score": 0.7198172807693481, + "expert_success": false, + "group_id": "ms-ebeb5587176e3877b98a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.7268234491348267, + "oracle_success": false, + "progress": 0.7292377948760986, + "restore_error": 2.384185791015625e-07, + "score": 0.7292377948760986, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.7141692042350769, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.7290672659873962 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.270932674407959 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.7290672659873962 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.02690412849187851, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 17, + 33, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.02690412849187851, + -0.03920862823724747, + -0.04386741667985916, + -0.4287143647670746 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-59bff662e0ecb913ed81;ms-502dba1003c09ec60ba0;ms-ac6e78b1c56d020d0c09;ms-cc0b4a1deec28e53722a;ms-96e1562aaca7ef49db28;ms-92070f417bd9d14d6fc7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-605dbfbe6bef2b15b58c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.23513475060462952, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.051805637776851654, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.051805637776851654, + -0.09947790950536728, + -0.12450952082872391, + -0.15750163793563843 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-caa0a38b7df789550f8a;ms-487d0fe2a13fb699dd7a;ms-2436538e05fdcf8e44fc;ms-dfc111660c0d1c7b7e04;ms-e2a037eadb166228b1dd;ms-9852b3671856321cecc8", + "expert_regret": 0.0, + "expert_score": 0.6975592374801636, + "expert_success": false, + "group_id": "ms-f81ea99a1ec3423f3b6e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 0.7158336043357849, + "oracle_success": false, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.06228852644562721, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6756882667541504, + 0.6706907749176025, + 0.6669782996177673, + 0.2584976553916931 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0049974918365478516, + -0.008709967136383057, + -0.4171906113624573 + ], + "candidate_oracle_branch_scores": [ + 0.6756882667541504, + 0.6706907749176025, + 0.6669782996177673, + 0.2584976553916931 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.3576705753803253, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 8 + ], + "candidate_oracle_potentials": [ + 0.3576705753803253, + 0.3526574969291687, + 0.30765852332115173, + -0.13403591513633728 + ], + "candidate_oracle_progress": 0.6756882667541504, + "candidate_oracle_regret": 1.3243117332458496, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6756882667541504, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6756882667541504, + "candidate_oracle_selected_branch_score": 0.6756882667541504, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-7a1b60ea1461eb460bed;ms-9ced92cccacfe4d157b0;ms-ac6e78b1c56d020d0c09;ms-502dba1003c09ec60ba0;ms-debd7e5668e2acdf6bb0", + "expert_regret": 0.04732710123062134, + "expert_score": 0.7279080748558044, + "expert_success": false, + "group_id": "ms-7b229b60d7f64fb624cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.319419026374817, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6805809736251831, + "restore_error": 2.384185791015625e-07, + "score": 0.6805809736251831, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.0404298305511475, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.20745453238487244, + 0.20778968930244446, + 0.2079877108335495, + 0.20107883214950562 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0003351569175720215, + 0.000533178448677063, + -0.006375700235366821 + ], + "candidate_oracle_branch_scores": [ + 0.20745453238487244, + 0.20778968930244446, + 0.2079877108335495, + 0.20107883214950562 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.8673018217086792, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 0 + ], + "candidate_oracle_potentials": [ + -1.8179428577423096, + -1.823959231376648, + -1.8673018217086792, + -1.9737862348556519 + ], + "candidate_oracle_progress": 0.2079877108335495, + "candidate_oracle_regret": 0.5133927017450333, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2079877108335495, + "candidate_oracle_score_gain_over_selected": 0.000533178448677063, + "candidate_oracle_selected_branch_progress": 0.20745453238487244, + "candidate_oracle_selected_branch_score": 0.20745453238487244, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4b4cd12d70c0615e0930;ms-251c1dfd1010906f559f;ms-af91167a0cf15457c6ba;ms-9852b3671856321cecc8;ms-13d8bae55d3c3710138f;ms-28835618507e7bc71227", + "expert_regret": 0.5139258801937103, + "expert_score": 0.7213804125785828, + "expert_success": false, + "group_id": "ms-648250f7c25953eab081", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.5139258801937103, + "oracle_score": 0.7213804125785828, + "oracle_success": false, + "progress": 0.20745453238487244, + "restore_error": 2.384185791015625e-07, + "score": 0.20745453238487244, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.9461007714271545, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.2080519199371338, + 0.20843558013439178, + 0.20336520671844482, + 0.20332680642604828 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0003836601972579956, + -0.004686713218688965, + -0.00472511351108551 + ], + "candidate_oracle_branch_scores": [ + 0.2080519199371338, + 0.20843558013439178, + 0.20336520671844482, + 0.20332680642604828 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.4341835975646973, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 40, + 24 + ], + "candidate_oracle_potentials": [ + -1.422751545906067, + -1.4341835975646973, + -1.4747644662857056, + -1.4932787418365479 + ], + "candidate_oracle_progress": 0.20843558013439178, + "candidate_oracle_regret": 1.7915644198656082, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.20843558013439178, + "candidate_oracle_score_gain_over_selected": 0.0003836601972579956, + "candidate_oracle_selected_branch_progress": 0.2080519199371338, + "candidate_oracle_selected_branch_score": 0.2080519199371338, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-de8d6051e6ee74b62fec;ms-e2a037eadb166228b1dd;ms-83c0299c23fa800452c7;ms-251c1dfd1010906f559f;ms-4b4cd12d70c0615e0930;ms-efb5a07185a3a1b33226", + "expert_regret": 1.7919480949640274, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ba9541c7192498a1d8bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7919480949640274, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2080519050359726, + "restore_error": 2.384185791015625e-07, + "score": 0.2080519050359726, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.22067727148532867, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3954628109931946, + 0.2525961101055145, + 0.25270965695381165, + 0.2502242922782898 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.14286670088768005, + -0.14275315403938293, + -0.14523851871490479 + ], + "candidate_oracle_branch_scores": [ + 0.3954628109931946, + 0.2525961101055145, + 0.25270965695381165, + 0.2502242922782898 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.48415619134902954, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.48415619134902954, + -0.9371818900108337, + -1.0283989906311035, + -1.1238332986831665 + ], + "candidate_oracle_progress": 0.3954628109931946, + "candidate_oracle_regret": 1.6045371890068054, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.0547380447387695e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3954628109931946, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3954628109931946, + "candidate_oracle_selected_branch_score": 0.3954628109931946, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-760c73ea34418ce7a006;ms-9c33d4837de7d23232d6;ms-a4ade4de51ca437ac432;ms-b3d9d9570bf9b64c18fe;ms-b483cac145e16ccdf42a;ms-f6f0d14ef7c24b9e4621", + "expert_regret": 1.6056094467639923, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e0952f3218e0bf6fe027", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6056094467639923, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3943905532360077, + "restore_error": 2.384185791015625e-07, + "score": 0.3943905532360077, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3669883608818054, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7185395956039429, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2814604043960571, + 1.2814604043960571, + 1.2814604043960571 + ], + "candidate_oracle_branch_scores": [ + 0.7185395956039429, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9126034379005432, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6084158420562744, + -0.9126034379005432, + -0.9912139773368835, + -1.080237865447998 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2814604043960571, + "candidate_oracle_selected_branch_progress": 0.7185395956039429, + "candidate_oracle_selected_branch_score": 0.7185395956039429, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0ef5d3238b33bdebae4d;ms-b483cac145e16ccdf42a;ms-baa36ee75ec2de550b9b;ms-b3d9d9570bf9b64c18fe;ms-a5a56eefeb2de0abe600;ms-35babd5f83dcf1561f9a", + "expert_regret": 1.27829110622406, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9bb65f13e00984482ef8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.27829110622406, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7217088937759399, + "restore_error": 1.1920928955078125e-07, + "score": 0.7217088937759399, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.21778929233551025, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7126120328903198, + 0.26057541370391846, + 0.2526039481163025, + 0.2525998651981354 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.45203661918640137, + -0.46000808477401733, + -0.46001216769218445 + ], + "candidate_oracle_branch_scores": [ + 0.7126120328903198, + 0.26057541370391846, + 0.2526039481163025, + 0.2525998651981354 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.44800490140914917, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.44800490140914917, + -0.7332128286361694, + -0.8078199028968811, + -0.8926597237586975 + ], + "candidate_oracle_progress": 0.7126120328903198, + "candidate_oracle_regret": 1.2873879671096802, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7126120328903198, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7126120328903198, + "candidate_oracle_selected_branch_score": 0.7126120328903198, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-760c73ea34418ce7a006;ms-b483cac145e16ccdf42a;ms-0ef5d3238b33bdebae4d;ms-baa36ee75ec2de550b9b;ms-b3d9d9570bf9b64c18fe;ms-f6f0d14ef7c24b9e4621", + "expert_regret": 1.2862834930419922, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e3526036a5bf85cac0bf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2862834930419922, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7137165069580078, + "restore_error": 1.1920928955078125e-07, + "score": 0.7137165069580078, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.407694011926651, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.698615550994873, + 0.6904768943786621, + 0.6943734884262085, + 0.6984084844589233 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.008138656616210938, + -0.004242062568664551, + -0.00020706653594970703 + ], + "candidate_oracle_branch_scores": [ + 0.698615550994873, + 0.6904768943786621, + 0.6943734884262085, + 0.6984084844589233 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.458344042301178, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.458344042301178, + -0.9518290162086487, + -1.1414426565170288, + -1.346110463142395 + ], + "candidate_oracle_progress": 0.698615550994873, + "candidate_oracle_regret": 1.301384449005127, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.698615550994873, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.698615550994873, + "candidate_oracle_selected_branch_score": 0.698615550994873, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2c6000014d31fc0bb21c;ms-b2d1a5e132eaeb353782;ms-741e906eafd57d115b5d;ms-27251a7c7f13bf165e21;ms-0d80d6d87a27a53951fe;ms-ace117030ae44c474db1", + "expert_regret": 1.301378309726715, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-093472a082b3b61e73d6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.301378309726715, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6986216902732849, + "restore_error": 1.1920928955078125e-07, + "score": 0.6986216902732849, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.44987788796424866, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.8546962738037109, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 8 + ], + "candidate_oracle_potentials": [ + 0.8546962738037109, + 0.8127478361129761, + 0.7465648651123047, + 0.4643931984901428 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-7a1b60ea1461eb460bed;ms-9ced92cccacfe4d157b0;ms-debd7e5668e2acdf6bb0;ms-92070f417bd9d14d6fc7;ms-b383acd9844466b19579", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ecb5cc61f0b736e3f06f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.8021516799926758, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.21211491525173187, + 0.21102386713027954, + 0.21144643425941467, + 0.2069680392742157 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0010910481214523315, + -0.0006684809923171997, + -0.005146875977516174 + ], + "candidate_oracle_branch_scores": [ + 0.21211491525173187, + 0.21102386713027954, + 0.21144643425941467, + 0.2069680392742157 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2966307401657104, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 8, + 33 + ], + "candidate_oracle_potentials": [ + -1.2966307401657104, + -1.3150438070297241, + -1.3434703350067139, + -1.3478753566741943 + ], + "candidate_oracle_progress": 0.21211491525173187, + "candidate_oracle_regret": 1.7878850847482681, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.21211491525173187, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.21211491525173187, + "candidate_oracle_selected_branch_score": 0.21211491525173187, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-01bef10a5ccfd38294fe;ms-cf8c5d9c874edc9f000d;ms-fb131b52f94500da894b;ms-e56b37f0e3881a70ef54;ms-65e9da4468e522823587;ms-80e3d8a34c3cb94cad65", + "expert_regret": 1.7878706008195877, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f4060cdbe6d39b9215ac", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7878706008195877, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.2121293991804123, + "restore_error": 1.1920928955078125e-07, + "score": 0.2121293991804123, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3857647776603699, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.7254023551940918, + 0.7047128081321716 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.2745976448059082, + -1.2952871322631836 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.7254023551940918, + 0.7047128081321716 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4871731400489807, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4871731400489807, + -0.6334050297737122, + -0.6667482852935791, + -0.7046773433685303 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0ef5d3238b33bdebae4d;ms-b483cac145e16ccdf42a;ms-baa36ee75ec2de550b9b;ms-b3d9d9570bf9b64c18fe;ms-760c73ea34418ce7a006;ms-675833805d1139c2f2a0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d26dc2146eb8ae9a5434", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5352588891983032, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7117182612419128, + 0.7069966793060303, + 0.28349876403808594, + 0.2162836641073227 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.004721581935882568, + -0.4282194972038269, + -0.49543458223342896 + ], + "candidate_oracle_branch_scores": [ + 0.7117182612419128, + 0.7069966793060303, + 0.28349876403808594, + 0.2162836641073227 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8527651429176331, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 20 + ], + "candidate_oracle_potentials": [ + -0.8527651429176331, + -1.4275420904159546, + -1.5178087949752808, + -1.5259490013122559 + ], + "candidate_oracle_progress": 0.7117182612419128, + "candidate_oracle_regret": 1.2882817387580872, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7117182612419128, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7117182612419128, + "candidate_oracle_selected_branch_score": 0.7117182612419128, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-741e906eafd57d115b5d;ms-a99d874a81bc60301007;ms-40a961867249ddccb68f;ms-27251a7c7f13bf165e21;ms-0d80d6d87a27a53951fe;ms-ace117030ae44c474db1", + "expert_regret": 1.2882969975471497, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1d5ca9681600acdaba39", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2882969975471497, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7117030024528503, + "restore_error": 1.1920928955078125e-07, + "score": 0.7117030024528503, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3481249511241913, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.393430233001709, + 0.23277144134044647, + 0.207847461104393, + 0.2349853515625 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1606587916612625, + -0.18558277189731598, + -0.15844488143920898 + ], + "candidate_oracle_branch_scores": [ + 0.393430233001709, + 0.23277144134044647, + 0.207847461104393, + 0.2349853515625 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.767309308052063, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 35, + 19 + ], + "candidate_oracle_potentials": [ + -1.767309308052063, + -1.9079433679580688, + -1.9278277158737183, + -1.9434186220169067 + ], + "candidate_oracle_progress": 0.393430233001709, + "candidate_oracle_regret": 1.606569766998291, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.393430233001709, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.393430233001709, + "candidate_oracle_selected_branch_score": 0.393430233001709, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-64a755437c34f39cda2a;ms-69785feff08dbf9a50be;ms-f5dcf9054c3c1c4e1d50;ms-a829d650eb9914fb2983;ms-55e89d326b6531345902;ms-7ce799eb9d3b741e8960", + "expert_regret": 1.6065676510334015, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-865f9d670f806778ae61", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6065676510334015, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3934323489665985, + "restore_error": 1.1920928955078125e-07, + "score": 0.3934323489665985, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.19545969367027283, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.23980781435966492, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.23980781435966492, + -0.47248464822769165, + -0.5628445744514465, + -0.6725205779075623 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.825392246246338e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f6f0d14ef7c24b9e4621;ms-b483cac145e16ccdf42a;ms-760c73ea34418ce7a006;ms-0ef5d3238b33bdebae4d;ms-a4ade4de51ca437ac432;ms-b3d9d9570bf9b64c18fe", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-078317e23cc56a9d719d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.33423924446105957, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7278324365615845, + 0.7254371047019958, + 0.7211788892745972 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2721675634384155, + -1.2745628356933594, + -1.2788211107254028 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7278324365615845, + 0.7254371047019958, + 0.7211788892745972 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3101068139076233, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3101068139076233, + -0.6001750826835632, + -0.6890881061553955, + -0.8001370429992676 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.825392246246338e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a40dee47c502e73949af;ms-bb567fcac946f012535a;ms-8f24ad2e217963943c12;ms-03495469257613a802b4;ms-675833805d1139c2f2a0;ms-f6f0d14ef7c24b9e4621", + "expert_regret": 1.2958492040634155, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a6e4ac1995198def96a8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2958492040634155, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7041507959365845, + "restore_error": 1.1920928955078125e-07, + "score": 0.7041507959365845, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3429880738258362, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7286924719810486, + 0.6989220380783081, + 0.6988054513931274, + 0.6984928846359253 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.02977043390274048, + -0.029887020587921143, + -0.03019958734512329 + ], + "candidate_oracle_branch_scores": [ + 0.7286924719810486, + 0.6989220380783081, + 0.6988054513931274, + 0.6984928846359253 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5639286637306213, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5639286637306213, + -0.8616083264350891, + -0.9479004740715027, + -1.045733094215393 + ], + "candidate_oracle_progress": 0.7286924719810486, + "candidate_oracle_regret": 1.2713075280189514, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.825392246246338e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7286924719810486, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7286924719810486, + "candidate_oracle_selected_branch_score": 0.7286924719810486, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-684a66885f21739d826b;ms-bc29afbe2bbf00638d25;ms-507199452c6d42562a38;ms-35babd5f83dcf1561f9a;ms-a5a56eefeb2de0abe600;ms-6a03497f97765ffd444e", + "expert_regret": 1.2715641260147095, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a4420cda0b159dda82a2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2715641260147095, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7284358739852905, + "restore_error": 1.1920928955078125e-07, + "score": 0.7284358739852905, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.241506889462471, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7205039262771606, + 0.29962509870529175, + 0.2624172270298004, + 0.25259464979171753 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4208788275718689, + -0.45808669924736023, + -0.4679092764854431 + ], + "candidate_oracle_branch_scores": [ + 0.7205039262771606, + 0.29962509870529175, + 0.2624172270298004, + 0.25259464979171753 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4903299808502197, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4903299808502197, + -1.0333690643310547, + -1.1453498601913452, + -1.2608555555343628 + ], + "candidate_oracle_progress": 0.7205039262771606, + "candidate_oracle_regret": 1.2794960737228394, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.825392246246338e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7205039262771606, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7205039262771606, + "candidate_oracle_selected_branch_score": 0.7205039262771606, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5bbc4c4b1b51e2a088db;ms-9c33d4837de7d23232d6;ms-a4ade4de51ca437ac432;ms-73259d17883355f7fa88;ms-1b8e9b173562648021f6;ms-ff3256da4e1731651937", + "expert_regret": 1.279020369052887, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-44e7935dbed5f3b3c739", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.279020369052887, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.720979630947113, + "restore_error": 1.1920928955078125e-07, + "score": 0.720979630947113, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4401080906391144, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.6963257193565369, + 0.7181059122085571, + 0.7031985521316528, + 0.2222822904586792 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.021780192852020264, + 0.006872832775115967, + -0.47404342889785767 + ], + "candidate_oracle_branch_scores": [ + 0.6963257193565369, + 0.7181059122085571, + 0.7031985521316528, + 0.2222822904586792 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8151926398277283, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.5276262164115906, + -0.8151926398277283, + -0.8766029477119446, + -0.9430362582206726 + ], + "candidate_oracle_progress": 0.7181059122085571, + "candidate_oracle_regret": 1.2818940877914429, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.825392246246338e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7181059122085571, + "candidate_oracle_score_gain_over_selected": 0.021780192852020264, + "candidate_oracle_selected_branch_progress": 0.6963257193565369, + "candidate_oracle_selected_branch_score": 0.6963257193565369, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b483cac145e16ccdf42a;ms-0ef5d3238b33bdebae4d;ms-baa36ee75ec2de550b9b;ms-675833805d1139c2f2a0;ms-6a03497f97765ffd444e;ms-29027a8e3742362fd477", + "expert_regret": 1.3008641004562378, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97924f0cc5e7bd79c4a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3008641004562378, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6991358995437622, + "restore_error": 1.1920928955078125e-07, + "score": 0.6991358995437622, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3999158442020416, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.4816061854362488, + 0.21042531728744507, + 0.2182125449180603 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.5183937549591064, + -1.7895746231079102, + -1.781787395477295 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.4816061854362488, + 0.21042531728744507, + 0.2182125449180603 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6760334372520447, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6760334372520447, + -1.0422283411026, + -1.124026894569397, + -1.2201201915740967 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.825392246246338e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50;ms-55e89d326b6531345902;ms-65e9da4468e522823587;ms-69785feff08dbf9a50be;ms-40a961867249ddccb68f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8be8a38748f9fb037556", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4419587552547455, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.7148399353027344, + 0.239444762468338, + 0.23497287929058075 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.2851600646972656, + -1.7605552673339844, + -1.7650271654129028 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.7148399353027344, + 0.239444762468338, + 0.23497287929058075 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3029524087905884, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3029524087905884, + -0.40953508019447327, + -0.4468551278114319, + -0.5051574110984802 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.825392246246338e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0bc111c5ce4e0052716b;ms-490e2c471adbabec6304;ms-6a9c4c704edd84c21cda;ms-5fb06efe2b4bea27cc89;ms-80e3d8a34c3cb94cad65;ms-e56b37f0e3881a70ef54", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6818a4edf6ef35dacfb0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.05653529241681099, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.44359397888183594, + 0.23466145992279053, + 0.23462599515914917, + 0.23562213778495789 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.2089325189590454, + -0.20896798372268677, + -0.20797184109687805 + ], + "candidate_oracle_branch_scores": [ + 0.44359397888183594, + 0.23466145992279053, + 0.23462599515914917, + 0.23562213778495789 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.7866047620773315, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 3 + ], + "candidate_oracle_potentials": [ + -1.7866047620773315, + -1.8431247472763062, + -1.863520860671997, + -1.8773000240325928 + ], + "candidate_oracle_progress": 0.44359397888183594, + "candidate_oracle_regret": 1.556406021118164, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.825392246246338e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.44359397888183594, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.44359397888183594, + "candidate_oracle_selected_branch_score": 0.44359397888183594, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-69785feff08dbf9a50be;ms-a829d650eb9914fb2983;ms-64a755437c34f39cda2a;ms-917b0f051489227842f0;ms-7ce799eb9d3b741e8960;ms-6d6456c45f9f3ae74b50", + "expert_regret": 0.28424209356307983, + "expert_score": 0.7279428839683533, + "expert_success": false, + "group_id": "ms-c090bce47703a4c4bb0b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5562992095947266, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.44370079040527344, + "restore_error": 1.1920928955078125e-07, + "score": 0.44370079040527344, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 1.1818045377731323, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.2119448184967041, + 0.21162794530391693, + 0.2120908945798874, + 0.20657077431678772 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0003168731927871704, + 0.00014607608318328857, + -0.005374044179916382 + ], + "candidate_oracle_branch_scores": [ + 0.2119448184967041, + 0.21162794530391693, + 0.2120908945798874, + 0.20657077431678772 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.275267481803894, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 40 + ], + "candidate_oracle_potentials": [ + -1.2250934839248657, + -1.2353256940841675, + -1.275267481803894, + -1.3454008102416992 + ], + "candidate_oracle_progress": 0.2120908945798874, + "candidate_oracle_regret": 1.7879091054201126, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.2120908945798874, + "candidate_oracle_score_gain_over_selected": 0.00014607608318328857, + "candidate_oracle_selected_branch_progress": 0.2119448184967041, + "candidate_oracle_selected_branch_score": 0.2119448184967041, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-83c0299c23fa800452c7;ms-de8d6051e6ee74b62fec;ms-4b4cd12d70c0615e0930;ms-251c1dfd1010906f559f;ms-e2a037eadb166228b1dd;ms-efb5a07185a3a1b33226", + "expert_regret": 1.7880550622940063, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f3211ecde366ca9f6ac7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.7880550622940063, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.21194493770599365, + "restore_error": 2.384185791015625e-07, + "score": 0.21194493770599365, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.34737831354141235, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.6868548393249512, + 0.5631882548332214, + 0.5364683866500854, + 0.517390251159668 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.12366658449172974, + -0.15038645267486572, + -0.1694645881652832 + ], + "candidate_oracle_branch_scores": [ + 0.6868548393249512, + 0.5631882548332214, + 0.5364683866500854, + 0.517390251159668 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6366633176803589, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6366633176803589, + -1.0480775833129883, + -1.1353288888931274, + -1.2251657247543335 + ], + "candidate_oracle_progress": 0.6868548393249512, + "candidate_oracle_regret": 1.3131451606750488, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6868548393249512, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.6868548393249512, + "candidate_oracle_selected_branch_score": 0.6868548393249512, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b3d9d9570bf9b64c18fe;ms-9c33d4837de7d23232d6;ms-760c73ea34418ce7a006;ms-b483cac145e16ccdf42a;ms-29027a8e3742362fd477;ms-0ef5d3238b33bdebae4d", + "expert_regret": 1.3140031099319458, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-efc33064e2a2f7e86dbe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3140031099319458, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6859968900680542, + "restore_error": 2.384185791015625e-07, + "score": 0.6859968900680542, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.016688089817762375, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.07758007198572159, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.07758007198572159, + -0.13554030656814575, + -0.17377683520317078, + -0.22623112797737122 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f6f0d14ef7c24b9e4621;ms-a4ade4de51ca437ac432;ms-73259d17883355f7fa88;ms-5bbc4c4b1b51e2a088db;ms-9c33d4837de7d23232d6;ms-a40dee47c502e73949af", + "expert_regret": 0.0, + "expert_score": 0.7196991443634033, + "expert_success": false, + "group_id": "ms-ea164b21572d39ffed58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2714147567749023, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7285852432250977, + "restore_error": 2.384185791015625e-07, + "score": 0.7285852432250977, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6509233117103577, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.7002583146095276, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 8 + ], + "candidate_oracle_potentials": [ + 0.7002583146095276, + 0.6875306963920593, + 0.6406623721122742, + 0.06503798067569733 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-88fb2bebd038dc786c01;ms-d8295b43b30ceea30907;ms-b383acd9844466b19579;ms-d2839c13649000454a65;ms-7a1b60ea1461eb460bed;ms-96e1562aaca7ef49db28", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ea41340182245326a218", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.2251770794391632, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3605913817882538, + 0.22333036363124847, + 0.21068507432937622, + 0.20940649509429932 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.1372610181570053, + -0.14990630745887756, + -0.15118488669395447 + ], + "candidate_oracle_branch_scores": [ + 0.3605913817882538, + 0.22333036363124847, + 0.21068507432937622, + 0.20940649509429932 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.69773930311203, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.69773930311203, + -0.9987018704414368, + -1.0601943731307983, + -1.131386160850525 + ], + "candidate_oracle_progress": 0.3605913817882538, + "candidate_oracle_regret": 1.6394086182117462, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3605913817882538, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3605913817882538, + "candidate_oracle_selected_branch_score": 0.3605913817882538, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b025d8068f740557d630;ms-55e89d326b6531345902;ms-80e3d8a34c3cb94cad65;ms-cf8c5d9c874edc9f000d;ms-6a9c4c704edd84c21cda;ms-65e9da4468e522823587", + "expert_regret": 1.6393959820270538, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-22d1b2dcc954dcdff384", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6393959820270538, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.36060401797294617, + "restore_error": 2.384185791015625e-07, + "score": 0.36060401797294617, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5746246576309204, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.5683298707008362, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 3 + ], + "candidate_oracle_potentials": [ + 0.5683298707008362, + 0.545386552810669, + 0.48678815364837646, + 0.009900964796543121 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d8295b43b30ceea30907;ms-d2839c13649000454a65;ms-88fb2bebd038dc786c01;ms-b383acd9844466b19579;ms-5799584ed40e211c50a5;ms-7a1b60ea1461eb460bed", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a96ff9a1d5571ec4a6f2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16077077388763428, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.07304958254098892, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.07304958254098892, + -0.1448778510093689, + -0.19575253129005432, + -0.2652539908885956 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-73259d17883355f7fa88;ms-f6f0d14ef7c24b9e4621;ms-a4ade4de51ca437ac432;ms-5bbc4c4b1b51e2a088db;ms-a40dee47c502e73949af;ms-9c33d4837de7d23232d6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-06cb0796d1097e6ca111", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3082367479801178, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7089818716049194, + 0.6991651058197021, + 0.6935970783233643, + 0.6567144989967346 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.009816765785217285, + -0.015384793281555176, + -0.052267372608184814 + ], + "candidate_oracle_branch_scores": [ + 0.7089818716049194, + 0.6991651058197021, + 0.6935970783233643, + 0.6567144989967346 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.23682481050491333, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.23682481050491333, + -0.5673972368240356, + -0.6662861704826355, + -0.7889902591705322 + ], + "candidate_oracle_progress": 0.7089818716049194, + "candidate_oracle_regret": 1.2910181283950806, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7089818716049194, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7089818716049194, + "candidate_oracle_selected_branch_score": 0.7089818716049194, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8f24ad2e217963943c12;ms-a40dee47c502e73949af;ms-9c33d4837de7d23232d6;ms-bb567fcac946f012535a;ms-ff3256da4e1731651937;ms-03495469257613a802b4", + "expert_regret": 1.2886427640914917, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-02cacb03f445c8a460e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2886427640914917, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7113572359085083, + "restore_error": 2.384185791015625e-07, + "score": 0.7113572359085083, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.41949933767318726, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.3434644639492035, + 0.3306508958339691, + 0.31448546051979065, + 0.2992989718914032 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.012813568115234375, + -0.028979003429412842, + -0.04416549205780029 + ], + "candidate_oracle_branch_scores": [ + 0.3434644639492035, + 0.3306508958339691, + 0.31448546051979065, + 0.2992989718914032 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8198104500770569, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8198104500770569, + -1.1819950342178345, + -1.256075143814087, + -1.3425233364105225 + ], + "candidate_oracle_progress": 0.3434644639492035, + "candidate_oracle_regret": 1.6565355360507965, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.3434644639492035, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.3434644639492035, + "candidate_oracle_selected_branch_score": 0.3434644639492035, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b025d8068f740557d630;ms-80e3d8a34c3cb94cad65;ms-6a9c4c704edd84c21cda;ms-e56b37f0e3881a70ef54;ms-cf8c5d9c874edc9f000d;ms-55e89d326b6531345902", + "expert_regret": 1.6565552055835724, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fc3c8a3572fd96442723", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6565552055835724, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.3434447944164276, + "restore_error": 1.1920928955078125e-07, + "score": 0.3434447944164276, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4445439875125885, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7080032825469971, + 0.7220618724822998, + 0.47005754709243774, + 0.23436889052391052 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.014058589935302734, + -0.23794573545455933, + -0.47363439202308655 + ], + "candidate_oracle_branch_scores": [ + 0.7080032825469971, + 0.7220618724822998, + 0.47005754709243774, + 0.23436889052391052 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3009425401687622, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.8610641360282898, + -1.3009425401687622, + -1.3616746664047241, + -1.4185668230056763 + ], + "candidate_oracle_progress": 0.7220618724822998, + "candidate_oracle_regret": 1.2779381275177002, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7220618724822998, + "candidate_oracle_score_gain_over_selected": 0.014058589935302734, + "candidate_oracle_selected_branch_progress": 0.7080032825469971, + "candidate_oracle_selected_branch_score": 0.7080032825469971, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-69785feff08dbf9a50be;ms-a829d650eb9914fb2983;ms-917b0f051489227842f0;ms-64a755437c34f39cda2a;ms-7ce799eb9d3b741e8960;ms-55e89d326b6531345902", + "expert_regret": 1.2920117378234863, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e8de8d619c0cf5fd633e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2920117378234863, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7079882621765137, + "restore_error": 1.1920928955078125e-07, + "score": 0.7079882621765137, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.050160862505435944, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.43876704573631287, + 0.2028287947177887, + 0.20340457558631897, + 0.20381103456020355 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.23593825101852417, + -0.2353624701499939, + -0.23495601117610931 + ], + "candidate_oracle_branch_scores": [ + 0.43876704573631287, + 0.2028287947177887, + 0.20340457558631897, + 0.20381103456020355 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.09708833694458, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 3, + 19, + 35 + ], + "candidate_oracle_potentials": [ + -2.09708833694458, + -2.120081901550293, + -2.1285386085510254, + -2.158285617828369 + ], + "candidate_oracle_progress": 0.43876704573631287, + "candidate_oracle_regret": 1.5612329542636871, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.43876704573631287, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.43876704573631287, + "candidate_oracle_selected_branch_score": 0.43876704573631287, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4b4cd12d70c0615e0930;ms-251c1dfd1010906f559f;ms-28835618507e7bc71227;ms-9852b3671856321cecc8;ms-13d8bae55d3c3710138f;ms-af91167a0cf15457c6ba", + "expert_regret": 0.28876739740371704, + "expert_score": 0.7276763319969177, + "expert_success": false, + "group_id": "ms-715db95b13ebc6c977c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5610910654067993, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4389089345932007, + "restore_error": 1.1920928955078125e-07, + "score": 0.4389089345932007, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.20436452329158783, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.0922129824757576, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 4 + ], + "candidate_oracle_potentials": [ + -0.0922129824757576, + -0.5184220671653748, + -0.6449315547943115, + -0.7445220351219177 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9a72e47e2204fa794718;ms-cc0b4a1deec28e53722a;ms-92070f417bd9d14d6fc7;ms-debd7e5668e2acdf6bb0;ms-9ced92cccacfe4d157b0;ms-bb567fcac946f012535a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b933fbfb7c8fa68a445f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.4841804504394531, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.919707715511322, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 17, + 1, + 33, + 8 + ], + "candidate_oracle_potentials": [ + 0.919707715511322, + 0.91960608959198, + 0.8895117044448853, + 0.33984386920928955 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-96e1562aaca7ef49db28;ms-7a1b60ea1461eb460bed;ms-b383acd9844466b19579;ms-d8295b43b30ceea30907;ms-5799584ed40e211c50a5;ms-9ced92cccacfe4d157b0", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-80d8d8fc4a3308139975", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.3172502815723419, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.6864950656890869, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.313504934310913, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.6864950656890869, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.5797010064125061, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + 0.5797010064125061, + 0.5489107370376587, + 0.46369314193725586, + -0.20661163330078125 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d2839c13649000454a65;ms-b383acd9844466b19579;ms-5799584ed40e211c50a5;ms-96e1562aaca7ef49db28;ms-7a1b60ea1461eb460bed;ms-d8295b43b30ceea30907", + "expert_regret": 0.01659637689590454, + "expert_score": 0.6959263682365417, + "expert_success": false, + "group_id": "ms-ed4f6388ae96f9da76fa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0448153018951416, + "oracle_score": 0.7241452932357788, + "oracle_success": false, + "progress": 0.6793299913406372, + "restore_error": 1.1920928955078125e-07, + "score": 0.6793299913406372, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.30885928869247437, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.7223460674285889, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.2776539325714111, + 1.2776539325714111, + 1.2776539325714111 + ], + "candidate_oracle_branch_scores": [ + 0.7223460674285889, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.4253441393375397, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.2037147879600525, + -0.4253441393375397, + -0.5049217343330383, + -0.6030625700950623 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.2776539325714111, + "candidate_oracle_selected_branch_progress": 0.7223460674285889, + "candidate_oracle_selected_branch_score": 0.7223460674285889, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9c33d4837de7d23232d6;ms-f6f0d14ef7c24b9e4621;ms-675833805d1139c2f2a0;ms-73259d17883355f7fa88;ms-bb567fcac946f012535a;ms-29027a8e3742362fd477", + "expert_regret": 1.2771573662757874, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9bbea286acf66b5cfb8e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2771573662757874, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7228426337242126, + "restore_error": 1.1920928955078125e-07, + "score": 0.7228426337242126, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.416639506816864, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.6799709796905518, + 0.6788730025291443, + 0.700098991394043, + 0.677344799041748 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0010979771614074707, + 0.02012801170349121, + -0.002626180648803711 + ], + "candidate_oracle_branch_scores": [ + 0.6799709796905518, + 0.6788730025291443, + 0.700098991394043, + 0.677344799041748 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9203830361366272, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.6019955277442932, + -0.8583897352218628, + -0.9203830361366272, + -0.9883624911308289 + ], + "candidate_oracle_progress": 0.700098991394043, + "candidate_oracle_regret": 1.299901008605957, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.700098991394043, + "candidate_oracle_score_gain_over_selected": 0.02012801170349121, + "candidate_oracle_selected_branch_progress": 0.6799709796905518, + "candidate_oracle_selected_branch_score": 0.6799709796905518, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6a03497f97765ffd444e;ms-684a66885f21739d826b;ms-0ef5d3238b33bdebae4d;ms-35babd5f83dcf1561f9a;ms-baa36ee75ec2de550b9b;ms-a5a56eefeb2de0abe600", + "expert_regret": 1.3214519619941711, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c1f3359c70d068a36081", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.3214519619941711, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6785480380058289, + "restore_error": 1.1920928955078125e-07, + "score": 0.6785480380058289, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1640997678041458, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.29378074407577515, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 33, + 8 + ], + "candidate_oracle_potentials": [ + 0.29378074407577515, + 0.27299219369888306, + 0.2515973150730133, + 0.23351940512657166 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dfc38c43e9a87f99ef7f;ms-487d0fe2a13fb699dd7a;ms-2436538e05fdcf8e44fc;ms-26322bd4de52dbd5743c;ms-e2950dcb50ed2b955be6;ms-fb329ccd569163c53415", + "expert_regret": 0.0, + "expert_score": 0.7006968855857849, + "expert_success": false, + "group_id": "ms-472376eba1a5e1c706bf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.7282652854919434, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.28469210863113403, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7046024203300476, + 0.6871953010559082, + 0.47158533334732056, + 0.6829866170883179 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.017407119274139404, + -0.23301708698272705, + -0.021615803241729736 + ], + "candidate_oracle_branch_scores": [ + 0.7046024203300476, + 0.6871953010559082, + 0.47158533334732056, + 0.6829866170883179 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.33648890256881714, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -0.33648890256881714, + -1.0662205219268799, + -1.072813868522644, + -1.0928219556808472 + ], + "candidate_oracle_progress": 0.7046024203300476, + "candidate_oracle_regret": 1.2953975796699524, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7046024203300476, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7046024203300476, + "candidate_oracle_selected_branch_score": 0.7046024203300476, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bb567fcac946f012535a;ms-92070f417bd9d14d6fc7;ms-debd7e5668e2acdf6bb0;ms-9ced92cccacfe4d157b0;ms-9a72e47e2204fa794718;ms-a40dee47c502e73949af", + "expert_regret": 1.2951942086219788, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b5b68468bf26d19252f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2951942086219788, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7048057913780212, + "restore_error": 1.1920928955078125e-07, + "score": 0.7048057913780212, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.1276359260082245, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.22876134514808655, + 0.36018335819244385, + 0.33243051171302795, + 0.22668468952178955 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.1314220130443573, + 0.1036691665649414, + -0.002076655626296997 + ], + "candidate_oracle_branch_scores": [ + 0.22876134514808655, + 0.36018335819244385, + 0.33243051171302795, + 0.22668468952178955 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.026645351201295853, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 24, + 8, + 33 + ], + "candidate_oracle_potentials": [ + 0.06371817737817764, + 0.026645351201295853, + -0.03791964054107666, + -0.09585971385240555 + ], + "candidate_oracle_progress": 0.36018335819244385, + "candidate_oracle_regret": 1.6398166418075562, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.36018335819244385, + "candidate_oracle_score_gain_over_selected": 0.1314220130443573, + "candidate_oracle_selected_branch_progress": 0.22876134514808655, + "candidate_oracle_selected_branch_score": 0.22876134514808655, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-26322bd4de52dbd5743c;ms-e2950dcb50ed2b955be6;ms-fb329ccd569163c53415;ms-dfc38c43e9a87f99ef7f;ms-2436538e05fdcf8e44fc;ms-487d0fe2a13fb699dd7a", + "expert_regret": 0.2582756578922272, + "expert_score": 0.49721559882164, + "expert_success": false, + "group_id": "ms-059d7962a5f998edf668", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.7610600590705872, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.23893994092941284, + "restore_error": 1.1920928955078125e-07, + "score": 0.23893994092941284, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6479241251945496, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.399352103471756, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 3 + ], + "candidate_oracle_potentials": [ + 0.399352103471756, + 0.39602750539779663, + 0.35494041442871094, + 0.21102312207221985 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d2839c13649000454a65;ms-5799584ed40e211c50a5;ms-b383acd9844466b19579;ms-a323215fb409ab3e9287;ms-a6cf775fbba580161c4e;ms-5fb06efe2b4bea27cc89", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b0f3a35453f8c458ada8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5978179574012756, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.22994133830070496, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 8, + 33 + ], + "candidate_oracle_potentials": [ + 0.22994133830070496, + 0.1980699896812439, + 0.13957595825195312, + 0.037840113043785095 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2436538e05fdcf8e44fc;ms-dfc38c43e9a87f99ef7f;ms-487d0fe2a13fb699dd7a;ms-26322bd4de52dbd5743c;ms-4b4cd12d70c0615e0930;ms-af91167a0cf15457c6ba", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-76b0b0463fdb323b6233", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16913609206676483, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.7115065455436707, + 0.2526041865348816, + 0.2643236517906189, + 0.25178593397140503 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.45890235900878906, + -0.44718289375305176, + -0.4597206115722656 + ], + "candidate_oracle_branch_scores": [ + 0.7115065455436707, + 0.2526041865348816, + 0.2643236517906189, + 0.25178593397140503 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4286063313484192, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.4286063313484192, + -0.7807788252830505, + -0.8694630861282349, + -0.9648637175559998 + ], + "candidate_oracle_progress": 0.7115065455436707, + "candidate_oracle_regret": 1.2884934544563293, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.7115065455436707, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.7115065455436707, + "candidate_oracle_selected_branch_score": 0.7115065455436707, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-760c73ea34418ce7a006;ms-b483cac145e16ccdf42a;ms-0ef5d3238b33bdebae4d;ms-baa36ee75ec2de550b9b;ms-b3d9d9570bf9b64c18fe;ms-f6f0d14ef7c24b9e4621", + "expert_regret": 1.2736908197402954, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d3a7e3f163b142a3e56b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.2736908197402954, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.7263091802597046, + "restore_error": 1.1920928955078125e-07, + "score": 0.7263091802597046, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.16632559895515442, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.6921716928482056, + 0.6854419112205505, + 0.676064133644104 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.3078283071517944, + -1.3145580291748047, + -1.323935866355896 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.6921716928482056, + 0.6854419112205505, + 0.676064133644104 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.5234618186950684, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.5234618186950684, + -1.1353302001953125, + -1.1635371446609497, + -1.1911743879318237 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cc0b4a1deec28e53722a;ms-9a72e47e2204fa794718;ms-92070f417bd9d14d6fc7;ms-9ced92cccacfe4d157b0;ms-575bd87a5da90963019d;ms-ac6e78b1c56d020d0c09", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-062a265cedee2107eb17", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.274964839220047, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.19927379488945007, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -0.19927379488945007, + -0.2365940511226654, + -0.29403501749038696, + -0.30370262265205383 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9ced92cccacfe4d157b0;ms-96e1562aaca7ef49db28;ms-502dba1003c09ec60ba0;ms-7a1b60ea1461eb460bed;ms-cc0b4a1deec28e53722a;ms-ac6e78b1c56d020d0c09", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6abc3749b5df33ea621e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5546596646308899, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.09677300602197647, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 24, + 40, + 0 + ], + "candidate_oracle_potentials": [ + 0.09677300602197647, + 0.08455398678779602, + 0.034028150141239166, + -0.01620371639728546 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-490e2c471adbabec6304;ms-a323215fb409ab3e9287;ms-e2a037eadb166228b1dd;ms-af91167a0cf15457c6ba;ms-4b4cd12d70c0615e0930;ms-251c1dfd1010906f559f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4f54ed10d332989ae524", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.38884052634239197, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4560752809047699, + 0.20897164940834045, + 0.20725135505199432, + 0.20691852271556854 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.24710363149642944, + -0.24882392585277557, + -0.24915675818920135 + ], + "candidate_oracle_branch_scores": [ + 0.4560752809047699, + 0.20897164940834045, + 0.20725135505199432, + 0.20691852271556854 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.3925909698009491, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -0.3925909698009491, + -0.7584995031356812, + -0.8525378108024597, + -0.9555991291999817 + ], + "candidate_oracle_progress": 0.4560752809047699, + "candidate_oracle_regret": 1.54392471909523, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4560752809047699, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4560752809047699, + "candidate_oracle_selected_branch_score": 0.4560752809047699, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fdb2637276b27c46c757;ms-5bbc4c4b1b51e2a088db;ms-ff3256da4e1731651937;ms-4c638b9bb924547f69cb;ms-1b8e9b173562648021f6;ms-7cd314f076bfe5c32088", + "expert_regret": 1.5429238379001617, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e536e40f6902c6ba0927", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5429238379001617, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.45707616209983826, + "restore_error": 1.1920928955078125e-07, + "score": 0.45707616209983826, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.6400153040885925, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.37256428599357605, + 0.2237984836101532, + 0.2229158729314804, + 0.21908479928970337 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.14876580238342285, + -0.14964841306209564, + -0.15347948670387268 + ], + "candidate_oracle_branch_scores": [ + 0.37256428599357605, + 0.2237984836101532, + 0.2229158729314804, + 0.21908479928970337 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9181111454963684, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 35, + 19, + 1 + ], + "candidate_oracle_potentials": [ + -0.9181111454963684, + -1.2854291200637817, + -1.3842965364456177, + -1.4046380519866943 + ], + "candidate_oracle_progress": 0.37256428599357605, + "candidate_oracle_regret": 1.627435714006424, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.37256428599357605, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.37256428599357605, + "candidate_oracle_selected_branch_score": 0.37256428599357605, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d2febdb2a469fbbac4f2;ms-b2d1a5e132eaeb353782;ms-0d80d6d87a27a53951fe;ms-9f4b47c80d59166302ab;ms-27251a7c7f13bf165e21;ms-741e906eafd57d115b5d", + "expert_regret": 1.6274144053459167, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-22d006041320a4487c21", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.6274144053459167, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.37258559465408325, + "restore_error": 1.1920928955078125e-07, + "score": 0.37258559465408325, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": false, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5404495596885681, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.4473304748535156, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 40 + ], + "candidate_oracle_potentials": [ + 0.4473304748535156, + 0.4322458803653717, + 0.3968968093395233, + 0.30331021547317505 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a323215fb409ab3e9287;ms-487d0fe2a13fb699dd7a;ms-dfc38c43e9a87f99ef7f;ms-490e2c471adbabec6304;ms-5fb06efe2b4bea27cc89;ms-2436538e05fdcf8e44fc", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-737e72810112f3246b05", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/LiftPegUpright-v1", + "success": true, + "task_id": "LiftPegUpright-v1" + }, + { + "action_mse_to_best": 0.5752843022346497, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5521242022514343, + 0.5508524775505066, + 0.5510589480400085, + 0.5523274540901184 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0012717247009277344, + -0.0010652542114257812, + 0.00020325183868408203 + ], + "candidate_oracle_branch_scores": [ + 0.5521242022514343, + 0.5508524775505066, + 0.5510589480400085, + 0.5523274540901184 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3686139583587646, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 0, + 1, + 40 + ], + "candidate_oracle_potentials": [ + -1.3608832359313965, + -1.3666750192642212, + -1.3675799369812012, + -1.3686139583587646 + ], + "candidate_oracle_progress": 0.5523274540901184, + "candidate_oracle_regret": 1.4476725459098816, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5523274540901184, + "candidate_oracle_score_gain_over_selected": 0.00020325183868408203, + "candidate_oracle_selected_branch_progress": 0.5521242022514343, + "candidate_oracle_selected_branch_score": 0.5521242022514343, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e8fbdbddd9200f5091d6;ms-561f4f913d7b4991d81a;ms-f5aa7ce332ee9702812a;ms-d686ae387b1a0ce2f2f3;ms-bca6fa102f94cb145cd2;ms-4d6099258a3a6e037aff", + "expert_regret": 1.448005735874176, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4cd9eae753bf9e48f520", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.448005735874176, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.551994264125824, + "restore_error": 1.1920928955078125e-07, + "score": 0.551994264125824, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5489129424095154, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5208631753921509, + 0.520141065120697, + 0.5215160250663757, + 0.517277717590332 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0007221102714538574, + 0.0006528496742248535, + -0.0035854578018188477 + ], + "candidate_oracle_branch_scores": [ + 0.5208631753921509, + 0.520141065120697, + 0.5215160250663757, + 0.517277717590332 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3579158782958984, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 36, + 4, + 24 + ], + "candidate_oracle_potentials": [ + -1.320610523223877, + -1.3566319942474365, + -1.3579158782958984, + -1.3692837953567505 + ], + "candidate_oracle_progress": 0.5215160250663757, + "candidate_oracle_regret": 1.4784839749336243, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5215160250663757, + "candidate_oracle_score_gain_over_selected": 0.0006528496742248535, + "candidate_oracle_selected_branch_progress": 0.5208631753921509, + "candidate_oracle_selected_branch_score": 0.5208631753921509, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9184c93267b4bbfa4cae;ms-f3f6a1b34fdf35290a6c;ms-9ff81e54049443a0f3d3;ms-bc615957d9bf177dfe26;ms-eb206a3dda0ac16e1643;ms-66cc354bbf4e8bdd1051", + "expert_regret": 1.47881680727005, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6edb3f8fe977a81f8979", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.47881680727005, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.52118319272995, + "restore_error": 1.1920928955078125e-07, + "score": 0.52118319272995, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9059543013572693, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.10727579891681671, + 0.10727670043706894, + 0.09512261301279068, + 0.1072746142745018 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 9.015202522277832e-07, + -0.012153185904026031, + -1.1846423149108887e-06 + ], + "candidate_oracle_branch_scores": [ + 0.10727579891681671, + 0.10727670043706894, + 0.09512261301279068, + 0.1072746142745018 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.8814150094985962, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 8, + 20 + ], + "candidate_oracle_potentials": [ + -1.8286314010620117, + -1.8814150094985962, + -1.89922034740448, + -1.9018980264663696 + ], + "candidate_oracle_progress": 0.10727670043706894, + "candidate_oracle_regret": 1.892723299562931, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.10727670043706894, + "candidate_oracle_score_gain_over_selected": 9.015202522277832e-07, + "candidate_oracle_selected_branch_progress": 0.10727579891681671, + "candidate_oracle_selected_branch_score": 0.10727579891681671, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-22675530f3a401b3fd6d;ms-f5bae191ebad7c9f2687;ms-7d18f6f16879d2933bcd;ms-7e6493bb6b1ff650d6de;ms-4acbf69acd30d96e46a7;ms-fe650308e25459ee64c6", + "expert_regret": 0.49084828794002533, + "expert_score": 0.5981246829032898, + "expert_success": false, + "group_id": "ms-23a355317920e192147f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8927236050367355, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10727639496326447, + "restore_error": 1.1920928955078125e-07, + "score": 0.10727639496326447, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.294086754322052, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5118721723556519, + 0.5145277976989746, + 0.5147223472595215, + 0.5150678753852844 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.002655625343322754, + 0.002850174903869629, + 0.0031957030296325684 + ], + "candidate_oracle_branch_scores": [ + 0.5118721723556519, + 0.5145277976989746, + 0.5147223472595215, + 0.5150678753852844 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.5049687623977661, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.4988157749176025, + -1.4991271495819092, + -1.5020005702972412, + -1.5049687623977661 + ], + "candidate_oracle_progress": 0.5150678753852844, + "candidate_oracle_regret": 1.4849321246147156, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5150678753852844, + "candidate_oracle_score_gain_over_selected": 0.0031957030296325684, + "candidate_oracle_selected_branch_progress": 0.5118721723556519, + "candidate_oracle_selected_branch_score": 0.5118721723556519, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-26e09c86be9068a34acf;ms-b0fd98bae1ed5d543f35;ms-9ff81e54049443a0f3d3;ms-a8e6435948250f5e163d;ms-13192a27f5fcf4fd24d7;ms-b35643e98e1b846e27cf", + "expert_regret": 1.4882316589355469, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-faeacb4289bbfe504de1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4882316589355469, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5117683410644531, + "restore_error": 1.1920928955078125e-07, + "score": 0.5117683410644531, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9314298629760742, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4733053147792816, + 0.47129613161087036, + 0.47254353761672974, + 0.4704221189022064 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002009183168411255, + -0.0007617771625518799, + -0.0028831958770751953 + ], + "candidate_oracle_branch_scores": [ + 0.4733053147792816, + 0.47129613161087036, + 0.47254353761672974, + 0.4704221189022064 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2526414394378662, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -1.2526414394378662, + -1.263806700706482, + -1.3391389846801758, + -1.348309874534607 + ], + "candidate_oracle_progress": 0.4733053147792816, + "candidate_oracle_regret": 1.5266946852207184, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4733053147792816, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4733053147792816, + "candidate_oracle_selected_branch_score": 0.4733053147792816, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7a17ceb004979b99a586;ms-0e4af96af7d344ec47a0;ms-32b9c353a4890631f1bd;ms-49219cb8ed7dad70c897;ms-95320371ce6b820c85f6;ms-7de8743758ec505a3294", + "expert_regret": 1.5266918241977692, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f88a44616a0985aac518", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5266918241977692, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.47330817580223083, + "restore_error": 1.1920928955078125e-07, + "score": 0.47330817580223083, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.536810040473938, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5269010066986084, + 0.5238295793533325, + 0.5188130736351013, + 0.5198251008987427 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.003071427345275879, + -0.00808793306350708, + -0.007075905799865723 + ], + "candidate_oracle_branch_scores": [ + 0.5269010066986084, + 0.5238295793533325, + 0.5188130736351013, + 0.5198251008987427 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3592747449874878, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 35, + 19 + ], + "candidate_oracle_potentials": [ + -1.3592747449874878, + -1.3686323165893555, + -1.387058138847351, + -1.39404296875 + ], + "candidate_oracle_progress": 0.5269010066986084, + "candidate_oracle_regret": 1.4730989933013916, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5269010066986084, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5269010066986084, + "candidate_oracle_selected_branch_score": 0.5269010066986084, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4c83412fa0aa5180ad89;ms-8b68d8b4d22e6ff0451d;ms-a3d0c460532de2d801ae;ms-02acbd591a961c0dbd46;ms-166b7f66bf9f4eec432b;ms-97aebe1dd42939e3b340", + "expert_regret": 1.4730989933013916, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c8666cbd7e5a9d0fd036", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4730989933013916, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5269010066986084, + "restore_error": 1.1920928955078125e-07, + "score": 0.5269010066986084, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12395893037319183, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.3449901342391968, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + 0.3449901342391968, + 0.3436088562011719, + 0.3419738709926605, + 0.3336436450481415 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b33f1d4ddb6a531d2a71;ms-8beca0622be320b282c1;ms-c684df0b998b593db723;ms-3f4967102c7b10057ab9;ms-c7020fdb7cba871e8b3e;ms-a3cb33ed1e34d229773c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-751daa0137578c486f3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5346124768257141, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.036860391497612, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 40 + ], + "candidate_oracle_potentials": [ + 0.036860391497612, + 0.02262849360704422, + 0.007640168070793152, + -0.07125379890203476 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d686ae387b1a0ce2f2f3;ms-4d6099258a3a6e037aff;ms-f5aa7ce332ee9702812a;ms-3cfb09df08ad7279ef02;ms-c6beb139304a0ea6f7ae;ms-bca6fa102f94cb145cd2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-193063285cdb9faff39b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5361407399177551, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5584636330604553, + 0.5586232542991638, + 0.5568284392356873, + 0.5569246411323547 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0001596212387084961, + -0.0016351938247680664, + -0.001538991928100586 + ], + "candidate_oracle_branch_scores": [ + 0.5584636330604553, + 0.5586232542991638, + 0.5568284392356873, + 0.5569246411323547 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9857573509216309, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.9719520211219788, + -0.9857573509216309, + -0.9946965575218201, + -0.9960240721702576 + ], + "candidate_oracle_progress": 0.5586232542991638, + "candidate_oracle_regret": 1.4413767457008362, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5586232542991638, + "candidate_oracle_score_gain_over_selected": 0.0001596212387084961, + "candidate_oracle_selected_branch_progress": 0.5584636330604553, + "candidate_oracle_selected_branch_score": 0.5584636330604553, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c6beb139304a0ea6f7ae;ms-d686ae387b1a0ce2f2f3;ms-4d6099258a3a6e037aff;ms-e8fbdbddd9200f5091d6;ms-f5aa7ce332ee9702812a;ms-3cfb09df08ad7279ef02", + "expert_regret": 1.4416912198066711, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5d430ebe6f7933dc6c8c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4416912198066711, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5583087801933289, + "restore_error": 1.1920928955078125e-07, + "score": 0.5583087801933289, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4996728301048279, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5719639658927917, + 0.5725830793380737, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0006191134452819824, + 1.4280359745025635, + 1.4280359745025635 + ], + "candidate_oracle_branch_scores": [ + 0.5719639658927917, + 0.5725830793380737, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.3289315402507782, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 40 + ], + "candidate_oracle_potentials": [ + -0.30331099033355713, + -0.3153584599494934, + -0.3289315402507782, + -0.3759392201900482 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4280359745025635, + "candidate_oracle_selected_branch_progress": 0.5719639658927917, + "candidate_oracle_selected_branch_score": 0.5719639658927917, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-32b9c353a4890631f1bd;ms-813cac6d08ed5af48b12;ms-49219cb8ed7dad70c897;ms-7a17ceb004979b99a586;ms-0e4af96af7d344ec47a0;ms-746436cac05100783ad7", + "expert_regret": 1.4278978109359741, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-67f602a0e4efc9984d72", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4278978109359741, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5721021890640259, + "restore_error": 1.1920928955078125e-07, + "score": 0.5721021890640259, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7945588231086731, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5371970534324646, + 0.5600606799125671, + 0.0590551383793354, + 0.5615665912628174 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.02286362648010254, + -0.4781419038772583, + 0.024369537830352783 + ], + "candidate_oracle_branch_scores": [ + 0.5371970534324646, + 0.5600606799125671, + 0.0590551383793354, + 0.5615665912628174 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.866936206817627, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 0, + 4 + ], + "candidate_oracle_potentials": [ + -1.8155924081802368, + -1.8320316076278687, + -1.858971357345581, + -1.866936206817627 + ], + "candidate_oracle_progress": 0.5615665912628174, + "candidate_oracle_regret": 1.4384334087371826, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5615665912628174, + "candidate_oracle_score_gain_over_selected": 0.024369537830352783, + "candidate_oracle_selected_branch_progress": 0.5371970534324646, + "candidate_oracle_selected_branch_score": 0.5371970534324646, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f9c00ba41392adec3fd1;ms-7651a7f31eae24958ef0;ms-503d0b1d27ed78b6130f;ms-80d5c509e83845ab1bc7;ms-12ac4329c5bca5f2bb62;ms-9b15f9c696a2661346cf", + "expert_regret": 1.4627923965454102, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-86b0447349029dfaa6ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4627923965454102, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5372076034545898, + "restore_error": 1.1920928955078125e-07, + "score": 0.5372076034545898, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40933957695961, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.026325050741434097, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + -0.026325050741434097, + -0.03901473060250282, + -0.2849193215370178, + -0.3057146966457367 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3e51a1bdc3a2cc4eb06d;ms-f5fb668380b64d4f1e74;ms-13192a27f5fcf4fd24d7;ms-d5d7c690819019cb7869;ms-4fe7fdaf946c97803c82;ms-7241a1c25af41f4c0b5a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e441e4042cb7d77a4986", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.413501501083374, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5294739007949829, + 0.5286871194839478, + 0.529615581035614, + 0.5288921594619751 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0007867813110351562, + 0.00014168024063110352, + -0.0005817413330078125 + ], + "candidate_oracle_branch_scores": [ + 0.5294739007949829, + 0.5286871194839478, + 0.529615581035614, + 0.5288921594619751 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5486823320388794, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + -0.24387206137180328, + -0.25067833065986633, + -0.5486823320388794, + -0.5582777857780457 + ], + "candidate_oracle_progress": 0.529615581035614, + "candidate_oracle_regret": 1.470384418964386, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.529615581035614, + "candidate_oracle_score_gain_over_selected": 0.00014168024063110352, + "candidate_oracle_selected_branch_progress": 0.5294739007949829, + "candidate_oracle_selected_branch_score": 0.5294739007949829, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13192a27f5fcf4fd24d7;ms-3e51a1bdc3a2cc4eb06d;ms-f5fb668380b64d4f1e74;ms-26e09c86be9068a34acf;ms-b35643e98e1b846e27cf;ms-4fe7fdaf946c97803c82", + "expert_regret": 1.4705252051353455, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-be8eff6e6d520ae11a0d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4705252051353455, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5294747948646545, + "restore_error": 1.1920928955078125e-07, + "score": 0.5294747948646545, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5725356340408325, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5545787215232849, + 0.5547284483909607, + 0.555513858795166, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00014972686767578125, + 0.0009351372718811035, + 1.4454212188720703 + ], + "candidate_oracle_branch_scores": [ + 0.5545787215232849, + 0.5547284483909607, + 0.555513858795166, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.24664533138275146, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 24 + ], + "candidate_oracle_potentials": [ + 0.3279576301574707, + 0.3201529085636139, + 0.3091267943382263, + 0.24664533138275146 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4454212188720703, + "candidate_oracle_selected_branch_progress": 0.5545787215232849, + "candidate_oracle_selected_branch_score": 0.5545787215232849, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-95320371ce6b820c85f6;ms-66cc354bbf4e8bdd1051;ms-af16712eadcaebf175ff;ms-bc615957d9bf177dfe26;ms-29afe3c91faef25f1343;ms-9ff81e54049443a0f3d3", + "expert_regret": 1.445421278476715, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-708baf01c22c75cafd22", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.445421278476715, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5545787215232849, + "restore_error": 1.1920928955078125e-07, + "score": 0.5545787215232849, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22864331305027008, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5412198901176453, + 0.5411712527275085, + 0.5411214232444763, + 0.5407513380050659 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -4.863739013671875e-05, + -9.846687316894531e-05, + -0.0004685521125793457 + ], + "candidate_oracle_branch_scores": [ + 0.5412198901176453, + 0.5411712527275085, + 0.5411214232444763, + 0.5407513380050659 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.1290632486343384, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -1.1290632486343384, + -1.129324197769165, + -1.129634976387024, + -1.14006507396698 + ], + "candidate_oracle_progress": 0.5412198901176453, + "candidate_oracle_regret": 1.4587801098823547, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5412198901176453, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5412198901176453, + "candidate_oracle_selected_branch_score": 0.5412198901176453, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-23d6e5835aa90a62b6ef;ms-c0bfce3c9dd10f9d3231;ms-348af0b70d3e679f40a2;ms-3c2515d4a10082514714;ms-76194d089c97018ce427;ms-11230e3aaabb1feec834", + "expert_regret": 1.4587795734405518, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-29dd2cdbb66fe13ab877", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4587795734405518, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5412204265594482, + "restore_error": 1.1920928955078125e-07, + "score": 0.5412204265594482, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6372772455215454, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5178114771842957, + 0.5157957077026367, + 0.5177392363548279, + 0.515945553779602 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0020157694816589355, + -7.224082946777344e-05, + -0.0018659234046936035 + ], + "candidate_oracle_branch_scores": [ + 0.5178114771842957, + 0.5157957077026367, + 0.5177392363548279, + 0.515945553779602 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.125506043434143, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -1.125506043434143, + -1.1541069746017456, + -1.2054831981658936, + -1.2401864528656006 + ], + "candidate_oracle_progress": 0.5178114771842957, + "candidate_oracle_regret": 1.4821885228157043, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5178114771842957, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5178114771842957, + "candidate_oracle_selected_branch_score": 0.5178114771842957, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c7020fdb7cba871e8b3e;ms-a44a2c9eee8baea5d29e;ms-683b1d258a1cafbf87b9;ms-3f4967102c7b10057ab9;ms-ca25b016439a98198434;ms-8f6d30c2ade00e451dc2", + "expert_regret": 1.4821871519088745, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4fe47d946641f0096a85", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4821871519088745, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5178128480911255, + "restore_error": 1.1920928955078125e-07, + "score": 0.5178128480911255, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.32338574528694153, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5341711640357971, + 0.5351945757865906, + 0.5344536304473877, + 0.5352870225906372 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.001023411750793457, + 0.00028246641159057617, + 0.0011158585548400879 + ], + "candidate_oracle_branch_scores": [ + 0.5341711640357971, + 0.5351945757865906, + 0.5344536304473877, + 0.5352870225906372 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.7945871949195862, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 1, + 0, + 17 + ], + "candidate_oracle_potentials": [ + -0.7865226864814758, + -0.7928528189659119, + -0.7944194078445435, + -0.7945871949195862 + ], + "candidate_oracle_progress": 0.5352870225906372, + "candidate_oracle_regret": 1.4647129774093628, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5352870225906372, + "candidate_oracle_score_gain_over_selected": 0.0011158585548400879, + "candidate_oracle_selected_branch_progress": 0.5341711640357971, + "candidate_oracle_selected_branch_score": 0.5341711640357971, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8fdde5008d12abb7ae6a;ms-7af1e453acf970f40546;ms-8a74cf665984273be00d;ms-b8276cb9b6cb9a9b302f;ms-c9e31a19a776a861f9d7;ms-f8c4e700a751537ebb16", + "expert_regret": 1.4657909274101257, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb98254adaa23dc128df", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4657909274101257, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5342090725898743, + "restore_error": 1.9650906324386597e-07, + "score": 0.5342090725898743, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4279061257839203, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.2813040018081665, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + 0.2813040018081665, + 0.2766972780227661, + 0.24934738874435425, + 0.24905669689178467 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-29afe3c91faef25f1343;ms-68970d9d9bf975e25eb5;ms-81d1d8def1fbeb3b1cc5;ms-cb99eeafec52800f3b77;ms-af16712eadcaebf175ff;ms-ca25b016439a98198434", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10621e1108a69d0b633e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9650906324386597e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5844959616661072, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5132583379745483, + 0.5131698846817017, + 0.5130398869514465, + 0.5129327178001404 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -8.845329284667969e-05, + -0.00021845102310180664, + -0.000325620174407959 + ], + "candidate_oracle_branch_scores": [ + 0.5132583379745483, + 0.5131698846817017, + 0.5130398869514465, + 0.5129327178001404 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8585578203201294, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.8585578203201294, + -0.8668923377990723, + -1.0426783561706543, + -1.0463391542434692 + ], + "candidate_oracle_progress": 0.5132583379745483, + "candidate_oracle_regret": 1.4867416620254517, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5132583379745483, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5132583379745483, + "candidate_oracle_selected_branch_score": 0.5132583379745483, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-eff5f21c51f26a85f07c;ms-2ae57bab6d2ea11f6638;ms-57ac136bd68be6387c6f;ms-8b73e5dfa1f2a01e6017;ms-e589f7d40c12eff1712e;ms-1a4ecfbe9c97214d5c78", + "expert_regret": 1.4867395162582397, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fd225482b96686f51dc8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4867395162582397, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5132604837417603, + "restore_error": 1.9650906324386597e-07, + "score": 0.5132604837417603, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46888282895088196, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.17998619377613068, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 4 + ], + "candidate_oracle_potentials": [ + 0.17998619377613068, + 0.16461694240570068, + 0.1462685614824295, + -0.06709187477827072 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4c83412fa0aa5180ad89;ms-8b68d8b4d22e6ff0451d;ms-a3d0c460532de2d801ae;ms-02acbd591a961c0dbd46;ms-3cfb09df08ad7279ef02;ms-4d6099258a3a6e037aff", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c07472c627b51086ff33", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9650906324386597e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1760062724351883, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.30388328433036804, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + 0.30388328433036804, + 0.30201634764671326, + 0.29780638217926025, + 0.2765825390815735 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02acbd591a961c0dbd46;ms-97aebe1dd42939e3b340;ms-166b7f66bf9f4eec432b;ms-8b68d8b4d22e6ff0451d;ms-a3d0c460532de2d801ae;ms-4a0ae3deadb8560fd315", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f07607bc0ce1c4e202b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9650906324386597e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.10018634796142578, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.551947295665741, + 0.5503878593444824, + 0.5491546988487244, + 0.5664266347885132 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.001559436321258545, + -0.0027925968170166016, + 0.014479339122772217 + ], + "candidate_oracle_branch_scores": [ + 0.551947295665741, + 0.5503878593444824, + 0.5491546988487244, + 0.5664266347885132 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1365605592727661, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -1.0937724113464355, + -1.1015197038650513, + -1.1123756170272827, + -1.1365605592727661 + ], + "candidate_oracle_progress": 0.5664266347885132, + "candidate_oracle_regret": 1.4335733652114868, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5664266347885132, + "candidate_oracle_score_gain_over_selected": 0.014479339122772217, + "candidate_oracle_selected_branch_progress": 0.551947295665741, + "candidate_oracle_selected_branch_score": 0.551947295665741, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4c7138016830a563fb1b;ms-99df75798ec5da5ec7f3;ms-8c9f657875cf334b1f17;ms-19e6e6e341aebb7ec693;ms-7e6493bb6b1ff650d6de;ms-7d18f6f16879d2933bcd", + "expert_regret": 1.448052704334259, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1309e1770b6ca6e71c7e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.448052704334259, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.551947295665741, + "restore_error": 1.9650906324386597e-07, + "score": 0.551947295665741, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24257683753967285, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5627066493034363, + 0.5629222989082336, + 0.5631330609321594, + 0.5610852241516113 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00021564960479736328, + 0.00042641162872314453, + -0.0016214251518249512 + ], + "candidate_oracle_branch_scores": [ + 0.5627066493034363, + 0.5629222989082336, + 0.5631330609321594, + 0.5610852241516113 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.0994837284088135, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -1.0982375144958496, + -1.0987454652786255, + -1.0994837284088135, + -1.1128151416778564 + ], + "candidate_oracle_progress": 0.5631330609321594, + "candidate_oracle_regret": 1.4368669390678406, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5631330609321594, + "candidate_oracle_score_gain_over_selected": 0.00042641162872314453, + "candidate_oracle_selected_branch_progress": 0.5627066493034363, + "candidate_oracle_selected_branch_score": 0.5627066493034363, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3c4ff3dae26217f22a8b;ms-561f4f913d7b4991d81a;ms-93e3d9968204474eff49;ms-564c02492863ae749ea9;ms-ae33e3afb57e61026d72;ms-bb0d941f78d3d9c5a886", + "expert_regret": 1.4372941255569458, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-52c6c227fd4b61609031", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4372941255569458, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5627058744430542, + "restore_error": 1.9650906324386597e-07, + "score": 0.5627058744430542, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7063327431678772, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.06595325469970703, + 0.06594784557819366, + 0.06596815586090088, + 0.056917786598205566 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -5.409121513366699e-06, + 1.4901161193847656e-05, + -0.009035468101501465 + ], + "candidate_oracle_branch_scores": [ + 0.06595325469970703, + 0.06594784557819366, + 0.06596815586090088, + 0.056917786598205566 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.3701930046081543, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 8 + ], + "candidate_oracle_potentials": [ + -2.292283773422241, + -2.3381080627441406, + -2.3701930046081543, + -2.3926737308502197 + ], + "candidate_oracle_progress": 0.06596815586090088, + "candidate_oracle_regret": 1.9340318441390991, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.06596815586090088, + "candidate_oracle_score_gain_over_selected": 1.4901161193847656e-05, + "candidate_oracle_selected_branch_progress": 0.06595325469970703, + "candidate_oracle_selected_branch_score": 0.06595325469970703, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-99df75798ec5da5ec7f3;ms-4c7138016830a563fb1b;ms-8c9f657875cf334b1f17;ms-19e6e6e341aebb7ec693;ms-7e6493bb6b1ff650d6de;ms-7d18f6f16879d2933bcd", + "expert_regret": 1.934046931564808, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8a22f0da78e59cd1eb5f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.934046931564808, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06595306843519211, + "restore_error": 1.9650906324386597e-07, + "score": 0.06595306843519211, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.358492374420166, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.22203324735164642, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 17, + 1 + ], + "candidate_oracle_potentials": [ + 0.22203324735164642, + 0.2191656529903412, + 0.21138297021389008, + 0.21136431396007538 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 2.547167241573334e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ae33e3afb57e61026d72;ms-76194d089c97018ce427;ms-a5d81a7c740394b68c3f;ms-23d6e5835aa90a62b6ef;ms-93e3d9968204474eff49;ms-4c7138016830a563fb1b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1518756d5da0b8d3c190", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9503010511398315, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.3922457993030548, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.3922457993030548, + 0.388943076133728, + 0.06440971791744232, + 0.06254224479198456 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 2.547167241573334e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a9ac13384fe5afc835f1;ms-69962cd1c448094e4fb0;ms-4ca84594a789c9abd5d9;ms-a3cb33ed1e34d229773c;ms-3f4967102c7b10057ab9;ms-683b1d258a1cafbf87b9", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-417cab1470cf46273b02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8661786913871765, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5570733547210693, + 0.5556085109710693, + 0.552554726600647, + 0.5531140565872192 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00146484375, + -0.004518628120422363, + -0.003959298133850098 + ], + "candidate_oracle_branch_scores": [ + 0.5570733547210693, + 0.5556085109710693, + 0.552554726600647, + 0.5531140565872192 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.1516883373260498, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 35, + 19 + ], + "candidate_oracle_potentials": [ + -1.1516883373260498, + -1.1720868349075317, + -1.227103590965271, + -1.2288254499435425 + ], + "candidate_oracle_progress": 0.5570733547210693, + "candidate_oracle_regret": 1.4429266452789307, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 2.547167241573334e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5570733547210693, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5570733547210693, + "candidate_oracle_selected_branch_score": 0.5570733547210693, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-76194d089c97018ce427;ms-c0bfce3c9dd10f9d3231;ms-3c2515d4a10082514714;ms-a5d81a7c740394b68c3f;ms-ae33e3afb57e61026d72;ms-51873059990aa55691a2", + "expert_regret": 1.442927062511444, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ee05717b29d39d7cddff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.442927062511444, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5570729374885559, + "restore_error": 2.384185791015625e-07, + "score": 0.5570729374885559, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3492368161678314, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.046061720699071884, + 0.04792959615588188, + 0.5337824821472168, + 0.03519093990325928 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0018678754568099976, + 0.4877207577228546, + -0.010870780795812607 + ], + "candidate_oracle_branch_scores": [ + 0.046061720699071884, + 0.04792959615588188, + 0.5337824821472168, + 0.03519093990325928 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.6983118057250977, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -2.6274852752685547, + -2.6580522060394287, + -2.6983118057250977, + -2.7503936290740967 + ], + "candidate_oracle_progress": 0.5337824821472168, + "candidate_oracle_regret": 1.4662175178527832, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 2.547167241573334e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5337824821472168, + "candidate_oracle_score_gain_over_selected": 0.4877207577228546, + "candidate_oracle_selected_branch_progress": 0.046061720699071884, + "candidate_oracle_selected_branch_score": 0.046061720699071884, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7d18f6f16879d2933bcd;ms-7e6493bb6b1ff650d6de;ms-22675530f3a401b3fd6d;ms-99df75798ec5da5ec7f3;ms-8c9f657875cf334b1f17;ms-19e6e6e341aebb7ec693", + "expert_regret": 1.953948151320219, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7020f1cda882b79bffa3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.953948151320219, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04605184867978096, + "restore_error": 2.384185791015625e-07, + "score": 0.04605184867978096, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4915505051612854, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5411733984947205, + 0.5409178733825684, + 0.5371387600898743, + 0.5294373631477356 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0002555251121520996, + -0.004034638404846191, + -0.011736035346984863 + ], + "candidate_oracle_branch_scores": [ + 0.5411733984947205, + 0.5409178733825684, + 0.5371387600898743, + 0.5294373631477356 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7482459545135498, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 0, + 36 + ], + "candidate_oracle_potentials": [ + -0.7482459545135498, + -0.7621697187423706, + -0.8643227219581604, + -0.8689106106758118 + ], + "candidate_oracle_progress": 0.5411733984947205, + "candidate_oracle_regret": 1.4588266015052795, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 2.547167241573334e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5411733984947205, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5411733984947205, + "candidate_oracle_selected_branch_score": 0.5411733984947205, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-56ad75c28031e049a3dd;ms-54a7c3d32b6a267d81a2;ms-de0321d0ece4c58bc224;ms-4bc023d8d1f7748b0e12;ms-dea17c1c383f54d05636;ms-175375383979526d80b5", + "expert_regret": 1.458827018737793, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-91d86cba2602d1fa780d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.458827018737793, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.541172981262207, + "restore_error": 2.384185791015625e-07, + "score": 0.541172981262207, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3232046663761139, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5926043391227722, + 0.5885208249092102, + 0.5905222296714783, + 0.5622025728225708 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.004083514213562012, + -0.0020821094512939453, + -0.030401766300201416 + ], + "candidate_oracle_branch_scores": [ + 0.5926043391227722, + 0.5885208249092102, + 0.5905222296714783, + 0.5622025728225708 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1973646879196167, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.1973646879196167, + -1.2904410362243652, + -1.3502800464630127, + -1.4467450380325317 + ], + "candidate_oracle_progress": 0.5926043391227722, + "candidate_oracle_regret": 1.4073956608772278, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 2.547167241573334e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5926043391227722, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5926043391227722, + "candidate_oracle_selected_branch_score": 0.5926043391227722, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ddc0b3adf8506c30f503;ms-90a03366976eaa1ad013;ms-5415e349e8f9f2bce641;ms-c3cdd70e2bc10bba1930;ms-fe9347448b7f810d1353;ms-3aaa0d68ca26b1fe6626", + "expert_regret": 1.4073956608772278, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-52cdfff790d71133c5a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4073956608772278, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5926043391227722, + "restore_error": 2.384185791015625e-07, + "score": 0.5926043391227722, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.30893605947494507, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5155268907546997, + 0.5202344059944153, + 0.5169890522956848, + 0.5205739140510559 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.004707515239715576, + 0.0014621615409851074, + 0.005047023296356201 + ], + "candidate_oracle_branch_scores": [ + 0.5155268907546997, + 0.5202344059944153, + 0.5169890522956848, + 0.5205739140510559 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.230059027671814, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -1.0770810842514038, + -1.2055071592330933, + -1.217177391052246, + -1.230059027671814 + ], + "candidate_oracle_progress": 0.5205739140510559, + "candidate_oracle_regret": 1.479426085948944, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 2.547167241573334e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5205739140510559, + "candidate_oracle_score_gain_over_selected": 0.005047023296356201, + "candidate_oracle_selected_branch_progress": 0.5155268907546997, + "candidate_oracle_selected_branch_score": 0.5155268907546997, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-12ac4329c5bca5f2bb62;ms-1f458832fc85f00873cc;ms-20e5ffa93544d6d8b313;ms-7651a7f31eae24958ef0;ms-17a17b212837b7f1309f;ms-2259a78b2187e22f9f37", + "expert_regret": 1.4844700694084167, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-caed5c1b1c882141e2e9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4844700694084167, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5155299305915833, + "restore_error": 2.384185791015625e-07, + "score": 0.5155299305915833, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.574643611907959, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5505319833755493, + 0.5481257438659668, + 0.5451887249946594, + 0.5400590300559998 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0024062395095825195, + -0.005343258380889893, + -0.01047295331954956 + ], + "candidate_oracle_branch_scores": [ + 0.5505319833755493, + 0.5481257438659668, + 0.5451887249946594, + 0.5400590300559998 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.31747913360595703, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + 0.31747913360595703, + 0.3049992024898529, + 0.28853192925453186, + 0.09298418462276459 + ], + "candidate_oracle_progress": 0.5505319833755493, + "candidate_oracle_regret": 1.4494680166244507, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 2.547167241573334e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5505319833755493, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5505319833755493, + "candidate_oracle_selected_branch_score": 0.5505319833755493, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7241a1c25af41f4c0b5a;ms-13192a27f5fcf4fd24d7;ms-f5fb668380b64d4f1e74;ms-b35643e98e1b846e27cf;ms-3e51a1bdc3a2cc4eb06d;ms-71452ba714a10880870b", + "expert_regret": 1.4494691491127014, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-766b6fe7c08a3525ce94", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4494691491127014, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5505308508872986, + "restore_error": 2.384185791015625e-07, + "score": 0.5505308508872986, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9289447069168091, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.5569198727607727, + 0.5563880801200867 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.443080186843872, + -1.4436118602752686 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.5569198727607727, + 0.5563880801200867 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.28680258989334106, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 19, + 35 + ], + "candidate_oracle_potentials": [ + 0.28680258989334106, + 0.27719205617904663, + 0.1807621568441391, + 0.18020766973495483 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-af16712eadcaebf175ff;ms-867fd9318b2445dcefb5;ms-66cc354bbf4e8bdd1051;ms-95320371ce6b820c85f6;ms-29afe3c91faef25f1343;ms-2ee00a97b477ba241dba", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ea72196e20393870bcbb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7975038886070251, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5389302372932434, + 0.5352465510368347, + 0.5392798781394958, + 0.5360578894615173 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0036836862564086914, + 0.0003496408462524414, + -0.0028723478317260742 + ], + "candidate_oracle_branch_scores": [ + 0.5389302372932434, + 0.5352465510368347, + 0.5392798781394958, + 0.5360578894615173 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3319077491760254, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -1.268978238105774, + -1.2938309907913208, + -1.3319077491760254, + -1.352989673614502 + ], + "candidate_oracle_progress": 0.5392798781394958, + "candidate_oracle_regret": 1.4607201218605042, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5392798781394958, + "candidate_oracle_score_gain_over_selected": 0.0003496408462524414, + "candidate_oracle_selected_branch_progress": 0.5389302372932434, + "candidate_oracle_selected_branch_score": 0.5389302372932434, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9184c93267b4bbfa4cae;ms-9ff81e54049443a0f3d3;ms-95320371ce6b820c85f6;ms-66cc354bbf4e8bdd1051;ms-7a17ceb004979b99a586;ms-842e179244eddac303a5", + "expert_regret": 1.4610682129859924, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b6827e38768a63212d73", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4610682129859924, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5389317870140076, + "restore_error": 1.1920928955078125e-07, + "score": 0.5389317870140076, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6136821508407593, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.07552503794431686, + 0.4990755021572113, + 0.04271451383829117, + 0.05354006215929985 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.42355045676231384, + -0.032810524106025696, + -0.021984975785017014 + ], + "candidate_oracle_branch_scores": [ + 0.07552503794431686, + 0.4990755021572113, + 0.04271451383829117, + 0.05354006215929985 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.4175591468811035, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -2.3938052654266357, + -2.4175591468811035, + -2.4286186695098877, + -2.5016541481018066 + ], + "candidate_oracle_progress": 0.4990755021572113, + "candidate_oracle_regret": 1.5009244978427887, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4990755021572113, + "candidate_oracle_score_gain_over_selected": 0.42355045676231384, + "candidate_oracle_selected_branch_progress": 0.07552503794431686, + "candidate_oracle_selected_branch_score": 0.07552503794431686, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fe650308e25459ee64c6;ms-4acbf69acd30d96e46a7;ms-f5bae191ebad7c9f2687;ms-b481531ab787e3d6fb1e;ms-7670f25745871759e69e;ms-22675530f3a401b3fd6d", + "expert_regret": 1.9254547134041786, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a01e21b91a5b37a16afe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9254547134041786, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07454528659582138, + "restore_error": 1.1920928955078125e-07, + "score": 0.07454528659582138, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4731420874595642, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.045121170580387115, + 0.04933736473321915, + 0.04634631797671318, + 0.07510370016098022 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.004216194152832031, + 0.001225147396326065, + 0.02998252958059311 + ], + "candidate_oracle_branch_scores": [ + 0.045121170580387115, + 0.04933736473321915, + 0.04634631797671318, + 0.07510370016098022 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.3338449001312256, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 35 + ], + "candidate_oracle_potentials": [ + -2.274336338043213, + -2.28369140625, + -2.310159683227539, + -2.3338449001312256 + ], + "candidate_oracle_progress": 0.07510370016098022, + "candidate_oracle_regret": 1.9248962998390198, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.07510370016098022, + "candidate_oracle_score_gain_over_selected": 0.02998252958059311, + "candidate_oracle_selected_branch_progress": 0.045121170580387115, + "candidate_oracle_selected_branch_score": 0.045121170580387115, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13557287cd450bc12c6f;ms-c76158673d20b18c2622;ms-81f48d29d0404300ea93;ms-3abfb4c309360a304d54;ms-f69d6aec4ddb12d88c5b;ms-15c083989d8277fd07ec", + "expert_regret": 1.9548802487552166, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c425c810f7865e9564ee", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9548802487552166, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0451197512447834, + "restore_error": 1.1920928955078125e-07, + "score": 0.0451197512447834, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22322000563144684, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.5735369324684143, + 0.5626444220542908 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.4264631271362305, + -1.4373555183410645 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.5735369324684143, + 0.5626444220542908 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.2249106168746948, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -1.2249106168746948, + -1.2252439260482788, + -1.2273117303848267, + -1.28386390209198 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-166b7f66bf9f4eec432b;ms-8b68d8b4d22e6ff0451d;ms-a3d0c460532de2d801ae;ms-910d27b58a0585327a27;ms-4c83412fa0aa5180ad89;ms-97aebe1dd42939e3b340", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f39bbaa063044719a98d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3730512261390686, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.017194056883454323, + 0.01729043759405613, + 0.01790776289999485, + 0.017475426197052002 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 9.638071060180664e-05, + 0.0007137060165405273, + 0.00028136931359767914 + ], + "candidate_oracle_branch_scores": [ + 0.017194056883454323, + 0.01729043759405613, + 0.01790776289999485, + 0.017475426197052002 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -2.832207679748535, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -2.6769113540649414, + -2.792693614959717, + -2.832207679748535, + -2.8549797534942627 + ], + "candidate_oracle_progress": 0.01790776289999485, + "candidate_oracle_regret": 1.9820922371000051, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.01790776289999485, + "candidate_oracle_score_gain_over_selected": 0.0007137060165405273, + "candidate_oracle_selected_branch_progress": 0.017194056883454323, + "candidate_oracle_selected_branch_score": 0.017194056883454323, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7670f25745871759e69e;ms-f5483f0819e0e8bc352e;ms-b481531ab787e3d6fb1e;ms-d9e3a187dcadb9ad26b1;ms-fe650308e25459ee64c6;ms-4acbf69acd30d96e46a7", + "expert_regret": 1.9828059431165457, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ed9addab41f3298db7bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9828059431165457, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.017194056883454323, + "restore_error": 1.1920928955078125e-07, + "score": 0.017194056883454323, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15787315368652344, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5690273642539978 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.4309725761413574 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5690273642539978 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.17799019813537598, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + 0.17799019813537598, + 0.170304536819458, + 0.15616485476493835, + 0.10371292382478714 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-561f4f913d7b4991d81a;ms-bb0d941f78d3d9c5a886;ms-3c4ff3dae26217f22a8b;ms-348af0b70d3e679f40a2;ms-93e3d9968204474eff49;ms-a5d81a7c740394b68c3f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eb16021deb5d03f15c9d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40473049879074097, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.47478947043418884, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + 0.47478947043418884, + 0.47438088059425354, + 0.4729386568069458, + 0.4367849826812744 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3cfb09df08ad7279ef02;ms-d686ae387b1a0ce2f2f3;ms-4d6099258a3a6e037aff;ms-f5aa7ce332ee9702812a;ms-309d2258d275ae304857;ms-a3d0c460532de2d801ae", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-912718b1f2ef92066799", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.444751113653183, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.4600430428981781, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.4600430428981781, + 0.4567377269268036, + 0.3938920199871063, + 0.3863535225391388 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3aa5793c449b59c77b6f;ms-c5d026dffb39f2f1d38a;ms-ee32e6bb3c0bb45702b9;ms-b8276cb9b6cb9a9b302f;ms-479aa7d4248a0ebd94e1;ms-8a74cf665984273be00d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9783ccaf76f1b20c766e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7583297491073608, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5334893465042114, + 0.5333298444747925, + 0.533237874507904, + 0.5323853492736816 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0001595020294189453, + -0.00025147199630737305, + -0.0011039972305297852 + ], + "candidate_oracle_branch_scores": [ + 0.5334893465042114, + 0.5333298444747925, + 0.533237874507904, + 0.5323853492736816 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3382142782211304, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -1.3382142782211304, + -1.3920471668243408, + -1.4458096027374268, + -1.4611021280288696 + ], + "candidate_oracle_progress": 0.5334893465042114, + "candidate_oracle_regret": 1.4665106534957886, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5334893465042114, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5334893465042114, + "candidate_oracle_selected_branch_score": 0.5334893465042114, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-859d0ea38fb5e8aa6b98;ms-54a7c3d32b6a267d81a2;ms-56ad75c28031e049a3dd;ms-60a28a9b282e7586d4d2;ms-e110d8ef3eb852a0f564;ms-175375383979526d80b5", + "expert_regret": 1.466509997844696, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ffc3f18cbc674bdcc085", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.466509997844696, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.533490002155304, + "restore_error": 1.1920928955078125e-07, + "score": 0.533490002155304, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12745638191699982, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.6024174690246582, + 0.6072904467582703, + 0.6117192506790161, + 0.609318196773529 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0048729777336120605, + 0.00930178165435791, + 0.00690072774887085 + ], + "candidate_oracle_branch_scores": [ + 0.6024174690246582, + 0.6072904467582703, + 0.6117192506790161, + 0.609318196773529 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.14986716210842133, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 8 + ], + "candidate_oracle_potentials": [ + 0.1525544971227646, + 0.15220992267131805, + 0.14986716210842133, + 0.12533608078956604 + ], + "candidate_oracle_progress": 0.6117192506790161, + "candidate_oracle_regret": 1.3882807493209839, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.6117192506790161, + "candidate_oracle_score_gain_over_selected": 0.00930178165435791, + "candidate_oracle_selected_branch_progress": 0.6024174690246582, + "candidate_oracle_selected_branch_score": 0.6024174690246582, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4acbf69acd30d96e46a7;ms-f5bae191ebad7c9f2687;ms-fe650308e25459ee64c6;ms-b481531ab787e3d6fb1e;ms-7670f25745871759e69e;ms-22675530f3a401b3fd6d", + "expert_regret": 1.3975825905799866, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bef9b88ae40ca98647aa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3975825905799866, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6024174094200134, + "restore_error": 1.1920928955078125e-07, + "score": 0.6024174094200134, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3371848464012146, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.38594698905944824, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 4 + ], + "candidate_oracle_potentials": [ + 0.38594698905944824, + 0.3833184838294983, + 0.38046085834503174, + 0.36733710765838623 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5aa7ce332ee9702812a;ms-3cfb09df08ad7279ef02;ms-d686ae387b1a0ce2f2f3;ms-4d6099258a3a6e037aff;ms-309d2258d275ae304857;ms-bca6fa102f94cb145cd2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2be3bf4f348678c0cc6c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2333824187517166, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5389499664306641, + 0.5381300449371338, + 0.5380075573921204, + 0.5378818511962891 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0008199214935302734, + -0.0009424090385437012, + -0.001068115234375 + ], + "candidate_oracle_branch_scores": [ + 0.5389499664306641, + 0.5381300449371338, + 0.5380075573921204, + 0.5378818511962891 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.6461542844772339, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.6461542844772339, + -1.6553711891174316, + -1.6581705808639526, + -1.6610029935836792 + ], + "candidate_oracle_progress": 0.5389499664306641, + "candidate_oracle_regret": 1.461050033569336, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5389499664306641, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5389499664306641, + "candidate_oracle_selected_branch_score": 0.5389499664306641, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e8fbdbddd9200f5091d6;ms-c6beb139304a0ea6f7ae;ms-128c7c43e30023e6b1a3;ms-561f4f913d7b4991d81a;ms-3d095a49ed03de972849;ms-8b5b5e5f9237c41e0fe9", + "expert_regret": 1.4610501527786255, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2dc8e489908f72903319", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4610501527786255, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5389498472213745, + "restore_error": 1.1920928955078125e-07, + "score": 0.5389498472213745, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45843902230262756, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.46978437900543213, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 24 + ], + "candidate_oracle_potentials": [ + 0.46978437900543213, + 0.46264946460723877, + 0.45916029810905457, + 0.45179063081741333 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c78721d9c4196a9e8ec5;ms-0e55645c0c701caac48a;ms-caeb59971565b08f2513;ms-0ece7b8c91d9d82f244b;ms-daaac2887015a6e4f3e0;ms-7a460f3c1b67817c19de", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ca11ec8f7fbf0c1d66e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5211063027381897, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.07018955051898956, + 0.07041269540786743, + 0.08632029592990875, + 0.06968275457620621 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00022314488887786865, + 0.01613074541091919, + -0.0005067959427833557 + ], + "candidate_oracle_branch_scores": [ + 0.07018955051898956, + 0.07041269540786743, + 0.08632029592990875, + 0.06968275457620621 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.8443779945373535, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -1.7387336492538452, + -1.8402256965637207, + -1.8443779945373535, + -1.8595575094223022 + ], + "candidate_oracle_progress": 0.08632029592990875, + "candidate_oracle_regret": 0.5318977683782578, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.08632029592990875, + "candidate_oracle_score_gain_over_selected": 0.01613074541091919, + "candidate_oracle_selected_branch_progress": 0.07018955051898956, + "candidate_oracle_selected_branch_score": 0.07018955051898956, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7e6493bb6b1ff650d6de;ms-7d18f6f16879d2933bcd;ms-19e6e6e341aebb7ec693;ms-8c9f657875cf334b1f17;ms-99df75798ec5da5ec7f3;ms-4c7138016830a563fb1b", + "expert_regret": 0.542777307331562, + "expert_score": 0.6129657030105591, + "expert_success": false, + "group_id": "ms-f653a3ac16eba9fba5dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5480296686291695, + "oracle_score": 0.6182180643081665, + "oracle_success": false, + "progress": 0.07018839567899704, + "restore_error": 1.1920928955078125e-07, + "score": 0.07018839567899704, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2890632450580597, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.545783519744873, + 0.5318655371665955, + 0.5233810544013977, + 0.550733208656311 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.013917982578277588, + -0.022402465343475342, + 0.004949688911437988 + ], + "candidate_oracle_branch_scores": [ + 0.545783519744873, + 0.5318655371665955, + 0.5233810544013977, + 0.550733208656311 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.3741047382354736, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.2874681949615479, + -1.3219232559204102, + -1.3263728618621826, + -1.3741047382354736 + ], + "candidate_oracle_progress": 0.550733208656311, + "candidate_oracle_regret": 1.449266791343689, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.550733208656311, + "candidate_oracle_score_gain_over_selected": 0.004949688911437988, + "candidate_oracle_selected_branch_progress": 0.545783519744873, + "candidate_oracle_selected_branch_score": 0.545783519744873, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-97598e118c5cc8c254a5;ms-227fe0347d2ea57a66a3;ms-6c0ef0ef8b493232246c;ms-382000b79932b7c68326;ms-dea17c1c383f54d05636;ms-a2c5c9fd35d9fda5ce9e", + "expert_regret": 1.454207420349121, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-296b75a11f61d61d5fba", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.454207420349121, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5457925796508789, + "restore_error": 1.1920928955078125e-07, + "score": 0.5457925796508789, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4491024613380432, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.027762413024902344, + 0.027551615610718727, + 0.027447296306490898, + 0.027438998222351074 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00021079741418361664, + -0.0003151167184114456, + -0.00032341480255126953 + ], + "candidate_oracle_branch_scores": [ + 0.027762413024902344, + 0.027551615610718727, + 0.027447296306490898, + 0.027438998222351074 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.2733912467956543, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -2.2733912467956543, + -2.333906412124634, + -2.3666207790374756, + -2.4685237407684326 + ], + "candidate_oracle_progress": 0.027762413024902344, + "candidate_oracle_regret": 1.9722375869750977, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.027762413024902344, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.027762413024902344, + "candidate_oracle_selected_branch_score": 0.027762413024902344, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7d18f6f16879d2933bcd;ms-7e6493bb6b1ff650d6de;ms-22675530f3a401b3fd6d;ms-8c9f657875cf334b1f17;ms-19e6e6e341aebb7ec693;ms-99df75798ec5da5ec7f3", + "expert_regret": 1.9722371809184551, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d1978e8c3540cb5b1f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9722371809184551, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.027762819081544876, + "restore_error": 1.1920928955078125e-07, + "score": 0.027762819081544876, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45382705330848694, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5070690512657166, + 0.5071945786476135, + 0.5073155164718628, + 0.5061033964157104 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00012552738189697266, + 0.00024646520614624023, + -0.0009656548500061035 + ], + "candidate_oracle_branch_scores": [ + 0.5070690512657166, + 0.5071945786476135, + 0.5073155164718628, + 0.5061033964157104 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.5326110124588013, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -1.5314204692840576, + -1.531922698020935, + -1.5326110124588013, + -1.542300820350647 + ], + "candidate_oracle_progress": 0.5073155164718628, + "candidate_oracle_regret": 1.4926844835281372, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5073155164718628, + "candidate_oracle_score_gain_over_selected": 0.00024646520614624023, + "candidate_oracle_selected_branch_progress": 0.5070690512657166, + "candidate_oracle_selected_branch_score": 0.5070690512657166, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ae33e3afb57e61026d72;ms-93e3d9968204474eff49;ms-3c4ff3dae26217f22a8b;ms-348af0b70d3e679f40a2;ms-c0bfce3c9dd10f9d3231;ms-76194d089c97018ce427", + "expert_regret": 1.4937145113945007, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6355260c6fa49f291729", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4937145113945007, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5062854886054993, + "restore_error": 1.1920928955078125e-07, + "score": 0.5062854886054993, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3531031012535095, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.4513411521911621, + 0.44977179169654846, + 0.45134860277175903, + 0.4499579966068268 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0015693604946136475, + 7.450580596923828e-06, + -0.0013831555843353271 + ], + "candidate_oracle_branch_scores": [ + 0.4513411521911621, + 0.44977179169654846, + 0.45134860277175903, + 0.4499579966068268 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0312620401382446, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.9610492587089539, + -0.9767820239067078, + -1.0312620401382446, + -1.0456907749176025 + ], + "candidate_oracle_progress": 0.45134860277175903, + "candidate_oracle_regret": 1.548651397228241, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.45134860277175903, + "candidate_oracle_score_gain_over_selected": 7.450580596923828e-06, + "candidate_oracle_selected_branch_progress": 0.4513411521911621, + "candidate_oracle_selected_branch_score": 0.4513411521911621, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-11230e3aaabb1feec834;ms-8a74cf665984273be00d;ms-813cac6d08ed5af48b12;ms-7af1e453acf970f40546;ms-d88107eff1e361cdcc4c;ms-3c2515d4a10082514714", + "expert_regret": 1.5486696064472198, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0e275939f12a9dcee0a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5486696064472198, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.45133039355278015, + "restore_error": 1.1920928955078125e-07, + "score": 0.45133039355278015, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7170513868331909, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.5716081261634827, + 0.5717819333076477 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.428391933441162, + -1.428218126296997 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.5716081261634827, + 0.5717819333076477 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.05823632329702377, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 0.05823632329702377, + 0.052524060010910034, + -0.08376690745353699, + -0.084526427090168 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-348af0b70d3e679f40a2;ms-bb0d941f78d3d9c5a886;ms-23d6e5835aa90a62b6ef;ms-93e3d9968204474eff49;ms-3c4ff3dae26217f22a8b;ms-a5d81a7c740394b68c3f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fe2964cc8940ee7c24aa", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2111964225769043, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5432636141777039, + 0.5434490442276001, + 0.5436331629753113, + 0.5449003577232361 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00018543004989624023, + 0.0003695487976074219, + 0.0016367435455322266 + ], + "candidate_oracle_branch_scores": [ + 0.5432636141777039, + 0.5434490442276001, + 0.5436331629753113, + 0.5449003577232361 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.9581997990608215, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.935833215713501, + -0.936802864074707, + -0.9378582239151001, + -0.9581997990608215 + ], + "candidate_oracle_progress": 0.5449003577232361, + "candidate_oracle_regret": 1.455099642276764, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5449003577232361, + "candidate_oracle_score_gain_over_selected": 0.0016367435455322266, + "candidate_oracle_selected_branch_progress": 0.5432636141777039, + "candidate_oracle_selected_branch_score": 0.5432636141777039, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4c83412fa0aa5180ad89;ms-a3d0c460532de2d801ae;ms-8b68d8b4d22e6ff0451d;ms-3cfb09df08ad7279ef02;ms-4d6099258a3a6e037aff;ms-d686ae387b1a0ce2f2f3", + "expert_regret": 1.4567356705665588, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11a2794efa24f4d93d83", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4567356705665588, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5432643294334412, + "restore_error": 1.1920928955078125e-07, + "score": 0.5432643294334412, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5321569442749023, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5675169229507446, + 0.5691124200820923, + 0.5706876516342163, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0015954971313476562, + 0.0031707286834716797, + 1.4324830770492554 + ], + "candidate_oracle_branch_scores": [ + 0.5675169229507446, + 0.5691124200820923, + 0.5706876516342163, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.1798710972070694, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 40 + ], + "candidate_oracle_potentials": [ + -0.09609081596136093, + -0.1051705852150917, + -0.11774726212024689, + -0.1798710972070694 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4324830770492554, + "candidate_oracle_selected_branch_progress": 0.5675169229507446, + "candidate_oracle_selected_branch_score": 0.5675169229507446, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d686ae387b1a0ce2f2f3;ms-4d6099258a3a6e037aff;ms-f5aa7ce332ee9702812a;ms-c6beb139304a0ea6f7ae;ms-3cfb09df08ad7279ef02;ms-e8fbdbddd9200f5091d6", + "expert_regret": 1.4324830770492554, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3731f1c5af3c4a133633", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4324830770492554, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5675169229507446, + "restore_error": 1.1920928955078125e-07, + "score": 0.5675169229507446, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7296056747436523, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5616125464439392 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.438387393951416 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5616125464439392 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.4816492795944214, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 1 + ], + "candidate_oracle_potentials": [ + -1.4816492795944214, + -1.4819761514663696, + -1.4824094772338867, + -1.487718939781189 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-76194d089c97018ce427;ms-c0bfce3c9dd10f9d3231;ms-51873059990aa55691a2;ms-ae33e3afb57e61026d72;ms-a5d81a7c740394b68c3f;ms-3c2515d4a10082514714", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-090e18187bb6ae4a9120", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.25596877932548523, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.0327107198536396, + 0.03434660658240318, + 0.03649408742785454, + 0.03523446246981621 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0016358867287635803, + 0.0037833675742149353, + 0.0025237426161766052 + ], + "candidate_oracle_branch_scores": [ + 0.0327107198536396, + 0.03434660658240318, + 0.03649408742785454, + 0.03523446246981621 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.8297888040542603, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.6443229913711548, + -1.8200291395187378, + -1.8297888040542603, + -1.8573991060256958 + ], + "candidate_oracle_progress": 0.03649408742785454, + "candidate_oracle_regret": 1.9635059125721455, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.03649408742785454, + "candidate_oracle_score_gain_over_selected": 0.0037833675742149353, + "candidate_oracle_selected_branch_progress": 0.0327107198536396, + "candidate_oracle_selected_branch_score": 0.0327107198536396, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fd1c44c6d5d8f7f11451;ms-de0abc7a53a48164f82d;ms-90a03366976eaa1ad013;ms-8af2224cc82636ef1dd7;ms-5415e349e8f9f2bce641;ms-4015c296239564108da2", + "expert_regret": 1.9672891497612, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4f938bd3599c372c8bff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9672891497612, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03271085023880005, + "restore_error": 1.1920928955078125e-07, + "score": 0.03271085023880005, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8335267305374146, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5072017312049866, + 0.5061134696006775, + 0.5063813328742981, + 0.5053234100341797 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.001088261604309082, + -0.0008203983306884766, + -0.0018783211708068848 + ], + "candidate_oracle_branch_scores": [ + 0.5072017312049866, + 0.5061134696006775, + 0.5063813328742981, + 0.5053234100341797 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.5500439405441284, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -1.5500439405441284, + -1.5565321445465088, + -1.5880364179611206, + -1.5893800258636475 + ], + "candidate_oracle_progress": 0.5072017312049866, + "candidate_oracle_regret": 1.4927982687950134, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5072017312049866, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5072017312049866, + "candidate_oracle_selected_branch_score": 0.5072017312049866, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-60a28a9b282e7586d4d2;ms-e110d8ef3eb852a0f564;ms-de0321d0ece4c58bc224;ms-56ad75c28031e049a3dd;ms-859d0ea38fb5e8aa6b98;ms-382000b79932b7c68326", + "expert_regret": 1.4929107427597046, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-362ba7cebb2bab1421e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4929107427597046, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5070892572402954, + "restore_error": 1.1920928955078125e-07, + "score": 0.5070892572402954, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4892951548099518, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.521845281124115, + 0.5226407051086426, + 0.5128440260887146, + 0.511408269405365 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0007954239845275879, + -0.00900125503540039, + -0.01043701171875 + ], + "candidate_oracle_branch_scores": [ + 0.521845281124115, + 0.5226407051086426, + 0.5128440260887146, + 0.511408269405365 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.5672612190246582, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.5628019571304321, + -1.5672612190246582, + -1.5713571310043335, + -1.5742167234420776 + ], + "candidate_oracle_progress": 0.5226407051086426, + "candidate_oracle_regret": 1.4773592948913574, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5226407051086426, + "candidate_oracle_score_gain_over_selected": 0.0007954239845275879, + "candidate_oracle_selected_branch_progress": 0.521845281124115, + "candidate_oracle_selected_branch_score": 0.521845281124115, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5dfad80e83d210946447;ms-e318e13f77e75e7cd802;ms-f5483f0819e0e8bc352e;ms-d9e3a187dcadb9ad26b1;ms-7670f25745871759e69e;ms-b481531ab787e3d6fb1e", + "expert_regret": 0.07278972864151001, + "expert_score": 0.594340980052948, + "expert_success": false, + "group_id": "ms-70bc2fe01ba217676b26", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.478448748588562, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.521551251411438, + "restore_error": 1.1920928955078125e-07, + "score": 0.521551251411438, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4070439338684082, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.4540501832962036, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.4540501832962036, + 0.4489503800868988, + 0.3802200257778168, + 0.3776436746120453 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3aa5793c449b59c77b6f;ms-c5d026dffb39f2f1d38a;ms-ee32e6bb3c0bb45702b9;ms-b8276cb9b6cb9a9b302f;ms-479aa7d4248a0ebd94e1;ms-0e55645c0c701caac48a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c70be4072fb4e49ac106", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.26934030652046204, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5433369874954224, + 0.5433160066604614, + 0.5432960391044617, + 0.5434496402740479 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -2.09808349609375e-05, + -4.094839096069336e-05, + 0.00011265277862548828 + ], + "candidate_oracle_branch_scores": [ + 0.5433369874954224, + 0.5433160066604614, + 0.5432960391044617, + 0.5434496402740479 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.4097490310668945, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -1.4058445692062378, + -1.407509207725525, + -1.4092429876327515, + -1.4097490310668945 + ], + "candidate_oracle_progress": 0.5434496402740479, + "candidate_oracle_regret": 1.4565503597259521, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5434496402740479, + "candidate_oracle_score_gain_over_selected": 0.00011265277862548828, + "candidate_oracle_selected_branch_progress": 0.5433369874954224, + "candidate_oracle_selected_branch_score": 0.5433369874954224, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13192a27f5fcf4fd24d7;ms-3e51a1bdc3a2cc4eb06d;ms-f5fb668380b64d4f1e74;ms-4fe7fdaf946c97803c82;ms-d5d7c690819019cb7869;ms-564c02492863ae749ea9", + "expert_regret": 1.4566650390625, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-625b5d55ca76cc565049", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4566650390625, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5433349609375, + "restore_error": 1.1920928955078125e-07, + "score": 0.5433349609375, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.37262770533561707, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.033894967287778854, + 0.03318685293197632, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.000708114355802536, + 1.9661049842834473, + 1.9661049842834473 + ], + "candidate_oracle_branch_scores": [ + 0.033894967287778854, + 0.03318685293197632, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.06596458703279495, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + 0.14369845390319824, + 0.07786785811185837, + 0.06596458703279495, + 0.02883676066994667 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.9661049842834473, + "candidate_oracle_selected_branch_progress": 0.033894967287778854, + "candidate_oracle_selected_branch_score": 0.033894967287778854, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d5d7c690819019cb7869;ms-564c02492863ae749ea9;ms-4c7138016830a563fb1b;ms-99df75798ec5da5ec7f3;ms-8c9f657875cf334b1f17;ms-19e6e6e341aebb7ec693", + "expert_regret": 1.9661080352962017, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0f219ce35aff264455e2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9661080352962017, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.033891964703798294, + "restore_error": 1.1920928955078125e-07, + "score": 0.033891964703798294, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2013763189315796, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5553399324417114, + 0.555596649646759, + 0.555853009223938, + 0.5534193515777588 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0002567172050476074, + 0.0005130767822265625, + -0.0019205808639526367 + ], + "candidate_oracle_branch_scores": [ + 0.5553399324417114, + 0.555596649646759, + 0.555853009223938, + 0.5534193515777588 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.6278261542320251, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -0.6232743859291077, + -0.6254230737686157, + -0.6278261542320251, + -0.628371000289917 + ], + "candidate_oracle_progress": 0.555853009223938, + "candidate_oracle_regret": 1.444146990776062, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.555853009223938, + "candidate_oracle_score_gain_over_selected": 0.0005130767822265625, + "candidate_oracle_selected_branch_progress": 0.5553399324417114, + "candidate_oracle_selected_branch_score": 0.5553399324417114, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5fb668380b64d4f1e74;ms-13192a27f5fcf4fd24d7;ms-3e51a1bdc3a2cc4eb06d;ms-4fe7fdaf946c97803c82;ms-7241a1c25af41f4c0b5a;ms-d5d7c690819019cb7869", + "expert_regret": 1.4446600675582886, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4276f24b1b5dce771bff", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4446600675582886, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5553399324417114, + "restore_error": 1.1920928955078125e-07, + "score": 0.5553399324417114, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5851411819458008, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.040775589644908905, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.040775589644908905, + 0.02185981348156929, + -0.09987089037895203, + -0.13367876410484314 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ee32e6bb3c0bb45702b9;ms-caeb59971565b08f2513;ms-28d5618562729c763eb6;ms-0e55645c0c701caac48a;ms-daaac2887015a6e4f3e0;ms-7a460f3c1b67817c19de", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4385e9c56007fdaa94b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2674925625324249, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5659546852111816, + 1.0, + 1.0, + 0.549906849861145 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.4340453147888184, + 1.4340453147888184, + -0.01604783535003662 + ], + "candidate_oracle_branch_scores": [ + 0.5659546852111816, + 2.0, + 2.0, + 0.549906849861145 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.302666425704956, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.2284784317016602, + -1.302666425704956, + -1.3079253435134888, + -1.4000170230865479 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4340453147888184, + "candidate_oracle_selected_branch_progress": 0.5659546852111816, + "candidate_oracle_selected_branch_score": 0.5659546852111816, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8af2224cc82636ef1dd7;ms-5415e349e8f9f2bce641;ms-90a03366976eaa1ad013;ms-4015c296239564108da2;ms-c3cdd70e2bc10bba1930;ms-ddc0b3adf8506c30f503", + "expert_regret": 1.4340420365333557, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2e5c2f75d3f6311e0a1c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4340420365333557, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5659579634666443, + "restore_error": 1.1920928955078125e-07, + "score": 0.5659579634666443, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6855476498603821, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5384823679924011, + 0.5382906794548035, + 0.5381969809532166, + 0.5380563139915466 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00019168853759765625, + -0.0002853870391845703, + -0.0004260540008544922 + ], + "candidate_oracle_branch_scores": [ + 0.5384823679924011, + 0.5382906794548035, + 0.5381969809532166, + 0.5380563139915466 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.000821590423584, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + -1.000821590423584, + -1.011918544769287, + -1.0140841007232666, + -1.0164207220077515 + ], + "candidate_oracle_progress": 0.5384823679924011, + "candidate_oracle_regret": 1.4615176320075989, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5384823679924011, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5384823679924011, + "candidate_oracle_selected_branch_score": 0.5384823679924011, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-66cc354bbf4e8bdd1051;ms-af16712eadcaebf175ff;ms-95320371ce6b820c85f6;ms-2ee00a97b477ba241dba;ms-d4bde31fd7e7cee76b09;ms-29afe3c91faef25f1343", + "expert_regret": 1.461557924747467, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bb60defa0d234da9e0bc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.461557924747467, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.538442075252533, + "restore_error": 1.1920928955078125e-07, + "score": 0.538442075252533, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1668364703655243, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.1530776172876358, + 0.5486364364624023, + 0.15373234450817108, + 0.1518648862838745 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.39555883407592773, + 0.0006547272205352783, + -0.0012127310037612915 + ], + "candidate_oracle_branch_scores": [ + 0.1530776172876358, + 0.5486364364624023, + 0.15373234450817108, + 0.1518648862838745 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7512488961219788, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 0, + 20, + 4 + ], + "candidate_oracle_potentials": [ + -0.6838603019714355, + -0.7512488961219788, + -0.8090959787368774, + -0.8785628080368042 + ], + "candidate_oracle_progress": 0.5486364364624023, + "candidate_oracle_regret": 1.4513635635375977, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5486364364624023, + "candidate_oracle_score_gain_over_selected": 0.39555883407592773, + "candidate_oracle_selected_branch_progress": 0.1530776172876358, + "candidate_oracle_selected_branch_score": 0.1530776172876358, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4bc023d8d1f7748b0e12;ms-a2c5c9fd35d9fda5ce9e;ms-54a7c3d32b6a267d81a2;ms-01067b8ff16f74652382;ms-175375383979526d80b5;ms-56ad75c28031e049a3dd", + "expert_regret": 0.4645429104566574, + "expert_score": 0.6176263093948364, + "expert_success": false, + "group_id": "ms-a509a572b3871e591d26", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.846916601061821, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.15308339893817902, + "restore_error": 1.1920928955078125e-07, + "score": 0.15308339893817902, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.553642213344574, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5461716055870056, + 0.5473626255989075, + 0.5448433756828308, + 0.5458933711051941 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0011910200119018555, + -0.0013282299041748047, + -0.00027823448181152344 + ], + "candidate_oracle_branch_scores": [ + 0.5461716055870056, + 0.5473626255989075, + 0.5448433756828308, + 0.5458933711051941 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6276553869247437, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + -0.6204075813293457, + -0.6276553869247437, + -0.7494661211967468, + -0.7543009519577026 + ], + "candidate_oracle_progress": 0.5473626255989075, + "candidate_oracle_regret": 1.4526373744010925, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5473626255989075, + "candidate_oracle_score_gain_over_selected": 0.0011910200119018555, + "candidate_oracle_selected_branch_progress": 0.5461716055870056, + "candidate_oracle_selected_branch_score": 0.5461716055870056, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8b5b5e5f9237c41e0fe9;ms-128c7c43e30023e6b1a3;ms-564c02492863ae749ea9;ms-d5d7c690819019cb7869;ms-fb92a1e6b67121783fff;ms-561f4f913d7b4991d81a", + "expert_regret": 1.453827440738678, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-17330235d51598ebcb4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.453827440738678, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.546172559261322, + "restore_error": 1.1920928955078125e-07, + "score": 0.546172559261322, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7322348952293396, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.33324092626571655, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 24 + ], + "candidate_oracle_potentials": [ + 0.33324092626571655, + 0.32187172770500183, + 0.3147491216659546, + 0.3068932294845581 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c0bfce3c9dd10f9d3231;ms-ae33e3afb57e61026d72;ms-a5d81a7c740394b68c3f;ms-348af0b70d3e679f40a2;ms-93e3d9968204474eff49;ms-23d6e5835aa90a62b6ef", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-910364d2d86091c5e0cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5870798826217651, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5487276315689087, + 0.5468711853027344, + 0.5464097857475281, + 0.5407423377037048 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0018564462661743164, + -0.0023178458213806152, + -0.007985293865203857 + ], + "candidate_oracle_branch_scores": [ + 0.5487276315689087, + 0.5468711853027344, + 0.5464097857475281, + 0.5407423377037048 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2520610094070435, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -1.2520610094070435, + -1.322867512702942, + -1.339102029800415, + -1.4078739881515503 + ], + "candidate_oracle_progress": 0.5487276315689087, + "candidate_oracle_regret": 1.4512723684310913, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5487276315689087, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5487276315689087, + "candidate_oracle_selected_branch_score": 0.5487276315689087, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-80d5c509e83845ab1bc7;ms-9b15f9c696a2661346cf;ms-b1c9975d1a007dd03dc4;ms-e110d8ef3eb852a0f564;ms-503d0b1d27ed78b6130f;ms-de0321d0ece4c58bc224", + "expert_regret": 1.4512730836868286, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5316151a88a3282436ca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4512730836868286, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5487269163131714, + "restore_error": 1.1920928955078125e-07, + "score": 0.5487269163131714, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4003923237323761, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.1090356707572937, + 0.11984624713659286, + 0.07391426712274551, + 0.07238753139972687 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.010810576379299164, + -0.03512140363454819, + -0.036648139357566833 + ], + "candidate_oracle_branch_scores": [ + 0.1090356707572937, + 0.11984624713659286, + 0.07391426712274551, + 0.07238753139972687 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2153174877166748, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.1428302526474, + -1.2153174877166748, + -1.2518694400787354, + -1.2689344882965088 + ], + "candidate_oracle_progress": 0.11984624713659286, + "candidate_oracle_regret": 1.8801537528634071, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.11984624713659286, + "candidate_oracle_score_gain_over_selected": 0.010810576379299164, + "candidate_oracle_selected_branch_progress": 0.1090356707572937, + "candidate_oracle_selected_branch_score": 0.1090356707572937, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-90a03366976eaa1ad013;ms-5415e349e8f9f2bce641;ms-ddc0b3adf8506c30f503;ms-fd1c44c6d5d8f7f11451;ms-0843bef6b0c13c3ede69;ms-c3cdd70e2bc10bba1930", + "expert_regret": 1.8909643292427063, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6b9ede8946200ad0cd5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8909643292427063, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1090356707572937, + "restore_error": 1.1920928955078125e-07, + "score": 0.1090356707572937, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5408095121383667, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5539618134498596, + 0.5539846420288086, + 0.5541362166404724, + 0.5540431141853333 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 2.282857894897461e-05, + 0.00017440319061279297, + 8.130073547363281e-05 + ], + "candidate_oracle_branch_scores": [ + 0.5539618134498596, + 0.5539846420288086, + 0.5541362166404724, + 0.5540431141853333 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.3452843427658081, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 36, + 20 + ], + "candidate_oracle_potentials": [ + -0.3359314501285553, + -0.33971279859542847, + -0.3452843427658081, + -0.35199427604675293 + ], + "candidate_oracle_progress": 0.5541362166404724, + "candidate_oracle_regret": 1.4458637833595276, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5541362166404724, + "candidate_oracle_score_gain_over_selected": 0.00017440319061279297, + "candidate_oracle_selected_branch_progress": 0.5539618134498596, + "candidate_oracle_selected_branch_score": 0.5539618134498596, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5fb668380b64d4f1e74;ms-3e51a1bdc3a2cc4eb06d;ms-13192a27f5fcf4fd24d7;ms-22675530f3a401b3fd6d;ms-7d18f6f16879d2933bcd;ms-7e6493bb6b1ff650d6de", + "expert_regret": 1.4460375905036926, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5f98f13f17e8f41f7436", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4460375905036926, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5539624094963074, + "restore_error": 1.1920928955078125e-07, + "score": 0.5539624094963074, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44124603271484375, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.510469913482666, + 0.5106949806213379, + 0.5109166502952576, + 0.5123756527900696 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.000225067138671875, + 0.00044673681259155273, + 0.0019057393074035645 + ], + "candidate_oracle_branch_scores": [ + 0.510469913482666, + 0.5106949806213379, + 0.5109166502952576, + 0.5123756527900696 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.398938775062561, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -1.3800469636917114, + -1.3805785179138184, + -1.3812512159347534, + -1.398938775062561 + ], + "candidate_oracle_progress": 0.5123756527900696, + "candidate_oracle_regret": 1.4876243472099304, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5123756527900696, + "candidate_oracle_score_gain_over_selected": 0.0019057393074035645, + "candidate_oracle_selected_branch_progress": 0.510469913482666, + "candidate_oracle_selected_branch_score": 0.510469913482666, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ae33e3afb57e61026d72;ms-93e3d9968204474eff49;ms-564c02492863ae749ea9;ms-60a28a9b282e7586d4d2;ms-e110d8ef3eb852a0f564;ms-859d0ea38fb5e8aa6b98", + "expert_regret": 1.4895293712615967, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbcc714230de2c097d0d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4895293712615967, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5104706287384033, + "restore_error": 1.1920928955078125e-07, + "score": 0.5104706287384033, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5686973333358765, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.6733339428901672, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 36 + ], + "candidate_oracle_potentials": [ + -0.6733339428901672, + -0.6957302689552307, + -0.7202014327049255, + -0.8286468386650085 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 3.427267074584961e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-561f4f913d7b4991d81a;ms-bb0d941f78d3d9c5a886;ms-e8fbdbddd9200f5091d6;ms-3c4ff3dae26217f22a8b;ms-348af0b70d3e679f40a2;ms-8b73e5dfa1f2a01e6017", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-023e021f079a8774c741", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5451640486717224, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.034965015947818756, + 0.06617676466703415, + 0.10451837629079819, + 0.11936372518539429 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.031211748719215393, + 0.06955336034297943, + 0.08439870923757553 + ], + "candidate_oracle_branch_scores": [ + 0.034965015947818756, + 0.06617676466703415, + 0.10451837629079819, + 0.11936372518539429 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.23479962348938, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -2.215233325958252, + -2.230337142944336, + -2.2324492931365967, + -2.23479962348938 + ], + "candidate_oracle_progress": 0.11936372518539429, + "candidate_oracle_regret": 1.8806362748146057, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.427267074584961e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.11936372518539429, + "candidate_oracle_score_gain_over_selected": 0.08439870923757553, + "candidate_oracle_selected_branch_progress": 0.034965015947818756, + "candidate_oracle_selected_branch_score": 0.034965015947818756, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c76158673d20b18c2622;ms-13557287cd450bc12c6f;ms-81f48d29d0404300ea93;ms-f69d6aec4ddb12d88c5b;ms-fbda7bc51ca269d1cda4;ms-175375383979526d80b5", + "expert_regret": 1.965026579797268, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cc0b33f92229d32bd84f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.965026579797268, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.034973420202732086, + "restore_error": 2.384185791015625e-07, + "score": 0.034973420202732086, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5355717539787292, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6221074461936951, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 36, + 20 + ], + "candidate_oracle_potentials": [ + -0.6221074461936951, + -0.6299792528152466, + -0.6309670805931091, + -0.6415359377861023 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 3.427267074584961e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5dfad80e83d210946447;ms-e318e13f77e75e7cd802;ms-f5483f0819e0e8bc352e;ms-d9e3a187dcadb9ad26b1;ms-7670f25745871759e69e;ms-b481531ab787e3d6fb1e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a196fc3a729550509b18", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8342358469963074, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.10172903537750244, + 0.10173056274652481, + 0.1017272099852562, + 0.10173256695270538 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.5273690223693848e-06, + -1.8253922462463379e-06, + 3.5315752029418945e-06 + ], + "candidate_oracle_branch_scores": [ + 0.10172903537750244, + 0.10173056274652481, + 0.1017272099852562, + 0.10173256695270538 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.6640068292617798, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 20, + 0, + 36 + ], + "candidate_oracle_potentials": [ + -1.5429655313491821, + -1.565812110900879, + -1.6346341371536255, + -1.6640068292617798 + ], + "candidate_oracle_progress": 0.10173256695270538, + "candidate_oracle_regret": 1.8982674330472946, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 3.427267074584961e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.10173256695270538, + "candidate_oracle_score_gain_over_selected": 3.5315752029418945e-06, + "candidate_oracle_selected_branch_progress": 0.10172903537750244, + "candidate_oracle_selected_branch_score": 0.10172903537750244, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7e6493bb6b1ff650d6de;ms-7d18f6f16879d2933bcd;ms-19e6e6e341aebb7ec693;ms-8c9f657875cf334b1f17;ms-99df75798ec5da5ec7f3;ms-4c7138016830a563fb1b", + "expert_regret": 1.8982710093259811, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10cb98b0a1ca5429dd28", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8982710093259811, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10172899067401886, + "restore_error": 2.384185791015625e-07, + "score": 0.10172899067401886, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.11834178864955902, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5363326072692871, + 0.5354072451591492, + 0.5352727770805359, + 0.5351400375366211 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0009253621101379395, + -0.0010598301887512207, + -0.0011925697326660156 + ], + "candidate_oracle_branch_scores": [ + 0.5363326072692871, + 0.5354072451591492, + 0.5352727770805359, + 0.5351400375366211 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.829602062702179, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.829602062702179, + -0.8448598980903625, + -0.8486487865447998, + -0.8525874018669128 + ], + "candidate_oracle_progress": 0.5363326072692871, + "candidate_oracle_regret": 1.463667392730713, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.427267074584961e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5363326072692871, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5363326072692871, + "candidate_oracle_selected_branch_score": 0.5363326072692871, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3c2515d4a10082514714;ms-7af1e453acf970f40546;ms-813cac6d08ed5af48b12;ms-11230e3aaabb1feec834;ms-c0bfce3c9dd10f9d3231;ms-746436cac05100783ad7", + "expert_regret": 1.4636669158935547, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a5a651f9e28ea52016fe", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4636669158935547, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5363330841064453, + "restore_error": 2.384185791015625e-07, + "score": 0.5363330841064453, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7055245041847229, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.07229997962713242, + 0.0730254203081131, + 0.07266955822706223, + 0.07980918884277344 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0007254406809806824, + 0.00036957859992980957, + 0.007509209215641022 + ], + "candidate_oracle_branch_scores": [ + 0.07229997962713242, + 0.0730254203081131, + 0.07266955822706223, + 0.07980918884277344 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -2.122968912124634, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -2.06715726852417, + -2.0946075916290283, + -2.105841875076294, + -2.122968912124634 + ], + "candidate_oracle_progress": 0.07980918884277344, + "candidate_oracle_regret": 0.4987621307373047, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 3.427267074584961e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.07980918884277344, + "candidate_oracle_score_gain_over_selected": 0.007509209215641022, + "candidate_oracle_selected_branch_progress": 0.07229997962713242, + "candidate_oracle_selected_branch_score": 0.07229997962713242, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-81f48d29d0404300ea93;ms-13557287cd450bc12c6f;ms-c76158673d20b18c2622;ms-f69d6aec4ddb12d88c5b;ms-3abfb4c309360a304d54;ms-8c8198e44eea32f98ca7", + "expert_regret": 0.5062713399529457, + "expert_score": 0.5785713195800781, + "expert_success": false, + "group_id": "ms-42edbdb8ff281fc33a99", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5062713399529457, + "oracle_score": 0.5785713195800781, + "oracle_success": false, + "progress": 0.07229997962713242, + "restore_error": 2.384185791015625e-07, + "score": 0.07229997962713242, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8037837743759155, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.47845789790153503, + 0.4825126826763153, + 0.4781702160835266, + 0.48181772232055664 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0040547847747802734, + -0.00028768181800842285, + 0.0033598244190216064 + ], + "candidate_oracle_branch_scores": [ + 0.47845789790153503, + 0.4825126826763153, + 0.4781702160835266, + 0.48181772232055664 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.4922748804092407, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -1.4821957349777222, + -1.4922748804092407, + -1.5024884939193726, + -1.511290431022644 + ], + "candidate_oracle_progress": 0.4825126826763153, + "candidate_oracle_regret": 1.5174873173236847, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 3.427267074584961e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4825126826763153, + "candidate_oracle_score_gain_over_selected": 0.0040547847747802734, + "candidate_oracle_selected_branch_progress": 0.47845789790153503, + "candidate_oracle_selected_branch_score": 0.47845789790153503, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a8e6435948250f5e163d;ms-f3f6a1b34fdf35290a6c;ms-26e09c86be9068a34acf;ms-b35643e98e1b846e27cf;ms-1d1969094d91fe52667d;ms-13192a27f5fcf4fd24d7", + "expert_regret": 1.5215446949005127, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d849d754f346b826e052", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5215446949005127, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4784553050994873, + "restore_error": 2.384185791015625e-07, + "score": 0.4784553050994873, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.29746130108833313, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.2539267539978027, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 8, + 33 + ], + "candidate_oracle_potentials": [ + -1.2539267539978027, + -1.2546000480651855, + -1.2550917863845825, + -1.2556160688400269 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 3.427267074584961e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1fa37879a24f0e84c275;ms-99a5ffff5b73cf604b3d;ms-cba2f44df79669ff934b;ms-d88107eff1e361cdcc4c;ms-2f846e9f31e2b8c4965f;ms-2b64c720290c6dad7e35", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0c7dab7ee052231f3f57", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.10042703151702881, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5360524654388428, + 0.5316454768180847, + 0.5342850089073181, + 0.5340043306350708 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.004406988620758057, + -0.0017674565315246582, + -0.0020481348037719727 + ], + "candidate_oracle_branch_scores": [ + 0.5360524654388428, + 0.5316454768180847, + 0.5342850089073181, + 0.5340043306350708 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6290225982666016, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 24, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.6290225982666016, + -0.6327238082885742, + -0.6357443332672119, + -0.6396530866622925 + ], + "candidate_oracle_progress": 0.5360524654388428, + "candidate_oracle_regret": 1.4639475345611572, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5360524654388428, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5360524654388428, + "candidate_oracle_selected_branch_score": 0.5360524654388428, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d5d7c690819019cb7869;ms-564c02492863ae749ea9;ms-93e3d9968204474eff49;ms-3e51a1bdc3a2cc4eb06d;ms-ae33e3afb57e61026d72;ms-8b5b5e5f9237c41e0fe9", + "expert_regret": 1.4637485146522522, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-76b9f40367a1ee020744", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4637485146522522, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5362514853477478, + "restore_error": 1.1920928955078125e-07, + "score": 0.5362514853477478, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5408356785774231, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.5324293375015259, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 1 + ], + "candidate_oracle_potentials": [ + 0.5324293375015259, + 0.531644880771637, + 0.5309426188468933, + 0.48219165205955505 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3cfb09df08ad7279ef02;ms-4d6099258a3a6e037aff;ms-4c83412fa0aa5180ad89;ms-d686ae387b1a0ce2f2f3;ms-a3d0c460532de2d801ae;ms-c6beb139304a0ea6f7ae", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-66540aefd55a84b5088f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2569052577018738, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5452237129211426, + 0.550771176815033, + 0.018527699634432793, + 0.5411043167114258 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.005547463893890381, + -0.5266960263252258, + -0.004119396209716797 + ], + "candidate_oracle_branch_scores": [ + 0.5452237129211426, + 0.550771176815033, + 0.018527699634432793, + 0.5411043167114258 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.0743632316589355, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 8 + ], + "candidate_oracle_potentials": [ + -1.929023265838623, + -2.0743632316589355, + -2.2383780479431152, + -2.2555809020996094 + ], + "candidate_oracle_progress": 0.550771176815033, + "candidate_oracle_regret": 1.449228823184967, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.550771176815033, + "candidate_oracle_score_gain_over_selected": 0.005547463893890381, + "candidate_oracle_selected_branch_progress": 0.5452237129211426, + "candidate_oracle_selected_branch_score": 0.5452237129211426, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-90a03366976eaa1ad013;ms-0843bef6b0c13c3ede69;ms-fd1c44c6d5d8f7f11451;ms-ddc0b3adf8506c30f503;ms-e058c0dba52df04b8642;ms-12ac4329c5bca5f2bb62", + "expert_regret": 1.4548511505126953, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bdd1924b44de2db5b07a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4548511505126953, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5451488494873047, + "restore_error": 1.1920928955078125e-07, + "score": 0.5451488494873047, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48147672414779663, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.2573148012161255, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + 0.2573148012161255, + 0.23808903992176056, + 0.21624769270420074, + 0.02749008499085903 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13192a27f5fcf4fd24d7;ms-26e09c86be9068a34acf;ms-7241a1c25af41f4c0b5a;ms-f5fb668380b64d4f1e74;ms-4fe7fdaf946c97803c82;ms-3e51a1bdc3a2cc4eb06d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8af87d14945da6a910e4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4049372673034668, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5446338057518005, + 0.547139585018158, + 0.5495532155036926, + 0.5622321367263794 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.002505779266357422, + 0.00491940975189209, + 0.017598330974578857 + ], + "candidate_oracle_branch_scores": [ + 0.5446338057518005, + 0.547139585018158, + 0.5495532155036926, + 0.5622321367263794 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.36248788237571716, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + 0.46217113733291626, + 0.46066176891326904, + 0.4569912850856781, + 0.36248788237571716 + ], + "candidate_oracle_progress": 0.5622321367263794, + "candidate_oracle_regret": 1.4377678632736206, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5622321367263794, + "candidate_oracle_score_gain_over_selected": 0.017598330974578857, + "candidate_oracle_selected_branch_progress": 0.5446338057518005, + "candidate_oracle_selected_branch_score": 0.5446338057518005, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7241a1c25af41f4c0b5a;ms-13192a27f5fcf4fd24d7;ms-f5fb668380b64d4f1e74;ms-71452ba714a10880870b;ms-0e4af96af7d344ec47a0;ms-b35643e98e1b846e27cf", + "expert_regret": 1.4553662538528442, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d962acc9cfbc27c599c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4553662538528442, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5446337461471558, + "restore_error": 1.1920928955078125e-07, + "score": 0.5446337461471558, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5398187041282654, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.5299338102340698, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 19, + 35, + 3, + 1 + ], + "candidate_oracle_potentials": [ + 0.5299338102340698, + 0.5291454195976257, + 0.5284915566444397, + 0.47482946515083313 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3cfb09df08ad7279ef02;ms-4d6099258a3a6e037aff;ms-4c83412fa0aa5180ad89;ms-d686ae387b1a0ce2f2f3;ms-c6beb139304a0ea6f7ae;ms-a3d0c460532de2d801ae", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b6df140b235c8fe0eaad", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6809911727905273, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.10118289291858673, + 0.01367954071611166, + 0.10280223190784454, + 0.10141894966363907 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0875033512711525, + 0.0016193389892578125, + 0.00023605674505233765 + ], + "candidate_oracle_branch_scores": [ + 0.10118289291858673, + 0.01367954071611166, + 0.10280223190784454, + 0.10141894966363907 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.0150859355926514, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.9948680400848389, + -2.002110004425049, + -2.0150859355926514, + -2.062088966369629 + ], + "candidate_oracle_progress": 0.10280223190784454, + "candidate_oracle_regret": 1.8971977680921555, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.10280223190784454, + "candidate_oracle_score_gain_over_selected": 0.0016193389892578125, + "candidate_oracle_selected_branch_progress": 0.10118289291858673, + "candidate_oracle_selected_branch_score": 0.10118289291858673, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d9e3a187dcadb9ad26b1;ms-7670f25745871759e69e;ms-f5483f0819e0e8bc352e;ms-b481531ab787e3d6fb1e;ms-fe650308e25459ee64c6;ms-4acbf69acd30d96e46a7", + "expert_regret": 1.8988202586770058, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-547f4204888aee978bf0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8988202586770058, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.10117974132299423, + "restore_error": 1.1920928955078125e-07, + "score": 0.10117974132299423, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5949531197547913, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4665599465370178, + 0.46422502398490906, + 0.4602067172527313, + 0.4652685225009918 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0023349225521087646, + -0.006353229284286499, + -0.001291424036026001 + ], + "candidate_oracle_branch_scores": [ + 0.4665599465370178, + 0.46422502398490906, + 0.4602067172527313, + 0.4652685225009918 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.4221744537353516, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 0, + 8, + 1 + ], + "candidate_oracle_potentials": [ + -2.4221744537353516, + -2.431919574737549, + -2.5238161087036133, + -2.563366651535034 + ], + "candidate_oracle_progress": 0.4665599465370178, + "candidate_oracle_regret": 1.5334400534629822, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4665599465370178, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4665599465370178, + "candidate_oracle_selected_branch_score": 0.4665599465370178, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-859d0ea38fb5e8aa6b98;ms-de0321d0ece4c58bc224;ms-e110d8ef3eb852a0f564;ms-80d5c509e83845ab1bc7;ms-56ad75c28031e049a3dd;ms-dea17c1c383f54d05636", + "expert_regret": 1.5334371030330658, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-723a1f2e22afe15b6981", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5334371030330658, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4665628969669342, + "restore_error": 1.1920928955078125e-07, + "score": 0.4665628969669342, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6925116777420044, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.11853881925344467, + 0.11854224652051926, + 0.11853855103254318, + 0.11852698773145676 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 3.427267074584961e-06, + -2.682209014892578e-07, + -1.1831521987915039e-05 + ], + "candidate_oracle_branch_scores": [ + 0.11853881925344467, + 0.11854224652051926, + 0.11853855103254318, + 0.11852698773145676 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.0935614109039307, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 20, + 36, + 0 + ], + "candidate_oracle_potentials": [ + -2.085911750793457, + -2.0935614109039307, + -2.1020843982696533, + -2.108841896057129 + ], + "candidate_oracle_progress": 0.11854224652051926, + "candidate_oracle_regret": 1.8814577534794807, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.11854224652051926, + "candidate_oracle_score_gain_over_selected": 3.427267074584961e-06, + "candidate_oracle_selected_branch_progress": 0.11853881925344467, + "candidate_oracle_selected_branch_score": 0.11853881925344467, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f69d6aec4ddb12d88c5b;ms-fbda7bc51ca269d1cda4;ms-175375383979526d80b5;ms-13557287cd450bc12c6f;ms-81f48d29d0404300ea93;ms-c76158673d20b18c2622", + "expert_regret": 1.8814626932144165, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10f2865bef6da7b66423", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8814626932144165, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1185373067855835, + "restore_error": 1.1920928955078125e-07, + "score": 0.1185373067855835, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.03857143968343735, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5719179511070251, + 0.5708325505256653, + 0.570746898651123, + 0.5705882906913757 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0010854005813598633, + -0.0011710524559020996, + -0.001329660415649414 + ], + "candidate_oracle_branch_scores": [ + 0.5719179511070251, + 0.5708325505256653, + 0.570746898651123, + 0.5705882906913757 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.008705496788025, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.008705496788025, + -1.0149686336517334, + -1.0171055793762207, + -1.0193074941635132 + ], + "candidate_oracle_progress": 0.5719179511070251, + "candidate_oracle_regret": 1.4280820488929749, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5719179511070251, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5719179511070251, + "candidate_oracle_selected_branch_score": 0.5719179511070251, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3c2515d4a10082514714;ms-11230e3aaabb1feec834;ms-c0bfce3c9dd10f9d3231;ms-a5d81a7c740394b68c3f;ms-813cac6d08ed5af48b12;ms-76194d089c97018ce427", + "expert_regret": 1.42801034450531, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-351818a836474e594d3c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.42801034450531, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5719896554946899, + "restore_error": 1.1920928955078125e-07, + "score": 0.5719896554946899, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.455997496843338, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.543747067451477, + 0.5423950552940369, + 0.5436550378799438, + 0.5438600778579712 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0013520121574401855, + -9.202957153320312e-05, + 0.00011301040649414062 + ], + "candidate_oracle_branch_scores": [ + 0.543747067451477, + 0.5423950552940369, + 0.5436550378799438, + 0.5438600778579712 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.2464114427566528, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.1717969179153442, + -1.1785125732421875, + -1.244897723197937, + -1.2464114427566528 + ], + "candidate_oracle_progress": 0.5438600778579712, + "candidate_oracle_regret": 1.4561399221420288, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5438600778579712, + "candidate_oracle_score_gain_over_selected": 0.00011301040649414062, + "candidate_oracle_selected_branch_progress": 0.543747067451477, + "candidate_oracle_selected_branch_score": 0.543747067451477, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d686ae387b1a0ce2f2f3;ms-f5aa7ce332ee9702812a;ms-4d6099258a3a6e037aff;ms-3cfb09df08ad7279ef02;ms-e8fbdbddd9200f5091d6;ms-c6beb139304a0ea6f7ae", + "expert_regret": 1.4562549591064453, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-42117385b9e6e57c7e63", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4562549591064453, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5437450408935547, + "restore_error": 1.1920928955078125e-07, + "score": 0.5437450408935547, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20556651055812836, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5164512991905212, + 0.03687211498618126, + 0.036872126162052155, + 0.034339167177677155 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4795791804790497, + -0.4795791804790497, + -0.4821121394634247 + ], + "candidate_oracle_branch_scores": [ + 0.5164512991905212, + 0.03687211498618126, + 0.036872126162052155, + 0.034339167177677155 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3132346868515015, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 8 + ], + "candidate_oracle_potentials": [ + -1.3132346868515015, + -1.4349992275238037, + -1.6039847135543823, + -1.6494407653808594 + ], + "candidate_oracle_progress": 0.5164512991905212, + "candidate_oracle_regret": 1.4835487008094788, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5164512991905212, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5164512991905212, + "candidate_oracle_selected_branch_score": 0.5164512991905212, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5415e349e8f9f2bce641;ms-8af2224cc82636ef1dd7;ms-4015c296239564108da2;ms-90a03366976eaa1ad013;ms-de0abc7a53a48164f82d;ms-fd1c44c6d5d8f7f11451", + "expert_regret": 1.4835490584373474, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1c0e2bb3a811fac6d567", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4835490584373474, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5164509415626526, + "restore_error": 1.1920928955078125e-07, + "score": 0.5164509415626526, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14173050224781036, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.4420356750488281, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 1 + ], + "candidate_oracle_potentials": [ + 0.4420356750488281, + 0.43644312024116516, + 0.42680203914642334, + 0.3964988589286804 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4c83412fa0aa5180ad89;ms-a3d0c460532de2d801ae;ms-3cfb09df08ad7279ef02;ms-8b68d8b4d22e6ff0451d;ms-4d6099258a3a6e037aff;ms-309d2258d275ae304857", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-03cdc738473ac1df9dfc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14356650412082672, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.3051866590976715, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + 0.3051866590976715, + 0.29628080129623413, + 0.2891310751438141, + 0.25819000601768494 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-166b7f66bf9f4eec432b;ms-4a0ae3deadb8560fd315;ms-2ae57bab6d2ea11f6638;ms-a3d0c460532de2d801ae;ms-8b68d8b4d22e6ff0451d;ms-4d6099258a3a6e037aff", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-759ba8b7be233ca47c30", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.31863847374916077, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.517804741859436, + 0.5153627991676331, + 0.5161845684051514, + 0.5219053030014038 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0024419426918029785, + -0.001620173454284668, + 0.0041005611419677734 + ], + "candidate_oracle_branch_scores": [ + 0.517804741859436, + 0.5153627991676331, + 0.5161845684051514, + 0.5219053030014038 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.2149556875228882, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 20, + 4, + 1 + ], + "candidate_oracle_potentials": [ + -1.1519197225570679, + -1.175658106803894, + -1.1894302368164062, + -1.2149556875228882 + ], + "candidate_oracle_progress": 0.5219053030014038, + "candidate_oracle_regret": 1.4780946969985962, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5219053030014038, + "candidate_oracle_score_gain_over_selected": 0.0041005611419677734, + "candidate_oracle_selected_branch_progress": 0.517804741859436, + "candidate_oracle_selected_branch_score": 0.517804741859436, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9b15f9c696a2661346cf;ms-503d0b1d27ed78b6130f;ms-80d5c509e83845ab1bc7;ms-b1c9975d1a007dd03dc4;ms-e058c0dba52df04b8642;ms-97598e118c5cc8c254a5", + "expert_regret": 1.4821943044662476, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c92e8da7621fbf50cd4e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4821943044662476, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5178056955337524, + "restore_error": 1.1920928955078125e-07, + "score": 0.5178056955337524, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45519083738327026, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5135630965232849, + 0.5347172617912292, + 0.5063952803611755, + 0.5086431503295898 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.021154165267944336, + -0.007167816162109375, + -0.004919946193695068 + ], + "candidate_oracle_branch_scores": [ + 0.5135630965232849, + 0.5347172617912292, + 0.5063952803611755, + 0.5086431503295898 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.8485983610153198, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 8, + 20 + ], + "candidate_oracle_potentials": [ + -1.8215487003326416, + -1.8485983610153198, + -1.9661072492599487, + -2.0309669971466064 + ], + "candidate_oracle_progress": 0.5347172617912292, + "candidate_oracle_regret": 1.4652827382087708, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5347172617912292, + "candidate_oracle_score_gain_over_selected": 0.021154165267944336, + "candidate_oracle_selected_branch_progress": 0.5135630965232849, + "candidate_oracle_selected_branch_score": 0.5135630965232849, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fd1c44c6d5d8f7f11451;ms-e058c0dba52df04b8642;ms-de0abc7a53a48164f82d;ms-503d0b1d27ed78b6130f;ms-8b98e8aa8ecee10bea27;ms-90a03366976eaa1ad013", + "expert_regret": 1.4864349961280823, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-55c2bba961a327aa5260", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4864349961280823, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5135650038719177, + "restore_error": 1.1920928955078125e-07, + "score": 0.5135650038719177, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7663444876670837, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.11815207451581955, + 0.10835311561822891, + 0.12352266162633896, + 0.10785564035177231 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.009798958897590637, + 0.005370587110519409, + -0.010296434164047241 + ], + "candidate_oracle_branch_scores": [ + 0.11815207451581955, + 0.10835311561822891, + 0.12352266162633896, + 0.10785564035177231 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.427394986152649, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 20, + 0, + 8 + ], + "candidate_oracle_potentials": [ + -1.3454397916793823, + -1.4155714511871338, + -1.427394986152649, + -1.5629030466079712 + ], + "candidate_oracle_progress": 0.12352266162633896, + "candidate_oracle_regret": 1.876477338373661, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.12352266162633896, + "candidate_oracle_score_gain_over_selected": 0.005370587110519409, + "candidate_oracle_selected_branch_progress": 0.11815207451581955, + "candidate_oracle_selected_branch_score": 0.11815207451581955, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5bae191ebad7c9f2687;ms-22675530f3a401b3fd6d;ms-4acbf69acd30d96e46a7;ms-fe650308e25459ee64c6;ms-b481531ab787e3d6fb1e;ms-7670f25745871759e69e", + "expert_regret": 1.881842277944088, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ca1c25fddb7da05d80a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.881842277944088, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11815772205591202, + "restore_error": 1.1920928955078125e-07, + "score": 0.11815772205591202, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4481208622455597, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.3112764358520508, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 24, + 1 + ], + "candidate_oracle_potentials": [ + 0.3112764358520508, + 0.30661290884017944, + 0.30249735713005066, + 0.29946082830429077 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-561f4f913d7b4991d81a;ms-3c4ff3dae26217f22a8b;ms-bb0d941f78d3d9c5a886;ms-93e3d9968204474eff49;ms-8b5b5e5f9237c41e0fe9;ms-e8fbdbddd9200f5091d6", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f0e2c9caad14bd37ecf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5201345086097717, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5166552066802979, + 0.5217511057853699, + 0.522011399269104, + 0.5224933624267578 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0050958991050720215, + 0.005356192588806152, + 0.005838155746459961 + ], + "candidate_oracle_branch_scores": [ + 0.5166552066802979, + 0.5217511057853699, + 0.522011399269104, + 0.5224933624267578 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.8562899827957153, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.8452296257019043, + -1.8496910333633423, + -1.8510781526565552, + -1.8562899827957153 + ], + "candidate_oracle_progress": 0.5224933624267578, + "candidate_oracle_regret": 1.4775066375732422, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5224933624267578, + "candidate_oracle_score_gain_over_selected": 0.005838155746459961, + "candidate_oracle_selected_branch_progress": 0.5166552066802979, + "candidate_oracle_selected_branch_score": 0.5166552066802979, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-de0abc7a53a48164f82d;ms-503d0b1d27ed78b6130f;ms-7651a7f31eae24958ef0;ms-8b98e8aa8ecee10bea27;ms-f9c00ba41392adec3fd1;ms-fd1c44c6d5d8f7f11451", + "expert_regret": 1.483342170715332, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-68e331088400739273da", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.483342170715332, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.516657829284668, + "restore_error": 1.1920928955078125e-07, + "score": 0.516657829284668, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.07599631696939468, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5437213778495789, + 0.543305516242981, + 0.5428852438926697, + 0.5436568260192871 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0004158616065979004, + -0.0008361339569091797, + -6.455183029174805e-05 + ], + "candidate_oracle_branch_scores": [ + 0.5437213778495789, + 0.543305516242981, + 0.5428852438926697, + 0.5436568260192871 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.7168532609939575, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 8 + ], + "candidate_oracle_potentials": [ + -0.7168532609939575, + -0.7190067172050476, + -0.7212755680084229, + -0.7342109680175781 + ], + "candidate_oracle_progress": 0.5437213778495789, + "candidate_oracle_regret": 1.4562786221504211, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5437213778495789, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5437213778495789, + "candidate_oracle_selected_branch_score": 0.5437213778495789, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5aa7ce332ee9702812a;ms-3cfb09df08ad7279ef02;ms-d686ae387b1a0ce2f2f3;ms-4d6099258a3a6e037aff;ms-309d2258d275ae304857;ms-c6beb139304a0ea6f7ae", + "expert_regret": 1.4562798738479614, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-83d2b158041f4eed3646", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4562798738479614, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5437201261520386, + "restore_error": 1.1920928955078125e-07, + "score": 0.5437201261520386, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5935578942298889, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.0184621699154377, + 0.017975354567170143, + 0.01848733425140381, + 0.020133424550294876 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00048681534826755524, + 2.516433596611023e-05, + 0.0016712546348571777 + ], + "candidate_oracle_branch_scores": [ + 0.0184621699154377, + 0.017975354567170143, + 0.01848733425140381, + 0.020133424550294876 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.7533986568450928, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 8 + ], + "candidate_oracle_potentials": [ + -1.653038740158081, + -1.6716992855072021, + -1.7299772500991821, + -1.7533986568450928 + ], + "candidate_oracle_progress": 0.020133424550294876, + "candidate_oracle_regret": 1.9798665754497051, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.020133424550294876, + "candidate_oracle_score_gain_over_selected": 0.0016712546348571777, + "candidate_oracle_selected_branch_progress": 0.0184621699154377, + "candidate_oracle_selected_branch_score": 0.0184621699154377, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-38ceda08bad38fbebc1c;ms-56ad75c28031e049a3dd;ms-e110d8ef3eb852a0f564;ms-e318e13f77e75e7cd802;ms-f5483f0819e0e8bc352e;ms-60a28a9b282e7586d4d2", + "expert_regret": 1.9815535191446543, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ba156a5cdaf40cc85cc4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9815535191446543, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.018446480855345726, + "restore_error": 1.1920928955078125e-07, + "score": 0.018446480855345726, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.37461066246032715, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.507794201374054, + 0.507848858833313, + 0.507075309753418, + 0.5079506039619446 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 5.46574592590332e-05, + -0.0007188916206359863, + 0.000156402587890625 + ], + "candidate_oracle_branch_scores": [ + 0.507794201374054, + 0.507848858833313, + 0.507075309753418, + 0.5079506039619446 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.9930963516235352, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 1, + 0, + 17 + ], + "candidate_oracle_potentials": [ + -0.9834269881248474, + -0.9912182092666626, + -0.9927772879600525, + -0.9930963516235352 + ], + "candidate_oracle_progress": 0.5079506039619446, + "candidate_oracle_regret": 1.4920493960380554, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5079506039619446, + "candidate_oracle_score_gain_over_selected": 0.000156402587890625, + "candidate_oracle_selected_branch_progress": 0.507794201374054, + "candidate_oracle_selected_branch_score": 0.507794201374054, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1a4ecfbe9c97214d5c78;ms-28b1f1e4380d434605de;ms-41b0258c4e329a734da7;ms-d4aab6f9b6717dd5712e;ms-166b7f66bf9f4eec432b;ms-910d27b58a0585327a27", + "expert_regret": 1.492205798625946, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2cc8c1975139989940f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.492205798625946, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.507794201374054, + "restore_error": 1.1920928955078125e-07, + "score": 0.507794201374054, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5366772413253784, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.558056652545929, + 0.5572078824043274, + 0.5562667846679688, + 0.5609081387519836 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0008487701416015625, + -0.001789867877960205, + 0.0028514862060546875 + ], + "candidate_oracle_branch_scores": [ + 0.558056652545929, + 0.5572078824043274, + 0.5562667846679688, + 0.5609081387519836 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3257743120193481, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 4 + ], + "candidate_oracle_potentials": [ + -1.255414366722107, + -1.2569283246994019, + -1.2614086866378784, + -1.3257743120193481 + ], + "candidate_oracle_progress": 0.5609081387519836, + "candidate_oracle_regret": 1.4390918612480164, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5609081387519836, + "candidate_oracle_score_gain_over_selected": 0.0028514862060546875, + "candidate_oracle_selected_branch_progress": 0.558056652545929, + "candidate_oracle_selected_branch_score": 0.558056652545929, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-910d27b58a0585327a27;ms-e589f7d40c12eff1712e;ms-1a4ecfbe9c97214d5c78;ms-28b1f1e4380d434605de;ms-d4aab6f9b6717dd5712e;ms-57ac136bd68be6387c6f", + "expert_regret": 1.4419413805007935, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-da46296bd4e9032570df", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4419413805007935, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5580586194992065, + "restore_error": 1.1920928955078125e-07, + "score": 0.5580586194992065, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.050999853760004044, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5587332844734192, + 0.5532383918762207, + 0.5510908961296082, + 0.5488204956054688 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.005494892597198486, + -0.007642388343811035, + -0.00991278886795044 + ], + "candidate_oracle_branch_scores": [ + 0.5587332844734192, + 0.5532383918762207, + 0.5510908961296082, + 0.5488204956054688 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": 0.13474351167678833, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.13474351167678833, + 0.10855734348297119, + 0.10118348896503448, + 0.09355466067790985 + ], + "candidate_oracle_progress": 0.5587332844734192, + "candidate_oracle_regret": 1.4412667155265808, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5587332844734192, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5587332844734192, + "candidate_oracle_selected_branch_score": 0.5587332844734192, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7d18f6f16879d2933bcd;ms-22675530f3a401b3fd6d;ms-7e6493bb6b1ff650d6de;ms-f5bae191ebad7c9f2687;ms-99df75798ec5da5ec7f3;ms-8c9f657875cf334b1f17", + "expert_regret": 1.4412660598754883, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-642670f4bb658d32970b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4412660598754883, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5587339401245117, + "restore_error": 1.1920928955078125e-07, + "score": 0.5587339401245117, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5383025407791138, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.5236198306083679, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 40 + ], + "candidate_oracle_potentials": [ + 0.5236198306083679, + 0.5225784778594971, + 0.5193716883659363, + 0.45382118225097656 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3cfb09df08ad7279ef02;ms-4c83412fa0aa5180ad89;ms-4d6099258a3a6e037aff;ms-d686ae387b1a0ce2f2f3;ms-c6beb139304a0ea6f7ae;ms-a3d0c460532de2d801ae", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-76c78750d7abc6570487", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5298327207565308, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.018942713737487793, + 0.018952442333102226, + 0.01895540952682495, + 0.015880942344665527 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 9.728595614433289e-06, + 1.2695789337158203e-05, + -0.0030617713928222656 + ], + "candidate_oracle_branch_scores": [ + 0.018942713737487793, + 0.018952442333102226, + 0.01895540952682495, + 0.015880942344665527 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.977304458618164, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -2.8526535034179688, + -2.916916608810425, + -2.977304458618164, + -3.0304038524627686 + ], + "candidate_oracle_progress": 0.01895540952682495, + "candidate_oracle_regret": 0.5759432315826416, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.01895540952682495, + "candidate_oracle_score_gain_over_selected": 1.2695789337158203e-05, + "candidate_oracle_selected_branch_progress": 0.018942713737487793, + "candidate_oracle_selected_branch_score": 0.018942713737487793, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5483f0819e0e8bc352e;ms-d9e3a187dcadb9ad26b1;ms-7670f25745871759e69e;ms-e318e13f77e75e7cd802;ms-5dfad80e83d210946447;ms-b481531ab787e3d6fb1e", + "expert_regret": 0.5759558789432049, + "expert_score": 0.5948986411094666, + "expert_success": false, + "group_id": "ms-197fee321caebfd320f5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5759558789432049, + "oracle_score": 0.5948986411094666, + "oracle_success": false, + "progress": 0.018942762166261673, + "restore_error": 2.384185791015625e-07, + "score": 0.018942762166261673, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19750180840492249, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.4970382750034332, + 0.49475106596946716, + 0.49720191955566406, + 0.4968486726284027 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0022872090339660645, + 0.00016364455223083496, + -0.00018960237503051758 + ], + "candidate_oracle_branch_scores": [ + 0.4970382750034332, + 0.49475106596946716, + 0.49720191955566406, + 0.4968486726284027 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.860814094543457, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.8505215048789978, + -0.8547496199607849, + -0.860814094543457, + -0.8645657896995544 + ], + "candidate_oracle_progress": 0.49720191955566406, + "candidate_oracle_regret": 1.502798080444336, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.49720191955566406, + "candidate_oracle_score_gain_over_selected": 0.00016364455223083496, + "candidate_oracle_selected_branch_progress": 0.4970382750034332, + "candidate_oracle_selected_branch_score": 0.4970382750034332, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-01067b8ff16f74652382;ms-a2c5c9fd35d9fda5ce9e;ms-4bc023d8d1f7748b0e12;ms-cea745484a24f376d7e8;ms-227fe0347d2ea57a66a3;ms-af22292595eebbd60e48", + "expert_regret": 1.502961903810501, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7571c367fe683b0f1cf9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.502961903810501, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4970380961894989, + "restore_error": 2.384185791015625e-07, + "score": 0.4970380961894989, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.32882335782051086, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.525291383266449, + 0.5273853540420532, + 0.5277807116508484, + 0.528186023235321 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.002093970775604248, + 0.002489328384399414, + 0.0028946399688720703 + ], + "candidate_oracle_branch_scores": [ + 0.525291383266449, + 0.5273853540420532, + 0.5277807116508484, + 0.528186023235321 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -2.181316375732422, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -2.147538185119629, + -2.170898675918579, + -2.1759979724884033, + -2.181316375732422 + ], + "candidate_oracle_progress": 0.528186023235321, + "candidate_oracle_regret": 1.471813976764679, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.528186023235321, + "candidate_oracle_score_gain_over_selected": 0.0028946399688720703, + "candidate_oracle_selected_branch_progress": 0.525291383266449, + "candidate_oracle_selected_branch_score": 0.525291383266449, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b1c9975d1a007dd03dc4;ms-e110d8ef3eb852a0f564;ms-80d5c509e83845ab1bc7;ms-de0321d0ece4c58bc224;ms-382000b79932b7c68326;ms-dea17c1c383f54d05636", + "expert_regret": 1.4746940732002258, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bfda95ffffd5d1a2683a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4746940732002258, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5253059267997742, + "restore_error": 2.384185791015625e-07, + "score": 0.5253059267997742, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5592880845069885, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5541550517082214, + 0.544468879699707, + 0.5529078841209412, + 0.5437738299369812 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.009686172008514404, + -0.0012471675872802734, + -0.010381221771240234 + ], + "candidate_oracle_branch_scores": [ + 0.5541550517082214, + 0.544468879699707, + 0.5529078841209412, + 0.5437738299369812 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8999752402305603, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 0, + 8, + 1 + ], + "candidate_oracle_potentials": [ + -0.8999752402305603, + -0.9358003735542297, + -0.957744836807251, + -0.9930754899978638 + ], + "candidate_oracle_progress": 0.5541550517082214, + "candidate_oracle_regret": 1.4458449482917786, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5541550517082214, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5541550517082214, + "candidate_oracle_selected_branch_score": 0.5541550517082214, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e110d8ef3eb852a0f564;ms-80d5c509e83845ab1bc7;ms-b1c9975d1a007dd03dc4;ms-de0321d0ece4c58bc224;ms-9b15f9c696a2661346cf;ms-382000b79932b7c68326", + "expert_regret": 1.4458460807800293, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-91ad1a5f945470b4346e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4458460807800293, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5541539192199707, + "restore_error": 2.384185791015625e-07, + "score": 0.5541539192199707, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48867011070251465, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.02680027484893799, + 0.02678614854812622, + 0.027158522978425026, + 0.027106035500764847 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.4126300811767578e-05, + 0.00035824812948703766, + 0.0003057606518268585 + ], + "candidate_oracle_branch_scores": [ + 0.02680027484893799, + 0.02678614854812622, + 0.027158522978425026, + 0.027106035500764847 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.6881117820739746, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -2.524662733078003, + -2.630462646484375, + -2.6881117820739746, + -2.774205207824707 + ], + "candidate_oracle_progress": 0.027158522978425026, + "candidate_oracle_regret": 1.972841477021575, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.027158522978425026, + "candidate_oracle_score_gain_over_selected": 0.00035824812948703766, + "candidate_oracle_selected_branch_progress": 0.02680027484893799, + "candidate_oracle_selected_branch_score": 0.02680027484893799, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7d18f6f16879d2933bcd;ms-7e6493bb6b1ff650d6de;ms-22675530f3a401b3fd6d;ms-19e6e6e341aebb7ec693;ms-8c9f657875cf334b1f17;ms-99df75798ec5da5ec7f3", + "expert_regret": 1.973199725151062, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-263556e167dc363ebc42", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.973199725151062, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02680027484893799, + "restore_error": 2.384185791015625e-07, + "score": 0.02680027484893799, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6175928115844727, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5600499510765076, + 0.5580198168754578, + 0.5593007802963257, + 0.5575114488601685 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0020301342010498047, + -0.0007491707801818848, + -0.0025385022163391113 + ], + "candidate_oracle_branch_scores": [ + 0.5600499510765076, + 0.5580198168754578, + 0.5593007802963257, + 0.5575114488601685 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.002944993320852518, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + -0.002944993320852518, + -0.004330555908381939, + -0.07343809306621552, + -0.07949980348348618 + ], + "candidate_oracle_progress": 0.5600499510765076, + "candidate_oracle_regret": 1.4399500489234924, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5600499510765076, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5600499510765076, + "candidate_oracle_selected_branch_score": 0.5600499510765076, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b0fd98bae1ed5d543f35;ms-1d1969094d91fe52667d;ms-c684df0b998b593db723;ms-8beca0622be320b282c1;ms-b33f1d4ddb6a531d2a71;ms-eb206a3dda0ac16e1643", + "expert_regret": 1.4399507641792297, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e07f80b44faf328c5e58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4399507641792297, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5600492358207703, + "restore_error": 2.384185791015625e-07, + "score": 0.5600492358207703, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2123488187789917, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.0716354176402092, + 0.5309333205223083, + 0.03351572901010513, + 0.03417561203241348 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.45929789543151855, + -0.038119688630104065, + -0.037459805607795715 + ], + "candidate_oracle_branch_scores": [ + 0.0716354176402092, + 0.5309333205223083, + 0.03351572901010513, + 0.03417561203241348 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.293828010559082, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.2067700624465942, + -1.293828010559082, + -1.3712284564971924, + -1.400162696838379 + ], + "candidate_oracle_progress": 0.5309333205223083, + "candidate_oracle_regret": 1.4690666794776917, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5309333205223083, + "candidate_oracle_score_gain_over_selected": 0.45929789543151855, + "candidate_oracle_selected_branch_progress": 0.0716354176402092, + "candidate_oracle_selected_branch_score": 0.0716354176402092, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-12ac4329c5bca5f2bb62;ms-503d0b1d27ed78b6130f;ms-97598e118c5cc8c254a5;ms-7651a7f31eae24958ef0;ms-f9c00ba41392adec3fd1;ms-20e5ffa93544d6d8b313", + "expert_regret": 1.9288227334618568, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4cd1ceea2dda2732110a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9288227334618568, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07117726653814316, + "restore_error": 2.384185791015625e-07, + "score": 0.07117726653814316, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.48645099997520447, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.3052313029766083, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + 0.3052313029766083, + 0.3009960949420929, + 0.29978564381599426, + 0.2954832911491394 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-68970d9d9bf975e25eb5;ms-81d1d8def1fbeb3b1cc5;ms-8f6d30c2ade00e451dc2;ms-c7020fdb7cba871e8b3e;ms-ca25b016439a98198434;ms-29afe3c91faef25f1343", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dc2a8fa76e1ceb0d8925", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9371509552001953e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.213709756731987, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.540472149848938, + 0.5403114557266235, + 0.5401203632354736, + 0.5410773754119873 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00016069412231445312, + -0.00035178661346435547, + 0.0006052255630493164 + ], + "candidate_oracle_branch_scores": [ + 0.540472149848938, + 0.5403114557266235, + 0.5401203632354736, + 0.5410773754119873 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.4524809420108795, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 24 + ], + "candidate_oracle_potentials": [ + -0.4319474995136261, + -0.4348781406879425, + -0.4379384219646454, + -0.4524809420108795 + ], + "candidate_oracle_progress": 0.5410773754119873, + "candidate_oracle_regret": 1.4589226245880127, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5410773754119873, + "candidate_oracle_score_gain_over_selected": 0.0006052255630493164, + "candidate_oracle_selected_branch_progress": 0.540472149848938, + "candidate_oracle_selected_branch_score": 0.540472149848938, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d5d7c690819019cb7869;ms-564c02492863ae749ea9;ms-93e3d9968204474eff49;ms-22675530f3a401b3fd6d;ms-7d18f6f16879d2933bcd;ms-7e6493bb6b1ff650d6de", + "expert_regret": 1.4595279693603516, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-486ff31b7a04a7e9e8f9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4595279693603516, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5404720306396484, + "restore_error": 1.9371509552001953e-07, + "score": 0.5404720306396484, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2887766659259796, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.029659390449523926, + 0.02652745321393013, + 0.027146805077791214, + 0.030020833015441895 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0031319372355937958, + -0.002512585371732712, + 0.00036144256591796875 + ], + "candidate_oracle_branch_scores": [ + 0.029659390449523926, + 0.02652745321393013, + 0.027146805077791214, + 0.030020833015441895 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.859109878540039, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 4 + ], + "candidate_oracle_potentials": [ + -1.64420485496521, + -1.823455572128296, + -1.852957010269165, + -1.859109878540039 + ], + "candidate_oracle_progress": 0.030020833015441895, + "candidate_oracle_regret": 1.969979166984558, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.030020833015441895, + "candidate_oracle_score_gain_over_selected": 0.00036144256591796875, + "candidate_oracle_selected_branch_progress": 0.029659390449523926, + "candidate_oracle_selected_branch_score": 0.029659390449523926, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8c8198e44eea32f98ca7;ms-3abfb4c309360a304d54;ms-15c083989d8277fd07ec;ms-5e23219a8e2aadd039c7;ms-175375383979526d80b5;ms-7361bfba9d2ab4f1913e", + "expert_regret": 1.9703405145555735, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-793a98188fd57ed5291f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9703405145555735, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.029659485444426537, + "restore_error": 1.9371509552001953e-07, + "score": 0.029659485444426537, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3503319323062897, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5413910150527954, + 0.540083110332489, + 0.5422309041023254, + 0.5423793196678162 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0013079047203063965, + 0.0008398890495300293, + 0.000988304615020752 + ], + "candidate_oracle_branch_scores": [ + 0.5413910150527954, + 0.540083110332489, + 0.5422309041023254, + 0.5423793196678162 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.0507627725601196, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 24, + 20, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.0349360704421997, + -1.0450528860092163, + -1.0507209300994873, + -1.0507627725601196 + ], + "candidate_oracle_progress": 0.5423793196678162, + "candidate_oracle_regret": 1.4576206803321838, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5423793196678162, + "candidate_oracle_score_gain_over_selected": 0.000988304615020752, + "candidate_oracle_selected_branch_progress": 0.5413910150527954, + "candidate_oracle_selected_branch_score": 0.5413910150527954, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3c2515d4a10082514714;ms-7af1e453acf970f40546;ms-746436cac05100783ad7;ms-813cac6d08ed5af48b12;ms-11230e3aaabb1feec834;ms-49219cb8ed7dad70c897", + "expert_regret": 1.458608865737915, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2af09f91e05d19f7f181", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.458608865737915, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.541391134262085, + "restore_error": 1.9371509552001953e-07, + "score": 0.541391134262085, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6637175679206848, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.04897519573569298, + 0.048790670931339264, + 0.05010359361767769, + 0.047913383692502975 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.000184524804353714, + 0.0011283978819847107, + -0.0010618120431900024 + ], + "candidate_oracle_branch_scores": [ + 0.04897519573569298, + 0.048790670931339264, + 0.05010359361767769, + 0.047913383692502975 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.8772220611572266, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -2.8337063789367676, + -2.8730053901672363, + -2.8772220611572266, + -2.8831491470336914 + ], + "candidate_oracle_progress": 0.05010359361767769, + "candidate_oracle_regret": 1.9498964063823223, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.05010359361767769, + "candidate_oracle_score_gain_over_selected": 0.0011283978819847107, + "candidate_oracle_selected_branch_progress": 0.04897519573569298, + "candidate_oracle_selected_branch_score": 0.04897519573569298, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7670f25745871759e69e;ms-b481531ab787e3d6fb1e;ms-d9e3a187dcadb9ad26b1;ms-f5483f0819e0e8bc352e;ms-fe650308e25459ee64c6;ms-4acbf69acd30d96e46a7", + "expert_regret": 1.9510382153093815, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-999a8c1454dd4597a834", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9510382153093815, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.048961784690618515, + "restore_error": 1.9371509552001953e-07, + "score": 0.048961784690618515, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6066872477531433, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5025536417961121, + 0.5024814605712891, + 0.5017105937004089, + 0.5016490817070007 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -7.218122482299805e-05, + -0.000843048095703125, + -0.0009045600891113281 + ], + "candidate_oracle_branch_scores": [ + 0.5025536417961121, + 0.5024814605712891, + 0.5017105937004089, + 0.5016490817070007 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.5659241676330566, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -1.5659241676330566, + -1.5756133794784546, + -1.6108466386795044, + -1.6171423196792603 + ], + "candidate_oracle_progress": 0.5025536417961121, + "candidate_oracle_regret": 0.11491239070892334, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5025536417961121, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5025536417961121, + "candidate_oracle_selected_branch_score": 0.5025536417961121, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7a17ceb004979b99a586;ms-9184c93267b4bbfa4cae;ms-7241a1c25af41f4c0b5a;ms-0e4af96af7d344ec47a0;ms-b35643e98e1b846e27cf;ms-f5fb668380b64d4f1e74", + "expert_regret": 0.11491239070892334, + "expert_score": 0.6174660325050354, + "expert_success": false, + "group_id": "ms-309c09cf5d782e9ba0a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.11491239070892334, + "oracle_score": 0.6174660325050354, + "oracle_success": false, + "progress": 0.5025536417961121, + "restore_error": 1.9371509552001953e-07, + "score": 0.5025536417961121, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.23067007958889008, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.22035546600818634, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 20, + 33 + ], + "candidate_oracle_potentials": [ + 0.22035546600818634, + 0.2184404879808426, + 0.21787337958812714, + 0.2161497324705124 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-348af0b70d3e679f40a2;ms-ae33e3afb57e61026d72;ms-23d6e5835aa90a62b6ef;ms-c0bfce3c9dd10f9d3231;ms-93e3d9968204474eff49;ms-a5d81a7c740394b68c3f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbb609a3f2a334986245", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.9371509552001953e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2929535508155823, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5490778684616089, + 0.5489251017570496, + 0.5490448474884033, + 0.5363410711288452 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00015276670455932617, + -3.3020973205566406e-05, + -0.012736797332763672 + ], + "candidate_oracle_branch_scores": [ + 0.5490778684616089, + 0.5489251017570496, + 0.5490448474884033, + 0.5363410711288452 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8040537238121033, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -0.8040537238121033, + -0.8066059947013855, + -0.8466251492500305, + -0.8558207750320435 + ], + "candidate_oracle_progress": 0.5490778684616089, + "candidate_oracle_regret": 1.4509221315383911, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5490778684616089, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5490778684616089, + "candidate_oracle_selected_branch_score": 0.5490778684616089, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-12ac4329c5bca5f2bb62;ms-97598e118c5cc8c254a5;ms-2259a78b2187e22f9f37;ms-227fe0347d2ea57a66a3;ms-7651a7f31eae24958ef0;ms-dea17c1c383f54d05636", + "expert_regret": 1.4509199261665344, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7849511ad9b8262adae7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4509199261665344, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5490800738334656, + "restore_error": 1.9371509552001953e-07, + "score": 0.5490800738334656, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6985612511634827, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5550948977470398, + 0.5569137930870056, + 0.554205060005188, + 0.5558194518089294 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0018188953399658203, + -0.0008898377418518066, + 0.0007245540618896484 + ], + "candidate_oracle_branch_scores": [ + 0.5550948977470398, + 0.5569137930870056, + 0.554205060005188, + 0.5558194518089294 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.622869610786438, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -0.6183586716651917, + -0.622869610786438, + -0.8364714980125427, + -0.8528169393539429 + ], + "candidate_oracle_progress": 0.5569137930870056, + "candidate_oracle_regret": 1.4430862069129944, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5569137930870056, + "candidate_oracle_score_gain_over_selected": 0.0018188953399658203, + "candidate_oracle_selected_branch_progress": 0.5550948977470398, + "candidate_oracle_selected_branch_score": 0.5550948977470398, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4c83412fa0aa5180ad89;ms-8b68d8b4d22e6ff0451d;ms-a3d0c460532de2d801ae;ms-3cfb09df08ad7279ef02;ms-4d6099258a3a6e037aff;ms-c6beb139304a0ea6f7ae", + "expert_regret": 1.444941520690918, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c35a083df7c08225af3b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.444941520690918, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.555058479309082, + "restore_error": 1.1920928955078125e-07, + "score": 0.555058479309082, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6395925879478455, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5570612549781799, + 0.5529702305793762, + 0.5579013824462891, + 0.5508562326431274 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.004091024398803711, + 0.0008401274681091309, + -0.00620502233505249 + ], + "candidate_oracle_branch_scores": [ + 0.5570612549781799, + 0.5529702305793762, + 0.5579013824462891, + 0.5508562326431274 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2549307346343994, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 20, + 0, + 36 + ], + "candidate_oracle_potentials": [ + -1.1927785873413086, + -1.2263633012771606, + -1.2549307346343994, + -1.3028706312179565 + ], + "candidate_oracle_progress": 0.5579013824462891, + "candidate_oracle_regret": 1.442098617553711, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5579013824462891, + "candidate_oracle_score_gain_over_selected": 0.0008401274681091309, + "candidate_oracle_selected_branch_progress": 0.5570612549781799, + "candidate_oracle_selected_branch_score": 0.5570612549781799, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7e6493bb6b1ff650d6de;ms-7d18f6f16879d2933bcd;ms-19e6e6e341aebb7ec693;ms-8c9f657875cf334b1f17;ms-99df75798ec5da5ec7f3;ms-4c7138016830a563fb1b", + "expert_regret": 1.4429373741149902, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-14c40aa19f7b9307511d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4429373741149902, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5570626258850098, + "restore_error": 1.1920928955078125e-07, + "score": 0.5570626258850098, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.08733199536800385, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.28656983375549316, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + 0.28656983375549316, + 0.2856813371181488, + 0.28470635414123535, + 0.28221964836120605 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-867fd9318b2445dcefb5;ms-29afe3c91faef25f1343;ms-af16712eadcaebf175ff;ms-2f846e9f31e2b8c4965f;ms-a497e44e8c2ff0d46e47;ms-2ee00a97b477ba241dba", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ae6d60345612be32478c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2218141406774521, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5037197470664978, + 0.5033642053604126, + 0.5037713050842285, + 0.5038195252418518 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0003555417060852051, + 5.155801773071289e-05, + 9.97781753540039e-05 + ], + "candidate_oracle_branch_scores": [ + 0.5037197470664978, + 0.5033642053604126, + 0.5037713050842285, + 0.5038195252418518 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.4113290309906006, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 0, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.4066842794418335, + -1.407059907913208, + -1.4089319705963135, + -1.4113290309906006 + ], + "candidate_oracle_progress": 0.5038195252418518, + "candidate_oracle_regret": 1.4961804747581482, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5038195252418518, + "candidate_oracle_score_gain_over_selected": 9.97781753540039e-05, + "candidate_oracle_selected_branch_progress": 0.5037197470664978, + "candidate_oracle_selected_branch_score": 0.5037197470664978, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-746436cac05100783ad7;ms-f3ddc66fde2d59666e07;ms-2f846e9f31e2b8c4965f;ms-7b932868f83725def2ed;ms-2ee00a97b477ba241dba;ms-6029bab18ae94b126d79", + "expert_regret": 1.4962778091430664, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f77305a344da6a4ccc84", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4962778091430664, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5037221908569336, + "restore_error": 1.1920928955078125e-07, + "score": 0.5037221908569336, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2170216292142868, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.3012091815471649, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 4 + ], + "candidate_oracle_potentials": [ + 0.3012091815471649, + 0.28969067335128784, + 0.2793612778186798, + 0.2790871858596802 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-561f4f913d7b4991d81a;ms-bb0d941f78d3d9c5a886;ms-3c4ff3dae26217f22a8b;ms-348af0b70d3e679f40a2;ms-8b73e5dfa1f2a01e6017;ms-93e3d9968204474eff49", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fd6deac5a281d169bc75", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.43863487243652344, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5145947337150574, + 0.5177200436592102, + 0.5177990198135376, + 0.514483630657196 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.003125309944152832, + 0.0032042860984802246, + -0.00011110305786132812 + ], + "candidate_oracle_branch_scores": [ + 0.5145947337150574, + 0.5177200436592102, + 0.5177990198135376, + 0.514483630657196 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.2955543994903564, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 1, + 36 + ], + "candidate_oracle_potentials": [ + -1.2667019367218018, + -1.2844127416610718, + -1.2955543994903564, + -1.2967150211334229 + ], + "candidate_oracle_progress": 0.5177990198135376, + "candidate_oracle_regret": 1.4822009801864624, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5177990198135376, + "candidate_oracle_score_gain_over_selected": 0.0032042860984802246, + "candidate_oracle_selected_branch_progress": 0.5145947337150574, + "candidate_oracle_selected_branch_score": 0.5145947337150574, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-76194d089c97018ce427;ms-3c2515d4a10082514714;ms-a5d81a7c740394b68c3f;ms-ae33e3afb57e61026d72;ms-f5483f0819e0e8bc352e;ms-7670f25745871759e69e", + "expert_regret": 1.4854052662849426, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6c335deaaa5c63478701", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4854052662849426, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5145947337150574, + "restore_error": 1.1920928955078125e-07, + "score": 0.5145947337150574, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3410932421684265, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.30113691091537476, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 24 + ], + "candidate_oracle_potentials": [ + 0.30113691091537476, + 0.3009665608406067, + 0.3006441295146942, + 0.28407448530197144 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-350b797a531f87ad2c0f;ms-a44a2c9eee8baea5d29e;ms-b33f1d4ddb6a531d2a71;ms-8beca0622be320b282c1;ms-c684df0b998b593db723;ms-c7020fdb7cba871e8b3e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-15ef6ee70a8df3cfa578", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8254882097244263, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.18683573603630066, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.18683573603630066, + 0.18340209126472473, + -0.08631587028503418, + -0.08806858956813812 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3f4967102c7b10057ab9;ms-a3cb33ed1e34d229773c;ms-c7020fdb7cba871e8b3e;ms-ca25b016439a98198434;ms-cb99eeafec52800f3b77;ms-b33f1d4ddb6a531d2a71", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d26a60e383a2e822615a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7994698882102966, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.31512656807899475, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 3, + 19 + ], + "candidate_oracle_potentials": [ + 0.31512656807899475, + 0.29549166560173035, + 0.20100700855255127, + 0.1888616383075714 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c6beb139304a0ea6f7ae;ms-e8fbdbddd9200f5091d6;ms-d686ae387b1a0ce2f2f3;ms-4c83412fa0aa5180ad89;ms-4d6099258a3a6e037aff;ms-128c7c43e30023e6b1a3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4ddda51b1c6809c3531d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9571501612663269, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.5136284828186035, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.5136284828186035, + 0.5124599933624268, + 0.3083333373069763, + 0.307835191488266 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a9ac13384fe5afc835f1;ms-69962cd1c448094e4fb0;ms-a3cb33ed1e34d229773c;ms-3f4967102c7b10057ab9;ms-683b1d258a1cafbf87b9;ms-a44a2c9eee8baea5d29e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5e85dc3760eef8a53a67", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45937395095825195, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5569157004356384, + 0.5565209984779358, + 0.5574869513511658, + 0.5575361251831055 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0003947019577026367, + 0.0005712509155273438, + 0.000620424747467041 + ], + "candidate_oracle_branch_scores": [ + 0.5569157004356384, + 0.5565209984779358, + 0.5574869513511658, + 0.5575361251831055 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.8005937933921814, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.633869469165802, + -0.6412646770477295, + -0.7985618710517883, + -0.8005937933921814 + ], + "candidate_oracle_progress": 0.5575361251831055, + "candidate_oracle_regret": 1.4424638748168945, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5575361251831055, + "candidate_oracle_score_gain_over_selected": 0.000620424747467041, + "candidate_oracle_selected_branch_progress": 0.5569157004356384, + "candidate_oracle_selected_branch_score": 0.5569157004356384, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-350b797a531f87ad2c0f;ms-a44a2c9eee8baea5d29e;ms-c7020fdb7cba871e8b3e;ms-8f6d30c2ade00e451dc2;ms-683b1d258a1cafbf87b9;ms-68970d9d9bf975e25eb5", + "expert_regret": 1.443144679069519, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-704fee4c9fb9941a26e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.443144679069519, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.556855320930481, + "restore_error": 1.1920928955078125e-07, + "score": 0.556855320930481, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6300803422927856, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5548786520957947, + 0.5523639917373657, + 0.5552223324775696, + 0.5546639561653137 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002514660358428955, + 0.00034368038177490234, + -0.00021469593048095703 + ], + "candidate_oracle_branch_scores": [ + 0.5548786520957947, + 0.5523639917373657, + 0.5552223324775696, + 0.5546639561653137 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0427275896072388, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 8, + 1 + ], + "candidate_oracle_potentials": [ + -0.993843674659729, + -1.0174357891082764, + -1.0427275896072388, + -1.0589442253112793 + ], + "candidate_oracle_progress": 0.5552223324775696, + "candidate_oracle_regret": 1.4447776675224304, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5552223324775696, + "candidate_oracle_score_gain_over_selected": 0.00034368038177490234, + "candidate_oracle_selected_branch_progress": 0.5548786520957947, + "candidate_oracle_selected_branch_score": 0.5548786520957947, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9b15f9c696a2661346cf;ms-80d5c509e83845ab1bc7;ms-b1c9975d1a007dd03dc4;ms-e110d8ef3eb852a0f564;ms-503d0b1d27ed78b6130f;ms-de0321d0ece4c58bc224", + "expert_regret": 1.4480687975883484, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-578e24198ed828a74485", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4480687975883484, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5519312024116516, + "restore_error": 1.1920928955078125e-07, + "score": 0.5519312024116516, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6215638518333435, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.5723331570625305, + 0.562311589717865 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.4276669025421143, + -1.4376883506774902 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.5723331570625305, + 0.562311589717865 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.473984718322754, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + -1.473984718322754, + -1.4800829887390137, + -1.4858920574188232, + -1.525991439819336 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-41b0258c4e329a734da7;ms-1a4ecfbe9c97214d5c78;ms-910d27b58a0585327a27;ms-d4aab6f9b6717dd5712e;ms-57ac136bd68be6387c6f;ms-2ae57bab6d2ea11f6638", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8fcc78fba7b3bec0fab6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46699443459510803, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7550228834152222, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.7550228834152222, + -0.7566973567008972, + -0.7897746562957764, + -0.7926797866821289 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-81d1d8def1fbeb3b1cc5;ms-68970d9d9bf975e25eb5;ms-c7020fdb7cba871e8b3e;ms-ca25b016439a98198434;ms-8f6d30c2ade00e451dc2;ms-cb99eeafec52800f3b77", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-25839c690d85a4f5b986", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7982277870178223, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5612820982933044, + 0.5608310103416443, + 0.559987485408783, + 0.5599385499954224 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00045108795166015625, + -0.0012946128845214844, + -0.00134354829788208 + ], + "candidate_oracle_branch_scores": [ + 0.5612820982933044, + 0.5608310103416443, + 0.559987485408783, + 0.5599385499954224 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.4489777088165283, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.4489777088165283, + -1.450575590133667, + -1.4880436658859253, + -1.4888818264007568 + ], + "candidate_oracle_progress": 0.5612820982933044, + "candidate_oracle_regret": 1.4387179017066956, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5612820982933044, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5612820982933044, + "candidate_oracle_selected_branch_score": 0.5612820982933044, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-11230e3aaabb1feec834;ms-3c4ff3dae26217f22a8b;ms-d88107eff1e361cdcc4c;ms-c0bfce3c9dd10f9d3231;ms-23d6e5835aa90a62b6ef;ms-348af0b70d3e679f40a2", + "expert_regret": 1.4387171864509583, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a0e07d6e4725342ffff2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4387171864509583, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5612828135490417, + "restore_error": 1.1920928955078125e-07, + "score": 0.5612828135490417, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.37730804085731506, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5505983233451843, + 0.5508508682250977, + 0.5478527545928955, + 0.5484889149665833 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0002525448799133301, + -0.0027455687522888184, + -0.0021094083786010742 + ], + "candidate_oracle_branch_scores": [ + 0.5505983233451843, + 0.5508508682250977, + 0.5478527545928955, + 0.5484889149665833 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8834326267242432, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 24, + 8 + ], + "candidate_oracle_potentials": [ + -0.8646867275238037, + -0.8834326267242432, + -0.9013088941574097, + -0.9186136722564697 + ], + "candidate_oracle_progress": 0.5508508682250977, + "candidate_oracle_regret": 1.4491491317749023, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5508508682250977, + "candidate_oracle_score_gain_over_selected": 0.0002525448799133301, + "candidate_oracle_selected_branch_progress": 0.5505983233451843, + "candidate_oracle_selected_branch_score": 0.5505983233451843, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5fb668380b64d4f1e74;ms-3e51a1bdc3a2cc4eb06d;ms-13192a27f5fcf4fd24d7;ms-7241a1c25af41f4c0b5a;ms-b35643e98e1b846e27cf;ms-71452ba714a10880870b", + "expert_regret": 1.449402630329132, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d965f63e091a5d6dd6d7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.449402630329132, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5505973696708679, + "restore_error": 1.1920928955078125e-07, + "score": 0.5505973696708679, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6806422472000122, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.35452744364738464, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 0.35452744364738464, + 0.34341177344322205, + 0.2662394940853119, + 0.2508818805217743 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-813cac6d08ed5af48b12;ms-d88107eff1e361cdcc4c;ms-cba2f44df79669ff934b;ms-6029bab18ae94b126d79;ms-99a5ffff5b73cf604b3d;ms-8a74cf665984273be00d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-64ab703e7a82799a47dd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2018650323152542, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5198243260383606, + 0.521275520324707, + 0.5214663743972778, + 0.521791398525238 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0014511942863464355, + 0.0016420483589172363, + 0.0019670724868774414 + ], + "candidate_oracle_branch_scores": [ + 0.5198243260383606, + 0.521275520324707, + 0.5214663743972778, + 0.521791398525238 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.2457443475723267, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.2127556800842285, + -1.235516905784607, + -1.2405730485916138, + -1.2457443475723267 + ], + "candidate_oracle_progress": 0.521791398525238, + "candidate_oracle_regret": 1.478208601474762, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.521791398525238, + "candidate_oracle_score_gain_over_selected": 0.0019670724868774414, + "candidate_oracle_selected_branch_progress": 0.5198243260383606, + "candidate_oracle_selected_branch_score": 0.5198243260383606, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9ff81e54049443a0f3d3;ms-7241a1c25af41f4c0b5a;ms-71452ba714a10880870b;ms-13192a27f5fcf4fd24d7;ms-95320371ce6b820c85f6;ms-7a17ceb004979b99a586", + "expert_regret": 1.480176031589508, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4e395d53889980b05784", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.480176031589508, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5198239684104919, + "restore_error": 1.1920928955078125e-07, + "score": 0.5198239684104919, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.398989737033844, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.4257996082305908, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 36 + ], + "candidate_oracle_potentials": [ + 0.4257996082305908, + 0.42545801401138306, + 0.4241153597831726, + 0.4041369557380676 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3cfb09df08ad7279ef02;ms-4d6099258a3a6e037aff;ms-d686ae387b1a0ce2f2f3;ms-f5aa7ce332ee9702812a;ms-a3d0c460532de2d801ae;ms-309d2258d275ae304857", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-85eef30b36b044b33f60", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4948805868625641, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.08136498183012009, + 0.08168857544660568, + 0.08156498521566391, + 0.08152589946985245 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0003235936164855957, + 0.00020000338554382324, + 0.00016091763973236084 + ], + "candidate_oracle_branch_scores": [ + 0.08136498183012009, + 0.08168857544660568, + 0.08156498521566391, + 0.08152589946985245 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.963504433631897, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -1.9567606449127197, + -1.963504433631897, + -1.968381404876709, + -1.9785579442977905 + ], + "candidate_oracle_progress": 0.08168857544660568, + "candidate_oracle_regret": 1.9183114245533943, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.08168857544660568, + "candidate_oracle_score_gain_over_selected": 0.0003235936164855957, + "candidate_oracle_selected_branch_progress": 0.08136498183012009, + "candidate_oracle_selected_branch_score": 0.08136498183012009, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2259a78b2187e22f9f37;ms-cea745484a24f376d7e8;ms-227fe0347d2ea57a66a3;ms-af22292595eebbd60e48;ms-6c0ef0ef8b493232246c;ms-12ac4329c5bca5f2bb62", + "expert_regret": 1.9186373203992844, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e0b2e69a5ea0d0ad4fb5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.9186373203992844, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08136267960071564, + "restore_error": 1.1920928955078125e-07, + "score": 0.08136267960071564, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.41759204864501953, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5621510744094849, + 0.5647594332695007, + 0.5627099275588989, + 0.5619295835494995 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.002608358860015869, + 0.0005588531494140625, + -0.00022149085998535156 + ], + "candidate_oracle_branch_scores": [ + 0.5621510744094849, + 0.5647594332695007, + 0.5627099275588989, + 0.5619295835494995 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.991581916809082, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 20, + 36, + 0 + ], + "candidate_oracle_potentials": [ + -0.9845541715621948, + -0.991581916809082, + -1.0064057111740112, + -1.0133973360061646 + ], + "candidate_oracle_progress": 0.5647594332695007, + "candidate_oracle_regret": 1.4352405667304993, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5647594332695007, + "candidate_oracle_score_gain_over_selected": 0.002608358860015869, + "candidate_oracle_selected_branch_progress": 0.5621510744094849, + "candidate_oracle_selected_branch_score": 0.5621510744094849, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-97598e118c5cc8c254a5;ms-6c0ef0ef8b493232246c;ms-12ac4329c5bca5f2bb62;ms-382000b79932b7c68326;ms-503d0b1d27ed78b6130f;ms-227fe0347d2ea57a66a3", + "expert_regret": 1.4378471374511719, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-81729abe5d83a1ca280d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4378471374511719, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5621528625488281, + "restore_error": 1.1920928955078125e-07, + "score": 0.5621528625488281, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.21930967271327972, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5331944823265076, + 0.5224918723106384, + 0.5207401514053345, + 0.5189294219017029 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.01070261001586914, + -0.012454330921173096, + -0.014265060424804688 + ], + "candidate_oracle_branch_scores": [ + 0.5331944823265076, + 0.5224918723106384, + 0.5207401514053345, + 0.5189294219017029 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2251559495925903, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.2251559495925903, + -1.3783975839614868, + -1.4036507606506348, + -1.429187536239624 + ], + "candidate_oracle_progress": 0.5331944823265076, + "candidate_oracle_regret": 1.4668055176734924, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5331944823265076, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5331944823265076, + "candidate_oracle_selected_branch_score": 0.5331944823265076, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-90a03366976eaa1ad013;ms-5415e349e8f9f2bce641;ms-ddc0b3adf8506c30f503;ms-c3cdd70e2bc10bba1930;ms-8af2224cc82636ef1dd7;ms-de0abc7a53a48164f82d", + "expert_regret": 0.07108527421951294, + "expert_score": 0.6042797565460205, + "expert_success": false, + "group_id": "ms-307f9067d5b66f55b3a6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4668055176734924, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5331944823265076, + "restore_error": 1.1920928955078125e-07, + "score": 0.5331944823265076, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7520796656608582, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5404490828514099, + 0.5406543612480164, + 0.5404019355773926, + 0.5403041243553162 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0002052783966064453, + -4.7147274017333984e-05, + -0.00014495849609375 + ], + "candidate_oracle_branch_scores": [ + 0.5404490828514099, + 0.5406543612480164, + 0.5404019355773926, + 0.5403041243553162 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8195813894271851, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -0.8074146509170532, + -0.8195813894271851, + -0.9565422534942627, + -0.9681978821754456 + ], + "candidate_oracle_progress": 0.5406543612480164, + "candidate_oracle_regret": 0.04164385795593262, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5406543612480164, + "candidate_oracle_score_gain_over_selected": 0.0002052783966064453, + "candidate_oracle_selected_branch_progress": 0.5404490828514099, + "candidate_oracle_selected_branch_score": 0.5404490828514099, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4ca84594a789c9abd5d9;ms-a9ac13384fe5afc835f1;ms-69962cd1c448094e4fb0;ms-a3cb33ed1e34d229773c;ms-3f4967102c7b10057ab9;ms-683b1d258a1cafbf87b9", + "expert_regret": 0.04185056686401367, + "expert_score": 0.582298219203949, + "expert_success": false, + "group_id": "ms-eac0d7dd54b1e797fdbd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.04185056686401367, + "oracle_score": 0.582298219203949, + "oracle_success": false, + "progress": 0.5404476523399353, + "restore_error": 1.1920928955078125e-07, + "score": 0.5404476523399353, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.13319902122020721, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.6049999594688416, + 0.6062502264976501, + 0.6075844168663025, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0012502670288085938, + 0.0025844573974609375, + 1.3949999809265137 + ], + "candidate_oracle_branch_scores": [ + 0.6049999594688416, + 0.6062502264976501, + 0.6075844168663025, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8586650490760803, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.7577722072601318, + -0.7665524482727051, + -0.7756962776184082, + -0.8586650490760803 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.3949999809265137, + "candidate_oracle_selected_branch_progress": 0.6049999594688416, + "candidate_oracle_selected_branch_score": 0.6049999594688416, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7af1e453acf970f40546;ms-5085e45e6ca37192d2e5;ms-f8c4e700a751537ebb16;ms-c0bfce3c9dd10f9d3231;ms-11230e3aaabb1feec834;ms-a5d81a7c740394b68c3f", + "expert_regret": 1.3949986100196838, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-774e954ffdc5da041261", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.3949986100196838, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.6050013899803162, + "restore_error": 1.1920928955078125e-07, + "score": 0.6050013899803162, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42902249097824097, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.03805037960410118, + 0.039013754576444626 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.9619495868682861, + -1.9609862565994263 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.03805037960410118, + 0.039013754576444626 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.012266180478036404, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.012266180478036404, + -0.01106933318078518, + -0.027363518252968788, + -0.039740338921546936 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1d1969094d91fe52667d;ms-b0fd98bae1ed5d543f35;ms-c684df0b998b593db723;ms-a8e6435948250f5e163d;ms-f3f6a1b34fdf35290a6c;ms-26e09c86be9068a34acf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ae5421846020d2765f82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.884649932384491, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.1309752464294434, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -1.1309752464294434, + -1.1627737283706665, + -1.2571593523025513, + -1.2877485752105713 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-479aa7d4248a0ebd94e1;ms-2f846e9f31e2b8c4965f;ms-99a5ffff5b73cf604b3d;ms-1fa37879a24f0e84c275;ms-cba2f44df79669ff934b;ms-2b64c720290c6dad7e35", + "expert_regret": 0.0, + "expert_score": 0.5999822020530701, + "expert_success": false, + "group_id": "ms-1b9f208b8780cb33b9a5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 0.5999822020530701, + "oracle_success": false, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2452496737241745, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5276719927787781, + 0.5323789715766907, + 0.5197806358337402, + 0.040763117372989655 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.004706978797912598, + -0.007891356945037842, + -0.486908882856369 + ], + "candidate_oracle_branch_scores": [ + 0.5276719927787781, + 0.5323789715766907, + 0.5197806358337402, + 0.040763117372989655 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.697621464729309, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.5951930284500122, + -1.697621464729309, + -1.742331624031067, + -1.7735583782196045 + ], + "candidate_oracle_progress": 0.5323789715766907, + "candidate_oracle_regret": 1.4676210284233093, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5323789715766907, + "candidate_oracle_score_gain_over_selected": 0.004706978797912598, + "candidate_oracle_selected_branch_progress": 0.5276719927787781, + "candidate_oracle_selected_branch_score": 0.5276719927787781, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f9c00ba41392adec3fd1;ms-7651a7f31eae24958ef0;ms-8b98e8aa8ecee10bea27;ms-503d0b1d27ed78b6130f;ms-de0abc7a53a48164f82d;ms-12ac4329c5bca5f2bb62", + "expert_regret": 1.4723291397094727, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-578537600f7a649c2dd5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4723291397094727, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5276708602905273, + "restore_error": 1.1920928955078125e-07, + "score": 0.5276708602905273, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40521666407585144, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5641811490058899, + 0.5664272904396057, + 0.565047562122345, + 0.5651612877845764 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0022461414337158203, + 0.0008664131164550781, + 0.0009801387786865234 + ], + "candidate_oracle_branch_scores": [ + 0.5641811490058899, + 0.5664272904396057, + 0.565047562122345, + 0.5651612877845764 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.3318626582622528, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 1, + 17 + ], + "candidate_oracle_potentials": [ + 0.3378097712993622, + 0.3318626582622528, + 0.31082481145858765, + 0.30959275364875793 + ], + "candidate_oracle_progress": 0.5664272904396057, + "candidate_oracle_regret": 1.4335727095603943, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5664272904396057, + "candidate_oracle_score_gain_over_selected": 0.0022461414337158203, + "candidate_oracle_selected_branch_progress": 0.5641811490058899, + "candidate_oracle_selected_branch_score": 0.5641811490058899, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-11230e3aaabb1feec834;ms-ae33e3afb57e61026d72;ms-23d6e5835aa90a62b6ef;ms-51873059990aa55691a2;ms-c0bfce3c9dd10f9d3231;ms-7670f25745871759e69e", + "expert_regret": 1.4358175992965698, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3a07c49566decfea04de", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4358175992965698, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5641824007034302, + "restore_error": 1.1920928955078125e-07, + "score": 0.5641824007034302, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5663959980010986, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5659971237182617, + 0.5583297610282898, + 0.5659335851669312, + 0.5581044554710388 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.007667362689971924, + -6.35385513305664e-05, + -0.0078926682472229 + ], + "candidate_oracle_branch_scores": [ + 0.5659971237182617, + 0.5583297610282898, + 0.5659335851669312, + 0.5581044554710388 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.4667339622974396, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 0.4667339622974396, + 0.4666281044483185, + 0.45501628518104553, + 0.4525514543056488 + ], + "candidate_oracle_progress": 0.5659971237182617, + "candidate_oracle_regret": 1.4340028762817383, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5659971237182617, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5659971237182617, + "candidate_oracle_selected_branch_score": 0.5659971237182617, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5fb668380b64d4f1e74;ms-22675530f3a401b3fd6d;ms-7d18f6f16879d2933bcd;ms-7e6493bb6b1ff650d6de;ms-f5bae191ebad7c9f2687;ms-19e6e6e341aebb7ec693", + "expert_regret": 1.434002935886383, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-295de2ad6c52ab50de1a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.434002935886383, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5659970641136169, + "restore_error": 1.1920928955078125e-07, + "score": 0.5659970641136169, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.40025216341018677, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5710678100585938 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.4289321899414062 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5710678100585938 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.36938679218292236, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 40 + ], + "candidate_oracle_potentials": [ + -0.36938679218292236, + -0.37206408381462097, + -0.37658795714378357, + -0.44612595438957214 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c0bfce3c9dd10f9d3231;ms-f8c4e700a751537ebb16;ms-a5d81a7c740394b68c3f;ms-5085e45e6ca37192d2e5;ms-11230e3aaabb1feec834;ms-3c2515d4a10082514714", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ff3f17774184180998f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.27895161509513855, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.7595298886299133, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 8, + 1 + ], + "candidate_oracle_potentials": [ + -0.7595298886299133, + -0.7698950171470642, + -0.793296217918396, + -0.7939589023590088 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6c0ef0ef8b493232246c;ms-227fe0347d2ea57a66a3;ms-97598e118c5cc8c254a5;ms-382000b79932b7c68326;ms-dea17c1c383f54d05636;ms-a2c5c9fd35d9fda5ce9e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-59cc3cdf6918248d7f78", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5625748634338379, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5313363671302795, + 0.5317820906639099, + 0.5273084044456482, + 0.528180718421936 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0004457235336303711, + -0.004027962684631348, + -0.003155648708343506 + ], + "candidate_oracle_branch_scores": [ + 0.5313363671302795, + 0.5317820906639099, + 0.5273084044456482, + 0.528180718421936 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.00889456644654274, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 24 + ], + "candidate_oracle_potentials": [ + -0.008519936352968216, + -0.00889456644654274, + -0.024837929755449295, + -0.033899951726198196 + ], + "candidate_oracle_progress": 0.5317820906639099, + "candidate_oracle_regret": 1.46821790933609, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5317820906639099, + "candidate_oracle_score_gain_over_selected": 0.0004457235336303711, + "candidate_oracle_selected_branch_progress": 0.5313363671302795, + "candidate_oracle_selected_branch_score": 0.5313363671302795, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b35643e98e1b846e27cf;ms-71452ba714a10880870b;ms-f5fb668380b64d4f1e74;ms-7241a1c25af41f4c0b5a;ms-13192a27f5fcf4fd24d7;ms-9ff81e54049443a0f3d3", + "expert_regret": 1.4686646461486816, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08858c7ba8d4a3357e05", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4686646461486816, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5313353538513184, + "restore_error": 1.1920928955078125e-07, + "score": 0.5313353538513184, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5641172528266907, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5283209681510925, + 0.5262418985366821, + 0.5279969573020935, + 0.5261667370796204 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0020790696144104004, + -0.00032401084899902344, + -0.002154231071472168 + ], + "candidate_oracle_branch_scores": [ + 0.5283209681510925, + 0.5262418985366821, + 0.5279969573020935, + 0.5261667370796204 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.26510751247406, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -1.26510751247406, + -1.2933588027954102, + -1.3013473749160767, + -1.3281668424606323 + ], + "candidate_oracle_progress": 0.5283209681510925, + "candidate_oracle_regret": 1.4716790318489075, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.470348358154297e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5283209681510925, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5283209681510925, + "candidate_oracle_selected_branch_score": 0.5283209681510925, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f8c4e700a751537ebb16;ms-7af1e453acf970f40546;ms-c0bfce3c9dd10f9d3231;ms-11230e3aaabb1feec834;ms-5085e45e6ca37192d2e5;ms-a5d81a7c740394b68c3f", + "expert_regret": 1.471651315689087, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5b122bd43e749623ebe0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.471651315689087, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5283486843109131, + "restore_error": 1.7881393432617188e-07, + "score": 0.5283486843109131, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5620508193969727, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.12303419411182404, + 0.12421859800815582, + 0.10566367954015732, + 0.12561380863189697 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0011844038963317871, + -0.017370514571666718, + 0.002579614520072937 + ], + "candidate_oracle_branch_scores": [ + 0.12303419411182404, + 0.12421859800815582, + 0.10566367954015732, + 0.12561380863189697 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.1867945194244385, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.0776969194412231, + -1.108481526374817, + -1.1710469722747803, + -1.1867945194244385 + ], + "candidate_oracle_progress": 0.12561380863189697, + "candidate_oracle_regret": 1.874386191368103, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.470348358154297e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.12561380863189697, + "candidate_oracle_score_gain_over_selected": 0.002579614520072937, + "candidate_oracle_selected_branch_progress": 0.12303419411182404, + "candidate_oracle_selected_branch_score": 0.12303419411182404, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5415e349e8f9f2bce641;ms-90a03366976eaa1ad013;ms-ddc0b3adf8506c30f503;ms-fd1c44c6d5d8f7f11451;ms-c3cdd70e2bc10bba1930;ms-8af2224cc82636ef1dd7", + "expert_regret": 1.884365364909172, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4d03463bb4536a28d67a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.884365364909172, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11563463509082794, + "restore_error": 1.7881393432617188e-07, + "score": 0.11563463509082794, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2026846706867218, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5589377284049988, + 0.5588216781616211, + 0.5588871836662292, + 0.5578347444534302 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00011605024337768555, + -5.054473876953125e-05, + -0.0011029839515686035 + ], + "candidate_oracle_branch_scores": [ + 0.5589377284049988, + 0.5588216781616211, + 0.5588871836662292, + 0.5578347444534302 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.3335424065589905, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + 0.3335424065589905, + 0.33315181732177734, + 0.3326227068901062, + 0.3130788803100586 + ], + "candidate_oracle_progress": 0.5589377284049988, + "candidate_oracle_regret": 1.4410622715950012, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.470348358154297e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5589377284049988, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5589377284049988, + "candidate_oracle_selected_branch_score": 0.5589377284049988, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-26e09c86be9068a34acf;ms-13192a27f5fcf4fd24d7;ms-b35643e98e1b846e27cf;ms-4fe7fdaf946c97803c82;ms-7241a1c25af41f4c0b5a;ms-f5fb668380b64d4f1e74", + "expert_regret": 1.440869390964508, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1abd8c7cc1c683f88d3d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.440869390964508, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5591306090354919, + "restore_error": 1.7881393432617188e-07, + "score": 0.5591306090354919, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.46973612904548645, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5620625615119934 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.4379374980926514 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5620625615119934 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.32987338304519653, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + 0.32987338304519653, + 0.31655383110046387, + 0.30061668157577515, + 0.16492196917533875 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.470348358154297e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13192a27f5fcf4fd24d7;ms-26e09c86be9068a34acf;ms-f5fb668380b64d4f1e74;ms-4fe7fdaf946c97803c82;ms-7241a1c25af41f4c0b5a;ms-b35643e98e1b846e27cf", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b82cc8ce5d9d348ba6b4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7881393432617188e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3422043025493622, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5625960230827332, + 0.5607268214225769, + 0.5628498196601868, + 0.5606735348701477 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00186920166015625, + 0.0002537965774536133, + -0.0019224882125854492 + ], + "candidate_oracle_branch_scores": [ + 0.5625960230827332, + 0.5607268214225769, + 0.5628498196601868, + 0.5606735348701477 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.12679265439510345, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 0.15216781198978424, + 0.12968842685222626, + 0.12679265439510345, + 0.10370233654975891 + ], + "candidate_oracle_progress": 0.5628498196601868, + "candidate_oracle_regret": 1.4371501803398132, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.470348358154297e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5628498196601868, + "candidate_oracle_score_gain_over_selected": 0.0002537965774536133, + "candidate_oracle_selected_branch_progress": 0.5625960230827332, + "candidate_oracle_selected_branch_score": 0.5625960230827332, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f8c4e700a751537ebb16;ms-5085e45e6ca37192d2e5;ms-c0bfce3c9dd10f9d3231;ms-11230e3aaabb1feec834;ms-7af1e453acf970f40546;ms-a5d81a7c740394b68c3f", + "expert_regret": 1.4374035000801086, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4d9cef437c77474dc62d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4374035000801086, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5625964999198914, + "restore_error": 1.7881393432617188e-07, + "score": 0.5625964999198914, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5236223936080933, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5475196838378906, + 0.5485714077949524, + 0.5476223230361938, + 0.5467590689659119 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0010517239570617676, + 0.00010263919830322266, + -0.0007606148719787598 + ], + "candidate_oracle_branch_scores": [ + 0.5475196838378906, + 0.5485714077949524, + 0.5476223230361938, + 0.5467590689659119 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9331251382827759, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 8, + 4 + ], + "candidate_oracle_potentials": [ + -0.9296454191207886, + -0.9331251382827759, + -0.9999234080314636, + -1.0067260265350342 + ], + "candidate_oracle_progress": 0.5485714077949524, + "candidate_oracle_regret": 1.4514285922050476, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.470348358154297e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5485714077949524, + "candidate_oracle_score_gain_over_selected": 0.0010517239570617676, + "candidate_oracle_selected_branch_progress": 0.5475196838378906, + "candidate_oracle_selected_branch_score": 0.5475196838378906, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8b73e5dfa1f2a01e6017;ms-bca6fa102f94cb145cd2;ms-eff5f21c51f26a85f07c;ms-57ac136bd68be6387c6f;ms-2ae57bab6d2ea11f6638;ms-d686ae387b1a0ce2f2f3", + "expert_regret": 1.4524803161621094, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5daa8575a80e98a83170", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4524803161621094, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5475196838378906, + "restore_error": 1.7881393432617188e-07, + "score": 0.5475196838378906, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7300698161125183, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.11992233246564865, + 0.11992301791906357, + 0.11992356926202774, + 0.10907858610153198 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 6.854534149169922e-07, + 1.2367963790893555e-06, + -0.010843746364116669 + ], + "candidate_oracle_branch_scores": [ + 0.11992233246564865, + 0.11992301791906357, + 0.11992356926202774, + 0.10907858610153198 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.705745816230774, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 8 + ], + "candidate_oracle_potentials": [ + -1.5996571779251099, + -1.6350646018981934, + -1.705745816230774, + -1.7372874021530151 + ], + "candidate_oracle_progress": 0.11992356926202774, + "candidate_oracle_regret": 1.8800764307379723, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.470348358154297e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.11992356926202774, + "candidate_oracle_score_gain_over_selected": 1.2367963790893555e-06, + "candidate_oracle_selected_branch_progress": 0.11992233246564865, + "candidate_oracle_selected_branch_score": 0.11992233246564865, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b481531ab787e3d6fb1e;ms-d9e3a187dcadb9ad26b1;ms-7670f25745871759e69e;ms-f5483f0819e0e8bc352e;ms-fe650308e25459ee64c6;ms-4acbf69acd30d96e46a7", + "expert_regret": 1.880076326429844, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d8b4090565126a66d13e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.880076326429844, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.1199236735701561, + "restore_error": 1.7881393432617188e-07, + "score": 0.1199236735701561, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6150202751159668, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5661627054214478, + 0.5589291453361511, + 0.5603275299072266, + 0.5574118494987488 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.007233560085296631, + -0.005835175514221191, + -0.008750855922698975 + ], + "candidate_oracle_branch_scores": [ + 0.5661627054214478, + 0.5589291453361511, + 0.5603275299072266, + 0.5574118494987488 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.088890552520752, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 19, + 3, + 35 + ], + "candidate_oracle_potentials": [ + -1.088890552520752, + -1.1068412065505981, + -1.1073354482650757, + -1.1098947525024414 + ], + "candidate_oracle_progress": 0.5661627054214478, + "candidate_oracle_regret": 1.4338372945785522, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.470348358154297e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5661627054214478, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5661627054214478, + "candidate_oracle_selected_branch_score": 0.5661627054214478, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-caeb59971565b08f2513;ms-eff5f21c51f26a85f07c;ms-ee32e6bb3c0bb45702b9;ms-0e55645c0c701caac48a;ms-5085e45e6ca37192d2e5;ms-f8c4e700a751537ebb16", + "expert_regret": 1.4338372349739075, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9af03b651b5e36ac2ae3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4338372349739075, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5661627650260925, + "restore_error": 1.7881393432617188e-07, + "score": 0.5661627650260925, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2883141040802002, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.20894692838191986, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 8 + ], + "candidate_oracle_potentials": [ + 0.20894692838191986, + 0.2089206427335739, + 0.20851539075374603, + 0.20324306190013885 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 3.650784492492676e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a44a2c9eee8baea5d29e;ms-c7020fdb7cba871e8b3e;ms-8f6d30c2ade00e451dc2;ms-68970d9d9bf975e25eb5;ms-81d1d8def1fbeb3b1cc5;ms-350b797a531f87ad2c0f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a6b029a958e91306966a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3075079619884491, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5412627458572388, + 0.5415692329406738, + 0.5418683290481567, + 0.5437900424003601 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0003064870834350586, + 0.0006055831909179688, + 0.002527296543121338 + ], + "candidate_oracle_branch_scores": [ + 0.5412627458572388, + 0.5415692329406738, + 0.5418683290481567, + 0.5437900424003601 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3008754253387451, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -1.2757631540298462, + -1.2765005826950073, + -1.277514100074768, + -1.3008754253387451 + ], + "candidate_oracle_progress": 0.5437900424003601, + "candidate_oracle_regret": 1.45620995759964, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.650784492492676e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5437900424003601, + "candidate_oracle_score_gain_over_selected": 0.002527296543121338, + "candidate_oracle_selected_branch_progress": 0.5412627458572388, + "candidate_oracle_selected_branch_score": 0.5412627458572388, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-51873059990aa55691a2;ms-32b9c353a4890631f1bd;ms-813cac6d08ed5af48b12;ms-01067b8ff16f74652382;ms-4bc023d8d1f7748b0e12;ms-a2c5c9fd35d9fda5ce9e", + "expert_regret": 1.4590678215026855, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d4c3c235768529c33843", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4590678215026855, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5409321784973145, + "restore_error": 2.384185791015625e-07, + "score": 0.5409321784973145, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9041213989257812, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5587693452835083, + 0.5598377585411072, + 0.558566689491272, + 0.5594878792762756 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.001068413257598877, + -0.00020265579223632812, + 0.000718533992767334 + ], + "candidate_oracle_branch_scores": [ + 0.5587693452835083, + 0.5598377585411072, + 0.558566689491272, + 0.5594878792762756 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9062777757644653, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -0.9006776213645935, + -0.9062777757644653, + -0.9579090476036072, + -0.9622656106948853 + ], + "candidate_oracle_progress": 0.5598377585411072, + "candidate_oracle_regret": 1.4401622414588928, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 3.650784492492676e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5598377585411072, + "candidate_oracle_score_gain_over_selected": 0.001068413257598877, + "candidate_oracle_selected_branch_progress": 0.5587693452835083, + "candidate_oracle_selected_branch_score": 0.5587693452835083, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d686ae387b1a0ce2f2f3;ms-c6beb139304a0ea6f7ae;ms-4d6099258a3a6e037aff;ms-f5aa7ce332ee9702812a;ms-e8fbdbddd9200f5091d6;ms-3cfb09df08ad7279ef02", + "expert_regret": 1.4412028789520264, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-570c074dbf28b5faae58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4412028789520264, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5587971210479736, + "restore_error": 2.384185791015625e-07, + "score": 0.5587971210479736, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5258017778396606, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.5342393517494202, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 40 + ], + "candidate_oracle_potentials": [ + 0.5342393517494202, + 0.5336132049560547, + 0.5325070023536682, + 0.5289563536643982 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 3.650784492492676e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-309d2258d275ae304857;ms-3cfb09df08ad7279ef02;ms-ed419c64a6693cb8998b;ms-f5aa7ce332ee9702812a;ms-4d6099258a3a6e037aff;ms-d686ae387b1a0ce2f2f3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f39e1d7a2d636e39a02f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5770353674888611, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5685718655586243, + 0.5649514198303223, + 0.5682821869850159, + 0.5689901113510132 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.003620445728302002, + -0.00028967857360839844, + 0.000418245792388916 + ], + "candidate_oracle_branch_scores": [ + 0.5685718655586243, + 0.5649514198303223, + 0.5682821869850159, + 0.5689901113510132 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8788453340530396, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 36, + 0 + ], + "candidate_oracle_potentials": [ + -0.8267292976379395, + -0.8532451391220093, + -0.8688494563102722, + -0.8788453340530396 + ], + "candidate_oracle_progress": 0.5689901113510132, + "candidate_oracle_regret": 1.4310098886489868, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 3.650784492492676e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5689901113510132, + "candidate_oracle_score_gain_over_selected": 0.000418245792388916, + "candidate_oracle_selected_branch_progress": 0.5685718655586243, + "candidate_oracle_selected_branch_score": 0.5685718655586243, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-28d5618562729c763eb6;ms-ee32e6bb3c0bb45702b9;ms-caeb59971565b08f2513;ms-0e55645c0c701caac48a;ms-c5d026dffb39f2f1d38a;ms-3aa5793c449b59c77b6f", + "expert_regret": 1.4314281344413757, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c1ac63fb3644e3a2ae06", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4314281344413757, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5685718655586243, + "restore_error": 2.384185791015625e-07, + "score": 0.5685718655586243, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5380676984786987, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5647417306900024, + 0.5659376382827759, + 0.565455973148346, + 0.5666755437850952 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0011959075927734375, + 0.0007142424583435059, + 0.0019338130950927734 + ], + "candidate_oracle_branch_scores": [ + 0.5647417306900024, + 0.5659376382827759, + 0.565455973148346, + 0.5666755437850952 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.38886329531669617, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.26114946603775024, + -0.28381267189979553, + -0.3823256492614746, + -0.38886329531669617 + ], + "candidate_oracle_progress": 0.5666755437850952, + "candidate_oracle_regret": 1.4333244562149048, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 3.650784492492676e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5666755437850952, + "candidate_oracle_score_gain_over_selected": 0.0019338130950927734, + "candidate_oracle_selected_branch_progress": 0.5647417306900024, + "candidate_oracle_selected_branch_score": 0.5647417306900024, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-53cfcc878e30fc078bba;ms-68970d9d9bf975e25eb5;ms-8f6d30c2ade00e451dc2;ms-ca25b016439a98198434;ms-29afe3c91faef25f1343;ms-683b1d258a1cafbf87b9", + "expert_regret": 1.4352582693099976, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a10d8368c33b56390f77", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4352582693099976, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5647417306900024, + "restore_error": 2.384185791015625e-07, + "score": 0.5647417306900024, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8533145189285278, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.49119406938552856, + 0.49264365434646606, + 0.4901401698589325, + 0.4914416968822479 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0014495849609375, + -0.0010538995265960693, + 0.00024762749671936035 + ], + "candidate_oracle_branch_scores": [ + 0.49119406938552856, + 0.49264365434646606, + 0.4901401698589325, + 0.4914416968822479 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.658767819404602, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -1.6397842168807983, + -1.658767819404602, + -1.667382001876831, + -1.6815863847732544 + ], + "candidate_oracle_progress": 0.49264365434646606, + "candidate_oracle_regret": 1.507356345653534, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 3.650784492492676e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.49264365434646606, + "candidate_oracle_score_gain_over_selected": 0.0014495849609375, + "candidate_oracle_selected_branch_progress": 0.49119406938552856, + "candidate_oracle_selected_branch_score": 0.49119406938552856, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9184c93267b4bbfa4cae;ms-f3f6a1b34fdf35290a6c;ms-b35643e98e1b846e27cf;ms-66cc354bbf4e8bdd1051;ms-99a5ffff5b73cf604b3d;ms-7a17ceb004979b99a586", + "expert_regret": 1.5088060200214386, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b05147302972dfd7b450", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5088060200214386, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4911939799785614, + "restore_error": 2.384185791015625e-07, + "score": 0.4911939799785614, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5068396925926208, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7146461009979248, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 4, + 24, + 8 + ], + "candidate_oracle_potentials": [ + -0.7146461009979248, + -0.7175247669219971, + -0.7363463640213013, + -0.741714358329773 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 3.650784492492676e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-382000b79932b7c68326;ms-6c0ef0ef8b493232246c;ms-dea17c1c383f54d05636;ms-227fe0347d2ea57a66a3;ms-97598e118c5cc8c254a5;ms-a2c5c9fd35d9fda5ce9e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c2fde2d79cdf38555865", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3659181296825409, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.013068330474197865, + 0.031139446422457695, + 0.035869576036930084, + 0.03662889078259468 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.018071115016937256, + 0.022801246494054794, + 0.02356056123971939 + ], + "candidate_oracle_branch_scores": [ + 0.013068330474197865, + 0.031139446422457695, + 0.035869576036930084, + 0.03662889078259468 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -2.842081308364868, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -2.7309956550598145, + -2.805732488632202, + -2.8284401893615723, + -2.842081308364868 + ], + "candidate_oracle_progress": 0.03662889078259468, + "candidate_oracle_regret": 1.9633711092174053, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.03662889078259468, + "candidate_oracle_score_gain_over_selected": 0.02356056123971939, + "candidate_oracle_selected_branch_progress": 0.013068330474197865, + "candidate_oracle_selected_branch_score": 0.013068330474197865, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5483f0819e0e8bc352e;ms-d9e3a187dcadb9ad26b1;ms-5dfad80e83d210946447;ms-e318e13f77e75e7cd802;ms-7670f25745871759e69e;ms-b481531ab787e3d6fb1e", + "expert_regret": 1.986839615739882, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b786173f210fcaa65a6e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.986839615739882, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.013160384260118008, + "restore_error": 1.1920928955078125e-07, + "score": 0.013160384260118008, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.35574689507484436, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5685991644859314 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.4314007759094238 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5685991644859314 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.8526652455329895, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -0.8526652455329895, + -0.8535966873168945, + -0.8563216328620911, + -0.9294314980506897 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8b68d8b4d22e6ff0451d;ms-a3d0c460532de2d801ae;ms-166b7f66bf9f4eec432b;ms-97aebe1dd42939e3b340;ms-4c83412fa0aa5180ad89;ms-02acbd591a961c0dbd46", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1781d9c562b4425df7c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5370556712150574, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.11293168365955353, + 0.10700545459985733, + 0.10099899023771286, + 0.06885059177875519 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0059262290596961975, + -0.011932693421840668, + -0.04408109188079834 + ], + "candidate_oracle_branch_scores": [ + 0.11293168365955353, + 0.10700545459985733, + 0.10099899023771286, + 0.06885059177875519 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.0702013969421387, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + -2.0702013969421387, + -2.1180341243743896, + -2.169517993927002, + -2.4487955570220947 + ], + "candidate_oracle_progress": 0.11293168365955353, + "candidate_oracle_regret": 1.8870683163404465, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.11293168365955353, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.11293168365955353, + "candidate_oracle_selected_branch_score": 0.11293168365955353, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f69d6aec4ddb12d88c5b;ms-175375383979526d80b5;ms-54a7c3d32b6a267d81a2;ms-fbda7bc51ca269d1cda4;ms-13557287cd450bc12c6f;ms-3abfb4c309360a304d54", + "expert_regret": 1.8870683088898659, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6558f35ae2a2871a4bfd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8870683088898659, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11293169111013412, + "restore_error": 1.1920928955078125e-07, + "score": 0.11293169111013412, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5319085717201233, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5548914670944214, + 0.547520637512207, + 0.5546793341636658, + 0.5545326471328735 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0073708295822143555, + -0.00021213293075561523, + -0.00035881996154785156 + ], + "candidate_oracle_branch_scores": [ + 0.5548914670944214, + 0.547520637512207, + 0.5546793341636658, + 0.5545326471328735 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.1840085983276367, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 4 + ], + "candidate_oracle_potentials": [ + -1.1840085983276367, + -1.2067383527755737, + -1.2159497737884521, + -1.2321979999542236 + ], + "candidate_oracle_progress": 0.5548914670944214, + "candidate_oracle_regret": 1.4451085329055786, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5548914670944214, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5548914670944214, + "candidate_oracle_selected_branch_score": 0.5548914670944214, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-01067b8ff16f74652382;ms-4bc023d8d1f7748b0e12;ms-a2c5c9fd35d9fda5ce9e;ms-227fe0347d2ea57a66a3;ms-af22292595eebbd60e48;ms-6c0ef0ef8b493232246c", + "expert_regret": 1.4451079964637756, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-78da3efba7a739dcad14", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4451079964637756, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5548920035362244, + "restore_error": 1.1920928955078125e-07, + "score": 0.5548920035362244, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6432160139083862, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.06195783615112305, + 0.07476287335157394, + 0.060021232813596725, + 0.058958303183317184 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.012805037200450897, + -0.0019366033375263214, + -0.0029995329678058624 + ], + "candidate_oracle_branch_scores": [ + 0.06195783615112305, + 0.07476287335157394, + 0.060021232813596725, + 0.058958303183317184 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.21016263961792, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 40 + ], + "candidate_oracle_potentials": [ + -2.2101614475250244, + -2.21016263961792, + -2.211064100265503, + -2.231537342071533 + ], + "candidate_oracle_progress": 0.07476287335157394, + "candidate_oracle_regret": 0.5043518617749214, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.07476287335157394, + "candidate_oracle_score_gain_over_selected": 0.012805037200450897, + "candidate_oracle_selected_branch_progress": 0.06195783615112305, + "candidate_oracle_selected_branch_score": 0.06195783615112305, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c76158673d20b18c2622;ms-13557287cd450bc12c6f;ms-81f48d29d0404300ea93;ms-f69d6aec4ddb12d88c5b;ms-fbda7bc51ca269d1cda4;ms-3abfb4c309360a304d54", + "expert_regret": 0.5169320330023766, + "expert_score": 0.5791147351264954, + "expert_success": false, + "group_id": "ms-f763382872d8e89017c2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.5169320330023766, + "oracle_score": 0.5791147351264954, + "oracle_success": false, + "progress": 0.062182702124118805, + "restore_error": 1.1920928955078125e-07, + "score": 0.062182702124118805, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5792134404182434, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5103217959403992, + 0.5091074705123901, + 0.508185863494873, + 0.5096105933189392 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0012143254280090332, + -0.002135932445526123, + -0.0007112026214599609 + ], + "candidate_oracle_branch_scores": [ + 0.5103217959403992, + 0.5091074705123901, + 0.508185863494873, + 0.5096105933189392 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.474769115447998, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 0, + 8, + 20 + ], + "candidate_oracle_potentials": [ + -1.474769115447998, + -1.5041686296463013, + -1.5120760202407837, + -1.5164189338684082 + ], + "candidate_oracle_progress": 0.5103217959403992, + "candidate_oracle_regret": 1.4896782040596008, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5103217959403992, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5103217959403992, + "candidate_oracle_selected_branch_score": 0.5103217959403992, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e110d8ef3eb852a0f564;ms-60a28a9b282e7586d4d2;ms-80d5c509e83845ab1bc7;ms-b1c9975d1a007dd03dc4;ms-9b15f9c696a2661346cf;ms-de0321d0ece4c58bc224", + "expert_regret": 1.4896782040596008, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-982922e263d07c54c136", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4896782040596008, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5103217959403992, + "restore_error": 1.1920928955078125e-07, + "score": 0.5103217959403992, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15046659111976624, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5472158193588257, + 0.5468354225158691, + 0.5464534759521484, + 0.5491377711296082 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00038039684295654297, + -0.0007623434066772461, + 0.0019219517707824707 + ], + "candidate_oracle_branch_scores": [ + 0.5472158193588257, + 0.5468354225158691, + 0.5464534759521484, + 0.5491377711296082 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8021555542945862, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -0.7972232103347778, + -0.7983523607254028, + -0.7996214628219604, + -0.8021555542945862 + ], + "candidate_oracle_progress": 0.5491377711296082, + "candidate_oracle_regret": 1.4508622288703918, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5491377711296082, + "candidate_oracle_score_gain_over_selected": 0.0019219517707824707, + "candidate_oracle_selected_branch_progress": 0.5472158193588257, + "candidate_oracle_selected_branch_score": 0.5472158193588257, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9184c93267b4bbfa4cae;ms-66cc354bbf4e8bdd1051;ms-95320371ce6b820c85f6;ms-842e179244eddac303a5;ms-7a17ceb004979b99a586;ms-9ff81e54049443a0f3d3", + "expert_regret": 1.4527838826179504, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61b1188974f35233b883", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4527838826179504, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5472161173820496, + "restore_error": 1.1920928955078125e-07, + "score": 0.5472161173820496, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8763508796691895, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5284775495529175, + 0.5275475382804871, + 0.5278086066246033, + 0.5280681848526001 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0009300112724304199, + -0.000668942928314209, + -0.0004093647003173828 + ], + "candidate_oracle_branch_scores": [ + 0.5284775495529175, + 0.5275475382804871, + 0.5278086066246033, + 0.5280681848526001 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3306528329849243, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + -1.3306528329849243, + -1.3542276620864868, + -1.3597006797790527, + -1.3653008937835693 + ], + "candidate_oracle_progress": 0.5284775495529175, + "candidate_oracle_regret": 1.4715224504470825, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 3.203749656677246e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5284775495529175, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5284775495529175, + "candidate_oracle_selected_branch_score": 0.5284775495529175, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a44a2c9eee8baea5d29e;ms-c7020fdb7cba871e8b3e;ms-3f4967102c7b10057ab9;ms-683b1d258a1cafbf87b9;ms-a3cb33ed1e34d229773c;ms-ca25b016439a98198434", + "expert_regret": 1.4715245366096497, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-763c73c94818a090d358", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4715245366096497, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5284754633903503, + "restore_error": 1.1920928955078125e-07, + "score": 0.5284754633903503, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7482492327690125, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.1354389637708664, + 0.13191276788711548, + 0.12754234671592712, + 0.12227208912372589 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0035261958837509155, + -0.00789661705493927, + -0.013166874647140503 + ], + "candidate_oracle_branch_scores": [ + 0.1354389637708664, + 0.13191276788711548, + 0.12754234671592712, + 0.12227208912372589 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.0364670753479004, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -2.0364670753479004, + -2.047933340072632, + -2.0611331462860107, + -2.0869569778442383 + ], + "candidate_oracle_progress": 0.1354389637708664, + "candidate_oracle_regret": 1.8645610362291336, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.1354389637708664, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.1354389637708664, + "candidate_oracle_selected_branch_score": 0.1354389637708664, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13557287cd450bc12c6f;ms-c76158673d20b18c2622;ms-81f48d29d0404300ea93;ms-f69d6aec4ddb12d88c5b;ms-3abfb4c309360a304d54;ms-fbda7bc51ca269d1cda4", + "expert_regret": 1.8647793233394623, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-de066fc4200163ebd06b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8647793233394623, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.13522067666053772, + "restore_error": 1.1920928955078125e-07, + "score": 0.13522067666053772, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4835355877876282, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5115963220596313, + 0.5117999315261841, + 0.5120024085044861, + 0.5119931101799011 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00020360946655273438, + 0.00040608644485473633, + 0.0003967881202697754 + ], + "candidate_oracle_branch_scores": [ + 0.5115963220596313, + 0.5117999315261841, + 0.5120024085044861, + 0.5119931101799011 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.2920911312103271, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 8 + ], + "candidate_oracle_potentials": [ + -1.2908244132995605, + -1.291358232498169, + -1.2920911312103271, + -1.2985787391662598 + ], + "candidate_oracle_progress": 0.5120024085044861, + "candidate_oracle_regret": 1.487997591495514, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5120024085044861, + "candidate_oracle_score_gain_over_selected": 0.00040608644485473633, + "candidate_oracle_selected_branch_progress": 0.5115963220596313, + "candidate_oracle_selected_branch_score": 0.5115963220596313, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-564c02492863ae749ea9;ms-d5d7c690819019cb7869;ms-4fe7fdaf946c97803c82;ms-a2c5c9fd35d9fda5ce9e;ms-01067b8ff16f74652382;ms-4bc023d8d1f7748b0e12", + "expert_regret": 1.4884042739868164, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7fa68a6085e0b973ce6b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4884042739868164, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5115957260131836, + "restore_error": 1.1920928955078125e-07, + "score": 0.5115957260131836, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4401707649230957, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5435404181480408, + 0.5460968017578125, + 0.5408909916877747, + 0.5587590336799622 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0025563836097717285, + -0.0026494264602661133, + 0.015218615531921387 + ], + "candidate_oracle_branch_scores": [ + 0.5435404181480408, + 0.5460968017578125, + 0.5408909916877747, + 0.5587590336799622 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.35748982429504395, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 33 + ], + "candidate_oracle_potentials": [ + 0.449662446975708, + 0.4473939836025238, + 0.4472960829734802, + 0.35748982429504395 + ], + "candidate_oracle_progress": 0.5587590336799622, + "candidate_oracle_regret": 1.4412409663200378, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5587590336799622, + "candidate_oracle_score_gain_over_selected": 0.015218615531921387, + "candidate_oracle_selected_branch_progress": 0.5435404181480408, + "candidate_oracle_selected_branch_score": 0.5435404181480408, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13192a27f5fcf4fd24d7;ms-26e09c86be9068a34acf;ms-7241a1c25af41f4c0b5a;ms-b35643e98e1b846e27cf;ms-71452ba714a10880870b;ms-f5fb668380b64d4f1e74", + "expert_regret": 1.4564598202705383, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b570fe64df70560c8ab6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4564598202705383, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5435401797294617, + "restore_error": 1.1920928955078125e-07, + "score": 0.5435401797294617, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.16262194514274597, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.570402204990387, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.4295978546142578, + 1.4295978546142578, + 1.4295978546142578 + ], + "candidate_oracle_branch_scores": [ + 0.570402204990387, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7422551512718201, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 20, + 4, + 24 + ], + "candidate_oracle_potentials": [ + -0.7242755889892578, + -0.7422551512718201, + -0.7550795674324036, + -0.7706038355827332 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4295978546142578, + "candidate_oracle_selected_branch_progress": 0.570402204990387, + "candidate_oracle_selected_branch_score": 0.570402204990387, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d88107eff1e361cdcc4c;ms-813cac6d08ed5af48b12;ms-746436cac05100783ad7;ms-6029bab18ae94b126d79;ms-49219cb8ed7dad70c897;ms-32b9c353a4890631f1bd", + "expert_regret": 1.4295961260795593, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-70342af6b601660d7c69", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4295961260795593, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5704038739204407, + "restore_error": 1.1920928955078125e-07, + "score": 0.5704038739204407, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3301553726196289, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5616878867149353, + 0.5462000966072083, + 0.5435749292373657, + 0.5562735795974731 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.01548779010772705, + -0.01811295747756958, + -0.005414307117462158 + ], + "candidate_oracle_branch_scores": [ + 0.5616878867149353, + 0.5462000966072083, + 0.5435749292373657, + 0.5562735795974731 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3542872667312622, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 4 + ], + "candidate_oracle_potentials": [ + -1.3542872667312622, + -1.4646310806274414, + -1.4834067821502686, + -1.5002343654632568 + ], + "candidate_oracle_progress": 0.5616878867149353, + "candidate_oracle_regret": 1.4383121132850647, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5616878867149353, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5616878867149353, + "candidate_oracle_selected_branch_score": 0.5616878867149353, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f9c00ba41392adec3fd1;ms-7651a7f31eae24958ef0;ms-de0abc7a53a48164f82d;ms-503d0b1d27ed78b6130f;ms-8b98e8aa8ecee10bea27;ms-12ac4329c5bca5f2bb62", + "expert_regret": 1.4383111000061035, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7fd4a05174dcc8eaff38", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4383111000061035, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5616888999938965, + "restore_error": 1.1920928955078125e-07, + "score": 0.5616888999938965, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3604760766029358, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.006082442589104176, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.006082442589104176, + -0.015866443514823914, + -0.0377708300948143, + -0.03784395009279251 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4fe7fdaf946c97803c82;ms-fb92a1e6b67121783fff;ms-3e51a1bdc3a2cc4eb06d;ms-13192a27f5fcf4fd24d7;ms-26e09c86be9068a34acf;ms-f5fb668380b64d4f1e74", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61068da67676a95e5065", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45314958691596985, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.07248332351446152, + 0.06815911829471588, + 0.06302547454833984, + 0.5266748666763306 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.004324205219745636, + -0.009457848966121674, + 0.45419153571128845 + ], + "candidate_oracle_branch_scores": [ + 0.07248332351446152, + 0.06815911829471588, + 0.06302547454833984, + 0.5266748666763306 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.5377745628356934, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -2.401082754135132, + -2.4207656383514404, + -2.4385111331939697, + -2.5377745628356934 + ], + "candidate_oracle_progress": 0.5266748666763306, + "candidate_oracle_regret": 1.4733251333236694, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5266748666763306, + "candidate_oracle_score_gain_over_selected": 0.45419153571128845, + "candidate_oracle_selected_branch_progress": 0.07248332351446152, + "candidate_oracle_selected_branch_score": 0.07248332351446152, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-12ac4329c5bca5f2bb62;ms-7651a7f31eae24958ef0;ms-20e5ffa93544d6d8b313;ms-4fad1f976cc64cc06826;ms-97598e118c5cc8c254a5;ms-503d0b1d27ed78b6130f", + "expert_regret": 1.927532859146595, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-351c397795d9af204ec6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.927532859146595, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.072467140853405, + "restore_error": 1.1920928955078125e-07, + "score": 0.072467140853405, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3243754208087921, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.573478639125824, + 1.0, + 1.0, + 0.07900794595479965 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.4265213012695312, + 1.4265213012695312, + -0.4944706857204437 + ], + "candidate_oracle_branch_scores": [ + 0.573478639125824, + 2.0, + 2.0, + 0.07900794595479965 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.016701268032193184, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 20, + 4, + 36 + ], + "candidate_oracle_potentials": [ + 0.06416450440883636, + -0.016701268032193184, + -0.04905892536044121, + -0.05343258008360863 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4265213012695312, + "candidate_oracle_selected_branch_progress": 0.573478639125824, + "candidate_oracle_selected_branch_score": 0.573478639125824, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0e4af96af7d344ec47a0;ms-5dfad80e83d210946447;ms-e318e13f77e75e7cd802;ms-f5483f0819e0e8bc352e;ms-d9e3a187dcadb9ad26b1;ms-7670f25745871759e69e", + "expert_regret": 1.4265206456184387, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-41279eb586ca5e587474", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4265206456184387, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5734793543815613, + "restore_error": 1.1920928955078125e-07, + "score": 0.5734793543815613, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.10339529067277908, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.09649144113063812, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -0.09649144113063812, + -0.0975678414106369, + -0.09873354434967041, + -0.10299507528543472 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02acbd591a961c0dbd46;ms-97aebe1dd42939e3b340;ms-166b7f66bf9f4eec432b;ms-8b68d8b4d22e6ff0451d;ms-a3d0c460532de2d801ae;ms-4a0ae3deadb8560fd315", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e793d78eaff3fb28deb6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15105462074279785, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5655322074890137 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.4344677925109863 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5655322074890137 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.3065665066242218, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 4 + ], + "candidate_oracle_potentials": [ + 0.3065665066242218, + 0.28749728202819824, + 0.2771970331668854, + 0.2711021304130554 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2ae57bab6d2ea11f6638;ms-910d27b58a0585327a27;ms-57ac136bd68be6387c6f;ms-4a0ae3deadb8560fd315;ms-28b1f1e4380d434605de;ms-1a4ecfbe9c97214d5c78", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-48d490ed21088bb5ba85", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.42783957719802856, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5255650877952576, + 0.5234555006027222, + 0.523375928401947, + 0.022167110815644264 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0021095871925354004, + -0.002189159393310547, + -0.5033980011940002 + ], + "candidate_oracle_branch_scores": [ + 0.5255650877952576, + 0.5234555006027222, + 0.523375928401947, + 0.022167110815644264 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.6195621490478516, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -2.6195621490478516, + -2.73282790184021, + -2.7655184268951416, + -2.810744524002075 + ], + "candidate_oracle_progress": 0.5255650877952576, + "candidate_oracle_regret": 1.4744349122047424, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5255650877952576, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5255650877952576, + "candidate_oracle_selected_branch_score": 0.5255650877952576, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5bae191ebad7c9f2687;ms-fe650308e25459ee64c6;ms-4acbf69acd30d96e46a7;ms-22675530f3a401b3fd6d;ms-b481531ab787e3d6fb1e;ms-7670f25745871759e69e", + "expert_regret": 1.4746373295783997, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0915b75e9fd1468d464e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4746373295783997, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5253626704216003, + "restore_error": 1.1920928955078125e-07, + "score": 0.5253626704216003, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5503944158554077, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.046823836863040924, + 0.04478485509753227, + 0.042832326143980026, + 0.030327225103974342 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0020389817655086517, + -0.003991510719060898, + -0.01649661175906658 + ], + "candidate_oracle_branch_scores": [ + 0.046823836863040924, + 0.04478485509753227, + 0.042832326143980026, + 0.030327225103974342 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.5297038555145264, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 8 + ], + "candidate_oracle_potentials": [ + -2.5297038555145264, + -2.5685384273529053, + -2.6096389293670654, + -2.7747764587402344 + ], + "candidate_oracle_progress": 0.046823836863040924, + "candidate_oracle_regret": 1.953176163136959, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.046823836863040924, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.046823836863040924, + "candidate_oracle_selected_branch_score": 0.046823836863040924, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13557287cd450bc12c6f;ms-81f48d29d0404300ea93;ms-f69d6aec4ddb12d88c5b;ms-c76158673d20b18c2622;ms-3abfb4c309360a304d54;ms-fbda7bc51ca269d1cda4", + "expert_regret": 1.953176163136959, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d988976b029886d18476", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.953176163136959, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.046823836863040924, + "restore_error": 1.1920928955078125e-07, + "score": 0.046823836863040924, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1759726107120514, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5075897574424744, + 0.5068726539611816, + 0.5066647529602051, + 0.506449818611145 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0007171034812927246, + -0.0009250044822692871, + -0.0011399388313293457 + ], + "candidate_oracle_branch_scores": [ + 0.5075897574424744, + 0.5068726539611816, + 0.5066647529602051, + 0.506449818611145 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8566210865974426, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.8566210865974426, + -0.879804253578186, + -0.8861697912216187, + -0.892796516418457 + ], + "candidate_oracle_progress": 0.5075897574424744, + "candidate_oracle_regret": 1.4924102425575256, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5075897574424744, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5075897574424744, + "candidate_oracle_selected_branch_score": 0.5075897574424744, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-227fe0347d2ea57a66a3;ms-6c0ef0ef8b493232246c;ms-a2c5c9fd35d9fda5ce9e;ms-97598e118c5cc8c254a5;ms-dea17c1c383f54d05636;ms-382000b79932b7c68326", + "expert_regret": 1.4924095273017883, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ffa71e2ef6c284477c5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4924095273017883, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5075904726982117, + "restore_error": 1.1920928955078125e-07, + "score": 0.5075904726982117, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20033825933933258, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5581226944923401, + 0.5586655735969543, + 0.5582140684127808, + 0.5557641386985779 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0005428791046142578, + 9.137392044067383e-05, + -0.002358555793762207 + ], + "candidate_oracle_branch_scores": [ + 0.5581226944923401, + 0.5586655735969543, + 0.5582140684127808, + 0.5557641386985779 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.8540878891944885, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.7909868359565735, + -0.8540878891944885, + -0.8664299845695496, + -0.8793110251426697 + ], + "candidate_oracle_progress": 0.5586655735969543, + "candidate_oracle_regret": 1.4413344264030457, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5586655735969543, + "candidate_oracle_score_gain_over_selected": 0.0005428791046142578, + "candidate_oracle_selected_branch_progress": 0.5581226944923401, + "candidate_oracle_selected_branch_score": 0.5581226944923401, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0843bef6b0c13c3ede69;ms-cea745484a24f376d7e8;ms-227fe0347d2ea57a66a3;ms-2259a78b2187e22f9f37;ms-a2c5c9fd35d9fda5ce9e;ms-4bc023d8d1f7748b0e12", + "expert_regret": 1.44187730550766, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a1846ef1f00eb54e2d60", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.44187730550766, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5581226944923401, + "restore_error": 1.1920928955078125e-07, + "score": 0.5581226944923401, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.626545250415802, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7524956464767456, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 0, + 20 + ], + "candidate_oracle_potentials": [ + -0.7524956464767456, + -0.769317090511322, + -0.7978387475013733, + -0.7993824481964111 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-564c02492863ae749ea9;ms-d5d7c690819019cb7869;ms-93e3d9968204474eff49;ms-ae33e3afb57e61026d72;ms-19e6e6e341aebb7ec693;ms-4c7138016830a563fb1b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-39450dbba738dbd8a764", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22436466813087463, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.3332723379135132, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 1 + ], + "candidate_oracle_potentials": [ + 0.3332723379135132, + 0.3298525810241699, + 0.3252917528152466, + 0.32336246967315674 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-166b7f66bf9f4eec432b;ms-8b68d8b4d22e6ff0451d;ms-97aebe1dd42939e3b340;ms-4a0ae3deadb8560fd315;ms-910d27b58a0585327a27;ms-a3d0c460532de2d801ae", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bcc70292f404cd1c7f75", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.20241321623325348, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.48241615295410156, + 0.48235151171684265, + 0.4823542535305023, + 0.48292455077171326 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -6.464123725891113e-05, + -6.189942359924316e-05, + 0.0005083978176116943 + ], + "candidate_oracle_branch_scores": [ + 0.48241615295410156, + 0.48235151171684265, + 0.4823542535305023, + 0.48292455077171326 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0446652173995972, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -1.033770203590393, + -1.0347245931625366, + -1.0359405279159546, + -1.0446652173995972 + ], + "candidate_oracle_progress": 0.48292455077171326, + "candidate_oracle_regret": 1.5170754492282867, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.48292455077171326, + "candidate_oracle_score_gain_over_selected": 0.0005083978176116943, + "candidate_oracle_selected_branch_progress": 0.48241615295410156, + "candidate_oracle_selected_branch_score": 0.48241615295410156, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c5d026dffb39f2f1d38a;ms-3aa5793c449b59c77b6f;ms-ee32e6bb3c0bb45702b9;ms-0e55645c0c701caac48a;ms-b8276cb9b6cb9a9b302f;ms-8a74cf665984273be00d", + "expert_regret": 1.5175121128559113, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-99ecd2226d7187416316", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.5175121128559113, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.48248788714408875, + "restore_error": 1.1920928955078125e-07, + "score": 0.48248788714408875, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6935732960700989, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.36721181869506836, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 0.36721181869506836, + 0.3619711399078369, + 0.31791773438453674, + 0.31228721141815186 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2b64c720290c6dad7e35;ms-cba2f44df79669ff934b;ms-1fa37879a24f0e84c275;ms-ca10d8b9d03f4d59806c;ms-50f62a61a82a96061d9a;ms-2f846e9f31e2b8c4965f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-38841d5926ac5f2467e0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2352284938097, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5292352437973022, + 0.5221598148345947, + 0.5259146690368652, + 0.5221086740493774 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0070754289627075195, + -0.0033205747604370117, + -0.007126569747924805 + ], + "candidate_oracle_branch_scores": [ + 0.5292352437973022, + 0.5221598148345947, + 0.5259146690368652, + 0.5221086740493774 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3253802061080933, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.3253802061080933, + -1.6067291498184204, + -1.64778470993042, + -1.6873713731765747 + ], + "candidate_oracle_progress": 0.5292352437973022, + "candidate_oracle_regret": 1.4707647562026978, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5292352437973022, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5292352437973022, + "candidate_oracle_selected_branch_score": 0.5292352437973022, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8af2224cc82636ef1dd7;ms-5415e349e8f9f2bce641;ms-ddc0b3adf8506c30f503;ms-c3cdd70e2bc10bba1930;ms-4015c296239564108da2;ms-20e5ffa93544d6d8b313", + "expert_regret": 1.4707639813423157, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a1d69e0b112064914357", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4707639813423157, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5292360186576843, + "restore_error": 1.1920928955078125e-07, + "score": 0.5292360186576843, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7378953695297241, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.37215667963027954, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 0.37215667963027954, + 0.3700796365737915, + 0.2985750436782837, + 0.29628223180770874 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bb0d941f78d3d9c5a886;ms-348af0b70d3e679f40a2;ms-5085e45e6ca37192d2e5;ms-f8c4e700a751537ebb16;ms-a5d81a7c740394b68c3f;ms-c0bfce3c9dd10f9d3231", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-44252df6095f31d8b26e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7733072638511658, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5602020621299744, + 0.5599783658981323, + 0.560001790523529, + 0.5600892305374146 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00022369623184204102, + -0.0002002716064453125, + -0.00011283159255981445 + ], + "candidate_oracle_branch_scores": [ + 0.5602020621299744, + 0.5599783658981323, + 0.560001790523529, + 0.5600892305374146 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.3501974046230316, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 0, + 4, + 20 + ], + "candidate_oracle_potentials": [ + -0.3501974046230316, + -0.378712922334671, + -0.38390976190567017, + -0.3892403542995453 + ], + "candidate_oracle_progress": 0.5602020621299744, + "candidate_oracle_regret": 1.4397979378700256, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5602020621299744, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5602020621299744, + "candidate_oracle_selected_branch_score": 0.5602020621299744, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b481531ab787e3d6fb1e;ms-7670f25745871759e69e;ms-d9e3a187dcadb9ad26b1;ms-fe650308e25459ee64c6;ms-f5483f0819e0e8bc352e;ms-4acbf69acd30d96e46a7", + "expert_regret": 1.4397979378700256, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fbcca760f5e16aa5c776", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4397979378700256, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5602020621299744, + "restore_error": 1.1920928955078125e-07, + "score": 0.5602020621299744, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3834894597530365, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.04604257270693779, + 0.04624154791235924, + 0.05744145065546036, + 0.0562601201236248 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00019897520542144775, + 0.011398877948522568, + 0.010217547416687012 + ], + "candidate_oracle_branch_scores": [ + 0.04604257270693779, + 0.04624154791235924, + 0.05744145065546036, + 0.0562601201236248 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -2.5375514030456543, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 20, + 8, + 24 + ], + "candidate_oracle_potentials": [ + -2.509817361831665, + -2.517780065536499, + -2.5375514030456543, + -2.550036907196045 + ], + "candidate_oracle_progress": 0.05744145065546036, + "candidate_oracle_regret": 1.9425585493445396, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.05744145065546036, + "candidate_oracle_score_gain_over_selected": 0.011398877948522568, + "candidate_oracle_selected_branch_progress": 0.04604257270693779, + "candidate_oracle_selected_branch_score": 0.04604257270693779, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13557287cd450bc12c6f;ms-c76158673d20b18c2622;ms-f69d6aec4ddb12d88c5b;ms-81f48d29d0404300ea93;ms-fbda7bc51ca269d1cda4;ms-175375383979526d80b5", + "expert_regret": 1.9539574272930622, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-18fb80871b8e11d1ae9a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9539574272930622, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.04604257270693779, + "restore_error": 1.1920928955078125e-07, + "score": 0.04604257270693779, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.034294161945581436, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.11358795315027237, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + 0.11358795315027237, + 0.11064509302377701, + 0.10758454352617264, + 0.07228143513202667 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4a0ae3deadb8560fd315;ms-2ae57bab6d2ea11f6638;ms-1a4ecfbe9c97214d5c78;ms-28b1f1e4380d434605de;ms-910d27b58a0585327a27;ms-41b0258c4e329a734da7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-11930c353a2b4fefab82", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5231858491897583, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.06754274666309357, + 0.0680486187338829, + 0.0677558183670044, + 0.06359236687421799 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0005058720707893372, + 0.00021307170391082764, + -0.00395037978887558 + ], + "candidate_oracle_branch_scores": [ + 0.06754274666309357, + 0.0680486187338829, + 0.0677558183670044, + 0.06359236687421799 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.135711431503296, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -2.0845131874084473, + -2.135711431503296, + -2.1996443271636963, + -2.2621047496795654 + ], + "candidate_oracle_progress": 0.0680486187338829, + "candidate_oracle_regret": 1.931951381266117, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.0680486187338829, + "candidate_oracle_score_gain_over_selected": 0.0005058720707893372, + "candidate_oracle_selected_branch_progress": 0.06754274666309357, + "candidate_oracle_selected_branch_score": 0.06754274666309357, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5bae191ebad7c9f2687;ms-fe650308e25459ee64c6;ms-4acbf69acd30d96e46a7;ms-22675530f3a401b3fd6d;ms-b481531ab787e3d6fb1e;ms-7670f25745871759e69e", + "expert_regret": 1.9324572086334229, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-706943f06888dd5bbb3a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9324572086334229, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.06754279136657715, + "restore_error": 1.1920928955078125e-07, + "score": 0.06754279136657715, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47728872299194336, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.563579261302948, + 0.5622798800468445, + 0.5663365721702576, + 0.5648548603057861 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0012993812561035156, + 0.0027573108673095703, + 0.0012755990028381348 + ], + "candidate_oracle_branch_scores": [ + 0.563579261302948, + 0.5622798800468445, + 0.5663365721702576, + 0.5648548603057861 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.8423312306404114, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -0.8023372292518616, + -0.8367465138435364, + -0.8423312306404114, + -0.8444501161575317 + ], + "candidate_oracle_progress": 0.5663365721702576, + "candidate_oracle_regret": 1.4336634278297424, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5663365721702576, + "candidate_oracle_score_gain_over_selected": 0.0027573108673095703, + "candidate_oracle_selected_branch_progress": 0.563579261302948, + "candidate_oracle_selected_branch_score": 0.563579261302948, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ae33e3afb57e61026d72;ms-51873059990aa55691a2;ms-564c02492863ae749ea9;ms-af22292595eebbd60e48;ms-cea745484a24f376d7e8;ms-01067b8ff16f74652382", + "expert_regret": 1.4363272786140442, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d69b907e65875420bab7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4363272786140442, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5636727213859558, + "restore_error": 1.1920928955078125e-07, + "score": 0.5636727213859558, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.23131167888641357, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5381196737289429, + 0.5299086570739746, + 0.5283330082893372, + 0.5269166827201843 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.008211016654968262, + -0.009786665439605713, + -0.011202991008758545 + ], + "candidate_oracle_branch_scores": [ + 0.5381196737289429, + 0.5299086570739746, + 0.5283330082893372, + 0.5269166827201843 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1031078100204468, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.1031078100204468, + -1.113576054573059, + -1.1176190376281738, + -1.121871829032898 + ], + "candidate_oracle_progress": 0.5381196737289429, + "candidate_oracle_regret": 1.4618803262710571, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5381196737289429, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5381196737289429, + "candidate_oracle_selected_branch_score": 0.5381196737289429, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-227fe0347d2ea57a66a3;ms-6c0ef0ef8b493232246c;ms-a2c5c9fd35d9fda5ce9e;ms-dea17c1c383f54d05636;ms-382000b79932b7c68326;ms-97598e118c5cc8c254a5", + "expert_regret": 1.4621379971504211, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cdd69b5acc8119e600c7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4621379971504211, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5378620028495789, + "restore_error": 1.1920928955078125e-07, + "score": 0.5378620028495789, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5480889678001404, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5564683079719543, + 0.5560446977615356, + 0.5555989146232605, + 0.5534400343894958 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00042361021041870117, + -0.0008693933486938477, + -0.003028273582458496 + ], + "candidate_oracle_branch_scores": [ + 0.5564683079719543, + 0.5560446977615356, + 0.5555989146232605, + 0.5534400343894958 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.2879120111465454, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + -1.2879120111465454, + -1.2922558784484863, + -1.2972216606140137, + -1.334837555885315 + ], + "candidate_oracle_progress": 0.5564683079719543, + "candidate_oracle_regret": 1.4435316920280457, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5564683079719543, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5564683079719543, + "candidate_oracle_selected_branch_score": 0.5564683079719543, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ee32e6bb3c0bb45702b9;ms-28d5618562729c763eb6;ms-daaac2887015a6e4f3e0;ms-7a460f3c1b67817c19de;ms-c5d026dffb39f2f1d38a;ms-0e55645c0c701caac48a", + "expert_regret": 1.4435316324234009, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ffba357213945be5f9f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4435316324234009, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5564683675765991, + "restore_error": 1.1920928955078125e-07, + "score": 0.5564683675765991, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3117157518863678, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5611774325370789, + 0.5609802007675171, + 0.5612015724182129, + 0.5612255334854126 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00019723176956176758, + 2.4139881134033203e-05, + 4.8100948333740234e-05 + ], + "candidate_oracle_branch_scores": [ + 0.5611774325370789, + 0.5609802007675171, + 0.5612015724182129, + 0.5612255334854126 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.7672369480133057, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 0, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.7637912631034851, + -0.7640900015830994, + -0.7654644846916199, + -0.7672369480133057 + ], + "candidate_oracle_progress": 0.5612255334854126, + "candidate_oracle_regret": 1.4387744665145874, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5612255334854126, + "candidate_oracle_score_gain_over_selected": 4.8100948333740234e-05, + "candidate_oracle_selected_branch_progress": 0.5611774325370789, + "candidate_oracle_selected_branch_score": 0.5611774325370789, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a5d81a7c740394b68c3f;ms-c0bfce3c9dd10f9d3231;ms-f8c4e700a751537ebb16;ms-3c4ff3dae26217f22a8b;ms-76194d089c97018ce427;ms-bb0d941f78d3d9c5a886", + "expert_regret": 1.4388246536254883, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-43ce9f798efb923a120c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4388246536254883, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5611753463745117, + "restore_error": 1.1920928955078125e-07, + "score": 0.5611753463745117, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4868547320365906, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5674721598625183, + 0.5652310252189636, + 0.5629068613052368, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0022411346435546875, + -0.004565298557281494, + 1.432527780532837 + ], + "candidate_oracle_branch_scores": [ + 0.5674721598625183, + 0.5652310252189636, + 0.5629068613052368, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0345728397369385, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 40 + ], + "candidate_oracle_potentials": [ + -0.9493752717971802, + -0.9651881456375122, + -0.9879254698753357, + -1.0345728397369385 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.432527780532837, + "candidate_oracle_selected_branch_progress": 0.5674721598625183, + "candidate_oracle_selected_branch_score": 0.5674721598625183, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8a74cf665984273be00d;ms-f8c4e700a751537ebb16;ms-8fdde5008d12abb7ae6a;ms-5085e45e6ca37192d2e5;ms-7af1e453acf970f40546;ms-c9e31a19a776a861f9d7", + "expert_regret": 1.4325281977653503, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a3a13ba6243be437d674", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4325281977653503, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5674718022346497, + "restore_error": 1.1920928955078125e-07, + "score": 0.5674718022346497, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.05130297690629959, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.7569376230239868, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -0.7569376230239868, + -0.7586500644683838, + -0.7609207034111023, + -0.7734616994857788 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7b932868f83725def2ed;ms-6029bab18ae94b126d79;ms-2f846e9f31e2b8c4965f;ms-d4bde31fd7e7cee76b09;ms-746436cac05100783ad7;ms-99a5ffff5b73cf604b3d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b40ee5a75332685d5cec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.45425349473953247, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5344173312187195, + 0.07617826759815216, + 0.07611385732889175, + 0.5387148261070251 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4582390785217285, + -0.4583034813404083, + 0.004297494888305664 + ], + "candidate_oracle_branch_scores": [ + 0.5344173312187195, + 0.07617826759815216, + 0.07611385732889175, + 0.5387148261070251 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.431850552558899, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.3305912017822266, + -1.3615866899490356, + -1.4252740144729614, + -1.431850552558899 + ], + "candidate_oracle_progress": 0.5387148261070251, + "candidate_oracle_regret": 0.060783207416534424, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5387148261070251, + "candidate_oracle_score_gain_over_selected": 0.004297494888305664, + "candidate_oracle_selected_branch_progress": 0.5344173312187195, + "candidate_oracle_selected_branch_score": 0.5344173312187195, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fd1c44c6d5d8f7f11451;ms-de0abc7a53a48164f82d;ms-5415e349e8f9f2bce641;ms-e058c0dba52df04b8642;ms-8b98e8aa8ecee10bea27;ms-90a03366976eaa1ad013", + "expert_regret": 0.06507986783981323, + "expert_score": 0.5994980335235596, + "expert_success": false, + "group_id": "ms-9ffeb1600c04f08bdfcb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.06507986783981323, + "oracle_score": 0.5994980335235596, + "oracle_success": false, + "progress": 0.5344181656837463, + "restore_error": 1.1920928955078125e-07, + "score": 0.5344181656837463, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8371557593345642, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.2209595888853073, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 35, + 19 + ], + "candidate_oracle_potentials": [ + 0.2209595888853073, + 0.21512886881828308, + 0.13551142811775208, + 0.13439474999904633 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bca6fa102f94cb145cd2;ms-d686ae387b1a0ce2f2f3;ms-8b73e5dfa1f2a01e6017;ms-4d6099258a3a6e037aff;ms-f5aa7ce332ee9702812a;ms-c6beb139304a0ea6f7ae", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f1fb6cdb836269adb2cc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4532735049724579, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.0020589709747582674, + 0.016045285388827324, + 0.10816922038793564, + 0.0693206712603569 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0139863146468997, + 0.10611025243997574, + 0.067261703312397 + ], + "candidate_oracle_branch_scores": [ + 0.0020589709747582674, + 0.016045285388827324, + 0.10816922038793564, + 0.0693206712603569 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.8586291074752808, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.78126859664917, + -1.8552643060684204, + -1.8586291074752808, + -1.8742462396621704 + ], + "candidate_oracle_progress": 0.10816922038793564, + "candidate_oracle_regret": 1.8918307796120644, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.10816922038793564, + "candidate_oracle_score_gain_over_selected": 0.10611025243997574, + "candidate_oracle_selected_branch_progress": 0.0020589709747582674, + "candidate_oracle_selected_branch_score": 0.0020589709747582674, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-99df75798ec5da5ec7f3;ms-4c7138016830a563fb1b;ms-19e6e6e341aebb7ec693;ms-8c9f657875cf334b1f17;ms-7e6493bb6b1ff650d6de;ms-7d18f6f16879d2933bcd", + "expert_regret": 1.9979400394950062, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f5e621c9ae7bcca8e596", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9979400394950062, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.0020599605049937963, + "restore_error": 1.1920928955078125e-07, + "score": 0.0020599605049937963, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.30125489830970764, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.0741560235619545, + 0.0316869392991066, + 0.03615706041455269, + 0.030688440427184105 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0424690842628479, + -0.03799896314740181, + -0.043467581272125244 + ], + "candidate_oracle_branch_scores": [ + 0.0741560235619545, + 0.0316869392991066, + 0.03615706041455269, + 0.030688440427184105 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.216193437576294, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 8 + ], + "candidate_oracle_potentials": [ + -2.216193437576294, + -2.2523770332336426, + -2.2994959354400635, + -2.3863067626953125 + ], + "candidate_oracle_progress": 0.0741560235619545, + "candidate_oracle_regret": 1.9258439764380455, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.0741560235619545, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.0741560235619545, + "candidate_oracle_selected_branch_score": 0.0741560235619545, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f69d6aec4ddb12d88c5b;ms-fbda7bc51ca269d1cda4;ms-13557287cd450bc12c6f;ms-81f48d29d0404300ea93;ms-c76158673d20b18c2622;ms-3abfb4c309360a304d54", + "expert_regret": 1.883677251636982, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-739a89fb4521bc481a9f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.883677251636982, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11632274836301804, + "restore_error": 1.1920928955078125e-07, + "score": 0.11632274836301804, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5004345774650574, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.19067996740341187, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 0.19067996740341187, + 0.1797381043434143, + 0.10813752561807632, + 0.09154895693063736 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2f846e9f31e2b8c4965f;ms-867fd9318b2445dcefb5;ms-a497e44e8c2ff0d46e47;ms-7b932868f83725def2ed;ms-2ee00a97b477ba241dba;ms-6029bab18ae94b126d79", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-82e28eb350e21d43d3eb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5075311660766602, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.549333393573761, + 0.5487432479858398, + 0.5504341125488281, + 0.5523795485496521 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0005901455879211426, + 0.0011007189750671387, + 0.0030461549758911133 + ], + "candidate_oracle_branch_scores": [ + 0.549333393573761, + 0.5487432479858398, + 0.5504341125488281, + 0.5523795485496521 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8885063529014587, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 24, + 20, + 4, + 8 + ], + "candidate_oracle_potentials": [ + -0.8678204417228699, + -0.8750947713851929, + -0.8878772854804993, + -0.8885063529014587 + ], + "candidate_oracle_progress": 0.5523795485496521, + "candidate_oracle_regret": 1.447620451450348, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5523795485496521, + "candidate_oracle_score_gain_over_selected": 0.0030461549758911133, + "candidate_oracle_selected_branch_progress": 0.549333393573761, + "candidate_oracle_selected_branch_score": 0.549333393573761, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8b5b5e5f9237c41e0fe9;ms-d5d7c690819019cb7869;ms-564c02492863ae749ea9;ms-128c7c43e30023e6b1a3;ms-561f4f913d7b4991d81a;ms-93e3d9968204474eff49", + "expert_regret": 1.4503411054611206, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-351844f358ea7564d27d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4503411054611206, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5496588945388794, + "restore_error": 1.1920928955078125e-07, + "score": 0.5496588945388794, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.9560537338256836, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5131500363349915, + 0.5155094265937805, + 0.5160426497459412, + 0.5177735090255737 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0023593902587890625, + 0.002892613410949707, + 0.004623472690582275 + ], + "candidate_oracle_branch_scores": [ + 0.5131500363349915, + 0.5155094265937805, + 0.5160426497459412, + 0.5177735090255737 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.226410984992981, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 0 + ], + "candidate_oracle_potentials": [ + -1.1560368537902832, + -1.2133784294128418, + -1.215362787246704, + -1.226410984992981 + ], + "candidate_oracle_progress": 0.5177735090255737, + "candidate_oracle_regret": 1.4822264909744263, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5177735090255737, + "candidate_oracle_score_gain_over_selected": 0.004623472690582275, + "candidate_oracle_selected_branch_progress": 0.5131500363349915, + "candidate_oracle_selected_branch_score": 0.5131500363349915, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9184c93267b4bbfa4cae;ms-f3f6a1b34fdf35290a6c;ms-bc615957d9bf177dfe26;ms-9ff81e54049443a0f3d3;ms-eb206a3dda0ac16e1643;ms-cb99eeafec52800f3b77", + "expert_regret": 1.4868512153625488, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f4fd59b4d1bce2d6b6a4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4868512153625488, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5131487846374512, + "restore_error": 1.1920928955078125e-07, + "score": 0.5131487846374512, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.13174307346343994, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5680993795394897, + 0.5680381059646606, + 0.5679769515991211, + 0.5683922171592712 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -6.127357482910156e-05, + -0.00012242794036865234, + 0.00029283761978149414 + ], + "candidate_oracle_branch_scores": [ + 0.5680993795394897, + 0.5680381059646606, + 0.5679769515991211, + 0.5683922171592712 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9829320907592773, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 8 + ], + "candidate_oracle_potentials": [ + -0.9797366857528687, + -0.9800711870193481, + -0.9805424213409424, + -0.9829320907592773 + ], + "candidate_oracle_progress": 0.5683922171592712, + "candidate_oracle_regret": 1.4316077828407288, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5683922171592712, + "candidate_oracle_score_gain_over_selected": 0.00029283761978149414, + "candidate_oracle_selected_branch_progress": 0.5680993795394897, + "candidate_oracle_selected_branch_score": 0.5680993795394897, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-eff5f21c51f26a85f07c;ms-0ece7b8c91d9d82f244b;ms-d4aab6f9b6717dd5712e;ms-e589f7d40c12eff1712e;ms-41b0258c4e329a734da7;ms-1a4ecfbe9c97214d5c78", + "expert_regret": 1.4319006204605103, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-10f4c68dcad8285f4acd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4319006204605103, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5680993795394897, + "restore_error": 1.1920928955078125e-07, + "score": 0.5680993795394897, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7747042775154114, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.1693049520254135, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 3, + 1 + ], + "candidate_oracle_potentials": [ + -0.1693049520254135, + -0.1753985434770584, + -0.3039778470993042, + -0.3044455647468567 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-683b1d258a1cafbf87b9;ms-a44a2c9eee8baea5d29e;ms-b7800060cd4a8c3cb6b9;ms-8f6d30c2ade00e451dc2;ms-c7020fdb7cba871e8b3e;ms-732819b0c220a4c06870", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b90d7926b23eabbbed04", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4757804274559021, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.07160376757383347, + 0.06905746459960938, + 0.0666256919503212, + 0.05013840273022652 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0025463029742240906, + -0.004978075623512268, + -0.02146536484360695 + ], + "candidate_oracle_branch_scores": [ + 0.07160376757383347, + 0.06905746459960938, + 0.0666256919503212, + 0.05013840273022652 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.3576080799102783, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 4 + ], + "candidate_oracle_potentials": [ + -2.3576080799102783, + -2.3869411945343018, + -2.415703535079956, + -2.4699594974517822 + ], + "candidate_oracle_progress": 0.07160376757383347, + "candidate_oracle_regret": 1.9283962324261665, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.07160376757383347, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.07160376757383347, + "candidate_oracle_selected_branch_score": 0.07160376757383347, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c76158673d20b18c2622;ms-13557287cd450bc12c6f;ms-81f48d29d0404300ea93;ms-f69d6aec4ddb12d88c5b;ms-fbda7bc51ca269d1cda4;ms-859d0ea38fb5e8aa6b98", + "expert_regret": 1.9283960312604904, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d6e14cec49894dd329f0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.9283960312604904, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07160396873950958, + "restore_error": 1.1920928955078125e-07, + "score": 0.07160396873950958, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22594259679317474, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5563237071037292, + 0.556211531162262, + 0.5560991168022156, + 0.5552842617034912 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00011217594146728516, + -0.00022459030151367188, + -0.0010394454002380371 + ], + "candidate_oracle_branch_scores": [ + 0.5563237071037292, + 0.556211531162262, + 0.5560991168022156, + 0.5552842617034912 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.2894963026046753, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -1.2894963026046753, + -1.2905429601669312, + -1.2918039560317993, + -1.318241000175476 + ], + "candidate_oracle_progress": 0.5563237071037292, + "candidate_oracle_regret": 1.4436762928962708, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5563237071037292, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5563237071037292, + "candidate_oracle_selected_branch_score": 0.5563237071037292, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2ee00a97b477ba241dba;ms-7b932868f83725def2ed;ms-d4bde31fd7e7cee76b09;ms-6029bab18ae94b126d79;ms-2f846e9f31e2b8c4965f;ms-a497e44e8c2ff0d46e47", + "expert_regret": 1.4436759948730469, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7cab119c7b8019254ba4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4436759948730469, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5563240051269531, + "restore_error": 1.7136335372924805e-07, + "score": 0.5563240051269531, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6100140810012817, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.056752514094114304, + 0.05480076000094414, + 0.047480251640081406, + 0.05566558986902237 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.001951754093170166, + -0.009272262454032898, + -0.0010869242250919342 + ], + "candidate_oracle_branch_scores": [ + 0.056752514094114304, + 0.05480076000094414, + 0.047480251640081406, + 0.05566558986902237 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.8261101245880127, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 0, + 8, + 20 + ], + "candidate_oracle_potentials": [ + -2.8261101245880127, + -2.8809280395507812, + -2.8918983936309814, + -2.8972818851470947 + ], + "candidate_oracle_progress": 0.056752514094114304, + "candidate_oracle_regret": 1.9432474859058857, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.056752514094114304, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.056752514094114304, + "candidate_oracle_selected_branch_score": 0.056752514094114304, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e318e13f77e75e7cd802;ms-f5483f0819e0e8bc352e;ms-5dfad80e83d210946447;ms-d9e3a187dcadb9ad26b1;ms-7670f25745871759e69e;ms-b481531ab787e3d6fb1e", + "expert_regret": 1.9432471729815006, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7156b26670838d40934", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9432471729815006, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.056752827018499374, + "restore_error": 1.7136335372924805e-07, + "score": 0.056752827018499374, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44966956973075867, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5668863654136658, + 0.5679974555969238, + 0.5667968392372131, + 0.5678965449333191 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0011110901832580566, + -8.952617645263672e-05, + 0.0010101795196533203 + ], + "candidate_oracle_branch_scores": [ + 0.5668863654136658, + 0.5679974555969238, + 0.5667968392372131, + 0.5678965449333191 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6049197316169739, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -0.5870237946510315, + -0.6049197316169739, + -0.6124750971794128, + -0.622897744178772 + ], + "candidate_oracle_progress": 0.5679974555969238, + "candidate_oracle_regret": 1.4320025444030762, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5679974555969238, + "candidate_oracle_score_gain_over_selected": 0.0011110901832580566, + "candidate_oracle_selected_branch_progress": 0.5668863654136658, + "candidate_oracle_selected_branch_score": 0.5668863654136658, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-6c0ef0ef8b493232246c;ms-a2c5c9fd35d9fda5ce9e;ms-227fe0347d2ea57a66a3;ms-dea17c1c383f54d05636;ms-382000b79932b7c68326;ms-01067b8ff16f74652382", + "expert_regret": 1.433113157749176, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-96da3b7a3c2a2411fa66", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.433113157749176, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.566886842250824, + "restore_error": 1.7136335372924805e-07, + "score": 0.566886842250824, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5897941589355469, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.11386122554540634, + 0.10919506847858429, + 0.10459525883197784, + 0.07535561174154282 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.004666157066822052, + -0.009265966713428497, + -0.038505613803863525 + ], + "candidate_oracle_branch_scores": [ + 0.11386122554540634, + 0.10919506847858429, + 0.10459525883197784, + 0.07535561174154282 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.163935899734497, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 40 + ], + "candidate_oracle_potentials": [ + -2.163935899734497, + -2.1925299167633057, + -2.2209465503692627, + -2.316527843475342 + ], + "candidate_oracle_progress": 0.11386122554540634, + "candidate_oracle_regret": 1.8861387744545937, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.11386122554540634, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.11386122554540634, + "candidate_oracle_selected_branch_score": 0.11386122554540634, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c76158673d20b18c2622;ms-13557287cd450bc12c6f;ms-859d0ea38fb5e8aa6b98;ms-f69d6aec4ddb12d88c5b;ms-fbda7bc51ca269d1cda4;ms-81f48d29d0404300ea93", + "expert_regret": 1.8861388564109802, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e7f2d1f0de50c6fcccb4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.8861388564109802, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.11386114358901978, + "restore_error": 1.7136335372924805e-07, + "score": 0.11386114358901978, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6906222105026245, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.3142579197883606, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 33, + 17 + ], + "candidate_oracle_potentials": [ + 0.3142579197883606, + 0.2788938879966736, + 0.24346549808979034, + 0.24029774963855743 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-128c7c43e30023e6b1a3;ms-e8fbdbddd9200f5091d6;ms-8b5b5e5f9237c41e0fe9;ms-561f4f913d7b4991d81a;ms-d686ae387b1a0ce2f2f3;ms-f5aa7ce332ee9702812a", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5367a8bae4304851384e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7136335372924805e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.657558798789978, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.02798762358725071, + 0.5482124090194702, + 0.02854008786380291, + 0.533930778503418 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.5202248096466064, + 0.0005524642765522003, + 0.5059431791305542 + ], + "candidate_oracle_branch_scores": [ + 0.02798762358725071, + 0.5482124090194702, + 0.02854008786380291, + 0.533930778503418 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.5445265769958496, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 8 + ], + "candidate_oracle_potentials": [ + -2.4899380207061768, + -2.5445265769958496, + -2.575188159942627, + -2.580430030822754 + ], + "candidate_oracle_progress": 0.5482124090194702, + "candidate_oracle_regret": 1.4517875909805298, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5482124090194702, + "candidate_oracle_score_gain_over_selected": 0.5202248096466064, + "candidate_oracle_selected_branch_progress": 0.02798762358725071, + "candidate_oracle_selected_branch_score": 0.02798762358725071, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-22675530f3a401b3fd6d;ms-f5bae191ebad7c9f2687;ms-fe650308e25459ee64c6;ms-4acbf69acd30d96e46a7;ms-7d18f6f16879d2933bcd;ms-b481531ab787e3d6fb1e", + "expert_regret": 1.9720123764127493, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c679fdafdd776a14b66f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9720123764127493, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.02798762358725071, + "restore_error": 1.7136335372924805e-07, + "score": 0.02798762358725071, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6060521006584167, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5189418792724609, + 0.5182040929794312, + 0.5193490982055664, + 0.5175632834434509 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0007377862930297852, + 0.00040721893310546875, + -0.0013785958290100098 + ], + "candidate_oracle_branch_scores": [ + 0.5189418792724609, + 0.5182040929794312, + 0.5193490982055664, + 0.5175632834434509 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.1758742332458496, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 4 + ], + "candidate_oracle_potentials": [ + -1.1211435794830322, + -1.1599583625793457, + -1.1758742332458496, + -1.1797683238983154 + ], + "candidate_oracle_progress": 0.5193490982055664, + "candidate_oracle_regret": 1.4806509017944336, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5193490982055664, + "candidate_oracle_score_gain_over_selected": 0.00040721893310546875, + "candidate_oracle_selected_branch_progress": 0.5189418792724609, + "candidate_oracle_selected_branch_score": 0.5189418792724609, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a2c5c9fd35d9fda5ce9e;ms-382000b79932b7c68326;ms-6c0ef0ef8b493232246c;ms-dea17c1c383f54d05636;ms-227fe0347d2ea57a66a3;ms-4bc023d8d1f7748b0e12", + "expert_regret": 1.481057345867157, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-03ed7e57992354e27896", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.481057345867157, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.518942654132843, + "restore_error": 1.7136335372924805e-07, + "score": 0.518942654132843, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.25554710626602173, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.3641092777252197, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 33 + ], + "candidate_oracle_potentials": [ + 0.3641092777252197, + 0.36187314987182617, + 0.354374498128891, + 0.317363440990448 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8b68d8b4d22e6ff0451d;ms-97aebe1dd42939e3b340;ms-02acbd591a961c0dbd46;ms-a3d0c460532de2d801ae;ms-166b7f66bf9f4eec432b;ms-4c83412fa0aa5180ad89", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9b4483fb034248fe882d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.7136335372924805e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.16099217534065247, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.9943885207176208, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 8 + ], + "candidate_oracle_potentials": [ + -0.9943885207176208, + -1.0085529088974, + -1.0231670141220093, + -1.0275180339813232 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c7020fdb7cba871e8b3e;ms-a44a2c9eee8baea5d29e;ms-8beca0622be320b282c1;ms-b33f1d4ddb6a531d2a71;ms-3f4967102c7b10057ab9;ms-a3cb33ed1e34d229773c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d81f3e8b6a42695871d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.0733189582824707, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.37930718064308167, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 1 + ], + "candidate_oracle_potentials": [ + 0.37930718064308167, + 0.3662327229976654, + 0.35657402873039246, + 0.3430848717689514 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4c83412fa0aa5180ad89;ms-a3d0c460532de2d801ae;ms-02acbd591a961c0dbd46;ms-8b68d8b4d22e6ff0451d;ms-3cfb09df08ad7279ef02;ms-309d2258d275ae304857", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1fec069b4a095dd0425a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.66004478931427, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.5002246499061584, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 3, + 19 + ], + "candidate_oracle_potentials": [ + 0.5002246499061584, + 0.4976763427257538, + 0.47618889808654785, + 0.4725149869918823 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3cfb09df08ad7279ef02;ms-ed419c64a6693cb8998b;ms-4d6099258a3a6e037aff;ms-d686ae387b1a0ce2f2f3;ms-309d2258d275ae304857;ms-4c83412fa0aa5180ad89", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2f57eadf546710065684", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.28847333788871765, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.562444806098938, + 0.5453328490257263, + 0.5338398218154907, + 0.53757244348526 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.01711195707321167, + -0.028604984283447266, + -0.02487236261367798 + ], + "candidate_oracle_branch_scores": [ + 0.562444806098938, + 0.5453328490257263, + 0.5338398218154907, + 0.53757244348526 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.5714821815490723, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 8 + ], + "candidate_oracle_potentials": [ + -1.5714821815490723, + -1.5834896564483643, + -1.6869385242462158, + -1.7257380485534668 + ], + "candidate_oracle_progress": 0.562444806098938, + "candidate_oracle_regret": 1.437555193901062, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.562444806098938, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.562444806098938, + "candidate_oracle_selected_branch_score": 0.562444806098938, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-20e5ffa93544d6d8b313;ms-4fad1f976cc64cc06826;ms-1f458832fc85f00873cc;ms-12ac4329c5bca5f2bb62;ms-fe9347448b7f810d1353;ms-17a17b212837b7f1309f", + "expert_regret": 1.4391764402389526, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f682952c6ecb2b833c35", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4391764402389526, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5608235597610474, + "restore_error": 2.384185791015625e-07, + "score": 0.5608235597610474, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5388796925544739, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5697740316390991, + 0.5671544075012207, + 0.5699638724327087, + 0.5676829218864441 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.002619624137878418, + 0.00018984079360961914, + -0.0020911097526550293 + ], + "candidate_oracle_branch_scores": [ + 0.5697740316390991, + 0.5671544075012207, + 0.5699638724327087, + 0.5676829218864441 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.164929747581482, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + -1.050749659538269, + -1.0517621040344238, + -1.164929747581482, + -1.1667317152023315 + ], + "candidate_oracle_progress": 0.5699638724327087, + "candidate_oracle_regret": 1.4300361275672913, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5699638724327087, + "candidate_oracle_score_gain_over_selected": 0.00018984079360961914, + "candidate_oracle_selected_branch_progress": 0.5697740316390991, + "candidate_oracle_selected_branch_score": 0.5697740316390991, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d5d7c690819019cb7869;ms-564c02492863ae749ea9;ms-93e3d9968204474eff49;ms-3e51a1bdc3a2cc4eb06d;ms-ae33e3afb57e61026d72;ms-8b5b5e5f9237c41e0fe9", + "expert_regret": 1.4302284121513367, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d7a32da3ed5d010654a0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4302284121513367, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5697715878486633, + "restore_error": 2.384185791015625e-07, + "score": 0.5697715878486633, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4721474349498749, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.552213728427887, + 0.5505210161209106, + 0.5488199591636658, + 0.538425862789154 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0016927123069763184, + -0.0033937692642211914, + -0.01378786563873291 + ], + "candidate_oracle_branch_scores": [ + 0.552213728427887, + 0.5505210161209106, + 0.5488199591636658, + 0.538425862789154 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.1362818479537964, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + -1.1362818479537964, + -1.1543163061141968, + -1.171370267868042, + -1.256098985671997 + ], + "candidate_oracle_progress": 0.552213728427887, + "candidate_oracle_regret": 1.447786271572113, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.552213728427887, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.552213728427887, + "candidate_oracle_selected_branch_score": 0.552213728427887, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fb92a1e6b67121783fff;ms-4fe7fdaf946c97803c82;ms-26e09c86be9068a34acf;ms-d5d7c690819019cb7869;ms-3e51a1bdc3a2cc4eb06d;ms-13192a27f5fcf4fd24d7", + "expert_regret": 1.447786271572113, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-283da8c8dae2e161c439", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.447786271572113, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.552213728427887, + "restore_error": 2.384185791015625e-07, + "score": 0.552213728427887, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.12822414934635162, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5187963247299194, + 0.5186865925788879, + 0.5185781717300415, + 0.5178074836730957 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00010973215103149414, + -0.0002181529998779297, + -0.0009888410568237305 + ], + "candidate_oracle_branch_scores": [ + 0.5187963247299194, + 0.5186865925788879, + 0.5185781717300415, + 0.5178074836730957 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.061710000038147, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -1.061710000038147, + -1.0656620264053345, + -1.0698585510253906, + -1.1149792671203613 + ], + "candidate_oracle_progress": 0.5187963247299194, + "candidate_oracle_regret": 1.4812036752700806, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5187963247299194, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5187963247299194, + "candidate_oracle_selected_branch_score": 0.5187963247299194, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-66cc354bbf4e8bdd1051;ms-af16712eadcaebf175ff;ms-29afe3c91faef25f1343;ms-d4bde31fd7e7cee76b09;ms-2ee00a97b477ba241dba;ms-95320371ce6b820c85f6", + "expert_regret": 1.4812036156654358, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-519fb779d24a0bdf3809", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4812036156654358, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5187963843345642, + "restore_error": 2.384185791015625e-07, + "score": 0.5187963843345642, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5040146708488464, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.06983969360589981 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.9301602840423584 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.06983969360589981 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.3609703779220581, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 4, + 0, + 36 + ], + "candidate_oracle_potentials": [ + 0.3609703779220581, + 0.33052459359169006, + 0.32522398233413696, + 0.2968321144580841 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-22675530f3a401b3fd6d;ms-7d18f6f16879d2933bcd;ms-7e6493bb6b1ff650d6de;ms-f5bae191ebad7c9f2687;ms-19e6e6e341aebb7ec693;ms-8c9f657875cf334b1f17", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a01f0549a18d924d31c0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.553435742855072, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5408558249473572, + 0.5372973680496216, + 0.5406718254089355, + 0.5375083684921265 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0035584568977355957, + -0.00018399953842163086, + -0.003347456455230713 + ], + "candidate_oracle_branch_scores": [ + 0.5408558249473572, + 0.5372973680496216, + 0.5406718254089355, + 0.5375083684921265 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.4300557374954224, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -1.4300557374954224, + -1.4404661655426025, + -1.5496537685394287, + -1.5561805963516235 + ], + "candidate_oracle_progress": 0.5408558249473572, + "candidate_oracle_regret": 1.4591441750526428, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5408558249473572, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5408558249473572, + "candidate_oracle_selected_branch_score": 0.5408558249473572, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02acbd591a961c0dbd46;ms-8b68d8b4d22e6ff0451d;ms-a3d0c460532de2d801ae;ms-97aebe1dd42939e3b340;ms-166b7f66bf9f4eec432b;ms-4c83412fa0aa5180ad89", + "expert_regret": 1.4591879844665527, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9a2d8f0085e6740cf5b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4591879844665527, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5408120155334473, + "restore_error": 1.1920928955078125e-07, + "score": 0.5408120155334473, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24193322658538818, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5582950711250305, + 0.5585083365440369, + 0.5591938495635986, + 0.5593056082725525 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00021326541900634766, + 0.0008987784385681152, + 0.0010105371475219727 + ], + "candidate_oracle_branch_scores": [ + 0.5582950711250305, + 0.5585083365440369, + 0.5591938495635986, + 0.5593056082725525 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.3078009784221649, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.2916235029697418, + -0.29185402393341064, + -0.3030131459236145, + -0.3078009784221649 + ], + "candidate_oracle_progress": 0.5593056082725525, + "candidate_oracle_regret": 1.4406943917274475, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5593056082725525, + "candidate_oracle_score_gain_over_selected": 0.0010105371475219727, + "candidate_oracle_selected_branch_progress": 0.5582950711250305, + "candidate_oracle_selected_branch_score": 0.5582950711250305, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7a17ceb004979b99a586;ms-7241a1c25af41f4c0b5a;ms-f5fb668380b64d4f1e74;ms-0e4af96af7d344ec47a0;ms-842e179244eddac303a5;ms-71452ba714a10880870b", + "expert_regret": 1.4416555166244507, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-70381721e736d44afeaf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4416555166244507, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5583444833755493, + "restore_error": 1.1920928955078125e-07, + "score": 0.5583444833755493, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44222894310951233, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5346201062202454, + 0.055470060557127, + 0.5385305285453796, + 0.5341346263885498 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.47915005683898926, + 0.003910422325134277, + -0.00048547983169555664 + ], + "candidate_oracle_branch_scores": [ + 0.5346201062202454, + 0.055470060557127, + 0.5385305285453796, + 0.5341346263885498 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.4748806953430176, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 8 + ], + "candidate_oracle_potentials": [ + -2.346008062362671, + -2.4173972606658936, + -2.4748806953430176, + -2.540931224822998 + ], + "candidate_oracle_progress": 0.5385305285453796, + "candidate_oracle_regret": 1.4614694714546204, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5385305285453796, + "candidate_oracle_score_gain_over_selected": 0.003910422325134277, + "candidate_oracle_selected_branch_progress": 0.5346201062202454, + "candidate_oracle_selected_branch_score": 0.5346201062202454, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5bae191ebad7c9f2687;ms-22675530f3a401b3fd6d;ms-fe650308e25459ee64c6;ms-4acbf69acd30d96e46a7;ms-b481531ab787e3d6fb1e;ms-7670f25745871759e69e", + "expert_regret": 1.4651392102241516, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-98427ae2d94c1f85811a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4651392102241516, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5348607897758484, + "restore_error": 1.1920928955078125e-07, + "score": 0.5348607897758484, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6563019156455994, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.541236400604248, + 0.5417653918266296, + 0.5423327088356018, + 0.5418350696563721 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0005289912223815918, + 0.0010963082313537598, + 0.0005986690521240234 + ], + "candidate_oracle_branch_scores": [ + 0.541236400604248, + 0.5417653918266296, + 0.5423327088356018, + 0.5418350696563721 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.4788658618927002, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 1, + 36, + 17 + ], + "candidate_oracle_potentials": [ + -1.473970890045166, + -1.4782031774520874, + -1.4788658618927002, + -1.4806382656097412 + ], + "candidate_oracle_progress": 0.5423327088356018, + "candidate_oracle_regret": 1.4576672911643982, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5423327088356018, + "candidate_oracle_score_gain_over_selected": 0.0010963082313537598, + "candidate_oracle_selected_branch_progress": 0.541236400604248, + "candidate_oracle_selected_branch_score": 0.541236400604248, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-561f4f913d7b4991d81a;ms-e8fbdbddd9200f5091d6;ms-3d095a49ed03de972849;ms-bb0d941f78d3d9c5a886;ms-8b73e5dfa1f2a01e6017;ms-c6beb139304a0ea6f7ae", + "expert_regret": 1.4587603211402893, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1df0775c4ef08d0cf1bf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4587603211402893, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5412396788597107, + "restore_error": 1.1920928955078125e-07, + "score": 0.5412396788597107, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.08216892182826996, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.784912109375, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -0.784912109375, + -0.7857078909873962, + -0.7866377234458923, + -0.7947748303413391 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-166b7f66bf9f4eec432b;ms-97aebe1dd42939e3b340;ms-8b68d8b4d22e6ff0451d;ms-a3d0c460532de2d801ae;ms-02acbd591a961c0dbd46;ms-4a0ae3deadb8560fd315", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9c8a90334c3b933c8976", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5443138480186462, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5459414720535278, + 0.5464776754379272, + 0.5470003485679626, + 0.5464761257171631 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0005362033843994141, + 0.0010588765144348145, + 0.0005346536636352539 + ], + "candidate_oracle_branch_scores": [ + 0.5459414720535278, + 0.5464776754379272, + 0.5470003485679626, + 0.5464761257171631 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.2575644254684448, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 24 + ], + "candidate_oracle_potentials": [ + -1.2563295364379883, + -1.256607174873352, + -1.2575644254684448, + -1.2631659507751465 + ], + "candidate_oracle_progress": 0.5470003485679626, + "candidate_oracle_regret": 0.017493724822998047, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5470003485679626, + "candidate_oracle_score_gain_over_selected": 0.0010588765144348145, + "candidate_oracle_selected_branch_progress": 0.5459414720535278, + "candidate_oracle_selected_branch_score": 0.5459414720535278, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-28d5618562729c763eb6;ms-daaac2887015a6e4f3e0;ms-7a460f3c1b67817c19de;ms-0e55645c0c701caac48a;ms-ee32e6bb3c0bb45702b9;ms-caeb59971565b08f2513", + "expert_regret": 0.01855260133743286, + "expert_score": 0.5644940733909607, + "expert_success": false, + "group_id": "ms-0adce283894b0a2b7b94", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.01855260133743286, + "oracle_score": 0.5644940733909607, + "oracle_success": false, + "progress": 0.5459414720535278, + "restore_error": 1.1920928955078125e-07, + "score": 0.5459414720535278, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5149632692337036, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.03084099292755127, + 0.03084101714193821, + 0.029214119538664818, + 0.03442709520459175 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 2.421438694000244e-08, + -0.0016268733888864517, + 0.0035861022770404816 + ], + "candidate_oracle_branch_scores": [ + 0.03084099292755127, + 0.03084101714193821, + 0.029214119538664818, + 0.03442709520459175 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.4178576469421387, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 8, + 35 + ], + "candidate_oracle_potentials": [ + -2.305330276489258, + -2.3276798725128174, + -2.371901035308838, + -2.4178576469421387 + ], + "candidate_oracle_progress": 0.03442709520459175, + "candidate_oracle_regret": 1.9655729047954082, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.03442709520459175, + "candidate_oracle_score_gain_over_selected": 0.0035861022770404816, + "candidate_oracle_selected_branch_progress": 0.03084099292755127, + "candidate_oracle_selected_branch_score": 0.03084099292755127, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-15c083989d8277fd07ec;ms-8c8198e44eea32f98ca7;ms-3abfb4c309360a304d54;ms-13557287cd450bc12c6f;ms-5e23219a8e2aadd039c7;ms-81f48d29d0404300ea93", + "expert_regret": 1.9691590536385775, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cdcdb32d7c02c49869ef", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9691590536385775, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03084094636142254, + "restore_error": 1.1920928955078125e-07, + "score": 0.03084094636142254, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5381932258605957, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.11052779108285904, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 40 + ], + "candidate_oracle_potentials": [ + 0.11052779108285904, + 0.09814045578241348, + 0.08495935052633286, + 0.019547201693058014 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d686ae387b1a0ce2f2f3;ms-4d6099258a3a6e037aff;ms-f5aa7ce332ee9702812a;ms-3cfb09df08ad7279ef02;ms-c6beb139304a0ea6f7ae;ms-bca6fa102f94cb145cd2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4746e04d636d13cfbe6c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6724755167961121, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.4809691607952118, + 0.47902876138687134, + 0.48024916648864746, + 0.4785807728767395 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.001940399408340454, + -0.0007199943065643311, + -0.00238838791847229 + ], + "candidate_oracle_branch_scores": [ + 0.4809691607952118, + 0.47902876138687134, + 0.48024916648864746, + 0.4785807728767395 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8642412424087524, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 24, + 4, + 8 + ], + "candidate_oracle_potentials": [ + -0.8642412424087524, + -0.8743268251419067, + -0.8987693190574646, + -0.9084606170654297 + ], + "candidate_oracle_progress": 0.4809691607952118, + "candidate_oracle_regret": 1.5190308392047882, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4809691607952118, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.4809691607952118, + "candidate_oracle_selected_branch_score": 0.4809691607952118, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-66cc354bbf4e8bdd1051;ms-95320371ce6b820c85f6;ms-9ff81e54049443a0f3d3;ms-7a17ceb004979b99a586;ms-9184c93267b4bbfa4cae;ms-842e179244eddac303a5", + "expert_regret": 1.5191252529621124, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-478f754a15221314d15e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5191252529621124, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4808747470378876, + "restore_error": 2.384185791015625e-07, + "score": 0.4808747470378876, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44074371457099915, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.42608004808425903, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 19, + 35, + 3, + 33 + ], + "candidate_oracle_potentials": [ + 0.42608004808425903, + 0.4241965413093567, + 0.4229588508605957, + 0.3039734959602356 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b0fd98bae1ed5d543f35;ms-1d1969094d91fe52667d;ms-c684df0b998b593db723;ms-bc615957d9bf177dfe26;ms-eb206a3dda0ac16e1643;ms-f3f6a1b34fdf35290a6c", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2df0b9d5fa91156e430a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3847530484199524, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.42890673875808716, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 24, + 20 + ], + "candidate_oracle_potentials": [ + 0.42890673875808716, + 0.4246927499771118, + 0.4120737910270691, + 0.40279969573020935 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0e4af96af7d344ec47a0;ms-22675530f3a401b3fd6d;ms-7d18f6f16879d2933bcd;ms-7e6493bb6b1ff650d6de;ms-f5bae191ebad7c9f2687;ms-19e6e6e341aebb7ec693", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c81880a77c4d978a0b7a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.23004285991191864, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5400263667106628, + 0.5398866534233093, + 0.53974449634552, + 0.538729190826416 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00013971328735351562, + -0.00028187036514282227, + -0.0012971758842468262 + ], + "candidate_oracle_branch_scores": [ + 0.5400263667106628, + 0.5398866534233093, + 0.53974449634552, + 0.538729190826416 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.2019203901290894, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -1.2019203901290894, + -1.2045438289642334, + -1.2073763608932495, + -1.2445915937423706 + ], + "candidate_oracle_progress": 0.5400263667106628, + "candidate_oracle_regret": 1.4599736332893372, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5400263667106628, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5400263667106628, + "candidate_oracle_selected_branch_score": 0.5400263667106628, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2ee00a97b477ba241dba;ms-d4bde31fd7e7cee76b09;ms-7b932868f83725def2ed;ms-6029bab18ae94b126d79;ms-2f846e9f31e2b8c4965f;ms-af16712eadcaebf175ff", + "expert_regret": 1.4599714875221252, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6b750c1bef91c5d15526", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4599714875221252, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5400285124778748, + "restore_error": 2.384185791015625e-07, + "score": 0.5400285124778748, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24697916209697723, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.42355144023895264, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 4 + ], + "candidate_oracle_potentials": [ + 0.42355144023895264, + 0.42304909229278564, + 0.4220186769962311, + 0.41553473472595215 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3cfb09df08ad7279ef02;ms-4d6099258a3a6e037aff;ms-4a0ae3deadb8560fd315;ms-d686ae387b1a0ce2f2f3;ms-f5aa7ce332ee9702812a;ms-309d2258d275ae304857", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8f219d526891ae3c2dea", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4261956810951233, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.537124752998352, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 33 + ], + "candidate_oracle_potentials": [ + 0.537124752998352, + 0.5365347266197205, + 0.5356123447418213, + 0.4981535077095032 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a3d0c460532de2d801ae;ms-8b68d8b4d22e6ff0451d;ms-4c83412fa0aa5180ad89;ms-3cfb09df08ad7279ef02;ms-166b7f66bf9f4eec432b;ms-02acbd591a961c0dbd46", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6f1ec735350c81ef9fca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39908334612846375, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.3184652626514435, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 35, + 4, + 19 + ], + "candidate_oracle_potentials": [ + 0.3184652626514435, + 0.31130245327949524, + 0.3093326985836029, + 0.30033406615257263 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-11230e3aaabb1feec834;ms-813cac6d08ed5af48b12;ms-f8c4e700a751537ebb16;ms-c0bfce3c9dd10f9d3231;ms-32b9c353a4890631f1bd;ms-3c2515d4a10082514714", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7be1c6c8ef67031b1f90", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.560874879360199, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.47610050439834595, + 0.4763343036174774, + 0.4763367772102356, + 0.47799643874168396 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00023379921913146973, + 0.00023627281188964844, + 0.0018959343433380127 + ], + "candidate_oracle_branch_scores": [ + 0.47610050439834595, + 0.4763343036174774, + 0.4763367772102356, + 0.47799643874168396 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3993091583251953, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -1.3516908884048462, + -1.3551040887832642, + -1.358723521232605, + -1.3993091583251953 + ], + "candidate_oracle_progress": 0.47799643874168396, + "candidate_oracle_regret": 1.522003561258316, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 2.8870999813079834e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.47799643874168396, + "candidate_oracle_score_gain_over_selected": 0.0018959343433380127, + "candidate_oracle_selected_branch_progress": 0.47610050439834595, + "candidate_oracle_selected_branch_score": 0.47610050439834595, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-93e3d9968204474eff49;ms-ae33e3afb57e61026d72;ms-564c02492863ae749ea9;ms-3c4ff3dae26217f22a8b;ms-a2c5c9fd35d9fda5ce9e;ms-01067b8ff16f74652382", + "expert_regret": 1.5238985419273376, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-21155188bc35f0f021d3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.5238985419273376, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.47610145807266235, + "restore_error": 2.384185791015625e-07, + "score": 0.47610145807266235, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.16271056234836578, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.38671743869781494, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + 0.38671743869781494, + 0.3857300281524658, + 0.38460075855255127, + 0.36401158571243286 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02acbd591a961c0dbd46;ms-97aebe1dd42939e3b340;ms-166b7f66bf9f4eec432b;ms-a3d0c460532de2d801ae;ms-8b68d8b4d22e6ff0451d;ms-4c83412fa0aa5180ad89", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6d7b10e8b2b0a516b786", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44077497720718384, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.48965364694595337, + 0.4895046651363373, + 0.48933830857276917, + 0.48764896392822266 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00014898180961608887, + -0.0003153383731842041, + -0.002004683017730713 + ], + "candidate_oracle_branch_scores": [ + 0.48965364694595337, + 0.4895046651363373, + 0.48933830857276917, + 0.48764896392822266 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.8171586990356445, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -1.8171586990356445, + -1.8173879384994507, + -1.8176205158233643, + -1.826141357421875 + ], + "candidate_oracle_progress": 0.48965364694595337, + "candidate_oracle_regret": 0.10377508401870728, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.48965364694595337, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.48965364694595337, + "candidate_oracle_selected_branch_score": 0.48965364694595337, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b1c9975d1a007dd03dc4;ms-382000b79932b7c68326;ms-e110d8ef3eb852a0f564;ms-80d5c509e83845ab1bc7;ms-9b15f9c696a2661346cf;ms-97598e118c5cc8c254a5", + "expert_regret": 0.10319903492927551, + "expert_score": 0.5934287309646606, + "expert_success": false, + "group_id": "ms-9a1de6130828dc946a51", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.10319903492927551, + "oracle_score": 0.5934287309646606, + "oracle_success": false, + "progress": 0.49022969603538513, + "restore_error": 1.1920928955078125e-07, + "score": 0.49022969603538513, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.37080568075180054, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.03656391054391861, + 0.030974149703979492, + 0.0300024151802063, + 0.03371772915124893 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.005589760839939117, + -0.006561495363712311, + -0.0028461813926696777 + ], + "candidate_oracle_branch_scores": [ + 0.03656391054391861, + 0.030974149703979492, + 0.0300024151802063, + 0.03371772915124893 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -2.4783425331115723, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -2.4783425331115723, + -2.5189995765686035, + -2.5539889335632324, + -2.6146538257598877 + ], + "candidate_oracle_progress": 0.03656391054391861, + "candidate_oracle_regret": 1.9634360894560814, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.03656391054391861, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.03656391054391861, + "candidate_oracle_selected_branch_score": 0.03656391054391861, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4c7138016830a563fb1b;ms-99df75798ec5da5ec7f3;ms-8c9f657875cf334b1f17;ms-19e6e6e341aebb7ec693;ms-7e6493bb6b1ff650d6de;ms-7d18f6f16879d2933bcd", + "expert_regret": 1.9634598977863789, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c0b600aef5393f929cd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9634598977863789, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03654010221362114, + "restore_error": 1.1920928955078125e-07, + "score": 0.03654010221362114, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.13212880492210388, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.0474309921264648, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -1.0474309921264648, + -1.0551095008850098, + -1.0629836320877075, + -1.1323050260543823 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-93e3d9968204474eff49;ms-ae33e3afb57e61026d72;ms-76194d089c97018ce427;ms-a5d81a7c740394b68c3f;ms-564c02492863ae749ea9;ms-3c4ff3dae26217f22a8b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4082ce1f04dbacd6a5b9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5574732422828674, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.48293742537498474, + 0.48303699493408203, + 0.4822501242160797, + 0.48227617144584656 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 9.956955909729004e-05, + -0.0006873011589050293, + -0.0006612539291381836 + ], + "candidate_oracle_branch_scores": [ + 0.48293742537498474, + 0.48303699493408203, + 0.4822501242160797, + 0.48227617144584656 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.4635814428329468, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 36, + 24, + 40 + ], + "candidate_oracle_potentials": [ + -0.4623168706893921, + -0.4635814428329468, + -0.4754551351070404, + -0.4791923463344574 + ], + "candidate_oracle_progress": 0.48303699493408203, + "candidate_oracle_regret": 1.516963005065918, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.48303699493408203, + "candidate_oracle_score_gain_over_selected": 9.956955909729004e-05, + "candidate_oracle_selected_branch_progress": 0.48293742537498474, + "candidate_oracle_selected_branch_score": 0.48293742537498474, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b8276cb9b6cb9a9b302f;ms-ee32e6bb3c0bb45702b9;ms-3aa5793c449b59c77b6f;ms-c5d026dffb39f2f1d38a;ms-8fdde5008d12abb7ae6a;ms-8a74cf665984273be00d", + "expert_regret": 1.5170625150203705, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0c9c39c462522b25ef2b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5170625150203705, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4829374849796295, + "restore_error": 1.1920928955078125e-07, + "score": 0.4829374849796295, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3889906704425812, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5565080642700195, + 0.5572934746742249, + 0.5579895377159119, + 0.5621442794799805 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0007854104042053223, + 0.001481473445892334, + 0.0056362152099609375 + ], + "candidate_oracle_branch_scores": [ + 0.5565080642700195, + 0.5572934746742249, + 0.5579895377159119, + 0.5621442794799805 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.2932032346725464, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + -1.1053800582885742, + -1.129103183746338, + -1.1533199548721313, + -1.2932032346725464 + ], + "candidate_oracle_progress": 0.5621442794799805, + "candidate_oracle_regret": 1.4378557205200195, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5621442794799805, + "candidate_oracle_score_gain_over_selected": 0.0056362152099609375, + "candidate_oracle_selected_branch_progress": 0.5565080642700195, + "candidate_oracle_selected_branch_score": 0.5565080642700195, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4fe7fdaf946c97803c82;ms-fb92a1e6b67121783fff;ms-d5d7c690819019cb7869;ms-3e51a1bdc3a2cc4eb06d;ms-13192a27f5fcf4fd24d7;ms-f5fb668380b64d4f1e74", + "expert_regret": 1.4434919357299805, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1bfca22d4af29f0e14b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4434919357299805, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5565080642700195, + "restore_error": 1.1920928955078125e-07, + "score": 0.5565080642700195, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6034202575683594, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5706009268760681, + 0.5703107118606567, + 0.5703904032707214, + 0.5702191591262817 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00029021501541137695, + -0.0002105236053466797, + -0.00038176774978637695 + ], + "candidate_oracle_branch_scores": [ + 0.5706009268760681, + 0.5703107118606567, + 0.5703904032707214, + 0.5702191591262817 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.038885474205017, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 33, + 17, + 36 + ], + "candidate_oracle_potentials": [ + -1.038885474205017, + -1.0918909311294556, + -1.093161940574646, + -1.0937539339065552 + ], + "candidate_oracle_progress": 0.5706009268760681, + "candidate_oracle_regret": 1.4293990731239319, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5706009268760681, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5706009268760681, + "candidate_oracle_selected_branch_score": 0.5706009268760681, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-caeb59971565b08f2513;ms-eff5f21c51f26a85f07c;ms-0e55645c0c701caac48a;ms-5085e45e6ca37192d2e5;ms-ee32e6bb3c0bb45702b9;ms-0ece7b8c91d9d82f244b", + "expert_regret": 1.429399311542511, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9eb40f856528204bbcfd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.429399311542511, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.570600688457489, + "restore_error": 1.1920928955078125e-07, + "score": 0.570600688457489, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5511725544929504, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.2674291729927063, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 24, + 33, + 17 + ], + "candidate_oracle_potentials": [ + 0.2674291729927063, + 0.22249607741832733, + 0.19854217767715454, + 0.19483599066734314 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5fb668380b64d4f1e74;ms-3e51a1bdc3a2cc4eb06d;ms-7e6493bb6b1ff650d6de;ms-7d18f6f16879d2933bcd;ms-19e6e6e341aebb7ec693;ms-8c9f657875cf334b1f17", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-eb48573b3e330e44504d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5674169063568115, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.3595834970474243, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 4 + ], + "candidate_oracle_potentials": [ + 0.3595834970474243, + 0.35207635164260864, + 0.34223702549934387, + 0.20792372524738312 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4c83412fa0aa5180ad89;ms-3cfb09df08ad7279ef02;ms-4d6099258a3a6e037aff;ms-d686ae387b1a0ce2f2f3;ms-a3d0c460532de2d801ae;ms-8b68d8b4d22e6ff0451d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61ac2be70a9798adeda0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2217923253774643, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.517536461353302, + 0.5172355771064758, + 0.5169358253479004, + 0.5159560441970825 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0003008842468261719, + -0.0006006360054016113, + -0.0015804171562194824 + ], + "candidate_oracle_branch_scores": [ + 0.517536461353302, + 0.5172355771064758, + 0.5169358253479004, + 0.5159560441970825 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.0090585947036743, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 24 + ], + "candidate_oracle_potentials": [ + -1.0090585947036743, + -1.0114307403564453, + -1.014072060585022, + -1.0456598997116089 + ], + "candidate_oracle_progress": 0.517536461353302, + "candidate_oracle_regret": 1.482463538646698, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.517536461353302, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.517536461353302, + "candidate_oracle_selected_branch_score": 0.517536461353302, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8beca0622be320b282c1;ms-b33f1d4ddb6a531d2a71;ms-c684df0b998b593db723;ms-1d1969094d91fe52667d;ms-c7020fdb7cba871e8b3e;ms-eb206a3dda0ac16e1643", + "expert_regret": 1.4825192093849182, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e15eeda61ed4064a5c9f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4825192093849182, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5174807906150818, + "restore_error": 1.1920928955078125e-07, + "score": 0.5174807906150818, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.31117016077041626, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.498392254114151, + 0.497615247964859, + 0.4975017011165619, + 0.49738809466362 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0007770061492919922, + -0.0008905529975891113, + -0.0010041594505310059 + ], + "candidate_oracle_branch_scores": [ + 0.498392254114151, + 0.497615247964859, + 0.4975017011165619, + 0.49738809466362 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.4953054189682007, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.4953054189682007, + -1.5014698505401611, + -1.5037083625793457, + -1.5059477090835571 + ], + "candidate_oracle_progress": 0.498392254114151, + "candidate_oracle_regret": 1.501607745885849, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.498392254114151, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.498392254114151, + "candidate_oracle_selected_branch_score": 0.498392254114151, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c6beb139304a0ea6f7ae;ms-b59a7ccfb736df4c4c68;ms-4c83412fa0aa5180ad89;ms-8b68d8b4d22e6ff0451d;ms-d686ae387b1a0ce2f2f3;ms-4d6099258a3a6e037aff", + "expert_regret": 1.501607894897461, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9eea613e8158816f3193", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.501607894897461, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49839210510253906, + "restore_error": 1.1920928955078125e-07, + "score": 0.49839210510253906, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7154211401939392, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.5270324945449829, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 20, + 36, + 40 + ], + "candidate_oracle_potentials": [ + 0.5270324945449829, + 0.5155228972434998, + 0.36144790053367615, + 0.3527778387069702 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a9ac13384fe5afc835f1;ms-69962cd1c448094e4fb0;ms-4ca84594a789c9abd5d9;ms-a3cb33ed1e34d229773c;ms-3f4967102c7b10057ab9;ms-a44a2c9eee8baea5d29e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c774aeee2c4066edd668", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 1.0151783227920532, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5198158621788025, + 0.521016538143158, + 0.5189070105552673, + 0.5202850103378296 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0012006759643554688, + -0.0009088516235351562, + 0.0004691481590270996 + ], + "candidate_oracle_branch_scores": [ + 0.5198158621788025, + 0.521016538143158, + 0.5189070105552673, + 0.5202850103378296 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.4603536128997803, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 24 + ], + "candidate_oracle_potentials": [ + -1.4245457649230957, + -1.4603536128997803, + -1.4770346879959106, + -1.507062315940857 + ], + "candidate_oracle_progress": 0.521016538143158, + "candidate_oracle_regret": 1.478983461856842, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.521016538143158, + "candidate_oracle_score_gain_over_selected": 0.0012006759643554688, + "candidate_oracle_selected_branch_progress": 0.5198158621788025, + "candidate_oracle_selected_branch_score": 0.5198158621788025, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f3f6a1b34fdf35290a6c;ms-bc615957d9bf177dfe26;ms-9184c93267b4bbfa4cae;ms-c684df0b998b593db723;ms-9ff81e54049443a0f3d3;ms-1d1969094d91fe52667d", + "expert_regret": 1.4801831245422363, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f28fbb82a51d4de7811b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4801831245422363, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5198168754577637, + "restore_error": 1.1920928955078125e-07, + "score": 0.5198168754577637, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7286863327026367, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5672371983528137, + 0.5681638121604919, + 0.5656887888908386, + 0.5661940574645996 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0009266138076782227, + -0.0015484094619750977, + -0.0010431408882141113 + ], + "candidate_oracle_branch_scores": [ + 0.5672371983528137, + 0.5681638121604919, + 0.5656887888908386, + 0.5661940574645996 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.2659854888916016, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 4, + 20 + ], + "candidate_oracle_potentials": [ + -1.2415671348571777, + -1.2659854888916016, + -1.2950469255447388, + -1.2962801456451416 + ], + "candidate_oracle_progress": 0.5681638121604919, + "candidate_oracle_regret": 1.431836187839508, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5681638121604919, + "candidate_oracle_score_gain_over_selected": 0.0009266138076782227, + "candidate_oracle_selected_branch_progress": 0.5672371983528137, + "candidate_oracle_selected_branch_score": 0.5672371983528137, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8a74cf665984273be00d;ms-3aa5793c449b59c77b6f;ms-479aa7d4248a0ebd94e1;ms-c5d026dffb39f2f1d38a;ms-c9e31a19a776a861f9d7;ms-cba2f44df79669ff934b", + "expert_regret": 1.4327628016471863, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-772768ec2f9792127251", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4327628016471863, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5672371983528137, + "restore_error": 1.1920928955078125e-07, + "score": 0.5672371983528137, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.09889868646860123, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.28393295407295227, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 33 + ], + "candidate_oracle_potentials": [ + 0.28393295407295227, + 0.2791651487350464, + 0.26777058839797974, + 0.2373826503753662 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02acbd591a961c0dbd46;ms-97aebe1dd42939e3b340;ms-8b68d8b4d22e6ff0451d;ms-a3d0c460532de2d801ae;ms-4c83412fa0aa5180ad89;ms-166b7f66bf9f4eec432b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7fa85a7251186eb18d0b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.49732503294944763, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5457121133804321, + 1.0, + 0.5426676273345947, + 0.5655483603477478 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.4542878866195679, + -0.0030444860458374023, + 0.019836246967315674 + ], + "candidate_oracle_branch_scores": [ + 0.5457121133804321, + 2.0, + 0.5426676273345947, + 0.5655483603477478 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.3973909318447113, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 4, + 24, + 8 + ], + "candidate_oracle_potentials": [ + -0.38988780975341797, + -0.3973909318447113, + -0.4918551445007324, + -0.5009563565254211 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4542878866195679, + "candidate_oracle_selected_branch_progress": 0.5457121133804321, + "candidate_oracle_selected_branch_score": 0.5457121133804321, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b35643e98e1b846e27cf;ms-71452ba714a10880870b;ms-f3f6a1b34fdf35290a6c;ms-9ff81e54049443a0f3d3;ms-bc615957d9bf177dfe26;ms-eb206a3dda0ac16e1643", + "expert_regret": 1.4542813897132874, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2b556c4c1b55a20b14c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4542813897132874, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5457186102867126, + "restore_error": 1.1920928955078125e-07, + "score": 0.5457186102867126, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2866686284542084, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5579379200935364, + 0.5578451156616211, + 0.5579712390899658, + 0.5559970736503601 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -9.28044319152832e-05, + 3.331899642944336e-05, + -0.0019408464431762695 + ], + "candidate_oracle_branch_scores": [ + 0.5579379200935364, + 0.5578451156616211, + 0.5579712390899658, + 0.5559970736503601 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.10948355495929718, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 3, + 35, + 4 + ], + "candidate_oracle_potentials": [ + 0.1148049533367157, + 0.11371050775051117, + 0.10948355495929718, + 0.10537982732057571 + ], + "candidate_oracle_progress": 0.5579712390899658, + "candidate_oracle_regret": 1.4420287609100342, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5579712390899658, + "candidate_oracle_score_gain_over_selected": 3.331899642944336e-05, + "candidate_oracle_selected_branch_progress": 0.5579379200935364, + "candidate_oracle_selected_branch_score": 0.5579379200935364, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8beca0622be320b282c1;ms-cb99eeafec52800f3b77;ms-81d1d8def1fbeb3b1cc5;ms-b33f1d4ddb6a531d2a71;ms-bc615957d9bf177dfe26;ms-eb206a3dda0ac16e1643", + "expert_regret": 1.4419839978218079, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-97140da7cf409922f6ce", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4419839978218079, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5580160021781921, + "restore_error": 1.1920928955078125e-07, + "score": 0.5580160021781921, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.37487730383872986, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.40110939741134644, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + 0.40110939741134644, + 0.4001111090183258, + 0.3844567835330963, + 0.38395851850509644 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-28b1f1e4380d434605de;ms-910d27b58a0585327a27;ms-e589f7d40c12eff1712e;ms-1a4ecfbe9c97214d5c78;ms-2ae57bab6d2ea11f6638;ms-57ac136bd68be6387c6f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d33444117889b5aa9cfb", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18946155905723572, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5531336665153503, + 0.552808940410614, + 0.5524837374687195, + 0.5554036498069763 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0003247261047363281, + -0.0006499290466308594, + 0.0022699832916259766 + ], + "candidate_oracle_branch_scores": [ + 0.5531336665153503, + 0.552808940410614, + 0.5524837374687195, + 0.5554036498069763 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3513587713241577, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -1.3444666862487793, + -1.3452965021133423, + -1.3461960554122925, + -1.3513587713241577 + ], + "candidate_oracle_progress": 0.5554036498069763, + "candidate_oracle_regret": 1.4445963501930237, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5554036498069763, + "candidate_oracle_score_gain_over_selected": 0.0022699832916259766, + "candidate_oracle_selected_branch_progress": 0.5531336665153503, + "candidate_oracle_selected_branch_score": 0.5531336665153503, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d4aab6f9b6717dd5712e;ms-910d27b58a0585327a27;ms-57ac136bd68be6387c6f;ms-b59a7ccfb736df4c4c68;ms-1a4ecfbe9c97214d5c78;ms-41b0258c4e329a734da7", + "expert_regret": 1.446867048740387, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d5bfdabc97e56c680680", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.446867048740387, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.553132951259613, + "restore_error": 1.1920928955078125e-07, + "score": 0.553132951259613, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1592319905757904, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.595696747303009, + 0.5972068905830383, + 0.5984597206115723, + 0.5901350378990173 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0015101432800292969, + 0.0027629733085632324, + -0.005561709403991699 + ], + "candidate_oracle_branch_scores": [ + 0.595696747303009, + 0.5972068905830383, + 0.5984597206115723, + 0.5901350378990173 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.2860957980155945, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 8 + ], + "candidate_oracle_potentials": [ + 0.3033292889595032, + 0.2951408326625824, + 0.2860957980155945, + 0.23302417993545532 + ], + "candidate_oracle_progress": 0.5984597206115723, + "candidate_oracle_regret": 1.4015402793884277, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5984597206115723, + "candidate_oracle_score_gain_over_selected": 0.0027629733085632324, + "candidate_oracle_selected_branch_progress": 0.595696747303009, + "candidate_oracle_selected_branch_score": 0.595696747303009, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5085e45e6ca37192d2e5;ms-f8c4e700a751537ebb16;ms-bb0d941f78d3d9c5a886;ms-caeb59971565b08f2513;ms-eff5f21c51f26a85f07c;ms-ee32e6bb3c0bb45702b9", + "expert_regret": 1.404300570487976, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-51f2c34d5f8f132af1ed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.404300570487976, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5956994295120239, + "restore_error": 1.1920928955078125e-07, + "score": 0.5956994295120239, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5431230664253235, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.12411344051361084, + 0.12456261366605759, + 0.12461533397436142 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.8758865594863892, + -1.8754373788833618, + -1.8753846883773804 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.12411344051361084, + 0.12456261366605759, + 0.12461533397436142 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0724989175796509, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0724989175796509, + -1.0870029926300049, + -1.1119897365570068, + -1.1264771223068237 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e058c0dba52df04b8642;ms-38ceda08bad38fbebc1c;ms-fd1c44c6d5d8f7f11451;ms-503d0b1d27ed78b6130f;ms-de0abc7a53a48164f82d;ms-97598e118c5cc8c254a5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bcd9be34f050d97499bd", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6144852042198181, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.08384742587804794, + 0.07647156715393066, + 0.07508688420057297, + 0.06335442513227463 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.007375858724117279, + -0.008760541677474976, + -0.020493000745773315 + ], + "candidate_oracle_branch_scores": [ + 0.08384742587804794, + 0.07647156715393066, + 0.07508688420057297, + 0.06335442513227463 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.7256208658218384, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.7256208658218384, + -1.767603874206543, + -1.8218821287155151, + -1.8731255531311035 + ], + "candidate_oracle_progress": 0.08384742587804794, + "candidate_oracle_regret": 0.5333674922585487, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.08384742587804794, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.08384742587804794, + "candidate_oracle_selected_branch_score": 0.08384742587804794, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7e6493bb6b1ff650d6de;ms-7d18f6f16879d2933bcd;ms-19e6e6e341aebb7ec693;ms-8c9f657875cf334b1f17;ms-99df75798ec5da5ec7f3;ms-4c7138016830a563fb1b", + "expert_regret": 0.5333674922585487, + "expert_score": 0.6172149181365967, + "expert_success": false, + "group_id": "ms-8bb2d8cb7c0d33fa0c1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5333674922585487, + "oracle_score": 0.6172149181365967, + "oracle_success": false, + "progress": 0.08384742587804794, + "restore_error": 1.1920928955078125e-07, + "score": 0.08384742587804794, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.666745662689209, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.08868476003408432, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -0.08868476003408432, + -0.09448374807834625, + -0.35651904344558716, + -0.37242841720581055 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-53cfcc878e30fc078bba;ms-29afe3c91faef25f1343;ms-ca25b016439a98198434;ms-867fd9318b2445dcefb5;ms-683b1d258a1cafbf87b9;ms-8f6d30c2ade00e451dc2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-339ae3ec9482aa259eec", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2635292708873749, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5502796769142151, + 0.5500020384788513, + 0.5499574542045593, + 0.549911618232727 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00027763843536376953, + -0.0003222227096557617, + -0.0003680586814880371 + ], + "candidate_oracle_branch_scores": [ + 0.5502796769142151, + 0.5500020384788513, + 0.5499574542045593, + 0.549911618232727 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2241324186325073, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.2241324186325073, + -1.2291762828826904, + -1.232125997543335, + -1.2351725101470947 + ], + "candidate_oracle_progress": 0.5502796769142151, + "candidate_oracle_regret": 1.449720323085785, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5502796769142151, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5502796769142151, + "candidate_oracle_selected_branch_score": 0.5502796769142151, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13192a27f5fcf4fd24d7;ms-f5fb668380b64d4f1e74;ms-3e51a1bdc3a2cc4eb06d;ms-4fe7fdaf946c97803c82;ms-7241a1c25af41f4c0b5a;ms-d5d7c690819019cb7869", + "expert_regret": 1.4497212171554565, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cddf387bbcd6aed98fca", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4497212171554565, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5502787828445435, + "restore_error": 1.1920928955078125e-07, + "score": 0.5502787828445435, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6285852789878845, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5598556399345398, + 0.5583816170692444, + 0.559771716594696, + 0.5584551095962524 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0014740228652954102, + -8.392333984375e-05, + -0.0014005303382873535 + ], + "candidate_oracle_branch_scores": [ + 0.5598556399345398, + 0.5583816170692444, + 0.559771716594696, + 0.5584551095962524 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.3320666253566742, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.3320666253566742, + -0.34007927775382996, + -0.5917041897773743, + -0.6012306213378906 + ], + "candidate_oracle_progress": 0.5598556399345398, + "candidate_oracle_regret": 1.4401443600654602, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5598556399345398, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5598556399345398, + "candidate_oracle_selected_branch_score": 0.5598556399345398, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7a17ceb004979b99a586;ms-7241a1c25af41f4c0b5a;ms-0e4af96af7d344ec47a0;ms-f5fb668380b64d4f1e74;ms-842e179244eddac303a5;ms-7de8743758ec505a3294", + "expert_regret": 1.4401242136955261, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5a7891a58bac94796178", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4401242136955261, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5598757863044739, + "restore_error": 1.1920928955078125e-07, + "score": 0.5598757863044739, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.16689243912696838, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.29959410429000854, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + 0.29959410429000854, + 0.2979777753353119, + 0.2956397235393524, + 0.27292123436927795 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02acbd591a961c0dbd46;ms-97aebe1dd42939e3b340;ms-166b7f66bf9f4eec432b;ms-8b68d8b4d22e6ff0451d;ms-a3d0c460532de2d801ae;ms-4a0ae3deadb8560fd315", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a2908e99b0a12a9980cc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6347877383232117, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5480031967163086, + 0.5476066470146179, + 0.5470824837684631, + 0.547474205493927 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00039654970169067383, + -0.000920712947845459, + -0.0005289912223815918 + ], + "candidate_oracle_branch_scores": [ + 0.5480031967163086, + 0.5476066470146179, + 0.5470824837684631, + 0.547474205493927 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8615641593933105, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -0.8615641593933105, + -0.862495481967926, + -0.9175907969474792, + -0.9193803668022156 + ], + "candidate_oracle_progress": 0.5480031967163086, + "candidate_oracle_regret": 1.4519968032836914, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5480031967163086, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5480031967163086, + "candidate_oracle_selected_branch_score": 0.5480031967163086, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-57ac136bd68be6387c6f;ms-2ae57bab6d2ea11f6638;ms-910d27b58a0585327a27;ms-e589f7d40c12eff1712e;ms-eff5f21c51f26a85f07c;ms-1a4ecfbe9c97214d5c78", + "expert_regret": 1.452023446559906, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8420ccaff5986c85063f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.452023446559906, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.547976553440094, + "restore_error": 1.1920928955078125e-07, + "score": 0.547976553440094, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.30877095460891724, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.520021378993988, + 0.5201784372329712, + 0.5203224420547485, + 0.5192998647689819 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0001570582389831543, + 0.00030106306076049805, + -0.0007215142250061035 + ], + "candidate_oracle_branch_scores": [ + 0.520021378993988, + 0.5201784372329712, + 0.5203224420547485, + 0.5192998647689819 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.3114699125289917, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -1.3096258640289307, + -1.31050443649292, + -1.3114699125289917, + -1.3174484968185425 + ], + "candidate_oracle_progress": 0.5203224420547485, + "candidate_oracle_regret": 1.4796775579452515, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5203224420547485, + "candidate_oracle_score_gain_over_selected": 0.00030106306076049805, + "candidate_oracle_selected_branch_progress": 0.520021378993988, + "candidate_oracle_selected_branch_score": 0.520021378993988, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b0fd98bae1ed5d543f35;ms-1d1969094d91fe52667d;ms-c684df0b998b593db723;ms-350b797a531f87ad2c0f;ms-8beca0622be320b282c1;ms-b33f1d4ddb6a531d2a71", + "expert_regret": 1.4799798130989075, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1c4ab2b6f004fc8fa66d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4799798130989075, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5200201869010925, + "restore_error": 1.1920928955078125e-07, + "score": 0.5200201869010925, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.592884361743927, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5321403741836548, + 0.5336570143699646, + 0.5336577296257019, + 0.5338500142097473 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0015166401863098145, + 0.0015173554420471191, + 0.0017096400260925293 + ], + "candidate_oracle_branch_scores": [ + 0.5321403741836548, + 0.5336570143699646, + 0.5336577296257019, + 0.5338500142097473 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.5011928081512451, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 24, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.4962255954742432, + -1.4975895881652832, + -1.5006606578826904, + -1.5011928081512451 + ], + "candidate_oracle_progress": 0.5338500142097473, + "candidate_oracle_regret": 1.4661499857902527, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5338500142097473, + "candidate_oracle_score_gain_over_selected": 0.0017096400260925293, + "candidate_oracle_selected_branch_progress": 0.5321403741836548, + "candidate_oracle_selected_branch_score": 0.5321403741836548, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fb92a1e6b67121783fff;ms-4fe7fdaf946c97803c82;ms-d5d7c690819019cb7869;ms-3e51a1bdc3a2cc4eb06d;ms-564c02492863ae749ea9;ms-13192a27f5fcf4fd24d7", + "expert_regret": 1.4678601026535034, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-09de52dad7e40970c938", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4678601026535034, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5321398973464966, + "restore_error": 1.1920928955078125e-07, + "score": 0.5321398973464966, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.27993524074554443, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5075177550315857, + 0.5054713487625122, + 0.506123960018158, + 0.503118634223938 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0020464062690734863, + -0.0013937950134277344, + -0.004399120807647705 + ], + "candidate_oracle_branch_scores": [ + 0.5075177550315857, + 0.5054713487625122, + 0.506123960018158, + 0.503118634223938 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2302685976028442, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 20, + 4, + 1 + ], + "candidate_oracle_potentials": [ + -1.2302685976028442, + -1.253796100616455, + -1.2541329860687256, + -1.2728279829025269 + ], + "candidate_oracle_progress": 0.5075177550315857, + "candidate_oracle_regret": 1.4924822449684143, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5075177550315857, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5075177550315857, + "candidate_oracle_selected_branch_score": 0.5075177550315857, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-97598e118c5cc8c254a5;ms-503d0b1d27ed78b6130f;ms-12ac4329c5bca5f2bb62;ms-dea17c1c383f54d05636;ms-382000b79932b7c68326;ms-6c0ef0ef8b493232246c", + "expert_regret": 1.4924822449684143, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2073841ae01f224365a1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4924822449684143, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5075177550315857, + "restore_error": 1.1920928955078125e-07, + "score": 0.5075177550315857, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18686917424201965, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5696398615837097, + 0.5702113509178162, + 0.5702823400497437, + 0.5703529119491577 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0005714893341064453, + 0.0006424784660339355, + 0.000713050365447998 + ], + "candidate_oracle_branch_scores": [ + 0.5696398615837097, + 0.5702113509178162, + 0.5702823400497437, + 0.5703529119491577 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.4599138498306274, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.4518083333969116, + -1.4551607370376587, + -1.4575148820877075, + -1.4599138498306274 + ], + "candidate_oracle_progress": 0.5703529119491577, + "candidate_oracle_regret": 1.4296470880508423, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5703529119491577, + "candidate_oracle_score_gain_over_selected": 0.000713050365447998, + "candidate_oracle_selected_branch_progress": 0.5696398615837097, + "candidate_oracle_selected_branch_score": 0.5696398615837097, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4fe7fdaf946c97803c82;ms-3e51a1bdc3a2cc4eb06d;ms-fb92a1e6b67121783fff;ms-d5d7c690819019cb7869;ms-f5fb668380b64d4f1e74;ms-564c02492863ae749ea9", + "expert_regret": 1.430359661579132, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-943b5187cbe128b9b563", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.430359661579132, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5696403384208679, + "restore_error": 1.1920928955078125e-07, + "score": 0.5696403384208679, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4278351664543152, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.30193787813186646, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + 0.30193787813186646, + 0.2962956130504608, + 0.2893620729446411, + 0.21840235590934753 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3cfb09df08ad7279ef02;ms-309d2258d275ae304857;ms-4d6099258a3a6e037aff;ms-d686ae387b1a0ce2f2f3;ms-f5aa7ce332ee9702812a;ms-a3d0c460532de2d801ae", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8c6e41e7542bc6924a1f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1511879861354828, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.05160269886255264, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 17, + 33, + 1, + 8 + ], + "candidate_oracle_potentials": [ + -0.05160269886255264, + -0.051647499203681946, + -0.05179646611213684, + -0.05422700196504593 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-561f4f913d7b4991d81a;ms-bb0d941f78d3d9c5a886;ms-3c4ff3dae26217f22a8b;ms-348af0b70d3e679f40a2;ms-93e3d9968204474eff49;ms-a5d81a7c740394b68c3f", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-753929cfdc4aaa652b32", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2553442716598511, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5344333648681641, + 0.5312145948410034, + 0.5307783484458923, + 0.5300695896148682 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0032187700271606445, + -0.0036550164222717285, + -0.0043637752532958984 + ], + "candidate_oracle_branch_scores": [ + 0.5344333648681641, + 0.5312145948410034, + 0.5307783484458923, + 0.5300695896148682 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1219149827957153, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.1219149827957153, + -1.188738465309143, + -1.202134132385254, + -1.2161200046539307 + ], + "candidate_oracle_progress": 0.5344333648681641, + "candidate_oracle_regret": 1.465566635131836, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5344333648681641, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5344333648681641, + "candidate_oracle_selected_branch_score": 0.5344333648681641, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-90a03366976eaa1ad013;ms-0843bef6b0c13c3ede69;ms-cea745484a24f376d7e8;ms-ddc0b3adf8506c30f503;ms-227fe0347d2ea57a66a3;ms-a2c5c9fd35d9fda5ce9e", + "expert_regret": 1.4655742645263672, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ac281cce8f6e42586359", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4655742645263672, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5344257354736328, + "restore_error": 1.1920928955078125e-07, + "score": 0.5344257354736328, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6141632795333862, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.3242756724357605, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + -0.3242756724357605, + -0.35323888063430786, + -0.3843306601047516, + -0.5926102995872498 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-26e09c86be9068a34acf;ms-13192a27f5fcf4fd24d7;ms-4fe7fdaf946c97803c82;ms-7241a1c25af41f4c0b5a;ms-b35643e98e1b846e27cf;ms-f5fb668380b64d4f1e74", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b7ed399f40d2d554b16d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.39701414108276367, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.0910658985376358, + 0.09758277237415314, + 0.09299268573522568, + 0.09510620683431625 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.006516873836517334, + 0.0019267871975898743, + 0.0040403082966804504 + ], + "candidate_oracle_branch_scores": [ + 0.0910658985376358, + 0.09758277237415314, + 0.09299268573522568, + 0.09510620683431625 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.6503632068634033, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.6333179473876953, + -1.6503632068634033, + -1.6749894618988037, + -1.7571970224380493 + ], + "candidate_oracle_progress": 0.09758277237415314, + "candidate_oracle_regret": 1.9024172276258469, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.09758277237415314, + "candidate_oracle_score_gain_over_selected": 0.006516873836517334, + "candidate_oracle_selected_branch_progress": 0.0910658985376358, + "candidate_oracle_selected_branch_score": 0.0910658985376358, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7361bfba9d2ab4f1913e;ms-01067b8ff16f74652382;ms-175375383979526d80b5;ms-5e23219a8e2aadd039c7;ms-99df75798ec5da5ec7f3;ms-4c7138016830a563fb1b", + "expert_regret": 1.9089354649186134, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fcbac5ac63b87452c719", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9089354649186134, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.09106453508138657, + "restore_error": 1.1920928955078125e-07, + "score": 0.09106453508138657, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.18725411593914032, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.1923520714044571, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 24 + ], + "candidate_oracle_potentials": [ + 0.1923520714044571, + 0.19191540777683258, + 0.19115857779979706, + 0.17315919697284698 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-a3d0c460532de2d801ae;ms-166b7f66bf9f4eec432b;ms-4d6099258a3a6e037aff;ms-8b68d8b4d22e6ff0451d;ms-3cfb09df08ad7279ef02;ms-d686ae387b1a0ce2f2f3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cca07eb504a242633931", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7816170454025269, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.07076946645975113, + 0.07971310615539551, + 0.5326076149940491, + 0.05505622550845146 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.008943639695644379, + 0.46183815598487854, + -0.015713240951299667 + ], + "candidate_oracle_branch_scores": [ + 0.07076946645975113, + 0.07971310615539551, + 0.5326076149940491, + 0.05505622550845146 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.8088468313217163, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -1.763053297996521, + -1.8055737018585205, + -1.8088468313217163, + -1.8154903650283813 + ], + "candidate_oracle_progress": 0.5326076149940491, + "candidate_oracle_regret": 1.467392385005951, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5326076149940491, + "candidate_oracle_score_gain_over_selected": 0.46183815598487854, + "candidate_oracle_selected_branch_progress": 0.07076946645975113, + "candidate_oracle_selected_branch_score": 0.07076946645975113, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3aaa0d68ca26b1fe6626;ms-8af2224cc82636ef1dd7;ms-20e5ffa93544d6d8b313;ms-c3cdd70e2bc10bba1930;ms-ddc0b3adf8506c30f503;ms-5415e349e8f9f2bce641", + "expert_regret": 1.9292305335402489, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-62b597990a3d637e5a8a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9292305335402489, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.07076946645975113, + "restore_error": 1.1920928955078125e-07, + "score": 0.07076946645975113, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4887792766094208, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7322914004325867, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + -0.7322914004325867, + -0.7435827255249023, + -0.7559255361557007, + -0.7633309364318848 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4fe7fdaf946c97803c82;ms-26e09c86be9068a34acf;ms-fb92a1e6b67121783fff;ms-13192a27f5fcf4fd24d7;ms-3e51a1bdc3a2cc4eb06d;ms-f5fb668380b64d4f1e74", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-48cdfa31865ed70997c8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.590945303440094, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.04390289634466171, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.04390289634466171, + 0.014146964997053146, + -0.0973500907421112, + -0.1418115794658661 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ee32e6bb3c0bb45702b9;ms-caeb59971565b08f2513;ms-28d5618562729c763eb6;ms-0e55645c0c701caac48a;ms-daaac2887015a6e4f3e0;ms-7a460f3c1b67817c19de", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-45ed57caa698d87a99cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.620213508605957, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5537406206130981, + 0.5547869801521301, + 0.5549960732460022, + 0.5569811463356018 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0010463595390319824, + 0.0012554526329040527, + 0.003240525722503662 + ], + "candidate_oracle_branch_scores": [ + 0.5537406206130981, + 0.5547869801521301, + 0.5549960732460022, + 0.5569811463356018 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0010839700698853, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.9026214480400085, + -0.922373354434967, + -0.9449974894523621, + -1.0010839700698853 + ], + "candidate_oracle_progress": 0.5569811463356018, + "candidate_oracle_regret": 1.4430188536643982, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5569811463356018, + "candidate_oracle_score_gain_over_selected": 0.003240525722503662, + "candidate_oracle_selected_branch_progress": 0.5537406206130981, + "candidate_oracle_selected_branch_score": 0.5537406206130981, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-51873059990aa55691a2;ms-7241a1c25af41f4c0b5a;ms-5dfad80e83d210946447;ms-e318e13f77e75e7cd802;ms-f5483f0819e0e8bc352e;ms-d9e3a187dcadb9ad26b1", + "expert_regret": 1.446332037448883, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a934ef3c442100d9cc58", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.446332037448883, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5536679625511169, + "restore_error": 1.1920928955078125e-07, + "score": 0.5536679625511169, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.310128390789032, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5620121359825134, + 0.5573134422302246, + 0.5566921234130859, + 0.5561157464981079 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.004698693752288818, + -0.00532001256942749, + -0.005896389484405518 + ], + "candidate_oracle_branch_scores": [ + 0.5620121359825134, + 0.5573134422302246, + 0.5566921234130859, + 0.5561157464981079 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1890145540237427, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.1890145540237427, + -1.2540295124053955, + -1.26405668258667, + -1.273800015449524 + ], + "candidate_oracle_progress": 0.5620121359825134, + "candidate_oracle_regret": 1.4379878640174866, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5620121359825134, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5620121359825134, + "candidate_oracle_selected_branch_score": 0.5620121359825134, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7651a7f31eae24958ef0;ms-f9c00ba41392adec3fd1;ms-12ac4329c5bca5f2bb62;ms-503d0b1d27ed78b6130f;ms-4fad1f976cc64cc06826;ms-20e5ffa93544d6d8b313", + "expert_regret": 1.438004195690155, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-326f54ae8f73791c49e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.438004195690155, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.561995804309845, + "restore_error": 1.1920928955078125e-07, + "score": 0.561995804309845, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6790493726730347, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5090149641036987, + 0.5054805874824524, + 0.5081049203872681, + 0.5036147832870483 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.003534376621246338, + -0.0009100437164306641, + -0.005400180816650391 + ], + "candidate_oracle_branch_scores": [ + 0.5090149641036987, + 0.5054805874824524, + 0.5081049203872681, + 0.5036147832870483 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.1202399730682373, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -1.1202399730682373, + -1.1216495037078857, + -1.2367713451385498, + -1.2399400472640991 + ], + "candidate_oracle_progress": 0.5090149641036987, + "candidate_oracle_regret": 0.07242327928543091, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5090149641036987, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5090149641036987, + "candidate_oracle_selected_branch_score": 0.5090149641036987, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-867fd9318b2445dcefb5;ms-af16712eadcaebf175ff;ms-99a5ffff5b73cf604b3d;ms-ca25b016439a98198434;ms-a3cb33ed1e34d229773c;ms-7b932868f83725def2ed", + "expert_regret": 0.07294625043869019, + "expert_score": 0.5814382433891296, + "expert_success": false, + "group_id": "ms-ec498d0c649d108513c3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.07294625043869019, + "oracle_score": 0.5814382433891296, + "oracle_success": false, + "progress": 0.5084919929504395, + "restore_error": 1.1920928955078125e-07, + "score": 0.5084919929504395, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.04587673023343086, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.03663215413689613, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 33, + 17 + ], + "candidate_oracle_potentials": [ + -0.03663215413689613, + -0.06152919679880142, + -0.15540476143360138, + -0.15803731977939606 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1d1969094d91fe52667d;ms-c684df0b998b593db723;ms-b33f1d4ddb6a531d2a71;ms-8beca0622be320b282c1;ms-f3f6a1b34fdf35290a6c;ms-bc615957d9bf177dfe26", + "expert_regret": 0.0, + "expert_score": 0.5949071645736694, + "expert_success": false, + "group_id": "ms-b6fd2931116c15db0f0a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2242489755153656, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.25986233353614807, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.25986233353614807, + -0.2644237279891968, + -0.2697940468788147, + -0.33805811405181885 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-49219cb8ed7dad70c897;ms-0e4af96af7d344ec47a0;ms-7a17ceb004979b99a586;ms-32b9c353a4890631f1bd;ms-22675530f3a401b3fd6d;ms-7d18f6f16879d2933bcd", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-1451f536f2ac0df844f6", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.528049886226654, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.318674236536026, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + 0.318674236536026, + 0.3143885135650635, + 0.3036820590496063, + 0.3034152388572693 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-867fd9318b2445dcefb5;ms-af16712eadcaebf175ff;ms-29afe3c91faef25f1343;ms-2ee00a97b477ba241dba;ms-2f846e9f31e2b8c4965f;ms-7b932868f83725def2ed", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08c75f74bf7813b1c257", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.1507580578327179, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.4989154040813446, + 0.4991958737373352, + 0.4992346465587616, + 0.4992752969264984 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0002804696559906006, + 0.0003192424774169922, + 0.0003598928451538086 + ], + "candidate_oracle_branch_scores": [ + 0.4989154040813446, + 0.4991958737373352, + 0.4992346465587616, + 0.4992752969264984 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.1138277053833008, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.1032406091690063, + -1.1082899570465088, + -1.1110007762908936, + -1.1138277053833008 + ], + "candidate_oracle_progress": 0.4992752969264984, + "candidate_oracle_regret": 1.5007247030735016, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4992752969264984, + "candidate_oracle_score_gain_over_selected": 0.0003598928451538086, + "candidate_oracle_selected_branch_progress": 0.4989154040813446, + "candidate_oracle_selected_branch_score": 0.4989154040813446, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3d095a49ed03de972849;ms-b59a7ccfb736df4c4c68;ms-8b73e5dfa1f2a01e6017;ms-c6beb139304a0ea6f7ae;ms-eff5f21c51f26a85f07c;ms-5085e45e6ca37192d2e5", + "expert_regret": 1.5010875761508942, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bdc942e2c7fb26b79162", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5010875761508942, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.49891242384910583, + "restore_error": 1.1920928955078125e-07, + "score": 0.49891242384910583, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5363466143608093, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5590400695800781, + 0.5585449934005737, + 0.5579604506492615, + 0.5507151484489441 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0004950761795043945, + -0.0010796189308166504, + -0.008324921131134033 + ], + "candidate_oracle_branch_scores": [ + 0.5590400695800781, + 0.5585449934005737, + 0.5579604506492615, + 0.5507151484489441 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.5489251613616943, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 40 + ], + "candidate_oracle_potentials": [ + -0.5489251613616943, + -0.5714020729064941, + -0.5971670150756836, + -0.8397023677825928 + ], + "candidate_oracle_progress": 0.5590400695800781, + "candidate_oracle_regret": 1.4409599304199219, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5590400695800781, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5590400695800781, + "candidate_oracle_selected_branch_score": 0.5590400695800781, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-11230e3aaabb1feec834;ms-c0bfce3c9dd10f9d3231;ms-f8c4e700a751537ebb16;ms-3c2515d4a10082514714;ms-813cac6d08ed5af48b12;ms-51873059990aa55691a2", + "expert_regret": 1.4409597516059875, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ce992c1fa0bcc38512b7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4409597516059875, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5590402483940125, + "restore_error": 1.1920928955078125e-07, + "score": 0.5590402483940125, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.11020032316446304, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5656294822692871, + 0.5635516047477722, + 0.5631340146064758, + 0.5626835823059082 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0020778775215148926, + -0.0024954676628112793, + -0.0029458999633789062 + ], + "candidate_oracle_branch_scores": [ + 0.5656294822692871, + 0.5635516047477722, + 0.5631340146064758, + 0.5626835823059082 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.2907446622848511, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.2907446622848511, + -0.4082243740558624, + -0.4305797219276428, + -0.4539739489555359 + ], + "candidate_oracle_progress": 0.5656294822692871, + "candidate_oracle_regret": 1.434370517730713, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.166496753692627e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5656294822692871, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5656294822692871, + "candidate_oracle_selected_branch_score": 0.5656294822692871, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-b35643e98e1b846e27cf;ms-71452ba714a10880870b;ms-9ff81e54049443a0f3d3;ms-f3f6a1b34fdf35290a6c;ms-26e09c86be9068a34acf;ms-bc615957d9bf177dfe26", + "expert_regret": 1.4345954060554504, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-488a34fe7b7e84250616", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4345954060554504, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5654045939445496, + "restore_error": 2.384185791015625e-07, + "score": 0.5654045939445496, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5449310541152954, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5426313281059265, + 0.5395480394363403, + 0.5421831607818604, + 0.539459764957428 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0030832886695861816, + -0.0004481673240661621, + -0.003171563148498535 + ], + "candidate_oracle_branch_scores": [ + 0.5426313281059265, + 0.5395480394363403, + 0.5421831607818604, + 0.539459764957428 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0533969402313232, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -1.0533969402313232, + -1.0713951587677002, + -1.1408441066741943, + -1.1497222185134888 + ], + "candidate_oracle_progress": 0.5426313281059265, + "candidate_oracle_regret": 1.4573686718940735, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 3.166496753692627e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5426313281059265, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5426313281059265, + "candidate_oracle_selected_branch_score": 0.5426313281059265, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0e55645c0c701caac48a;ms-ee32e6bb3c0bb45702b9;ms-b8276cb9b6cb9a9b302f;ms-c5d026dffb39f2f1d38a;ms-caeb59971565b08f2513;ms-3aa5793c449b59c77b6f", + "expert_regret": 1.4575881958007812, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5f5bf12b5ebb67eeb361", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4575881958007812, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5424118041992188, + "restore_error": 2.384185791015625e-07, + "score": 0.5424118041992188, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5450640320777893, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5466312766075134, + 0.5471596121788025, + 0.5476700663566589, + 0.5471585392951965 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0005283355712890625, + 0.0010387897491455078, + 0.0005272626876831055 + ], + "candidate_oracle_branch_scores": [ + 0.5466312766075134, + 0.5471596121788025, + 0.5476700663566589, + 0.5471585392951965 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.3292980194091797, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 24 + ], + "candidate_oracle_potentials": [ + -1.327262043952942, + -1.327974796295166, + -1.3292980194091797, + -1.3349015712738037 + ], + "candidate_oracle_progress": 0.5476700663566589, + "candidate_oracle_regret": 1.452329933643341, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 3.166496753692627e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5476700663566589, + "candidate_oracle_score_gain_over_selected": 0.0010387897491455078, + "candidate_oracle_selected_branch_progress": 0.5466312766075134, + "candidate_oracle_selected_branch_score": 0.5466312766075134, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-28d5618562729c763eb6;ms-daaac2887015a6e4f3e0;ms-7a460f3c1b67817c19de;ms-0e55645c0c701caac48a;ms-ee32e6bb3c0bb45702b9;ms-caeb59971565b08f2513", + "expert_regret": 1.4533687233924866, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bc30ca6b7675f4de5041", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4533687233924866, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5466312766075134, + "restore_error": 2.384185791015625e-07, + "score": 0.5466312766075134, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4130718410015106, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5370187163352966, + 0.5338605642318726, + 0.5352559089660645, + 0.5348483920097351 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0031581521034240723, + -0.0017628073692321777, + -0.0021703243255615234 + ], + "candidate_oracle_branch_scores": [ + 0.5370187163352966, + 0.5338605642318726, + 0.5352559089660645, + 0.5348483920097351 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3817869424819946, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.3817869424819946, + -1.3854576349258423, + -1.4312127828598022, + -1.4336796998977661 + ], + "candidate_oracle_progress": 0.5370187163352966, + "candidate_oracle_regret": 1.4629812836647034, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 3.166496753692627e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5370187163352966, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5370187163352966, + "candidate_oracle_selected_branch_score": 0.5370187163352966, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0e55645c0c701caac48a;ms-c78721d9c4196a9e8ec5;ms-7a460f3c1b67817c19de;ms-daaac2887015a6e4f3e0;ms-caeb59971565b08f2513;ms-0ece7b8c91d9d82f244b", + "expert_regret": 1.4629828333854675, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5ad75923125806db5404", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4629828333854675, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5370171666145325, + "restore_error": 2.384185791015625e-07, + "score": 0.5370171666145325, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.10801690071821213, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.33826538920402527, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 33 + ], + "candidate_oracle_potentials": [ + 0.33826538920402527, + 0.3376798629760742, + 0.3317602574825287, + 0.3131369650363922 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.45 + ], + "candidate_oracle_restore_error": 3.166496753692627e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02acbd591a961c0dbd46;ms-97aebe1dd42939e3b340;ms-a3d0c460532de2d801ae;ms-8b68d8b4d22e6ff0451d;ms-166b7f66bf9f4eec432b;ms-4a0ae3deadb8560fd315", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6995d4366e7c20010126", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.13760395348072052, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.16846080124378204, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 19, + 35, + 3, + 0 + ], + "candidate_oracle_potentials": [ + 0.16846080124378204, + 0.1670745462179184, + 0.1670001596212387, + 0.08639917522668839 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 3.166496753692627e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8beca0622be320b282c1;ms-81d1d8def1fbeb3b1cc5;ms-b33f1d4ddb6a531d2a71;ms-cb99eeafec52800f3b77;ms-eb206a3dda0ac16e1643;ms-c7020fdb7cba871e8b3e", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-64e28ad134f73fdce800", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2407919317483902, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5339475274085999, + 0.530863881111145, + 0.5370631217956543, + 0.5375304222106934 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.003083646297454834, + 0.0031155943870544434, + 0.003582894802093506 + ], + "candidate_oracle_branch_scores": [ + 0.5339475274085999, + 0.530863881111145, + 0.5370631217956543, + 0.5375304222106934 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.7024625539779663, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.6647247672080994, + -0.6864787936210632, + -0.6954395174980164, + -0.7024625539779663 + ], + "candidate_oracle_progress": 0.5375304222106934, + "candidate_oracle_regret": 1.4624695777893066, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 3.166496753692627e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5375304222106934, + "candidate_oracle_score_gain_over_selected": 0.003582894802093506, + "candidate_oracle_selected_branch_progress": 0.5339475274085999, + "candidate_oracle_selected_branch_score": 0.5339475274085999, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-97598e118c5cc8c254a5;ms-b1c9975d1a007dd03dc4;ms-503d0b1d27ed78b6130f;ms-e058c0dba52df04b8642;ms-9b15f9c696a2661346cf;ms-382000b79932b7c68326", + "expert_regret": 1.4660536050796509, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d94c7c692c91a962f25", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4660536050796509, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5339463949203491, + "restore_error": 2.384185791015625e-07, + "score": 0.5339463949203491, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3161473572254181, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5553625226020813, + 0.5463773608207703, + 0.5436869859695435, + 0.5405067801475525 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.008985161781311035, + -0.011675536632537842, + -0.014855742454528809 + ], + "candidate_oracle_branch_scores": [ + 0.5553625226020813, + 0.5463773608207703, + 0.5436869859695435, + 0.5405067801475525 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.4946288466453552, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.4946288466453552, + -0.5699172616004944, + -0.5854911208152771, + -0.6032946109771729 + ], + "candidate_oracle_progress": 0.5553625226020813, + "candidate_oracle_regret": 1.4446374773979187, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 3.166496753692627e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5553625226020813, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5553625226020813, + "candidate_oracle_selected_branch_score": 0.5553625226020813, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4fad1f976cc64cc06826;ms-20e5ffa93544d6d8b313;ms-12ac4329c5bca5f2bb62;ms-1f458832fc85f00873cc;ms-fe9347448b7f810d1353;ms-17a17b212837b7f1309f", + "expert_regret": 1.4448102116584778, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-28817fe297f38fd9550a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4448102116584778, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5551897883415222, + "restore_error": 2.384185791015625e-07, + "score": 0.5551897883415222, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4388678967952728, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.024328291416168213, + 0.0242143627256155, + 0.024362897500395775, + 0.02210686169564724 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00011392869055271149, + 3.460608422756195e-05, + -0.002221429720520973 + ], + "candidate_oracle_branch_scores": [ + 0.024328291416168213, + 0.0242143627256155, + 0.024362897500395775, + 0.02210686169564724 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.684476375579834, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -2.612633228302002, + -2.6518826484680176, + -2.684476375579834, + -2.7240047454833984 + ], + "candidate_oracle_progress": 0.024362897500395775, + "candidate_oracle_regret": 1.9756371024996042, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.024362897500395775, + "candidate_oracle_score_gain_over_selected": 3.460608422756195e-05, + "candidate_oracle_selected_branch_progress": 0.024328291416168213, + "candidate_oracle_selected_branch_score": 0.024328291416168213, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-22675530f3a401b3fd6d;ms-f5bae191ebad7c9f2687;ms-7d18f6f16879d2933bcd;ms-7e6493bb6b1ff650d6de;ms-fe650308e25459ee64c6;ms-4acbf69acd30d96e46a7", + "expert_regret": 1.9759413599967957, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7d32f6b32c14e33b1eb1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9759413599967957, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.024058640003204346, + "restore_error": 1.1920928955078125e-07, + "score": 0.024058640003204346, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.07950939238071442, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5607673525810242, + 0.5608139634132385, + 0.5608506202697754, + 0.5608368515968323 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 4.661083221435547e-05, + 8.32676887512207e-05, + 6.949901580810547e-05 + ], + "candidate_oracle_branch_scores": [ + 0.5607673525810242, + 0.5608139634132385, + 0.5608506202697754, + 0.5608368515968323 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.4265773892402649, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.4234961271286011, + -0.4249386787414551, + -0.4265773892402649, + -0.452747642993927 + ], + "candidate_oracle_progress": 0.5608506202697754, + "candidate_oracle_regret": 1.4391493797302246, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5608506202697754, + "candidate_oracle_score_gain_over_selected": 8.32676887512207e-05, + "candidate_oracle_selected_branch_progress": 0.5607673525810242, + "candidate_oracle_selected_branch_score": 0.5607673525810242, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7af1e453acf970f40546;ms-8fdde5008d12abb7ae6a;ms-c9e31a19a776a861f9d7;ms-8a74cf665984273be00d;ms-3aa5793c449b59c77b6f;ms-11230e3aaabb1feec834", + "expert_regret": 1.439230740070343, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a3c53708416dbfb9fbc5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.439230740070343, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.560769259929657, + "restore_error": 1.1920928955078125e-07, + "score": 0.560769259929657, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5301395058631897, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.47370776534080505, + 0.4798814356327057, + 0.09330644458532333, + 0.017078781500458717 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.006173670291900635, + -0.3804013133049011, + -0.4566289782524109 + ], + "candidate_oracle_branch_scores": [ + 0.47370776534080505, + 0.4798814356327057, + 0.09330644458532333, + 0.017078781500458717 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.4863057136535645, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -2.4125142097473145, + -2.4863057136535645, + -2.598726511001587, + -2.6070544719696045 + ], + "candidate_oracle_progress": 0.4798814356327057, + "candidate_oracle_regret": 0.12886348366737366, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.4798814356327057, + "candidate_oracle_score_gain_over_selected": 0.006173670291900635, + "candidate_oracle_selected_branch_progress": 0.47370776534080505, + "candidate_oracle_selected_branch_score": 0.47370776534080505, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fe650308e25459ee64c6;ms-b481531ab787e3d6fb1e;ms-4acbf69acd30d96e46a7;ms-7670f25745871759e69e;ms-f5bae191ebad7c9f2687;ms-d9e3a187dcadb9ad26b1", + "expert_regret": 0.13546475768089294, + "expert_score": 0.6087449193000793, + "expert_success": false, + "group_id": "ms-b9e46b7345a63ded4397", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.13546475768089294, + "oracle_score": 0.6087449193000793, + "oracle_success": false, + "progress": 0.4732801616191864, + "restore_error": 1.1920928955078125e-07, + "score": 0.4732801616191864, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24008403718471527, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.022488916292786598, + 0.038429033011198044, + 0.023890173062682152, + 0.024513913318514824 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.015940116718411446, + 0.0014012567698955536, + 0.0020249970257282257 + ], + "candidate_oracle_branch_scores": [ + 0.022488916292786598, + 0.038429033011198044, + 0.023890173062682152, + 0.024513913318514824 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.1677072048187256, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.0634108781814575, + -1.1677072048187256, + -1.18647038936615, + -1.2058264017105103 + ], + "candidate_oracle_progress": 0.038429033011198044, + "candidate_oracle_regret": 0.5500427968800068, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.038429033011198044, + "candidate_oracle_score_gain_over_selected": 0.015940116718411446, + "candidate_oracle_selected_branch_progress": 0.022488916292786598, + "candidate_oracle_selected_branch_score": 0.022488916292786598, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-de0abc7a53a48164f82d;ms-fd1c44c6d5d8f7f11451;ms-90a03366976eaa1ad013;ms-8af2224cc82636ef1dd7;ms-4015c296239564108da2;ms-5415e349e8f9f2bce641", + "expert_regret": 0.5654406901448965, + "expert_score": 0.587929368019104, + "expert_success": false, + "group_id": "ms-cdfe8f580576f4c577b0", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5659831520169973, + "oracle_score": 0.5884718298912048, + "oracle_success": false, + "progress": 0.022488677874207497, + "restore_error": 1.1920928955078125e-07, + "score": 0.022488677874207497, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6417235732078552, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5541221499443054, + 0.5553603172302246, + 0.5539063811302185, + 0.5522722601890564 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0012381672859191895, + -0.00021576881408691406, + -0.0018498897552490234 + ], + "candidate_oracle_branch_scores": [ + 0.5541221499443054, + 0.5553603172302246, + 0.5539063811302185, + 0.5522722601890564 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0451890230178833, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 33 + ], + "candidate_oracle_potentials": [ + -1.0118460655212402, + -1.0451890230178833, + -1.0502285957336426, + -1.0618674755096436 + ], + "candidate_oracle_progress": 0.5553603172302246, + "candidate_oracle_regret": 1.4446396827697754, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5553603172302246, + "candidate_oracle_score_gain_over_selected": 0.0012381672859191895, + "candidate_oracle_selected_branch_progress": 0.5541221499443054, + "candidate_oracle_selected_branch_score": 0.5541221499443054, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-57ac136bd68be6387c6f;ms-bca6fa102f94cb145cd2;ms-8b73e5dfa1f2a01e6017;ms-eff5f21c51f26a85f07c;ms-d4aab6f9b6717dd5712e;ms-2ae57bab6d2ea11f6638", + "expert_regret": 1.445878028869629, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f101cf5cc8575be3c201", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.445878028869629, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5541219711303711, + "restore_error": 1.1920928955078125e-07, + "score": 0.5541219711303711, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4035034775733948, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.035652827471494675, + 0.03397491201758385, + 0.03347305208444595, + 0.03563178703188896 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0016779154539108276, + -0.0021797753870487213, + -2.104043960571289e-05 + ], + "candidate_oracle_branch_scores": [ + 0.035652827471494675, + 0.03397491201758385, + 0.03347305208444595, + 0.03563178703188896 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.9339337348937988, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 20, + 0, + 8 + ], + "candidate_oracle_potentials": [ + -1.9339337348937988, + -1.9658650159835815, + -2.035444974899292, + -2.0411019325256348 + ], + "candidate_oracle_progress": 0.035652827471494675, + "candidate_oracle_regret": 1.9643471725285053, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.035652827471494675, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.035652827471494675, + "candidate_oracle_selected_branch_score": 0.035652827471494675, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-1f458832fc85f00873cc;ms-17a17b212837b7f1309f;ms-2259a78b2187e22f9f37;ms-fe9347448b7f810d1353;ms-20e5ffa93544d6d8b313;ms-4fad1f976cc64cc06826", + "expert_regret": 1.9643471725285053, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c458f671129e1ebe7b4", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9643471725285053, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.035652827471494675, + "restore_error": 1.1920928955078125e-07, + "score": 0.035652827471494675, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.30700406432151794, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.48751768469810486, + 0.48892536759376526, + 0.4891241490840912, + 0.48932185769081116 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0014076828956604004, + 0.0016064643859863281, + 0.0018041729927062988 + ], + "candidate_oracle_branch_scores": [ + 0.48751768469810486, + 0.48892536759376526, + 0.4891241490840912, + 0.48932185769081116 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.4768143892288208, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.4704102277755737, + -1.4716113805770874, + -1.474136471748352, + -1.4768143892288208 + ], + "candidate_oracle_progress": 0.48932185769081116, + "candidate_oracle_regret": 1.5106781423091888, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.48932185769081116, + "candidate_oracle_score_gain_over_selected": 0.0018041729927062988, + "candidate_oracle_selected_branch_progress": 0.48751768469810486, + "candidate_oracle_selected_branch_score": 0.48751768469810486, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4fe7fdaf946c97803c82;ms-3e51a1bdc3a2cc4eb06d;ms-fb92a1e6b67121783fff;ms-f5fb668380b64d4f1e74;ms-13192a27f5fcf4fd24d7;ms-26e09c86be9068a34acf", + "expert_regret": 1.5124813616275787, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f6591d52d6824c6d2909", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.5124813616275787, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.48751863837242126, + "restore_error": 1.1920928955078125e-07, + "score": 0.48751863837242126, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4478737413883209, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.25588876008987427, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 33, + 17 + ], + "candidate_oracle_potentials": [ + 0.25588876008987427, + 0.24923625588417053, + 0.24541178345680237, + 0.24515190720558167 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3f4967102c7b10057ab9;ms-c7020fdb7cba871e8b3e;ms-a3cb33ed1e34d229773c;ms-b33f1d4ddb6a531d2a71;ms-8beca0622be320b282c1;ms-ca25b016439a98198434", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4a7b774ee02339c4ca19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.396422415971756, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.49895355105400085, + 0.018313324078917503, + 0.4956512451171875, + 0.032763756811618805 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.4806402325630188, + -0.0033023059368133545, + -0.46618980169296265 + ], + "candidate_oracle_branch_scores": [ + 0.49895355105400085, + 0.018313324078917503, + 0.4956512451171875, + 0.032763756811618805 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.8329901695251465, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 0, + 8, + 20 + ], + "candidate_oracle_potentials": [ + -1.8329901695251465, + -1.882602572441101, + -1.9317487478256226, + -1.9437354803085327 + ], + "candidate_oracle_progress": 0.49895355105400085, + "candidate_oracle_regret": 1.5010464489459991, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.49895355105400085, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.49895355105400085, + "candidate_oracle_selected_branch_score": 0.49895355105400085, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-20e5ffa93544d6d8b313;ms-c3cdd70e2bc10bba1930;ms-ddc0b3adf8506c30f503;ms-fe9347448b7f810d1353;ms-4fad1f976cc64cc06826;ms-8af2224cc82636ef1dd7", + "expert_regret": 1.5010662376880646, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-7e94769c30229d5cc7b8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.5010662376880646, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.4989337623119354, + "restore_error": 1.1920928955078125e-07, + "score": 0.4989337623119354, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.08628114312887192, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5693889260292053, + 0.5696041584014893, + 0.5698152780532837, + 0.571269690990448 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00021523237228393555, + 0.00042635202407836914, + 0.0018807649612426758 + ], + "candidate_oracle_branch_scores": [ + 0.5693889260292053, + 0.5696041584014893, + 0.5698152780532837, + 0.571269690990448 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.15988975763320923, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.1328648328781128, + -0.13435834646224976, + -0.13590756058692932, + -0.15988975763320923 + ], + "candidate_oracle_progress": 0.571269690990448, + "candidate_oracle_regret": 1.428730309009552, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.571269690990448, + "candidate_oracle_score_gain_over_selected": 0.0018807649612426758, + "candidate_oracle_selected_branch_progress": 0.5693889260292053, + "candidate_oracle_selected_branch_score": 0.5693889260292053, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d4aab6f9b6717dd5712e;ms-1a4ecfbe9c97214d5c78;ms-e589f7d40c12eff1712e;ms-910d27b58a0585327a27;ms-57ac136bd68be6387c6f;ms-2ae57bab6d2ea11f6638", + "expert_regret": 1.4306402802467346, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0d1db6695acdf1ec3eaf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4306402802467346, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5693597197532654, + "restore_error": 1.1920928955078125e-07, + "score": 0.5693597197532654, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.535585343837738, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.563983142375946, + 0.5640072226524353, + 0.5641279816627502, + 0.5640172958374023 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 2.4080276489257812e-05, + 0.00014483928680419922, + 3.415346145629883e-05 + ], + "candidate_oracle_branch_scores": [ + 0.563983142375946, + 0.5640072226524353, + 0.5641279816627502, + 0.5640172958374023 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9616517424583435, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 36, + 20 + ], + "candidate_oracle_potentials": [ + -0.9477718472480774, + -0.9512074589729309, + -0.9616517424583435, + -0.9630830883979797 + ], + "candidate_oracle_progress": 0.5641279816627502, + "candidate_oracle_regret": 1.4358720183372498, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5641279816627502, + "candidate_oracle_score_gain_over_selected": 0.00014483928680419922, + "candidate_oracle_selected_branch_progress": 0.563983142375946, + "candidate_oracle_selected_branch_score": 0.563983142375946, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5fb668380b64d4f1e74;ms-3e51a1bdc3a2cc4eb06d;ms-13192a27f5fcf4fd24d7;ms-22675530f3a401b3fd6d;ms-7d18f6f16879d2933bcd;ms-7e6493bb6b1ff650d6de", + "expert_regret": 1.4360756278038025, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d19c9e3ab1d7daf06344", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4360756278038025, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5639243721961975, + "restore_error": 1.1920928955078125e-07, + "score": 0.5639243721961975, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6550933122634888, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5229105353355408, + 0.5259333848953247, + 0.5257744789123535, + 0.536024272441864 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0030228495597839355, + 0.002863943576812744, + 0.013113737106323242 + ], + "candidate_oracle_branch_scores": [ + 0.5229105353355408, + 0.5259333848953247, + 0.5257744789123535, + 0.536024272441864 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.5834890007972717, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + -0.2827646732330322, + -0.3120404779911041, + -0.34316280484199524, + -0.5834890007972717 + ], + "candidate_oracle_progress": 0.536024272441864, + "candidate_oracle_regret": 1.463975727558136, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.536024272441864, + "candidate_oracle_score_gain_over_selected": 0.013113737106323242, + "candidate_oracle_selected_branch_progress": 0.5229105353355408, + "candidate_oracle_selected_branch_score": 0.5229105353355408, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-564c02492863ae749ea9;ms-93e3d9968204474eff49;ms-ae33e3afb57e61026d72;ms-d5d7c690819019cb7869;ms-3c4ff3dae26217f22a8b;ms-4c7138016830a563fb1b", + "expert_regret": 1.4770733714103699, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dd1311efb8ab2a0a2d23", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4770733714103699, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5229266285896301, + "restore_error": 1.1920928955078125e-07, + "score": 0.5229266285896301, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2221977859735489, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5238537192344666, + 0.5303452014923096, + 0.5304443836212158, + 0.5303590893745422 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.006491482257843018, + 0.006590664386749268, + 0.006505370140075684 + ], + "candidate_oracle_branch_scores": [ + 0.5238537192344666, + 0.5303452014923096, + 0.5304443836212158, + 0.5303590893745422 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.7501476407051086, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.6408989429473877, + -0.7321469187736511, + -0.7501476407051086, + -0.7690045237541199 + ], + "candidate_oracle_progress": 0.5304443836212158, + "candidate_oracle_regret": 1.4695556163787842, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5304443836212158, + "candidate_oracle_score_gain_over_selected": 0.006590664386749268, + "candidate_oracle_selected_branch_progress": 0.5238537192344666, + "candidate_oracle_selected_branch_score": 0.5238537192344666, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-cea745484a24f376d7e8;ms-01067b8ff16f74652382;ms-a2c5c9fd35d9fda5ce9e;ms-0843bef6b0c13c3ede69;ms-227fe0347d2ea57a66a3;ms-4bc023d8d1f7748b0e12", + "expert_regret": 1.476146399974823, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-950df0830b2e57010248", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.476146399974823, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.523853600025177, + "restore_error": 1.1920928955078125e-07, + "score": 0.523853600025177, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2557438910007477, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.2871997654438019, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 4, + 19, + 8 + ], + "candidate_oracle_potentials": [ + 0.2871997654438019, + 0.27710428833961487, + 0.2718961238861084, + 0.2717583179473877 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-eb206a3dda0ac16e1643;ms-bc615957d9bf177dfe26;ms-cb99eeafec52800f3b77;ms-8beca0622be320b282c1;ms-b33f1d4ddb6a531d2a71;ms-81d1d8def1fbeb3b1cc5", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-bcfeba2af1e844c22aed", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7726332545280457, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5513612627983093, + 0.5530843734741211, + 0.5504712462425232, + 0.5520140528678894 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0017231106758117676, + -0.0008900165557861328, + 0.0006527900695800781 + ], + "candidate_oracle_branch_scores": [ + 0.5513612627983093, + 0.5530843734741211, + 0.5504712462425232, + 0.5520140528678894 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0079561471939087, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.9887834191322327, + -1.0079561471939087, + -1.190558910369873, + -1.201080560684204 + ], + "candidate_oracle_progress": 0.5530843734741211, + "candidate_oracle_regret": 0.04496210813522339, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5530843734741211, + "candidate_oracle_score_gain_over_selected": 0.0017231106758117676, + "candidate_oracle_selected_branch_progress": 0.5513612627983093, + "candidate_oracle_selected_branch_score": 0.5513612627983093, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c684df0b998b593db723;ms-1d1969094d91fe52667d;ms-b33f1d4ddb6a531d2a71;ms-8beca0622be320b282c1;ms-f3f6a1b34fdf35290a6c;ms-eb206a3dda0ac16e1643", + "expert_regret": 0.04668533802032471, + "expert_score": 0.5980464816093445, + "expert_success": false, + "group_id": "ms-af0341467b22ec51e557", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.04668533802032471, + "oracle_score": 0.5980464816093445, + "oracle_success": false, + "progress": 0.5513611435890198, + "restore_error": 1.1920928955078125e-07, + "score": 0.5513611435890198, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.24095985293388367, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5116207599639893, + 0.5114627480506897, + 0.5113062858581543, + 0.5101822018623352 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00015801191329956055, + -0.00031447410583496094, + -0.0014385581016540527 + ], + "candidate_oracle_branch_scores": [ + 0.5116207599639893, + 0.5114627480506897, + 0.5113062858581543, + 0.5101822018623352 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.8961870074272156, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -0.8961870074272156, + -0.8973390460014343, + -0.8986718058586121, + -0.9234986901283264 + ], + "candidate_oracle_progress": 0.5116207599639893, + "candidate_oracle_regret": 1.4883792400360107, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5116207599639893, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5116207599639893, + "candidate_oracle_selected_branch_score": 0.5116207599639893, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8fdde5008d12abb7ae6a;ms-7af1e453acf970f40546;ms-f8c4e700a751537ebb16;ms-8a74cf665984273be00d;ms-5085e45e6ca37192d2e5;ms-c9e31a19a776a861f9d7", + "expert_regret": 1.4883803129196167, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-53fdabb5d8ef20778214", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4883803129196167, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5116196870803833, + "restore_error": 1.1920928955078125e-07, + "score": 0.5116196870803833, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.06938564777374268, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5621161460876465, + 0.5636306405067444, + 0.5638349652290344, + 0.564039945602417 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0015144944190979004, + 0.0017188191413879395, + 0.0019237995147705078 + ], + "candidate_oracle_branch_scores": [ + 0.5621161460876465, + 0.5636306405067444, + 0.5638349652290344, + 0.564039945602417 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.6208382248878479, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.6154666543006897, + -0.6162039637565613, + -0.6184656023979187, + -0.6208382248878479 + ], + "candidate_oracle_progress": 0.564039945602417, + "candidate_oracle_regret": 1.435960054397583, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.564039945602417, + "candidate_oracle_score_gain_over_selected": 0.0019237995147705078, + "candidate_oracle_selected_branch_progress": 0.5621161460876465, + "candidate_oracle_selected_branch_score": 0.5621161460876465, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5fb668380b64d4f1e74;ms-3e51a1bdc3a2cc4eb06d;ms-4fe7fdaf946c97803c82;ms-d5d7c690819019cb7869;ms-13192a27f5fcf4fd24d7;ms-564c02492863ae749ea9", + "expert_regret": 1.4379814267158508, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b97cb4ec02e8234b08c5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4379814267158508, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5620185732841492, + "restore_error": 1.1920928955078125e-07, + "score": 0.5620185732841492, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6645563244819641, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.47237372398376465, + 0.47266530990600586, + 0.4726589322090149, + 0.47290945053100586 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00029158592224121094, + 0.00028520822525024414, + 0.0005357265472412109 + ], + "candidate_oracle_branch_scores": [ + 0.47237372398376465, + 0.47266530990600586, + 0.4726589322090149, + 0.47290945053100586 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.1840630769729614, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + -1.1533764600753784, + -1.1559797525405884, + -1.1790800094604492, + -1.1840630769729614 + ], + "candidate_oracle_progress": 0.47290945053100586, + "candidate_oracle_regret": 1.5270905494689941, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.47290945053100586, + "candidate_oracle_score_gain_over_selected": 0.0005357265472412109, + "candidate_oracle_selected_branch_progress": 0.47237372398376465, + "candidate_oracle_selected_branch_score": 0.47237372398376465, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7a17ceb004979b99a586;ms-0e4af96af7d344ec47a0;ms-49219cb8ed7dad70c897;ms-842e179244eddac303a5;ms-95320371ce6b820c85f6;ms-9184c93267b4bbfa4cae", + "expert_regret": 1.5274591743946075, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6e4cc893fcbca1b385e8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.5274591743946075, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.47254082560539246, + "restore_error": 1.1920928955078125e-07, + "score": 0.47254082560539246, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3987969756126404, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5520654320716858, + 0.552008867263794, + 0.5474734306335449, + 0.5516281127929688 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -5.65648078918457e-05, + -0.004592001438140869, + -0.000437319278717041 + ], + "candidate_oracle_branch_scores": [ + 0.5520654320716858, + 0.552008867263794, + 0.5474734306335449, + 0.5516281127929688 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.3456675112247467, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 4, + 24, + 0 + ], + "candidate_oracle_potentials": [ + -0.3456675112247467, + -0.36593398451805115, + -0.3915201425552368, + -0.3944436311721802 + ], + "candidate_oracle_progress": 0.5520654320716858, + "candidate_oracle_regret": 1.4479345679283142, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5520654320716858, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5520654320716858, + "candidate_oracle_selected_branch_score": 0.5520654320716858, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c78721d9c4196a9e8ec5;ms-0ece7b8c91d9d82f244b;ms-caeb59971565b08f2513;ms-e589f7d40c12eff1712e;ms-0e55645c0c701caac48a;ms-d4aab6f9b6717dd5712e", + "expert_regret": 1.4480460286140442, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9e1f3c14116ebca6164d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4480460286140442, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5519539713859558, + "restore_error": 1.1920928955078125e-07, + "score": 0.5519539713859558, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5098409056663513, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.20837116241455078, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + -0.20837116241455078, + -0.2086527794599533, + -0.21047742664813995, + -0.21242864429950714 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-309d2258d275ae304857;ms-3cfb09df08ad7279ef02;ms-ed419c64a6693cb8998b;ms-f5aa7ce332ee9702812a;ms-4d6099258a3a6e037aff;ms-d686ae387b1a0ce2f2f3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5e6d18ccfcf923f52f8e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22040481865406036, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5462010502815247, + 0.5463919639587402, + 0.5465839505195618, + 0.5479170083999634 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00019091367721557617, + 0.0003829002380371094, + 0.0017159581184387207 + ], + "candidate_oracle_branch_scores": [ + 0.5462010502815247, + 0.5463919639587402, + 0.5465839505195618, + 0.5479170083999634 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2864829301834106, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -1.233185887336731, + -1.2368361949920654, + -1.2407798767089844, + -1.2864829301834106 + ], + "candidate_oracle_progress": 0.5479170083999634, + "candidate_oracle_regret": 1.4520829916000366, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5479170083999634, + "candidate_oracle_score_gain_over_selected": 0.0017159581184387207, + "candidate_oracle_selected_branch_progress": 0.5462010502815247, + "candidate_oracle_selected_branch_score": 0.5462010502815247, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d4bde31fd7e7cee76b09;ms-6029bab18ae94b126d79;ms-842e179244eddac303a5;ms-66cc354bbf4e8bdd1051;ms-2ee00a97b477ba241dba;ms-95320371ce6b820c85f6", + "expert_regret": 1.4537983536720276, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ee19bfbcb2f4fbf5a44d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4537983536720276, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5462016463279724, + "restore_error": 1.1920928955078125e-07, + "score": 0.5462016463279724, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.17654994130134583, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5645585656166077 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.435441493988037 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5645585656166077 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.22051170468330383, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + 0.22051170468330383, + 0.2104375958442688, + 0.1932397484779358, + 0.08647190034389496 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3cfb09df08ad7279ef02;ms-4d6099258a3a6e037aff;ms-d686ae387b1a0ce2f2f3;ms-f5aa7ce332ee9702812a;ms-309d2258d275ae304857;ms-4c83412fa0aa5180ad89", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-61781d30cb05657c5f5d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.16706432402133942, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.2277260571718216, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + 0.2277260571718216, + 0.2273094207048416, + 0.22379939258098602, + 0.15021902322769165 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4c83412fa0aa5180ad89;ms-a3d0c460532de2d801ae;ms-8b68d8b4d22e6ff0451d;ms-3cfb09df08ad7279ef02;ms-166b7f66bf9f4eec432b;ms-4d6099258a3a6e037aff", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c4cb99b887c88c707ba9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5806815028190613, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.568642795085907, + 0.5675742626190186, + 0.5683754682540894, + 0.5673948526382446 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0010685324668884277, + -0.00026732683181762695, + -0.0012479424476623535 + ], + "candidate_oracle_branch_scores": [ + 0.568642795085907, + 0.5675742626190186, + 0.5683754682540894, + 0.5673948526382446 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7249029874801636, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + -0.7249029874801636, + -0.7431070804595947, + -0.7876715064048767, + -0.7995867729187012 + ], + "candidate_oracle_progress": 0.568642795085907, + "candidate_oracle_regret": 1.431357204914093, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.568642795085907, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.568642795085907, + "candidate_oracle_selected_branch_score": 0.568642795085907, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-d5d7c690819019cb7869;ms-564c02492863ae749ea9;ms-8b5b5e5f9237c41e0fe9;ms-fb92a1e6b67121783fff;ms-93e3d9968204474eff49;ms-4fe7fdaf946c97803c82", + "expert_regret": 1.4313574433326721, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dc5a883a3e28b90ebf1a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4313574433326721, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5686425566673279, + "restore_error": 1.1920928955078125e-07, + "score": 0.5686425566673279, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6768331527709961, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9334662556648254, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 33 + ], + "candidate_oracle_potentials": [ + -0.9334662556648254, + -0.975693941116333, + -0.9935262203216553, + -0.9977269768714905 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0ece7b8c91d9d82f244b;ms-eff5f21c51f26a85f07c;ms-e589f7d40c12eff1712e;ms-57ac136bd68be6387c6f;ms-2ae57bab6d2ea11f6638;ms-910d27b58a0585327a27", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d111990da24dde1403b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.3096799850463867e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4522557854652405, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5508444905281067, + 0.547685980796814, + 0.5538316965103149, + 0.5621458292007446 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0031585097312927246, + 0.002987205982208252, + 0.01130133867263794 + ], + "candidate_oracle_branch_scores": [ + 0.5508444905281067, + 0.547685980796814, + 0.5538316965103149, + 0.5621458292007446 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.5556768774986267, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 19, + 35, + 3, + 40 + ], + "candidate_oracle_potentials": [ + -0.49646636843681335, + -0.4998833239078522, + -0.5010444521903992, + -0.5556768774986267 + ], + "candidate_oracle_progress": 0.5621458292007446, + "candidate_oracle_regret": 1.4378541707992554, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5621458292007446, + "candidate_oracle_score_gain_over_selected": 0.01130133867263794, + "candidate_oracle_selected_branch_progress": 0.5508444905281067, + "candidate_oracle_selected_branch_score": 0.5508444905281067, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-128c7c43e30023e6b1a3;ms-e8fbdbddd9200f5091d6;ms-c6beb139304a0ea6f7ae;ms-4c83412fa0aa5180ad89;ms-d686ae387b1a0ce2f2f3;ms-8b5b5e5f9237c41e0fe9", + "expert_regret": 1.4492915868759155, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-829156e8e688a433bf4f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4492915868759155, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5507084131240845, + "restore_error": 2.3096799850463867e-07, + "score": 0.5507084131240845, + "selected_candidate_index": 19, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.342727929353714, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.1308998167514801, + 0.1210852861404419, + 0.122397281229496, + 0.1224476620554924 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.009814530611038208, + -0.0085025355219841, + -0.008452154695987701 + ], + "candidate_oracle_branch_scores": [ + 0.1308998167514801, + 0.1210852861404419, + 0.122397281229496, + 0.1224476620554924 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.9107435941696167, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.9107435941696167, + -1.9653100967407227, + -1.9879875183105469, + -2.0250446796417236 + ], + "candidate_oracle_progress": 0.1308998167514801, + "candidate_oracle_regret": 1.86910018324852, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.1308998167514801, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.1308998167514801, + "candidate_oracle_selected_branch_score": 0.1308998167514801, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f69d6aec4ddb12d88c5b;ms-fbda7bc51ca269d1cda4;ms-175375383979526d80b5;ms-13557287cd450bc12c6f;ms-3abfb4c309360a304d54;ms-81f48d29d0404300ea93", + "expert_regret": 1.8691550940275192, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-08c39d9cc9eb7578e6e9", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.8691550940275192, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.13084490597248077, + "restore_error": 2.3096799850463867e-07, + "score": 0.13084490597248077, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6977809071540833, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5713154673576355, + 0.5716200470924377, + 0.5712966322898865, + 0.571570098400116 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0003045797348022461, + -1.8835067749023438e-05, + 0.00025463104248046875 + ], + "candidate_oracle_branch_scores": [ + 0.5713154673576355, + 0.5716200470924377, + 0.5712966322898865, + 0.571570098400116 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.2880525290966034, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.29685014486312866, + 0.2880525290966034, + 0.24841314554214478, + 0.2408897876739502 + ], + "candidate_oracle_progress": 0.5716200470924377, + "candidate_oracle_regret": 1.4283799529075623, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5716200470924377, + "candidate_oracle_score_gain_over_selected": 0.0003045797348022461, + "candidate_oracle_selected_branch_progress": 0.5713154673576355, + "candidate_oracle_selected_branch_score": 0.5713154673576355, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c0bfce3c9dd10f9d3231;ms-ae33e3afb57e61026d72;ms-11230e3aaabb1feec834;ms-23d6e5835aa90a62b6ef;ms-a5d81a7c740394b68c3f;ms-76194d089c97018ce427", + "expert_regret": 1.4286876320838928, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-054a02413d31389d1b7f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4286876320838928, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5713123679161072, + "restore_error": 2.3096799850463867e-07, + "score": 0.5713123679161072, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5229485034942627, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.573116660118103, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.426883339881897, + 1.426883339881897, + 1.426883339881897 + ], + "candidate_oracle_branch_scores": [ + 0.573116660118103, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + false, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.08698365837335587, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + 0.09834812581539154, + 0.08698365837335587, + 0.041539501398801804, + 0.030916444957256317 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.426883339881897, + "candidate_oracle_selected_branch_progress": 0.573116660118103, + "candidate_oracle_selected_branch_score": 0.573116660118103, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-11230e3aaabb1feec834;ms-813cac6d08ed5af48b12;ms-3c2515d4a10082514714;ms-7af1e453acf970f40546;ms-8a74cf665984273be00d;ms-c9e31a19a776a861f9d7", + "expert_regret": 1.4268848299980164, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-dbb32d9fd6999e09f589", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4268848299980164, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5731151700019836, + "restore_error": 2.3096799850463867e-07, + "score": 0.5731151700019836, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.535987377166748, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.47146329283714294, + 0.47149965167045593, + 0.47177648544311523, + 0.47178298234939575 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 3.635883331298828e-05, + 0.00031319260597229004, + 0.0003196895122528076 + ], + "candidate_oracle_branch_scores": [ + 0.47146329283714294, + 0.47149965167045593, + 0.47177648544311523, + 0.47178298234939575 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.8787140250205994, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + -0.8104891180992126, + -0.8189934492111206, + -0.872376024723053, + -0.8787140250205994 + ], + "candidate_oracle_progress": 0.47178298234939575, + "candidate_oracle_regret": 1.5282170176506042, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.47178298234939575, + "candidate_oracle_score_gain_over_selected": 0.0003196895122528076, + "candidate_oracle_selected_branch_progress": 0.47146329283714294, + "candidate_oracle_selected_branch_score": 0.47146329283714294, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e8fbdbddd9200f5091d6;ms-561f4f913d7b4991d81a;ms-f5aa7ce332ee9702812a;ms-d686ae387b1a0ce2f2f3;ms-8b5b5e5f9237c41e0fe9;ms-128c7c43e30023e6b1a3", + "expert_regret": 1.528536707162857, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-382717cd5bfad063ddf3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.528536707162857, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.47146329283714294, + "restore_error": 2.3096799850463867e-07, + "score": 0.47146329283714294, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19777922332286835, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5387122631072998, + 0.5364775061607361, + 0.5361567735671997, + 0.5358342528343201 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0022347569465637207, + -0.0025554895401000977, + -0.0028780102729797363 + ], + "candidate_oracle_branch_scores": [ + 0.5387122631072998, + 0.5364775061607361, + 0.5361567735671997, + 0.5358342528343201 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.2856370210647583, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.2856370210647583, + -1.287631869316101, + -1.290007472038269, + -1.2925220727920532 + ], + "candidate_oracle_progress": 0.5387122631072998, + "candidate_oracle_regret": 1.4612877368927002, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5387122631072998, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5387122631072998, + "candidate_oracle_selected_branch_score": 0.5387122631072998, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-41b0258c4e329a734da7;ms-d4aab6f9b6717dd5712e;ms-1a4ecfbe9c97214d5c78;ms-910d27b58a0585327a27;ms-166b7f66bf9f4eec432b;ms-e589f7d40c12eff1712e", + "expert_regret": 1.4612887501716614, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-da855323619ebf257b19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4612887501716614, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5387112498283386, + "restore_error": 2.3096799850463867e-07, + "score": 0.5387112498283386, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.10196755826473236, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5433253645896912, + 0.5432076454162598, + 0.5430883765220642, + 0.5422496199607849 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00011771917343139648, + -0.00023698806762695312, + -0.00107574462890625 + ], + "candidate_oracle_branch_scores": [ + 0.5433253645896912, + 0.5432076454162598, + 0.5430883765220642, + 0.5422496199607849 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.2848684787750244, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -1.2848684787750244, + -1.2880748510360718, + -1.291508436203003, + -1.330804467201233 + ], + "candidate_oracle_progress": 0.5433253645896912, + "candidate_oracle_regret": 1.4566746354103088, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5433253645896912, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5433253645896912, + "candidate_oracle_selected_branch_score": 0.5433253645896912, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-66cc354bbf4e8bdd1051;ms-af16712eadcaebf175ff;ms-29afe3c91faef25f1343;ms-2ee00a97b477ba241dba;ms-d4bde31fd7e7cee76b09;ms-95320371ce6b820c85f6", + "expert_regret": 1.4566741585731506, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-4bc32bd893d0cff76423", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4566741585731506, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5433258414268494, + "restore_error": 2.3096799850463867e-07, + "score": 0.5433258414268494, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5637269616127014, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5416890978813171, + 0.5396831035614014, + 0.5398570895195007, + 0.5396178364753723 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0020059943199157715, + -0.0018320083618164062, + -0.0020712614059448242 + ], + "candidate_oracle_branch_scores": [ + 0.5416890978813171, + 0.5396831035614014, + 0.5398570895195007, + 0.5396178364753723 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.270412802696228, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 33, + 17, + 1 + ], + "candidate_oracle_potentials": [ + -1.270412802696228, + -1.2744003534317017, + -1.2745075225830078, + -1.274780035018921 + ], + "candidate_oracle_progress": 0.5416890978813171, + "candidate_oracle_regret": 1.4583109021186829, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5416890978813171, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5416890978813171, + "candidate_oracle_selected_branch_score": 0.5416890978813171, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5fb668380b64d4f1e74;ms-0e4af96af7d344ec47a0;ms-7241a1c25af41f4c0b5a;ms-b35643e98e1b846e27cf;ms-13192a27f5fcf4fd24d7;ms-19e6e6e341aebb7ec693", + "expert_regret": 1.458280861377716, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f34c69fb0bf1b1055163", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.458280861377716, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5417191386222839, + "restore_error": 2.2351741790771484e-07, + "score": 0.5417191386222839, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.441728800535202, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5585959553718567, + 0.5589646697044373, + 0.5556187629699707, + 0.5556646585464478 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0003687143325805664, + -0.0029771924018859863, + -0.0029312968254089355 + ], + "candidate_oracle_branch_scores": [ + 0.5585959553718567, + 0.5589646697044373, + 0.5556187629699707, + 0.5556646585464478 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.6730431914329529, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 8, + 4, + 33, + 17 + ], + "candidate_oracle_potentials": [ + -0.6393017172813416, + -0.6730431914329529, + -0.8663400411605835, + -0.867175817489624 + ], + "candidate_oracle_progress": 0.5589646697044373, + "candidate_oracle_regret": 1.4410353302955627, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5589646697044373, + "candidate_oracle_score_gain_over_selected": 0.0003687143325805664, + "candidate_oracle_selected_branch_progress": 0.5585959553718567, + "candidate_oracle_selected_branch_score": 0.5585959553718567, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3cfb09df08ad7279ef02;ms-d686ae387b1a0ce2f2f3;ms-4d6099258a3a6e037aff;ms-4c83412fa0aa5180ad89;ms-f5aa7ce332ee9702812a;ms-c6beb139304a0ea6f7ae", + "expert_regret": 1.441390037536621, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a7f98a43ff113d74f009", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.441390037536621, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5586099624633789, + "restore_error": 2.2351741790771484e-07, + "score": 0.5586099624633789, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.761645495891571, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5201705098152161, + 0.5221640467643738, + 0.522018313407898, + 0.5224966406822205 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.001993536949157715, + 0.0018478035926818848, + 0.0023261308670043945 + ], + "candidate_oracle_branch_scores": [ + 0.5201705098152161, + 0.5221640467643738, + 0.522018313407898, + 0.5224966406822205 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3825126886367798, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 1, + 17, + 0 + ], + "candidate_oracle_potentials": [ + -1.3768028020858765, + -1.3796501159667969, + -1.3811099529266357, + -1.3825126886367798 + ], + "candidate_oracle_progress": 0.5224966406822205, + "candidate_oracle_regret": 1.4775033593177795, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5224966406822205, + "candidate_oracle_score_gain_over_selected": 0.0023261308670043945, + "candidate_oracle_selected_branch_progress": 0.5201705098152161, + "candidate_oracle_selected_branch_score": 0.5201705098152161, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-dea17c1c383f54d05636;ms-382000b79932b7c68326;ms-6c0ef0ef8b493232246c;ms-a2c5c9fd35d9fda5ce9e;ms-60a28a9b282e7586d4d2;ms-227fe0347d2ea57a66a3", + "expert_regret": 1.4798290133476257, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2c9685cffc73e47cc8cf", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4798290133476257, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5201709866523743, + "restore_error": 2.2351741790771484e-07, + "score": 0.5201709866523743, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3323204815387726, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5370753407478333, + 0.5303325653076172, + 0.5254366993904114, + 0.5253880620002747 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0067427754402160645, + -0.011638641357421875, + -0.011687278747558594 + ], + "candidate_oracle_branch_scores": [ + 0.5370753407478333, + 0.5303325653076172, + 0.5254366993904114, + 0.5253880620002747 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.1731435060501099, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 4, + 17 + ], + "candidate_oracle_potentials": [ + -1.1731435060501099, + -1.3682738542556763, + -1.3826848268508911, + -1.3993343114852905 + ], + "candidate_oracle_progress": 0.5370753407478333, + "candidate_oracle_regret": 1.4629246592521667, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5370753407478333, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5370753407478333, + "candidate_oracle_selected_branch_score": 0.5370753407478333, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8b98e8aa8ecee10bea27;ms-adfe268e473c03b72c65;ms-4015c296239564108da2;ms-de0abc7a53a48164f82d;ms-f9c00ba41392adec3fd1;ms-8af2224cc82636ef1dd7", + "expert_regret": 1.4631063342094421, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cd71a93dcab09ba15592", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4631063342094421, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5368936657905579, + "restore_error": 2.2351741790771484e-07, + "score": 0.5368936657905579, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5673471689224243, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5132719278335571, + 0.5146973729133606, + 0.5161218643188477, + 0.5263797640800476 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0014254450798034668, + 0.0028499364852905273, + 0.013107836246490479 + ], + "candidate_oracle_branch_scores": [ + 0.5132719278335571, + 0.5146973729133606, + 0.5161218643188477, + 0.5263797640800476 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3711565732955933, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 36 + ], + "candidate_oracle_potentials": [ + -1.3133002519607544, + -1.320146918296814, + -1.3274928331375122, + -1.3711565732955933 + ], + "candidate_oracle_progress": 0.5263797640800476, + "candidate_oracle_regret": 1.4736202359199524, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5263797640800476, + "candidate_oracle_score_gain_over_selected": 0.013107836246490479, + "candidate_oracle_selected_branch_progress": 0.5132719278335571, + "candidate_oracle_selected_branch_score": 0.5132719278335571, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7241a1c25af41f4c0b5a;ms-13192a27f5fcf4fd24d7;ms-f5fb668380b64d4f1e74;ms-0e4af96af7d344ec47a0;ms-81f48d29d0404300ea93;ms-13557287cd450bc12c6f", + "expert_regret": 1.4867282509803772, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-92a126060ec4a40e2c19", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4867282509803772, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5132717490196228, + "restore_error": 2.2351741790771484e-07, + "score": 0.5132717490196228, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.23079915344715118, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5088423490524292, + 0.5085442662239075, + 0.5082427263259888, + 0.5108623504638672 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0002980828285217285, + -0.0005996227264404297, + 0.0020200014114379883 + ], + "candidate_oracle_branch_scores": [ + 0.5088423490524292, + 0.5085442662239075, + 0.5082427263259888, + 0.5108623504638672 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.4035249948501587, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -1.3906660079956055, + -1.3909716606140137, + -1.3913965225219727, + -1.4035249948501587 + ], + "candidate_oracle_progress": 0.5108623504638672, + "candidate_oracle_regret": 1.4891376495361328, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5108623504638672, + "candidate_oracle_score_gain_over_selected": 0.0020200014114379883, + "candidate_oracle_selected_branch_progress": 0.5088423490524292, + "candidate_oracle_selected_branch_score": 0.5088423490524292, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-26e09c86be9068a34acf;ms-a8e6435948250f5e163d;ms-b35643e98e1b846e27cf;ms-13192a27f5fcf4fd24d7;ms-f5fb668380b64d4f1e74;ms-7241a1c25af41f4c0b5a", + "expert_regret": 1.4911576509475708, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3ea30989082ec714e12d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4911576509475708, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5088423490524292, + "restore_error": 2.2351741790771484e-07, + "score": 0.5088423490524292, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3147363066673279, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5566465258598328, + 0.5503954887390137, + 0.54965740442276, + 0.5479809641838074 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.006251037120819092, + -0.006989121437072754, + -0.00866556167602539 + ], + "candidate_oracle_branch_scores": [ + 0.5566465258598328, + 0.5503954887390137, + 0.54965740442276, + 0.5479809641838074 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.4047831296920776, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 8 + ], + "candidate_oracle_potentials": [ + -1.4047831296920776, + -1.4631507396697998, + -1.500730037689209, + -1.548905849456787 + ], + "candidate_oracle_progress": 0.5566465258598328, + "candidate_oracle_regret": 1.4433534741401672, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5566465258598328, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5566465258598328, + "candidate_oracle_selected_branch_score": 0.5566465258598328, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-12ac4329c5bca5f2bb62;ms-97598e118c5cc8c254a5;ms-503d0b1d27ed78b6130f;ms-7651a7f31eae24958ef0;ms-20e5ffa93544d6d8b313;ms-e058c0dba52df04b8642", + "expert_regret": 1.4433556199073792, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-80fbba5636cb4f9c64a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4433556199073792, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5566443800926208, + "restore_error": 2.2351741790771484e-07, + "score": 0.5566443800926208, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4150119423866272, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5066491961479187, + 0.5065650939941406, + 0.505312442779541, + 0.5055171847343445 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -8.410215377807617e-05, + -0.0013367533683776855, + -0.0011320114135742188 + ], + "candidate_oracle_branch_scores": [ + 0.5066491961479187, + 0.5065650939941406, + 0.505312442779541, + 0.5055171847343445 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9496279954910278, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 40, + 36, + 20 + ], + "candidate_oracle_potentials": [ + -0.9496279954910278, + -0.9500001668930054, + -0.9677097797393799, + -0.9721971750259399 + ], + "candidate_oracle_progress": 0.5066491961479187, + "candidate_oracle_regret": 1.4933508038520813, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5066491961479187, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5066491961479187, + "candidate_oracle_selected_branch_score": 0.5066491961479187, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f8c4e700a751537ebb16;ms-7af1e453acf970f40546;ms-5085e45e6ca37192d2e5;ms-a5d81a7c740394b68c3f;ms-c0bfce3c9dd10f9d3231;ms-3c2515d4a10082514714", + "expert_regret": 1.4933514595031738, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-978bbf0a6fc563f745ab", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4933514595031738, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5066485404968262, + "restore_error": 2.2351741790771484e-07, + "score": 0.5066485404968262, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4969654679298401, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.17557449638843536, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 17, + 33, + 1, + 40 + ], + "candidate_oracle_potentials": [ + 0.17557449638843536, + 0.17545653879642487, + 0.17516876757144928, + 0.17094340920448303 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2ae57bab6d2ea11f6638;ms-4a0ae3deadb8560fd315;ms-f5aa7ce332ee9702812a;ms-57ac136bd68be6387c6f;ms-910d27b58a0585327a27;ms-28b1f1e4380d434605de", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-62ece8fe2f85092ca96f", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 17, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8021216988563538, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.03989086300134659, + 0.03989069536328316, + 0.03989086300134659, + 0.03989088535308838 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.6763806343078613e-07, + 0.0, + 2.2351741790771484e-08 + ], + "candidate_oracle_branch_scores": [ + 0.03989086300134659, + 0.03989069536328316, + 0.03989086300134659, + 0.03989088535308838 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -2.7103469371795654, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 0, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -2.6518402099609375, + -2.6536152362823486, + -2.6801650524139404, + -2.7103469371795654 + ], + "candidate_oracle_progress": 0.03989088535308838, + "candidate_oracle_regret": 1.9601091146469116, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.03989088535308838, + "candidate_oracle_score_gain_over_selected": 2.2351741790771484e-08, + "candidate_oracle_selected_branch_progress": 0.03989086300134659, + "candidate_oracle_selected_branch_score": 0.03989086300134659, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5483f0819e0e8bc352e;ms-e318e13f77e75e7cd802;ms-5dfad80e83d210946447;ms-d9e3a187dcadb9ad26b1;ms-7670f25745871759e69e;ms-b481531ab787e3d6fb1e", + "expert_regret": 1.9601090662181377, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0ac53e56b4852c85ca2e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9601090662181377, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.03989093378186226, + "restore_error": 1.1920928955078125e-07, + "score": 0.03989093378186226, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4880834221839905, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.3905961513519287, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + 0.3905961513519287, + 0.3891875445842743, + 0.38545501232147217, + 0.38395577669143677 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f8c4e700a751537ebb16;ms-5085e45e6ca37192d2e5;ms-11230e3aaabb1feec834;ms-c0bfce3c9dd10f9d3231;ms-8a74cf665984273be00d;ms-7af1e453acf970f40546", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-25a8e32c071be83d913b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3995479643344879, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": 0.37985870242118835, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 1, + 17 + ], + "candidate_oracle_potentials": [ + 0.37985870242118835, + 0.379320353269577, + 0.36009445786476135, + 0.3594629168510437 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e589f7d40c12eff1712e;ms-910d27b58a0585327a27;ms-28b1f1e4380d434605de;ms-1a4ecfbe9c97214d5c78;ms-d4aab6f9b6717dd5712e;ms-2ae57bab6d2ea11f6638", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-36e8cb2e7f34f8dceb05", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.30619168281555176, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5419430136680603, + 0.5390568971633911, + 0.5372905135154724, + 0.5273396372795105 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0028861165046691895, + -0.004652500152587891, + -0.014603376388549805 + ], + "candidate_oracle_branch_scores": [ + 0.5419430136680603, + 0.5390568971633911, + 0.5372905135154724, + 0.5273396372795105 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.4500175714492798, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -1.4500175714492798, + -1.5192558765411377, + -1.577172040939331, + -1.663346529006958 + ], + "candidate_oracle_progress": 0.5419430136680603, + "candidate_oracle_regret": 1.4580569863319397, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5419430136680603, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5419430136680603, + "candidate_oracle_selected_branch_score": 0.5419430136680603, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ddc0b3adf8506c30f503;ms-c3cdd70e2bc10bba1930;ms-8af2224cc82636ef1dd7;ms-5415e349e8f9f2bce641;ms-fe9347448b7f810d1353;ms-90a03366976eaa1ad013", + "expert_regret": 1.4580577611923218, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5c8b50523e0de37d80b8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4580577611923218, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5419422388076782, + "restore_error": 1.1920928955078125e-07, + "score": 0.5419422388076782, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5368358492851257, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.1918257623910904, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + 0.1918257623910904, + 0.18637050688266754, + 0.1245284155011177, + 0.11888203024864197 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-81d1d8def1fbeb3b1cc5;ms-c7020fdb7cba871e8b3e;ms-68970d9d9bf975e25eb5;ms-ca25b016439a98198434;ms-8f6d30c2ade00e451dc2;ms-cb99eeafec52800f3b77", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f4d6da245d340cd16d30", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7509590983390808, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.5645402669906616, + 0.5659856200218201 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.4354597330093384, + -1.4340143203735352 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.5645402669906616, + 0.5659856200218201 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -0.41864848136901855, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 35, + 19 + ], + "candidate_oracle_potentials": [ + -0.41864848136901855, + -0.442873477935791, + -0.5961719751358032, + -0.6085785031318665 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-c6beb139304a0ea6f7ae;ms-4c83412fa0aa5180ad89;ms-128c7c43e30023e6b1a3;ms-e8fbdbddd9200f5091d6;ms-d686ae387b1a0ce2f2f3;ms-4d6099258a3a6e037aff", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5db8a7cf17e5fa84dd5b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7310308814048767, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5711957812309265, + 1.0, + 0.5608572363853455, + 0.5612815022468567 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 1.4288041591644287, + -0.010338544845581055, + -0.009914278984069824 + ], + "candidate_oracle_branch_scores": [ + 0.5711957812309265, + 2.0, + 0.5608572363853455, + 0.5612815022468567 + ], + "candidate_oracle_branch_successes": [ + false, + true, + false, + false + ], + "candidate_oracle_candidate_index": 19, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.562997817993164, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 3, + 19, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.5586376190185547, + -1.562997817993164, + -1.5667343139648438, + -1.5673198699951172 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.76837158203125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 1.4288041591644287, + "candidate_oracle_selected_branch_progress": 0.5711957812309265, + "candidate_oracle_selected_branch_score": 0.5711957812309265, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-99a5ffff5b73cf604b3d;ms-6029bab18ae94b126d79;ms-d4bde31fd7e7cee76b09;ms-49219cb8ed7dad70c897;ms-7b932868f83725def2ed;ms-d88107eff1e361cdcc4c", + "expert_regret": 1.428805410861969, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-191a2180e4ad5bbeb3b1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.428805410861969, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.571194589138031, + "restore_error": 1.1920928955078125e-07, + "score": 0.571194589138031, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3949985206127167, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.3870166838169098, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 24, + 4, + 20 + ], + "candidate_oracle_potentials": [ + 0.3870166838169098, + 0.3783109784126282, + 0.3770889639854431, + 0.37067094445228577 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ca10d8b9d03f4d59806c;ms-2b64c720290c6dad7e35;ms-cba2f44df79669ff934b;ms-50f62a61a82a96061d9a;ms-479aa7d4248a0ebd94e1;ms-8a74cf665984273be00d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6a6a41baedceb27ad888", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.784643292427063, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5658448338508606, + 0.5647143721580505, + 0.5647140741348267, + 0.5645427107810974 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0011304616928100586, + -0.0011307597160339355, + -0.0013021230697631836 + ], + "candidate_oracle_branch_scores": [ + 0.5658448338508606, + 0.5647143721580505, + 0.5647140741348267, + 0.5645427107810974 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.3780865669250488, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -1.3780865669250488, + -1.3926905393600464, + -1.4409995079040527, + -1.4421887397766113 + ], + "candidate_oracle_progress": 0.5658448338508606, + "candidate_oracle_regret": 1.4341551661491394, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5658448338508606, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5658448338508606, + "candidate_oracle_selected_branch_score": 0.5658448338508606, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ca25b016439a98198434;ms-3f4967102c7b10057ab9;ms-a3cb33ed1e34d229773c;ms-c7020fdb7cba871e8b3e;ms-29afe3c91faef25f1343;ms-cb99eeafec52800f3b77", + "expert_regret": 1.4340629577636719, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-50d83ce148904504ec50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4340629577636719, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5659370422363281, + "restore_error": 2.384185791015625e-07, + "score": 0.5659370422363281, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.07274176925420761, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.13787443935871124, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + 0.13787443935871124, + 0.1368122696876526, + 0.13556262850761414, + 0.12748555839061737 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-350b797a531f87ad2c0f;ms-a44a2c9eee8baea5d29e;ms-8f6d30c2ade00e451dc2;ms-683b1d258a1cafbf87b9;ms-c7020fdb7cba871e8b3e;ms-732819b0c220a4c06870", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-663aa9934c0f923cc125", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8146086931228638, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5449035167694092, + 0.5446090698242188, + 0.5448951125144958, + 0.5446544885635376 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0002944469451904297, + -8.404254913330078e-06, + -0.00024902820587158203 + ], + "candidate_oracle_branch_scores": [ + 0.5449035167694092, + 0.5446090698242188, + 0.5448951125144958, + 0.5446544885635376 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.5491267442703247, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -1.5491267442703247, + -1.553128957748413, + -1.5912531614303589, + -1.6003755331039429 + ], + "candidate_oracle_progress": 0.5449035167694092, + "candidate_oracle_regret": 1.4550964832305908, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5449035167694092, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5449035167694092, + "candidate_oracle_selected_branch_score": 0.5449035167694092, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bb0d941f78d3d9c5a886;ms-eff5f21c51f26a85f07c;ms-8b73e5dfa1f2a01e6017;ms-561f4f913d7b4991d81a;ms-bca6fa102f94cb145cd2;ms-a5d81a7c740394b68c3f", + "expert_regret": 1.4550963044166565, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d84a4cea86526971b83a", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4550963044166565, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5449036955833435, + "restore_error": 2.384185791015625e-07, + "score": 0.5449036955833435, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5036754012107849, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5256134867668152, + 0.5252006649971008, + 0.5246368646621704, + 0.5244393944740295 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00041282176971435547, + -0.0009766221046447754, + -0.0011740922927856445 + ], + "candidate_oracle_branch_scores": [ + 0.5256134867668152, + 0.5252006649971008, + 0.5246368646621704, + 0.5244393944740295 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.291200876235962, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 20, + 4, + 24, + 8 + ], + "candidate_oracle_potentials": [ + -1.291200876235962, + -1.3085566759109497, + -1.3649917840957642, + -1.3697509765625 + ], + "candidate_oracle_progress": 0.5256134867668152, + "candidate_oracle_regret": 1.4743865132331848, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5256134867668152, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5256134867668152, + "candidate_oracle_selected_branch_score": 0.5256134867668152, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-842e179244eddac303a5;ms-9184c93267b4bbfa4cae;ms-71452ba714a10880870b;ms-b35643e98e1b846e27cf;ms-f3f6a1b34fdf35290a6c;ms-66cc354bbf4e8bdd1051", + "expert_regret": 1.4743857979774475, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c7185c6986fed4eee76b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4743857979774475, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5256142020225525, + "restore_error": 2.384185791015625e-07, + "score": 0.5256142020225525, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.13115659356117249, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.16677804291248322, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 0, + 1 + ], + "candidate_oracle_potentials": [ + 0.16677804291248322, + 0.14926864206790924, + 0.1434730589389801, + 0.14078481495380402 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-350b797a531f87ad2c0f;ms-a44a2c9eee8baea5d29e;ms-b33f1d4ddb6a531d2a71;ms-8beca0622be320b282c1;ms-c7020fdb7cba871e8b3e;ms-c684df0b998b593db723", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-116bd511ce8862ab73b5", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.23804990947246552, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5908259153366089, + 0.5920063853263855, + 0.5931722521781921, + 0.5692034363746643 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0011804699897766113, + 0.002346336841583252, + -0.02162247896194458 + ], + "candidate_oracle_branch_scores": [ + 0.5908259153366089, + 0.5920063853263855, + 0.5931722521781921, + 0.5692034363746643 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.2667697668075562, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -1.263084053993225, + -1.264815330505371, + -1.2667697668075562, + -1.268781065940857 + ], + "candidate_oracle_progress": 0.5931722521781921, + "candidate_oracle_regret": 1.4068277478218079, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5931722521781921, + "candidate_oracle_score_gain_over_selected": 0.002346336841583252, + "candidate_oracle_selected_branch_progress": 0.5908259153366089, + "candidate_oracle_selected_branch_score": 0.5908259153366089, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ae33e3afb57e61026d72;ms-93e3d9968204474eff49;ms-564c02492863ae749ea9;ms-a2c5c9fd35d9fda5ce9e;ms-227fe0347d2ea57a66a3;ms-6c0ef0ef8b493232246c", + "expert_regret": 1.4091758131980896, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-31782020143c24b4271b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4091758131980896, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5908241868019104, + "restore_error": 2.384185791015625e-07, + "score": 0.5908241868019104, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.426361083984375, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5675721168518066 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.4324278831481934 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5675721168518066 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.3266267776489258, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 0 + ], + "candidate_oracle_potentials": [ + -1.3266267776489258, + -1.3412559032440186, + -1.356216311454773, + -1.4719408750534058 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 4.6938657760620117e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4d6099258a3a6e037aff;ms-4c83412fa0aa5180ad89;ms-d686ae387b1a0ce2f2f3;ms-3cfb09df08ad7279ef02;ms-a3d0c460532de2d801ae;ms-8b68d8b4d22e6ff0451d", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-5fc884c238818acdde08", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 2.384185791015625e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7146294713020325, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5499320030212402, + 0.5492290258407593, + 0.5593143701553345, + 0.5487447381019592 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.000702977180480957, + 0.009382367134094238, + -0.0011872649192810059 + ], + "candidate_oracle_branch_scores": [ + 0.5499320030212402, + 0.5492290258407593, + 0.5593143701553345, + 0.5487447381019592 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.184301495552063, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 4 + ], + "candidate_oracle_potentials": [ + -1.142572045326233, + -1.1692246198654175, + -1.184301495552063, + -1.1916754245758057 + ], + "candidate_oracle_progress": 0.5593143701553345, + "candidate_oracle_regret": 1.4406856298446655, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5593143701553345, + "candidate_oracle_score_gain_over_selected": 0.009382367134094238, + "candidate_oracle_selected_branch_progress": 0.5499320030212402, + "candidate_oracle_selected_branch_score": 0.5499320030212402, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-382000b79932b7c68326;ms-dea17c1c383f54d05636;ms-6c0ef0ef8b493232246c;ms-227fe0347d2ea57a66a3;ms-a2c5c9fd35d9fda5ce9e;ms-97598e118c5cc8c254a5", + "expert_regret": 1.4503496289253235, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b36673c3905a123cbd50", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4503496289253235, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5496503710746765, + "restore_error": 1.1920928955078125e-07, + "score": 0.5496503710746765, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5173158049583435, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5198332667350769, + 0.5194112658500671, + 0.5196540355682373, + 0.5210220813751221 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0004220008850097656, + -0.0001792311668395996, + 0.001188814640045166 + ], + "candidate_oracle_branch_scores": [ + 0.5198332667350769, + 0.5194112658500671, + 0.5196540355682373, + 0.5210220813751221 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.887391209602356, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 20, + 36, + 4, + 0 + ], + "candidate_oracle_potentials": [ + -1.863242268562317, + -1.8641724586486816, + -1.8731743097305298, + -1.887391209602356 + ], + "candidate_oracle_progress": 0.5210220813751221, + "candidate_oracle_regret": 1.478977918624878, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.4, + 0.45, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5210220813751221, + "candidate_oracle_score_gain_over_selected": 0.001188814640045166, + "candidate_oracle_selected_branch_progress": 0.5198332667350769, + "candidate_oracle_selected_branch_score": 0.5198332667350769, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-227fe0347d2ea57a66a3;ms-6c0ef0ef8b493232246c;ms-2259a78b2187e22f9f37;ms-12ac4329c5bca5f2bb62;ms-97598e118c5cc8c254a5;ms-cea745484a24f376d7e8", + "expert_regret": 1.4801588654518127, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-0019f809318a077c3910", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4801588654518127, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5198411345481873, + "restore_error": 1.1920928955078125e-07, + "score": 0.5198411345481873, + "selected_candidate_index": 20, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3559935390949249, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5516075491905212, + 0.5518259406089783, + 0.5520315170288086, + 0.11558442562818527 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00021839141845703125, + 0.0004239678382873535, + -0.43602311611175537 + ], + "candidate_oracle_branch_scores": [ + 0.5516075491905212, + 0.5518259406089783, + 0.5520315170288086, + 0.11558442562818527 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.4605515003204346, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.3375109434127808, + -1.4427317380905151, + -1.4605515003204346, + -1.4900434017181396 + ], + "candidate_oracle_progress": 0.5520315170288086, + "candidate_oracle_regret": 1.4479684829711914, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5520315170288086, + "candidate_oracle_score_gain_over_selected": 0.0004239678382873535, + "candidate_oracle_selected_branch_progress": 0.5516075491905212, + "candidate_oracle_selected_branch_score": 0.5516075491905212, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-0e4af96af7d344ec47a0;ms-4c7138016830a563fb1b;ms-19e6e6e341aebb7ec693;ms-99df75798ec5da5ec7f3;ms-8c9f657875cf334b1f17;ms-7e6493bb6b1ff650d6de", + "expert_regret": 1.4484132528305054, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8d9b2a5ccd43461f827e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4484132528305054, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5515867471694946, + "restore_error": 1.1920928955078125e-07, + "score": 0.5515867471694946, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4727453887462616, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5381736159324646, + 0.5366820096969604, + 0.5351771116256714, + 0.5261234641075134 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0014916062355041504, + -0.002996504306793213, + -0.012050151824951172 + ], + "candidate_oracle_branch_scores": [ + 0.5381736159324646, + 0.5366820096969604, + 0.5351771116256714, + 0.5261234641075134 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.3014793395996094, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + -1.3014793395996094, + -1.3129874467849731, + -1.323055624961853, + -1.3632032871246338 + ], + "candidate_oracle_progress": 0.5381736159324646, + "candidate_oracle_regret": 1.4618263840675354, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5381736159324646, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5381736159324646, + "candidate_oracle_selected_branch_score": 0.5381736159324646, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fb92a1e6b67121783fff;ms-4fe7fdaf946c97803c82;ms-26e09c86be9068a34acf;ms-3e51a1bdc3a2cc4eb06d;ms-d5d7c690819019cb7869;ms-13192a27f5fcf4fd24d7", + "expert_regret": 1.4618263840675354, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-74517e19dfdee44d2f81", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4618263840675354, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5381736159324646, + "restore_error": 1.1920928955078125e-07, + "score": 0.5381736159324646, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5209088325500488, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.46779003739356995, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 35, + 1 + ], + "candidate_oracle_potentials": [ + 0.46779003739356995, + 0.46634167432785034, + 0.4627617299556732, + 0.42045748233795166 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-3cfb09df08ad7279ef02;ms-4d6099258a3a6e037aff;ms-d686ae387b1a0ce2f2f3;ms-309d2258d275ae304857;ms-4c83412fa0aa5180ad89;ms-ed419c64a6693cb8998b", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-a7179e4e4e2a0d5335b3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3444799780845642, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 0.5498796701431274, + 0.543289303779602, + 0.5436234474182129 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -1.4501203298568726, + -1.456710696220398, + -1.456376552581787 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 0.5498796701431274, + 0.543289303779602, + 0.5436234474182129 + ], + "candidate_oracle_branch_successes": [ + true, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3721880912780762, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -1.3721880912780762, + -1.446041464805603, + -1.4576165676116943, + -1.4688332080841064 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-8b98e8aa8ecee10bea27;ms-7651a7f31eae24958ef0;ms-f9c00ba41392adec3fd1;ms-de0abc7a53a48164f82d;ms-4015c296239564108da2;ms-8af2224cc82636ef1dd7", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c2bc492ab5eb87a73789", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3886867165565491, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.030155612155795097, + 0.029164863750338554, + 0.5248715281486511, + 0.5243544578552246 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.000990748405456543, + 0.49471592903137207, + 0.49419885873794556 + ], + "candidate_oracle_branch_scores": [ + 0.030155612155795097, + 0.029164863750338554, + 0.5248715281486511, + 0.5243544578552246 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -0.6352003812789917, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 8, + 0, + 1 + ], + "candidate_oracle_potentials": [ + -0.3708879053592682, + -0.4268330931663513, + -0.6352003812789917, + -0.6660705208778381 + ], + "candidate_oracle_progress": 0.5248715281486511, + "candidate_oracle_regret": 1.4751284718513489, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5248715281486511, + "candidate_oracle_score_gain_over_selected": 0.49471592903137207, + "candidate_oracle_selected_branch_progress": 0.030155612155795097, + "candidate_oracle_selected_branch_score": 0.030155612155795097, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ae33e3afb57e61026d72;ms-7d18f6f16879d2933bcd;ms-7e6493bb6b1ff650d6de;ms-8c9f657875cf334b1f17;ms-19e6e6e341aebb7ec693;ms-99df75798ec5da5ec7f3", + "expert_regret": 1.9698482267558575, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-6905c1d3bc8157697499", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9698482267558575, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.030151773244142532, + "restore_error": 1.1920928955078125e-07, + "score": 0.030151773244142532, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19331060349941254, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5293747782707214, + 0.5293279886245728, + 0.5292796492576599, + 0.5296862125396729 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -4.678964614868164e-05, + -9.512901306152344e-05, + 0.000311434268951416 + ], + "candidate_oracle_branch_scores": [ + 0.5293747782707214, + 0.5293279886245728, + 0.5292796492576599, + 0.5296862125396729 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.3175143003463745, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + -1.3095203638076782, + -1.310523509979248, + -1.3116438388824463, + -1.3175143003463745 + ], + "candidate_oracle_progress": 0.5296862125396729, + "candidate_oracle_regret": 1.4703137874603271, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5296862125396729, + "candidate_oracle_score_gain_over_selected": 0.000311434268951416, + "candidate_oracle_selected_branch_progress": 0.5293747782707214, + "candidate_oracle_selected_branch_score": 0.5293747782707214, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13192a27f5fcf4fd24d7;ms-26e09c86be9068a34acf;ms-7241a1c25af41f4c0b5a;ms-f5fb668380b64d4f1e74;ms-b35643e98e1b846e27cf;ms-3e51a1bdc3a2cc4eb06d", + "expert_regret": 1.4706256985664368, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-386220c339b7de7f222b", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4706256985664368, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5293743014335632, + "restore_error": 1.1920928955078125e-07, + "score": 0.5293743014335632, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4747118353843689, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.2983556389808655, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + 0.2983556389808655, + 0.294419527053833, + 0.29333946108818054, + 0.2892917990684509 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-68970d9d9bf975e25eb5;ms-81d1d8def1fbeb3b1cc5;ms-8f6d30c2ade00e451dc2;ms-c7020fdb7cba871e8b3e;ms-ca25b016439a98198434;ms-29afe3c91faef25f1343", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f80ae137a8d9981f8c98", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.579058825969696, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.06379444152116776, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 3, + 19, + 33, + 17 + ], + "candidate_oracle_potentials": [ + 0.06379444152116776, + -0.0007874942384660244, + -0.05183529108762741, + -0.05816391110420227 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f3f6a1b34fdf35290a6c;ms-9184c93267b4bbfa4cae;ms-9ff81e54049443a0f3d3;ms-bc615957d9bf177dfe26;ms-eb206a3dda0ac16e1643;ms-66cc354bbf4e8bdd1051", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fffe378a3bad31bbed52", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 3, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.761290431022644, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.5583648681640625, + 0.5597302317619324, + 0.5584960579872131, + 0.5597019195556641 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.001365363597869873, + 0.00013118982315063477, + 0.0013370513916015625 + ], + "candidate_oracle_branch_scores": [ + 0.5583648681640625, + 0.5597302317619324, + 0.5584960579872131, + 0.5597019195556641 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.943140983581543, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 40, + 36, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -0.9209645986557007, + -0.943140983581543, + -1.1375977993011475, + -1.1555269956588745 + ], + "candidate_oracle_progress": 0.5597302317619324, + "candidate_oracle_regret": 1.4402697682380676, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5597302317619324, + "candidate_oracle_score_gain_over_selected": 0.001365363597869873, + "candidate_oracle_selected_branch_progress": 0.5583648681640625, + "candidate_oracle_selected_branch_score": 0.5583648681640625, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-348af0b70d3e679f40a2;ms-bb0d941f78d3d9c5a886;ms-23d6e5835aa90a62b6ef;ms-561f4f913d7b4991d81a;ms-a5d81a7c740394b68c3f;ms-3c4ff3dae26217f22a8b", + "expert_regret": 1.4416343569755554, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3c6ec8ef5145ff6274e7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4416343569755554, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5583656430244446, + "restore_error": 1.1920928955078125e-07, + "score": 0.5583656430244446, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.44295620918273926, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5350362062454224, + 0.533625066280365, + 0.5294084548950195, + 0.12544600665569305 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.001411139965057373, + -0.005627751350402832, + -0.4095901846885681 + ], + "candidate_oracle_branch_scores": [ + 0.5350362062454224, + 0.533625066280365, + 0.5294084548950195, + 0.12544600665569305 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.6931252479553223, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.6931252479553223, + -1.7484664916992188, + -1.7917826175689697, + -1.8673404455184937 + ], + "candidate_oracle_progress": 0.5350362062454224, + "candidate_oracle_regret": 1.4649637937545776, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5350362062454224, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5350362062454224, + "candidate_oracle_selected_branch_score": 0.5350362062454224, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e058c0dba52df04b8642;ms-fd1c44c6d5d8f7f11451;ms-90a03366976eaa1ad013;ms-38ceda08bad38fbebc1c;ms-de0abc7a53a48164f82d;ms-97598e118c5cc8c254a5", + "expert_regret": 1.4649652242660522, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-169b1786513146593ea8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.4649652242660522, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5350347757339478, + "restore_error": 1.1920928955078125e-07, + "score": 0.5350347757339478, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.47808048129081726, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.538806140422821, + 0.5384359359741211, + 0.5381858944892883, + 0.5384659767150879 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00037020444869995117, + -0.0006202459335327148, + -0.0003401637077331543 + ], + "candidate_oracle_branch_scores": [ + 0.538806140422821, + 0.5384359359741211, + 0.5381858944892883, + 0.5384659767150879 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 8, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": -1.0117021799087524, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 8, + 4, + 24, + 20 + ], + "candidate_oracle_potentials": [ + -1.0117021799087524, + -1.0257759094238281, + -1.083409309387207, + -1.0957777500152588 + ], + "candidate_oracle_progress": 0.538806140422821, + "candidate_oracle_regret": 1.461193859577179, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.538806140422821, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.538806140422821, + "candidate_oracle_selected_branch_score": 0.538806140422821, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4ca84594a789c9abd5d9;ms-a9ac13384fe5afc835f1;ms-69962cd1c448094e4fb0;ms-a3cb33ed1e34d229773c;ms-3f4967102c7b10057ab9;ms-683b1d258a1cafbf87b9", + "expert_regret": 1.461192786693573, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-9cdebdcdad56bd8d87cc", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.461192786693573, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.538807213306427, + "restore_error": 1.1920928955078125e-07, + "score": 0.538807213306427, + "selected_candidate_index": 8, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14169195294380188, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.27078619599342346, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 8, + 4, + 19 + ], + "candidate_oracle_potentials": [ + 0.27078619599342346, + 0.2666408121585846, + 0.26491817831993103, + 0.26311931014060974 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e589f7d40c12eff1712e;ms-910d27b58a0585327a27;ms-1a4ecfbe9c97214d5c78;ms-28b1f1e4380d434605de;ms-57ac136bd68be6387c6f;ms-2ae57bab6d2ea11f6638", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-e45b5de01eafae73e492", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7609128952026367, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.13204161822795868, + 0.15221403539180756, + 0.13564836978912354, + 0.13194246590137482 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.020172417163848877, + 0.003606751561164856, + -9.91523265838623e-05 + ], + "candidate_oracle_branch_scores": [ + 0.13204161822795868, + 0.15221403539180756, + 0.13564836978912354, + 0.13194246590137482 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -2.025198221206665, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 35, + 20, + 40 + ], + "candidate_oracle_potentials": [ + -2.00936222076416, + -2.025198221206665, + -2.0274031162261963, + -2.0389554500579834 + ], + "candidate_oracle_progress": 0.15221403539180756, + "candidate_oracle_regret": 1.8477859646081924, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.15221403539180756, + "candidate_oracle_score_gain_over_selected": 0.020172417163848877, + "candidate_oracle_selected_branch_progress": 0.13204161822795868, + "candidate_oracle_selected_branch_score": 0.13204161822795868, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-13557287cd450bc12c6f;ms-81f48d29d0404300ea93;ms-c76158673d20b18c2622;ms-f69d6aec4ddb12d88c5b;ms-fbda7bc51ca269d1cda4;ms-3abfb4c309360a304d54", + "expert_regret": 1.8679560869932175, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8e741ca11a7fbe85ba1d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.8679560869932175, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.13204391300678253, + "restore_error": 1.1920928955078125e-07, + "score": 0.13204391300678253, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.19677771627902985, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": 0.396345853805542, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 1, + 17, + 33, + 0 + ], + "candidate_oracle_potentials": [ + 0.396345853805542, + 0.3954668641090393, + 0.3941878080368042, + 0.38425299525260925 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-9ff81e54049443a0f3d3;ms-9184c93267b4bbfa4cae;ms-bc615957d9bf177dfe26;ms-f3f6a1b34fdf35290a6c;ms-66cc354bbf4e8bdd1051;ms-eb206a3dda0ac16e1643", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d19573dc65181befd83d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 1, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.21562409400939941, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 0.594521701335907, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + -1.4054782390594482, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 0.594521701335907, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + false, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.30898603796958923, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 8, + 4 + ], + "candidate_oracle_potentials": [ + 0.30898603796958923, + 0.2918689548969269, + 0.2869032323360443, + 0.28119006752967834 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-5085e45e6ca37192d2e5;ms-bb0d941f78d3d9c5a886;ms-f8c4e700a751537ebb16;ms-a5d81a7c740394b68c3f;ms-c0bfce3c9dd10f9d3231;ms-348af0b70d3e679f40a2", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-d0e4bdc60ab8ea52a320", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.3927869498729706, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.020070506259799004, + 0.02335718832910061, + 0.02239522896707058, + 0.01906374655663967 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0032866820693016052, + 0.002324722707271576, + -0.0010067597031593323 + ], + "candidate_oracle_branch_scores": [ + 0.020070506259799004, + 0.02335718832910061, + 0.02239522896707058, + 0.01906374655663967 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -2.8442156314849854, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 4 + ], + "candidate_oracle_potentials": [ + -2.7260727882385254, + -2.8442156314849854, + -2.861327886581421, + -2.877138376235962 + ], + "candidate_oracle_progress": 0.02335718832910061, + "candidate_oracle_regret": 0.5703757647424936, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.02335718832910061, + "candidate_oracle_score_gain_over_selected": 0.0032866820693016052, + "candidate_oracle_selected_branch_progress": 0.020070506259799004, + "candidate_oracle_selected_branch_score": 0.020070506259799004, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-f5bae191ebad7c9f2687;ms-fe650308e25459ee64c6;ms-4acbf69acd30d96e46a7;ms-22675530f3a401b3fd6d;ms-b481531ab787e3d6fb1e;ms-7670f25745871759e69e", + "expert_regret": 0.5730208866298199, + "expert_score": 0.5937329530715942, + "expert_success": false, + "group_id": "ms-19c0b893fda0e6bb05f7", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 0.5730208866298199, + "oracle_score": 0.5937329530715942, + "oracle_success": false, + "progress": 0.02071206644177437, + "restore_error": 1.1920928955078125e-07, + "score": 0.02071206644177437, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.4279199540615082, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5503398180007935, + 0.5516559481620789, + 0.5529302954673767, + 0.5605934858322144 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0013161301612854004, + 0.002590477466583252, + 0.010253667831420898 + ], + "candidate_oracle_branch_scores": [ + 0.5503398180007935, + 0.5516559481620789, + 0.5529302954673767, + 0.5605934858322144 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.527293860912323, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 33 + ], + "candidate_oracle_potentials": [ + -0.3043028712272644, + -0.3287089467048645, + -0.3546552062034607, + -0.527293860912323 + ], + "candidate_oracle_progress": 0.5605934858322144, + "candidate_oracle_regret": 1.4394065141677856, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5605934858322144, + "candidate_oracle_score_gain_over_selected": 0.010253667831420898, + "candidate_oracle_selected_branch_progress": 0.5503398180007935, + "candidate_oracle_selected_branch_score": 0.5503398180007935, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-4fe7fdaf946c97803c82;ms-fb92a1e6b67121783fff;ms-d5d7c690819019cb7869;ms-3e51a1bdc3a2cc4eb06d;ms-564c02492863ae749ea9;ms-f5fb668380b64d4f1e74", + "expert_regret": 1.4496603608131409, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-81085eba1dd49b17ec9c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4496603608131409, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5503396391868591, + "restore_error": 1.1920928955078125e-07, + "score": 0.5503396391868591, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2320283204317093, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5339193344116211, + 0.5337174534797668, + 0.533517062664032, + 0.5320695042610168 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00020188093185424805, + -0.00040227174758911133, + -0.001849830150604248 + ], + "candidate_oracle_branch_scores": [ + 0.5339193344116211, + 0.5337174534797668, + 0.533517062664032, + 0.5320695042610168 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.0129777193069458, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -1.0129777193069458, + -1.0147680044174194, + -1.0167336463928223, + -1.0456892251968384 + ], + "candidate_oracle_progress": 0.5339193344116211, + "candidate_oracle_regret": 1.466080665588379, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5339193344116211, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5339193344116211, + "candidate_oracle_selected_branch_score": 0.5339193344116211, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7af1e453acf970f40546;ms-8fdde5008d12abb7ae6a;ms-f8c4e700a751537ebb16;ms-8a74cf665984273be00d;ms-5085e45e6ca37192d2e5;ms-c9e31a19a776a861f9d7", + "expert_regret": 1.466079592704773, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-2b3e081263ed25d45dc8", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.466079592704773, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.533920407295227, + "restore_error": 1.1920928955078125e-07, + "score": 0.533920407295227, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5346665382385254, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5196720957756042, + 0.5197098851203918, + 0.5197667479515076, + 0.5199228525161743 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 3.7789344787597656e-05, + 9.465217590332031e-05, + 0.00025075674057006836 + ], + "candidate_oracle_branch_scores": [ + 0.5196720957756042, + 0.5197098851203918, + 0.5197667479515076, + 0.5199228525161743 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 17, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.9274583458900452, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 24, + 8, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.9218671321868896, + -0.9252328872680664, + -0.9267709851264954, + -0.9274583458900452 + ], + "candidate_oracle_progress": 0.5199228525161743, + "candidate_oracle_regret": 1.4800771474838257, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5199228525161743, + "candidate_oracle_score_gain_over_selected": 0.00025075674057006836, + "candidate_oracle_selected_branch_progress": 0.5196720957756042, + "candidate_oracle_selected_branch_score": 0.5196720957756042, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-bb0d941f78d3d9c5a886;ms-eff5f21c51f26a85f07c;ms-5085e45e6ca37192d2e5;ms-8b73e5dfa1f2a01e6017;ms-a5d81a7c740394b68c3f;ms-bca6fa102f94cb145cd2", + "expert_regret": 1.4803274869918823, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ccc102ca65219d1e5f02", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 1.4803274869918823, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5196725130081177, + "restore_error": 1.1920928955078125e-07, + "score": 0.5196725130081177, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6372092962265015, + "candidate_oracle_best_branch_rank": 2, + "candidate_oracle_branch_progress": [ + 0.08667440712451935, + 0.08771689236164093, + 0.07711292803287506, + 0.07796000689268112 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.001042485237121582, + -0.009561479091644287, + -0.008714400231838226 + ], + "candidate_oracle_branch_scores": [ + 0.08667440712451935, + 0.08771689236164093, + 0.07711292803287506, + 0.07796000689268112 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 20, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -1.8808706998825073, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 4, + 20, + 0, + 8 + ], + "candidate_oracle_potentials": [ + -1.8393933773040771, + -1.8808706998825073, + -1.9125416278839111, + -1.9598708152770996 + ], + "candidate_oracle_progress": 0.08771689236164093, + "candidate_oracle_regret": 1.912283107638359, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.35, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.08771689236164093, + "candidate_oracle_score_gain_over_selected": 0.001042485237121582, + "candidate_oracle_selected_branch_progress": 0.08667440712451935, + "candidate_oracle_selected_branch_score": 0.08667440712451935, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7d18f6f16879d2933bcd;ms-7e6493bb6b1ff650d6de;ms-22675530f3a401b3fd6d;ms-19e6e6e341aebb7ec693;ms-8c9f657875cf334b1f17;ms-99df75798ec5da5ec7f3", + "expert_regret": 1.9133255928754807, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8b85ebf659960395db9c", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.9133255928754807, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.08667440712451935, + "restore_error": 1.1920928955078125e-07, + "score": 0.08667440712451935, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.15560497343540192, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.513013482093811, + 0.5128009915351868, + 0.5125951170921326, + 0.5120944976806641 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00021249055862426758, + -0.0004183650016784668, + -0.0009189844131469727 + ], + "candidate_oracle_branch_scores": [ + 0.513013482093811, + 0.5128009915351868, + 0.5125951170921326, + 0.5120944976806641 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.1087360382080078, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 8 + ], + "candidate_oracle_potentials": [ + -1.1087360382080078, + -1.1106255054473877, + -1.1126686334609985, + -1.117040753364563 + ], + "candidate_oracle_progress": 0.513013482093811, + "candidate_oracle_regret": 1.486986517906189, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.513013482093811, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.513013482093811, + "candidate_oracle_selected_branch_score": 0.513013482093811, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-867fd9318b2445dcefb5;ms-af16712eadcaebf175ff;ms-29afe3c91faef25f1343;ms-2ee00a97b477ba241dba;ms-ca25b016439a98198434;ms-7b932868f83725def2ed", + "expert_regret": 1.4869866371154785, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-493f7fe7164e2c3e7616", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4869866371154785, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5130133628845215, + "restore_error": 1.1920928955078125e-07, + "score": 0.5130133628845215, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.2934245467185974, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.012418783269822598, + 0.013539778999984264, + 0.014371121302247047, + 0.025578094646334648 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0011209957301616669, + 0.00195233803242445, + 0.01315931137651205 + ], + "candidate_oracle_branch_scores": [ + 0.012418783269822598, + 0.013539778999984264, + 0.014371121302247047, + 0.025578094646334648 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 1, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -2.7898712158203125, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 1 + ], + "candidate_oracle_potentials": [ + -2.589071035385132, + -2.7183098793029785, + -2.7570385932922363, + -2.7898712158203125 + ], + "candidate_oracle_progress": 0.025578094646334648, + "candidate_oracle_regret": 1.9744219053536654, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.025578094646334648, + "candidate_oracle_score_gain_over_selected": 0.01315931137651205, + "candidate_oracle_selected_branch_progress": 0.012418783269822598, + "candidate_oracle_selected_branch_score": 0.012418783269822598, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7d18f6f16879d2933bcd;ms-7e6493bb6b1ff650d6de;ms-22675530f3a401b3fd6d;ms-99df75798ec5da5ec7f3;ms-8c9f657875cf334b1f17;ms-19e6e6e341aebb7ec693", + "expert_regret": 1.9875810146331787, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-ff3e5d72f3adf548d0a1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.9875810146331787, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.012418985366821289, + "restore_error": 1.1920928955078125e-07, + "score": 0.012418985366821289, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5932780504226685, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5146244168281555, + 0.12460160255432129, + 0.12014583498239517, + 0.12014593929052353 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.39002281427383423, + -0.39447858929634094, + -0.3944784700870514 + ], + "candidate_oracle_branch_scores": [ + 0.5146244168281555, + 0.12460160255432129, + 0.12014583498239517, + 0.12014593929052353 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 0, + "candidate_oracle_candidate_type": "retrieval_residual_policy_residual", + "candidate_oracle_field_potential": -1.0924283266067505, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 0, + 4, + 20, + 36 + ], + "candidate_oracle_potentials": [ + -1.0924283266067505, + -1.123018741607666, + -1.140007495880127, + -1.1619327068328857 + ], + "candidate_oracle_progress": 0.5146244168281555, + "candidate_oracle_regret": 1.4853755831718445, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5146244168281555, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5146244168281555, + "candidate_oracle_selected_branch_score": 0.5146244168281555, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-fd1c44c6d5d8f7f11451;ms-de0abc7a53a48164f82d;ms-e058c0dba52df04b8642;ms-90a03366976eaa1ad013;ms-5415e349e8f9f2bce641;ms-8b98e8aa8ecee10bea27", + "expert_regret": 1.485376238822937, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f6db4e8bed63ed868487", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.485376238822937, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.514623761177063, + "restore_error": 1.1920928955078125e-07, + "score": 0.514623761177063, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 2.6577394008636475, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 0.5654326677322388 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + -1.4345673322677612 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 0.5654326677322388 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + false + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -0.5949287414550781, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + -0.5949287414550781, + -0.6246877908706665, + -0.6562666296958923, + -0.8958669900894165 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-02acbd591a961c0dbd46;ms-8b68d8b4d22e6ff0451d;ms-97aebe1dd42939e3b340;ms-a3d0c460532de2d801ae;ms-4c83412fa0aa5180ad89;ms-166b7f66bf9f4eec432b", + "expert_regret": 0.0, + "expert_score": 0.6292594075202942, + "expert_success": false, + "group_id": "ms-b1bf2ab59a5385d22e54", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.7366101145744324, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.13806819915771484, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 35, + 19 + ], + "candidate_oracle_potentials": [ + -0.13806819915771484, + -0.15062165260314941, + -0.21482056379318237, + -0.22546842694282532 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.45, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-eff5f21c51f26a85f07c;ms-8b73e5dfa1f2a01e6017;ms-bca6fa102f94cb145cd2;ms-57ac136bd68be6387c6f;ms-2ae57bab6d2ea11f6638;ms-bb0d941f78d3d9c5a886", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8522a9364bf70311450d", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.8335354924201965, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 40, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.4478037655353546, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 40, + 3, + 19, + 36 + ], + "candidate_oracle_potentials": [ + 0.4478037655353546, + 0.4440196752548218, + 0.4411992132663727, + 0.4394175410270691 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-309d2258d275ae304857;ms-3cfb09df08ad7279ef02;ms-f5aa7ce332ee9702812a;ms-4d6099258a3a6e037aff;ms-4a0ae3deadb8560fd315;ms-d686ae387b1a0ce2f2f3", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-c9c1649478107785e9d2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 40, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.369479238986969, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5456256866455078, + 0.5455408096313477, + 0.545446515083313, + 0.544650137424469 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -8.487701416015625e-05, + -0.00017917156219482422, + -0.0009755492210388184 + ], + "candidate_oracle_branch_scores": [ + 0.5456256866455078, + 0.5455408096313477, + 0.545446515083313, + 0.544650137424469 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -1.622631311416626, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 33, + 17, + 1, + 0 + ], + "candidate_oracle_potentials": [ + -1.622631311416626, + -1.6237540245056152, + -1.624979019165039, + -1.6481647491455078 + ], + "candidate_oracle_progress": 0.5456256866455078, + "candidate_oracle_regret": 1.4543743133544922, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5456256866455078, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5456256866455078, + "candidate_oracle_selected_branch_score": 0.5456256866455078, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_policy_residual" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-26e09c86be9068a34acf;ms-13192a27f5fcf4fd24d7;ms-4fe7fdaf946c97803c82;ms-7241a1c25af41f4c0b5a;ms-a8e6435948250f5e163d;ms-b35643e98e1b846e27cf", + "expert_regret": 1.4543733596801758, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-fb228a036fe5973bcad1", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss", + "oracle_regret": 1.4543733596801758, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5456266403198242, + "restore_error": 1.1920928955078125e-07, + "score": 0.5456266403198242, + "selected_candidate_index": 33, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.5844422578811646, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5039782524108887, + 0.5120876431465149, + 0.4936501681804657, + 0.5142671465873718 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00810939073562622, + -0.010328084230422974, + 0.010288894176483154 + ], + "candidate_oracle_branch_scores": [ + 0.5039782524108887, + 0.5120876431465149, + 0.4936501681804657, + 0.5142671465873718 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.7298881411552429, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 36, + 20, + 40, + 4 + ], + "candidate_oracle_potentials": [ + -0.608248233795166, + -0.6373513340950012, + -0.6838346123695374, + -0.7298881411552429 + ], + "candidate_oracle_progress": 0.5142671465873718, + "candidate_oracle_regret": 1.4857328534126282, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.45, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5142671465873718, + "candidate_oracle_score_gain_over_selected": 0.010288894176483154, + "candidate_oracle_selected_branch_progress": 0.5039782524108887, + "candidate_oracle_selected_branch_score": 0.5039782524108887, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-227fe0347d2ea57a66a3;ms-cea745484a24f376d7e8;ms-a2c5c9fd35d9fda5ce9e;ms-6c0ef0ef8b493232246c;ms-2259a78b2187e22f9f37;ms-0843bef6b0c13c3ede69", + "expert_regret": 1.4960217475891113, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3e971096794f04f325f2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4960217475891113, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5039782524108887, + "restore_error": 1.1920928955078125e-07, + "score": 0.5039782524108887, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6087583899497986, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5555486679077148, + 0.5549898147583008, + 0.5547753572463989, + 0.5542356371879578 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.0005588531494140625, + -0.000773310661315918, + -0.00131303071975708 + ], + "candidate_oracle_branch_scores": [ + 0.5555486679077148, + 0.5549898147583008, + 0.5547753572463989, + 0.5542356371879578 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 36, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.9760469198226929, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 36, + 40, + 20, + 24 + ], + "candidate_oracle_potentials": [ + -0.9760469198226929, + -0.9802715182304382, + -1.142547845840454, + -1.146198034286499 + ], + "candidate_oracle_progress": 0.5555486679077148, + "candidate_oracle_regret": 1.4444513320922852, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.45, + 0.4, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5555486679077148, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5555486679077148, + "candidate_oracle_selected_branch_score": 0.5555486679077148, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-ee32e6bb3c0bb45702b9;ms-b8276cb9b6cb9a9b302f;ms-8fdde5008d12abb7ae6a;ms-c5d026dffb39f2f1d38a;ms-3aa5793c449b59c77b6f;ms-7af1e453acf970f40546", + "expert_regret": 1.4444523453712463, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-60c7d1d3b5701e7f4e48", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4444523453712463, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5555476546287537, + "restore_error": 1.1920928955078125e-07, + "score": 0.5555476546287537, + "selected_candidate_index": 36, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.22971422970294952, + "candidate_oracle_best_branch_rank": 4, + "candidate_oracle_branch_progress": [ + 0.5224412083625793, + 0.526077389717102, + 0.5266029238700867, + 0.5269939303398132 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.003636181354522705, + 0.004161715507507324, + 0.004552721977233887 + ], + "candidate_oracle_branch_scores": [ + 0.5224412083625793, + 0.526077389717102, + 0.5266029238700867, + 0.5269939303398132 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 33, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss", + "candidate_oracle_field_potential": -0.8869481086730957, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 0, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + -0.7654352784156799, + -0.8485288619995117, + -0.8672484755516052, + -0.8869481086730957 + ], + "candidate_oracle_progress": 0.5269939303398132, + "candidate_oracle_regret": 1.4730060696601868, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5269939303398132, + "candidate_oracle_score_gain_over_selected": 0.004552721977233887, + "candidate_oracle_selected_branch_progress": 0.5224412083625793, + "candidate_oracle_selected_branch_score": 0.5224412083625793, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_policy_residual", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-7361bfba9d2ab4f1913e;ms-a2c5c9fd35d9fda5ce9e;ms-0843bef6b0c13c3ede69;ms-01067b8ff16f74652382;ms-227fe0347d2ea57a66a3;ms-38ceda08bad38fbebc1c", + "expert_regret": 1.477560818195343, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-3b0639bfe64ecfd35594", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_policy_residual", + "oracle_regret": 1.477560818195343, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.522439181804657, + "restore_error": 1.1920928955078125e-07, + "score": 0.522439181804657, + "selected_candidate_index": 0, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.14156045019626617, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 35, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": 0.2479778230190277, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 35, + 1, + 17, + 33 + ], + "candidate_oracle_potentials": [ + 0.2479778230190277, + 0.24281799793243408, + 0.2427079677581787, + 0.2425214648246765 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.45, + "candidate_oracle_residual_scales": [ + 0.45, + 0.35, + 0.4, + 0.45 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-28b1f1e4380d434605de;ms-4a0ae3deadb8560fd315;ms-166b7f66bf9f4eec432b;ms-1a4ecfbe9c97214d5c78;ms-910d27b58a0585327a27;ms-97aebe1dd42939e3b340", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-8a00723a184a6ca740b2", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6448831558227539, + "candidate_oracle_best_branch_rank": 3, + "candidate_oracle_branch_progress": [ + 0.5637831687927246, + 0.5639989972114563, + 0.5640997290611267, + 0.5618131756782532 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.00021582841873168945, + 0.0003165602684020996, + -0.0019699931144714355 + ], + "candidate_oracle_branch_scores": [ + 0.5637831687927246, + 0.5639989972114563, + 0.5640997290611267, + 0.5618131756782532 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 3, + "candidate_oracle_candidate_type": "retrieval_residual_residual_no_op", + "candidate_oracle_field_potential": -1.368553876876831, + "candidate_oracle_improves_selected": true, + "candidate_oracle_indices": [ + 35, + 19, + 3, + 1 + ], + "candidate_oracle_potentials": [ + -1.3576172590255737, + -1.3625370264053345, + -1.368553876876831, + -1.4351314306259155 + ], + "candidate_oracle_progress": 0.5640997290611267, + "candidate_oracle_regret": 1.4359002709388733, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.45, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5640997290611267, + "candidate_oracle_score_gain_over_selected": 0.0003165602684020996, + "candidate_oracle_selected_branch_progress": 0.5637831687927246, + "candidate_oracle_selected_branch_score": 0.5637831687927246, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_no_op", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-910d27b58a0585327a27;ms-57ac136bd68be6387c6f;ms-28b1f1e4380d434605de;ms-2ae57bab6d2ea11f6638;ms-1a4ecfbe9c97214d5c78;ms-e589f7d40c12eff1712e", + "expert_regret": 1.4362145066261292, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-b671fa9fcef84dbf2a13", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_no_op", + "oracle_regret": 1.4362145066261292, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5637854933738708, + "restore_error": 1.1920928955078125e-07, + "score": 0.5637854933738708, + "selected_candidate_index": 35, + "selected_residual_scale": 0.45, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.23683521151542664, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 0.5156175494194031, + 0.5151899456977844, + 0.5151836276054382, + 0.515125572681427 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + -0.00042760372161865234, + -0.00043392181396484375, + -0.0004919767379760742 + ], + "candidate_oracle_branch_scores": [ + 0.5156175494194031, + 0.5151899456977844, + 0.5151836276054382, + 0.515125572681427 + ], + "candidate_oracle_branch_successes": [ + false, + false, + false, + false + ], + "candidate_oracle_candidate_index": 4, + "candidate_oracle_candidate_type": "retrieval_residual_residual_wrong_gripper", + "candidate_oracle_field_potential": -0.09247072041034698, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 4, + 8, + 1, + 17 + ], + "candidate_oracle_potentials": [ + -0.09247072041034698, + -0.09272012114524841, + -0.12221622467041016, + -0.12344428896903992 + ], + "candidate_oracle_progress": 0.5156175494194031, + "candidate_oracle_regret": 1.484382450580597, + "candidate_oracle_residual_scale": 0.35, + "candidate_oracle_residual_scales": [ + 0.35, + 0.35, + 0.35, + 0.4 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 0.5156175494194031, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 0.5156175494194031, + "candidate_oracle_selected_branch_score": 0.5156175494194031, + "candidate_oracle_selected_branch_success": false, + "candidate_oracle_success": false, + "candidate_oracle_types": [ + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_near_miss", + "retrieval_residual_residual_near_miss" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-e589f7d40c12eff1712e;ms-28b1f1e4380d434605de;ms-0ece7b8c91d9d82f244b;ms-1a4ecfbe9c97214d5c78;ms-d4aab6f9b6717dd5712e;ms-41b0258c4e329a734da7", + "expert_regret": 1.4843825101852417, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-cd25efec908bd600e45e", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_wrong_gripper", + "oracle_regret": 1.4843825101852417, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 0.5156174898147583, + "restore_error": 1.1920928955078125e-07, + "score": 0.5156174898147583, + "selected_candidate_index": 4, + "selected_residual_scale": 0.35, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": false, + "task_id": "PickCube-v1" + }, + { + "action_mse_to_best": 0.6674955487251282, + "candidate_oracle_best_branch_rank": 1, + "candidate_oracle_branch_progress": [ + 1.0, + 1.0, + 1.0, + 1.0 + ], + "candidate_oracle_branch_score_gains_over_selected": [ + 0.0, + 0.0, + 0.0, + 0.0 + ], + "candidate_oracle_branch_scores": [ + 2.0, + 2.0, + 2.0, + 2.0 + ], + "candidate_oracle_branch_successes": [ + true, + true, + true, + true + ], + "candidate_oracle_candidate_index": 24, + "candidate_oracle_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "candidate_oracle_field_potential": 0.3736303746700287, + "candidate_oracle_improves_selected": false, + "candidate_oracle_indices": [ + 24, + 20, + 8, + 4 + ], + "candidate_oracle_potentials": [ + 0.3736303746700287, + 0.36928945779800415, + 0.366834431886673, + 0.36041945219039917 + ], + "candidate_oracle_progress": 1.0, + "candidate_oracle_regret": 0.0, + "candidate_oracle_residual_scale": 0.4, + "candidate_oracle_residual_scales": [ + 0.4, + 0.4, + 0.35, + 0.35 + ], + "candidate_oracle_restore_error": 1.1920928955078125e-07, + "candidate_oracle_rollout_count": 4, + "candidate_oracle_score": 2.0, + "candidate_oracle_score_gain_over_selected": 0.0, + "candidate_oracle_selected_branch_progress": 1.0, + "candidate_oracle_selected_branch_score": 2.0, + "candidate_oracle_selected_branch_success": true, + "candidate_oracle_success": true, + "candidate_oracle_types": [ + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper", + "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "retrieval_residual_residual_wrong_gripper" + ], + "candidate_oracle_unique_count": 4, + "candidate_oracle_unique_tolerance": 1e-06, + "candidate_oracle_valid_mask": [ + true, + true, + true, + true + ], + "candidate_source_group_id": "ms-2f846e9f31e2b8c4965f;ms-867fd9318b2445dcefb5;ms-cba2f44df79669ff934b;ms-a497e44e8c2ff0d46e47;ms-1fa37879a24f0e84c275;ms-7b932868f83725def2ed", + "expert_regret": 0.0, + "expert_score": 2.0, + "expert_success": true, + "group_id": "ms-f32035837f7df88396a3", + "lattice_candidate_count": 48, + "nearest_candidate_type": "retrieval_residual_residual_near_miss+residual_wrong_gripper", + "oracle_regret": 0.0, + "oracle_score": 2.0, + "oracle_success": true, + "progress": 1.0, + "restore_error": 1.1920928955078125e-07, + "score": 2.0, + "selected_candidate_index": 24, + "selected_residual_scale": 0.4, + "source_dataset": "/scratch/knguy52/dovla/experiments/six_task_h16_collection/PickCube-v1", + "success": true, + "task_id": "PickCube-v1" + } + ], + "seed": 2, + "selected_candidate_type_counts": { + "retrieval_residual_policy_residual": 383, + "retrieval_residual_residual_near_miss": 109, + "retrieval_residual_residual_near_miss+residual_wrong_gripper": 96, + "retrieval_residual_residual_no_op": 106, + "retrieval_residual_residual_wrong_gripper": 106 + }, + "selected_residual_scale_counts": { + "0.35": 520, + "0.4": 75, + "0.45": 205 + }, + "selection_margin": 0.0, + "selection_mode": "retrieval_residual", + "split": "train_groups" +}